JP7281327B2 - Excavator, installation method of excavator, and ground excavation method - Google Patents

Description

The present invention relates to an excavator for excavating the ground below the cutting edge of a tubular caisson frame, a method for installing the excavator, and a ground excavation method using the excavator.

Patent Document 1 discloses an underwater excavator that can be used in the so-called open caisson construction method. This underwater excavator has a float arranged in a caisson frame and an excavator provided below the float. This float is provided with a gripper, and by pressing the inner surface of the caisson frame with this gripper, the float can be fixed at an arbitrary position within the caisson frame.

JP-A-6-81349

However, in the technique disclosed in Patent Document 1, if the reaction force of ground excavation by the excavator is to be taken from the caisson frame, the size of the reaction force receiving device consisting of the float having the gripper is increased. For this reason, the work of assembling the reaction force receiving device and the work of installing it in the caisson frame are time-consuming, and the cost of these work increases.

SUMMARY OF THE INVENTION In view of such circumstances, an object of the present invention is to excavate the ground below the cutting edge of a caisson frame with a simple configuration.

Therefore, in the first aspect of the present invention, the excavator underwater excavates the ground below the cutting edge of the cylindrical caisson frame that extends vertically and is submerged in the ground, and in which water is stored. It is something to do. The excavator includes a pedestal mounted on the ground located inside the caisson frame in a plan view, a main body supported by the pedestal and capable of horizontally rotating with respect to the pedestal, and an upper part pivotally supported on one side of the main body. an arm extending downward from the upper portion of the arm and capable of extending and contracting; a ground excavating portion provided at the lower end of the arm for underwater excavation of the ground; and a pump device provided in the main body for sucking the excavated soil generated by the ground excavation by the ground excavating section and discharging it from the other side of the main body into the water inside the caisson frame. The gantry includes a plurality of legs each having a lower end that can contact the ground surface, and a gantry main body supported by the legs. The main body is supported by the gantry main body and is horizontally rotatable with respect to the gantry main body. The lower ends of the legs are provided with a plurality of protrusions for making the lower ends bite into the ground surface.

In a second aspect of the present invention, the excavator further comprises an extension portion having one end connected to the pedestal and extending horizontally outward from the pedestal, and a shoe member provided at the other end of the extension . In the second aspect, as a method of installing the excavator on the ground located inside the caisson frame in a plan view, the excavator is suspended by a lifting device provided on the ground and placed in the water inside the caisson frame. lowering the excavator while bringing the shoe members into contact with the inner peripheral surface of the caisson body.

In a third aspect of the present invention, the ground excavation method includes underwater excavation of the ground below the cutting edge of a cylindrical caisson frame that extends vertically and is submerged in the ground, and in which water is stored. This is a method of underwater excavation of the ground below the cutting edge of the caisson frame using an excavator. The excavator includes a pedestal mounted on the ground located inside the caisson frame in a plan view, a main body supported by the pedestal and capable of horizontally rotating with respect to the pedestal, and an upper part pivotally supported on one side of the main body. an arm extending downward from the upper portion of the arm and capable of extending and contracting; a ground excavating portion provided at the lower end of the arm for underwater excavation of the ground; and a pump device provided in the main body for sucking the excavated soil generated by the ground excavation by the ground excavating section and discharging it from the other side of the main body into the water inside the caisson frame. In the ground excavation method in the third aspect, the main body part, the arm, and the tilting device are operated to move the ground excavation part to a position below the cutting edge part of the caisson frame, and the ground below the cutting edge part of the caisson frame is excavated underwater by a ground excavation unit, and the excavated soil that is discharged from the other side of the main body into the water inside the caisson frame by the pump device and accumulated on the ground surface is removed using an excavator having a grab bucket that can be freely opened and closed. and a discharging step of discharging soil from the inside of the caisson frame to the outside of the caisson frame. The gantry includes a plurality of legs each having a lower end that can contact the ground surface, and a gantry main body supported by the legs. The main body is supported by the gantry main body and is horizontally rotatable with respect to the gantry main body. The legs are extendable. The lower ends of the legs are provided with a plurality of protrusions for making the lower ends bite into the ground surface. In the ground excavation method according to the third aspect, prior to the excavation step, the attitude of the gantry body is measured, and based on the measurement result, the amount of expansion and contraction of the legs is adjusted so as to maintain the horizontal attitude of the gantry body. It further includes an adjustment step.

According to the present invention, the platform of the excavator is placed on the ground located inside the caisson frame in plan view. Therefore, the excavator can take a reaction force from the ground on which the platform is placed when excavating the ground. Therefore, the excavator can take the reaction force from the ground without taking the reaction force from the caisson frame, so that the above-mentioned large-sized reaction force receiving device such as the float can be omitted, and the structure can be simplified. can excavate the ground below the cutting edge of the caisson frame.

A diagram showing a method of excavating the ground below the caisson frame in the first embodiment of the present invention. A diagram showing a method of excavating the ground below the caisson frame in the same embodiment A diagram showing a method of excavating the ground below the caisson frame in the same embodiment A diagram showing a method of excavating the ground below the caisson frame in the same embodiment The perspective view which looked at the excavator in embodiment same as the above from the right rear The perspective view which looked at the excavator in embodiment same as the above from the left rear The perspective view which looked at the excavator in embodiment same as the above from the back The enlarged perspective view of the excavator arm and the ground excavation part in the same embodiment as seen from the right side A diagram showing a schematic configuration of a control unit in the same embodiment The figure which shows the method of excavating the ground under the caisson frame in 2nd Embodiment of this invention. A diagram showing a method of excavating the ground below the caisson frame in the same embodiment

An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 are diagrams showing a method of excavating the ground 2 below the caisson skeleton 1 in the first embodiment of the present invention. Here, FIGS. 1(A) and 2(A) show the positional relationship between the caisson frame 1 and the excavation hole 3 as viewed from above. 1(B), 2(B), 3, and 4 correspond to longitudinal sectional views of the caisson body 1. FIG.

In this embodiment, an example in which the excavator installation method and the ground excavation method according to the present invention are applied to the construction of a shaft will be described. Not exclusively.

The vertical pit is composed of a cylindrical caisson body 1 that is open at both ends and extends vertically. The caisson frame 1 is made of concrete, for example. In the construction of the shaft in this embodiment, a construction method (a so-called open caisson construction method) is used in which the ground 2 is excavated underwater to gradually sink the caisson skeleton 1 . Here, the ground 2 is excavated (underwater excavation) in a state in which water W is introduced into the vertical shaft (caisson frame 1) and water W is stored in the vertical shaft (caisson frame 1). In this embodiment, the caisson body 1 is pressed downward by a press-fitting device (not shown) on the ground so that the caisson body 1 sinks into the ground. As this press-fitting device, for example, the press-fitting device disclosed in JP-A-10-176477 can be used, but the configuration of the press-fitting device is not limited to this.

In this embodiment, the ground 2 shown in FIG. 1 is hard ground, and the ground above the ground 2 is soft ground. In the present embodiment, underwater excavation of the soft ground described above is performed within the caisson frame 1 from the soft ground side until the hard ground 2 is exposed (that is, until the state shown in FIG. 1). (soft ground excavation process). For this underwater excavation of soft ground, an excavator 6 (see FIG. 4) having a grab bucket 7 (see FIG. 4) such as a clamshell bucket that can be freely opened and closed can be used.

In the method of excavating the ground 2 below the caisson body 1 in this embodiment, first, as shown in FIGS. A plurality of excavation holes 3 are formed by excavating the ground 2 radially outwardly and downwardly of the caisson body 1 toward (directly below the cutting edge portion 1b). Each excavation hole 3 is fan-shaped in plan view. In this embodiment, four excavation holes 3 are formed in the ground 2, but the number of excavation holes 3 is not limited to this, and is arbitrary. Also, a plurality of excavated holes 3 may be formed in the ground 2 so as to slightly overlap each other in the circumferential direction of the caisson body 1 .

In this embodiment, a plurality of excavation holes 3 are arranged along the circumferential direction of the caisson body 1 in plan view. Further, in this embodiment, a plurality of excavation holes 3 are formed in the ground 2 at intervals in the circumferential direction of the caisson body 1 . Water W is introduced into the caisson body 1 prior to the step of forming the excavation hole 3 in the ground 2 (cutting edge lower portion excavation step) (see FIG. 1). In addition, prior to this cutting edge excavation step, the excavator 6 having the grab bucket 7 is used to excavate the aforementioned soft ground located inside the caisson frame 1 in plan view (soft ground excavation step).

An excavator 10 is used when forming a borehole 3 in the ground 2 . The details of the excavator 10 will be described later with reference to FIGS. 5 to 9. FIG. Here, the excavator 10 can take a reaction force from the ground 2 and excavate below the cutting edge portion 1b of the caisson frame 1 .

Next, as shown in FIG. 3, the caisson body 1 is forced to sink. For the press-fit subsidence of the caisson frame 1, the above ground press-fit device (not shown) can be used.

Next, as shown in FIGS. 3 and 4, the excavator 6 having the grab bucket 7 is used to excavate the ground 2 located inside the caisson skeleton 1 in plan view. The excavator 6 includes, for example, a crane (not shown) placed on the ground and a grab bucket 7 suspended from the tip of the boom of the crane. The grab bucket 7 includes a pair of openable and closable shells 7a. 4 shows a state in which the step of excavating the ground 2 using the excavator 6 having the grab bucket 7 (bucket excavation step) is completed.
In this manner, excavation of the ground 2 is performed.

Next, the excavator 10 will be described with reference to FIGS. 5 to 9. FIG. FIG. 5 is a perspective view of the excavator 10 as seen from the rear right. FIG. 6 is a perspective view of the excavator 10 as seen from the rear left. FIG. 7 is a perspective view of the excavator 10 as seen from the rear. FIG. 8 is an enlarged perspective view of the arm 13 and the ground excavating section 14 of the excavator 10 as seen from the right side. FIG. 9 is a diagram showing a schematic configuration of the control unit 18. As shown in FIG.

In the present embodiment, for convenience of explanation, the excavator 10 in the state shown in FIGS. 5 to 8 will be described with the front, rear, right, and left sides defined as shown in FIG. Here, the front side of the excavator 10 corresponds to the side of the excavator 10 on which the arm 13 and the ground excavator 14 are located. On the other hand, the rear side of the excavator 10 corresponds to the side of the excavator 10 opposite to the side on which the arm 13 and the ground excavator 14 are located.

In this embodiment, the excavator 10 has a total weight of, for example, about 20 tons, and a longitudinal length of, for example, about 5 m. However, the total weight and longitudinal length of the excavator 10 are not limited to those described above.
In this embodiment, the inner diameter of the caisson body 1 is, for example, about 12 m. However, the caisson frame 1 may have an inner diameter that allows the excavator 10 to be installed, and therefore the inner diameter of the caisson frame 1 is not limited to about 12 m.

The excavator 10 excavates (underwater excavation) the ground 2 below the cutting edge 1b of the caisson body 1 . The excavator 10 includes a base 11 , a body portion 12 , an arm 13 , a ground excavating portion 14 , a tilting device 15 , an earth removing device 16 , a slide guide device 17 and a control unit 18 .

The gantry 11 includes a gantry body 21 and a plurality of (three in this embodiment) legs 22 . Although the number of legs 22 is three in this embodiment, the number of legs 22 is not limited to three, and may be any number of four or more, for example.

The leg portion 22 extends in a vertically extendable manner. The leg portion 22 has a structure similar to that of a hydraulic jack, and is composed of a vertically extending cylinder 22a and a rod 22b that can advance and retreat from the lower end of the cylinder 22a. Here, the extension/retraction of the rod 22b corresponds to the expansion/contraction (extension/reduction) of the leg portion 22. As shown in FIG.

A lower end portion (lower end portion of the rod 22b) 22c of the leg portion 22 can contact the surface of the ground 2 (ground surface). A plurality of protrusions 23 are provided on the lower end portion 22c of the leg portion 22 (the lower end portion of the rod 22b) for making the lower end portion 22c bite into the ground surface (water bottom surface).

The gantry main body 21 has a triangular shape in a plan view, and the upper portions of the legs 22 (the upper portions of the cylinders 22a) are fixed to the three corners of the triangular shape. The three legs 22 are located at the left front, right front and rear of the excavator 10 . The gantry body 21 is supported by three legs 22 . In this embodiment, the gantry main body 21 has a triangular shape in plan view, but the shape of the gantry main body 21 in plan view is not limited to this. For example, the gantry main body 21 may have a rectangular shape in plan view.

The gantry main body 21 is provided with a drive motor (not shown) for horizontally turning the main body 12 around a vertically extending virtual axis P as a turning center. This drive motor is a hydraulic motor in this embodiment, but an electric motor may be used instead of the hydraulic motor.

The body portion 12 is positioned above the gantry body 21 . The main body 12 is supported by the base 11 (mount body 21) and can horizontally turn about the virtual axis P with respect to the base 11 (mount body 21).

The body portion 12 includes a rectangular base portion 25 that is elongated in the front-rear direction in plan view, and a boom portion 26 that extends upward and forward from the front end portion of the base portion 25 . The aforementioned imaginary axis P is positioned at the front portion of the base portion 25 . A pump device 27 that constitutes the earth removing device 16 is installed at the center to the rear portion of the base portion 25 .

The arm 13 is composed of a cylinder 13a whose upper end portion is pivotally supported by the upper end portion of the boom portion 26 of the main body portion 12 and extends downward, and a rod 13b which can be advanced and retracted at the lower end side of the cylinder 13a. Here, the extension/retraction of the rod 13b corresponds to the expansion/contraction (extension/reduction) of the arm 13. As shown in FIG.

A hydraulic jack 28 is provided in parallel with the arm 13 . The hydraulic jack 28 is composed of a cylinder 28a that is fixed to the cylinder 13a of the arm 13 and extends in parallel with the cylinder 13a, and a rod 28b that can be advanced and retracted from the lower end side of the cylinder 28a. The rod 28b is fixed to the rod 13b of the arm 13. As shown in FIG. Here, the extension/retraction of the rod 28b corresponds to the expansion/contraction (extension/retraction) of the hydraulic jack 28. As shown in FIG.

Therefore, the arm 13 can be extended and retracted according to the extension and retraction of the hydraulic jack 28 arranged side by side. The upper end of the arm 13 (the upper end of the cylinder 13a) is pivotally supported on the upper end of the boom section 26 of the main body 12, and the arm 13 extends downward from the pivotally supported upper end. there is

A cutter head 30 constituting a ground excavating section 14 for excavating the ground 2 is provided at the lower end portion 13c of the arm 13 (the lower end portion of the rod 13b). The cutter head 30 is rotatable using a drive motor (not shown) as a rotary drive source, and excavates the ground 2 by rotary excavation. This drive motor is built in the arm 13, for example. This drive motor is a hydraulic motor in this embodiment, but an electric motor may be used instead of the hydraulic motor.
The cutter head 30 is formed with an opening 31 for taking in the excavated soil generated by rotary excavation of the ground 2 by the cutter head 30 .

The tilting device 15 includes an extendable hydraulic jack 33 whose rear end is attached to the front end of the base portion 25 of the main body 12 and whose front end is attached to the longitudinal central portion of the cylinder 13a of the arm 13 . The tilting device 15 (hydraulic jack 33) can tilt the arm 13 around the pivot axis Q of the upper end of the arm 13 (the upper end of the cylinder 13a). Here, if the hydraulic jack 33 is shortened to the maximum, the arm 13 will be in an upright state. On the other hand, when the hydraulic jack 33 is extended, the arm 13 is inclined.

The earth removing device 16 includes a pump device 27, a first pipe portion 36, a second pipe portion 37, a third pipe portion (not shown), a fourth pipe portion 38, and a fifth pipe portion 39. .
The first pipe portion 36 is fixed to the lower end portion 13c of the rod 13b of the arm 13. As shown in FIG. The first pipe portion 36 communicates with the opening 31 of the cutter head 30 at its lower end and communicates with the lower end of the second pipe portion 37 at its upper end.

The second pipe portion 37 extends along the cylinder 13 a of the arm 13 . The second pipe portion 37 is made of, for example, a bellows pipe, and can be extended and retracted following the extension and retraction of the hydraulic jack 28 and the arm 13 . The upper end of the second pipe portion 37 communicates with one end of the third pipe portion.

In the present embodiment, the first pipe portion 36 and the second pipe portion 37 are arranged outside the arm 13. Alternatively, at least one of the first pipe portion 36 and the second pipe portion 37 may be arranged outside the arm 13. 13 may be placed inside. That is, the arm 13 may incorporate at least one of the first tube portion 36 and the second tube portion 37 .

The third pipe portion is provided at the upper end portion of the cylinder 13 a of the arm 13 . The other end of the third pipe portion communicates with the upper end portion of the fourth pipe portion 38 .
The fourth pipe portion 38 extends downward and rearward along the boom portion 26 from its upper end, further extends rearward along the base portion 25 , and communicates with the suction portion of the pump device 27 . Here, the drive source of the pump device 27 is an electric motor or a hydraulic motor.

The front end of the fifth pipe portion 39 communicates with the discharge portion of the pump device 27 . The fifth pipe portion 39 extends in the front-rear direction, and its rear end opens toward the rear of the excavator 10 .

In the earth removing device 16, when the pump device 27 is operated, the excavated soil generated by the ground excavation by the ground excavating section 14 is taken in from the opening 31 of the cutter head 30, and the first pipe portion 36 and the second pipe portion are formed. 37 , the third pipe portion, and the fourth pipe portion 38 , the water is sucked into the pump device 27 , discharged from the pump device 27 , and discharged rearward (into the water W) through the fifth pipe portion 39 . This discharged excavated soil can accumulate at a location spaced apart from the excavation hole 3 on the ground surface (surface of the ground 2). In this manner, the pump device 27 can realize the function of sucking excavated soil generated by excavating the ground by the ground excavating section 14 and discharging it from the rear side of the main body section 12 .

Here, of the main body 12, the side (front side) closer to the arm 13 and the ground excavating section 14 corresponds to "one side of the main body" of the present invention. On the other hand, the side (rear side) of the main body 12 farther from the arm 13 and the ground excavating section 14 corresponds to the "other side of the main body" of the present invention.

In this embodiment, in plan view, the boom portion 26 and the hydraulic jack 33 (tilting device 15) of the main body portion 12 are placed between the left front leg portion 22 and the right front leg portion 22 (between the column members 45a and 45b to be described later). is located. Therefore, the main body 12 can be horizontally turned with respect to the base 11 within a range in which the boom portion 26 and the hydraulic jack 33 (tilting device 15) do not come into contact with the column members 45a and 45b. Therefore, the excavation hole 3 formed by the excavator 10 can be fan-shaped in plan view as shown in FIG. 2(A).

A slide guide device 17 is provided on the mount 11 . The slide guide device 17 includes a protective frame 40, two extensions 42a and 42b, and two shoe members 43a and 43b.

The protection frame 40 is provided so as to surround the left side, the right side, and the rear of the body portion 12 . The protective frame 40 includes two column members 45a and 45b, two C-shaped members 46a and 46b, and a plurality of reinforcing members 47. As shown in FIG. The column member 45a is erected from the upper end of the left front leg portion 22, and the column member 45b is erected from the right front leg portion 22. As shown in FIG. The C-shaped members 46a and 46b are C-shaped with an open front side in a plan view. One end of the C-shaped member 46a is fixed to the upper end of the column member 45a, and the other end is fixed to the upper end of the column member 45b. One end of the C-shaped member 46b is fixed to the vertical center of the column member 45a, and the other end is fixed to the vertical center of the column member 45b. The reinforcing member 47 extends vertically, and has its upper end fixed to the C-shaped member 46a and its lower end fixed to the C-shaped member 46b. A plurality of reinforcing members 47 are spaced apart from each other in the circumferential direction of the C-shaped members 46a and 46b.

The rear end (one end) of the extension 42a is fixed to the upper end of the column member 45a and extends horizontally outward (forward) from the column member 45a. The rear end (one end) of the extension 42b is fixed to the upper end of the column member 45b and extends horizontally outward (forward) from the column member 45b. Therefore, the rear ends (one ends) of the extensions 42a and 42b are connected to the pedestal 11 via the column members 45a and 45b. The extensions 42a and 42b extend horizontally outward (forward) from the gantry 11 in a plan view.

The shoe member 43a is provided at the front end (the other end) of the extension 42a. The shoe member 43b is provided at the front end (the other end) of the extension 42b. The shoe members 43 a and 43 b can contact the inner peripheral surface 1 a of the caisson body 1 .

A hanger 51 having a pulley 50 is attached to the C-shaped member 46a. A suspension wire 52 is wound around the pulley 50 . A lifting device (not shown) such as a crane provided on the ground can suspend and support the excavator 10 via a suspension wire 52, and can raise and lower the excavator 10.
Here, in the present embodiment, the position of the suspending portion 51 substantially coincides with the center of gravity of the excavator 10 in plan view. In other words, the center of gravity of the excavator 10 is positioned directly below the hanging portion 51 .

The power required by the excavator 10 is supplied from the ground through power lines.
The gantry body 21 is provided with a hydraulic unit (not shown) for supplying hydraulic pressure to each hydraulic device (hydraulic jack, hydraulic motor, etc.) of the excavator 10 .
The gantry main body 21 is also provided with a control unit 18 and an attitude measuring section 55 . The attitude measurement unit 55 includes, for example, a gyro sensor, and can measure the attitude of the gantry 11 (more specifically, the attitude of the gantry main body 21).

The control unit 18 performs various calculations and various controls regarding the operation of the excavator 10 . The control unit 18 has an excavation control section 56 and an attitude control section 57 . The excavation control unit 56 mainly performs the following operation controls (a) to (d) based on operation signals 59 from an operation panel 58 installed in an operation room on the ground. Here, the operation panel 58 can be operated by an operator. Also, the operation signal 59 described above can be transmitted via a signal line or the like or via a wireless device.

(a) a drive motor for horizontally rotating the main body 12;
(c) Tilting device 15 (hydraulic jack 33)
(d) Drive motor for cutter head 30

The posture control unit 57 performs posture control so that the gantry 11 assumes a predetermined posture based on the posture measurement signal 60 from the posture measurement unit 55 . Here, the predetermined posture means a horizontal posture in this embodiment. In this horizontal posture, for example, the gantry main body 21 and the base portion 25 described above are substantially horizontal.

Specifically, in the present embodiment, the posture control unit 57 controls the expansion and contraction of the legs 22 so as to maintain the horizontal posture of the gantry body 21 based on the posture measurement signal 60 from the posture measurement unit 55. Control. Therefore, in this embodiment, the horizontal posture of the gantry body 21 can be automatically maintained.

When the excavator 10 is installed on the ground 2 located inside the caisson frame 1 in a plan view, the excavator 10 is suspended by the aforementioned lifting device via the suspension wire 52, and the shoe members 43a and 43b are suspended. is brought into contact with the inner peripheral surface 1a of the caisson frame 1, the excavator 10 is lowered. When the excavator 10 is lowered, it is preferable to appropriately adjust the expansion/contraction amount (extension amount) of the hydraulic jacks 28 and 33 so that the arm 13 and the cutter head 30 do not come into contact with the inner peripheral surface 1a of the caisson body 1.

When the descent of the excavator 10 progresses and the excavator 10 is placed on the ground 2, the weight of the excavator 10 pushes the projections 23 of the lower ends 22c of the legs 22 of the pedestal 11 to the ground surface (the surface of the ground 2). ).

Next, a method of excavating the ground 2 below the cutting edge portion 1b of the caisson body 1 using the excavator 10 placed on the ground 2 (the above-described cutting edge lower excavation step) will be described.

First, the posture of the gantry main body 21 is measured by the posture measurement unit 55, and based on the measurement result, the posture control unit 57 of the control unit 18 controls each part of the gantry 11 so that the horizontal posture of the gantry main body 21 is maintained. The expansion/contraction amount (elongation amount) of the leg portion 22 is adjusted (posture adjustment step). In addition, it is preferable that this attitude adjustment process is automatically performed immediately after the excavator 10 is placed on the ground 2 .

When the excavator 10 is placed on the ground 2 and the horizontal position of the gantry body 21 is maintained, if the suspending wire 52 is not slackened, the payout length of the suspending wire 52 can be adjusted on the ground side. By grasping, the depth at which the excavator 10 is located (for example, the distance from the ground) can be grasped on the ground side. Further, since the planar position of the hanging wire 52 can also be grasped on the ground side, the planar position of the excavator 10 can also be grasped on the ground side. Therefore, the three-dimensional position of the excavator 10 can be easily grasped on the ground side.

Next, the main body part 12, the arm 13 and the tilting device 15 are operated to move the ground excavating part 14 (cutter head 30) to a position below the cutting edge part 1b of the caisson frame 1. Then, the ground 2 below the cutting edge portion 1b of the caisson body 1 is excavated by the ground excavating section 14 (cutter head 30) to form an excavation hole 3 (excavation step). In this excavation step, the body portion 12, the arm 13, and the tilting device 15 can be operated to form the sector-shaped excavation hole 3 in plan view. That is, the main body 12 horizontally turns with respect to the base 11, the extension and retraction of the hydraulic jack 28 extends and retracts the arm 13, and the extension and retraction of the hydraulic jack 33 of the tilting device 15 can change the tilt angle of the arm 13.
In this excavation process, the excavated soil is discharged from the rear side of the body portion 12 by the excavated soil device 16 in parallel with the formation of the excavated hole 3 . As a result, excavated soil can accumulate in the central portion of the caisson body 1 in plan view.

Next, the excavated soil accumulated in the central portion of the caisson body 1 is discharged from the inside of the caisson body 1 to the outside of the caisson body 1 using the excavator 6 having the grab bucket 7 (discharge step). Note that this soil discharging process may be performed integrally with the above-described bucket excavating process.
As described above, a plurality of excavated holes 3 can be formed by excavating the portion below the cutting edge portion 1b of the caisson body 1 .

According to this embodiment, the excavator 10 excavates the ground 2 below the cutting edge 1b of the cylindrical caisson frame 1 that extends vertically and is submerged in the ground. The excavator 10 includes a pedestal 11 placed on the ground 2 located within the caisson frame 1 in a plan view, a main body 12 supported by the pedestal 11 and horizontally rotatable with respect to the pedestal 11, and a main body 12. An arm 13 whose upper part (upper end) is pivotally supported on one side (front side) and extends downward from this upper part (upper end) and can be expanded and contracted; A ground excavating section 14 for excavating and a tilting device 15 for tilting the arm 13 around the pivot axis Q of the upper portion (upper end) of the arm 13 are provided. Therefore, the excavator 10 can excavate below the cutting edge portion 1b of the caisson frame 1 by directly receiving a reaction force from the ground 2 . Therefore, when excavating the ground 2 under the cutting edge 1b by the excavator 10, the ground 2 under the cutting edge 1b can be excavated with a simple structure without taking reaction force from the caisson frame 1. It is difficult to excavate the ground 2 under the cutting edge 1b by the excavator 6 having the grab bucket 7 described above. In this regard, in this embodiment, the excavator 10 can be used to easily excavate the ground 2 below the cutting edge portion 1b.

Further, according to this embodiment, the excavator 10 includes a pump device 27 that sucks excavated soil generated by excavating the ground by the ground excavating section 14 and discharges it from the other side (rear side) of the main body section 12 . Therefore, the excavated soil can be kept away from the excavated hole 3 with a simple configuration.

Further, according to the present embodiment, the excavator 10 measures the attitude of the gantry 11 based on the attitude measurement section 55 that measures the attitude of the gantry 11 and the attitude measurement signal 60 from the attitude measurement section 55 so that the gantry 11 assumes a predetermined attitude. and a posture control unit 57 for controlling. Thereby, the posture of the excavator 10 can be optimized.

Further, according to this embodiment, the gantry 11 includes a plurality of legs 22 whose lower ends 22c can contact the ground surface, and the gantry main body 21 supported by the legs 22. be. The body part 12 is supported by the gantry body 21 and can be horizontally turned with respect to the gantry body 21 . The legs 22 are extendable. The posture measurement unit 55 measures the posture of the gantry body 21 . The posture control unit 57 controls the expansion and contraction of each leg 22 based on the posture measurement signal 60 from the posture measurement unit 55 so that the horizontal posture of the gantry body 21 is maintained. Therefore, by extending and contracting each leg portion 22, the horizontal posture of the gantry main body 21 and the main body portion 12 as well as the horizontal posture of the excavator 10 as a whole can be easily maintained.

Further, according to this embodiment, the water W is stored in the caisson body 1 . The excavator 10 performs underwater excavation of the ground 2 below the cutting edge portion 1b of the caisson body 1 . Therefore, since the excavator 10 can be used for underwater excavation work, it is possible to reduce the amount of diving work performed by workers.

Further, according to the present embodiment, the excavator 10 includes extension portions 42a and 42b that are connected to the gantry 11 at one end (rear end) and extend horizontally outward (forward) from the gantry 11, and the extension portions 42a and 42b. Shoe members 43a and 43b provided at the other end (front end) of 42b. Shoe members 43 a and 43 b can contact the inner peripheral surface 1 a of the caisson body 1 . Therefore, when the excavator 10 is installed on the ground 2, the excavator 10 can be lowered while the shoe members 43a and 43b are in contact with the inner peripheral surface 1a of the caisson frame 1. The sliding of excavator 10 relative to 1a can be guided by extensions 42a, 42b and shoe members 43a, 43b.

Further, according to this embodiment, the excavator 10 can be lifted and lowered by being suspended by a lifting device such as a crane on the ground. As a result, the excavator 10 can be raised and lowered with a simple configuration.

Further, according to the present embodiment, as a method of installing the excavator 10 on the ground 2 located inside the caisson frame 1 in plan view (installation method of the excavator 10), excavation is performed by a lifting device such as a crane on the ground. lowering the excavator 10 while bringing the shoe members 43a, 43b into contact with the inner peripheral surface 1a of the caisson body 1; Therefore, when the excavator 10 is installed on the ground 2, the sliding of the excavator 10 with respect to the inner peripheral surface 1a of the caisson frame 1 can be guided by the extensions 42a, 42b and the shoe members 43a, 43b.

Further, according to the present embodiment, the ground excavation method uses the excavator 10 for excavating the ground 2 below the cutting edge 1b of the cylindrical caisson frame 1 that extends vertically and is submerged in the ground. This is a method of excavating the ground 2 below the cutting edge 1b of the frame 1. The excavator 10 includes a pedestal 11 placed on the ground 2 located within the caisson frame 1 in a plan view, a main body 12 supported by the pedestal 11 and horizontally rotatable with respect to the pedestal 11, and a main body 12. An arm 13 whose upper part (upper end) is pivotally supported on one side (front side) and extends downward from this upper part (upper end) and can be expanded and contracted; A ground excavating section 14 for excavating, a tilting device 15 for tilting the arm 13 around a pivot axis Q at the upper portion (upper end) of the arm 13, and a suction of the excavated soil generated by the ground excavation by the ground excavating section 14. and a pump device 27 for discharging from the other side (rear side) of the body portion 12 . In the ground excavation method, the main body part 12, the arm 13, and the tilting device 15 are operated to move the ground excavation part 14 to a position below the cutting edge part 1b of the caisson body 1. An excavation step of excavating the ground 2 below by the ground excavation unit 14, and excavating soil discharged from the other side (rear side) of the main body 12 by the pump device 27, the excavation device 6 having the grab bucket 7 that can be freely opened and closed. and a soil discharging step of discharging soil from the inside of the caisson body 1 to the outside of the caisson body 1 by using. As a result, the excavator 6 can have a function of discharging excavated soil generated when the excavation hole 3 is formed, in addition to its original function of excavating the ground 2 . Therefore, equipment for discharging the excavated soil generated during the formation of the excavated hole 3 can be greatly simplified.

Further, according to the present embodiment, the ground excavation method measures the orientation of the gantry body 21 prior to the above-described excavation step, and based on the measurement results, each leg is adjusted so as to maintain the horizontal orientation of the gantry body 21 . It further includes a posture adjustment step of adjusting the amount of expansion/contraction (extension amount) of the portion 22 . Therefore, by adjusting the expansion/contraction amount (elongation amount) of each leg portion 22, it is possible to easily maintain the horizontal posture of the gantry body 21 and the body portion 12, and thus the horizontal posture of the excavator 10 as a whole.

Further, according to the present embodiment, water W is introduced into the caisson frame 1 prior to the attitude adjustment process and the excavation process described above. Thus, by balancing the water pressure in the caisson frame 1 and the groundwater pressure in the surrounding ground, it is possible to suppress the inflow of groundwater into the caisson frame 1 from the surrounding ground.

Further, according to the present embodiment, a plurality of excavation holes 3 are arranged along the circumferential direction of the caisson skeleton 1 in plan view. Moreover, in plan view, a plurality of excavation holes 3 are formed at intervals in the circumferential direction of the caisson body 1 . Therefore, it is possible to reduce the strength of the ground 2 (hard ground) under the cutting edge 1b at a plurality of locations in the circumferential direction of the caisson body 1 .

Further, according to the present embodiment, after the plurality of excavation holes 3 are formed, the ground 2 positioned inside the caisson skeleton 1 in plan view is excavated using the excavator 6 having the openable/closable grab bucket 7 . As a result, most of the ground 2 located inside the caisson frame 1 in plan view can be efficiently excavated by the excavator 6 having the grab bucket 7 .

Further, according to the present embodiment, the caisson skeleton 1 is press-fitted and subsided after the plurality of excavation holes 3 are formed. As a result, the strength of the ground 2 (hard ground) under the cutting edge 1b can be reduced and then the caisson body 1 can be pressed and subsided, so that the caisson body 1 can be efficiently pressed and subsided even on hard ground. be able to.

In the present embodiment, the bucket excavation step is performed after the caisson skeleton 1 is pushed down.

Next, a second embodiment of the invention will be described with reference to FIGS. 10 and 11. FIG.
10 and 11 are diagrams showing a method of excavating the ground 2 below the caisson skeleton 1 in this embodiment.
Differences from the first embodiment described above will be described.

In this embodiment, prior to the bucket excavation process described above, a plurality of excavation holes extending in the vertical direction are formed in the ground 2 located within the caisson frame 1 in plan view as shown in FIG. 4 is formed. In this embodiment, four excavation holes 4 are formed in the ground 2, but the number of excavation holes 4 is not limited to this, and is arbitrary.

In this embodiment, an excavator 10 is used when forming a borehole 4 in the ground 2 . When forming the excavation hole 4, the hydraulic jack 33 of the tilting device 15 is shortened as much as possible so that the arm 13 stands upright. In this state, the ground 2 is excavated by rotating the cutter head 30 while extending the arm 13 downward by extending the hydraulic jack 28 arranged side by side with the arm 13 downward.
When forming the excavation hole 4 in the ground 2, another drilling device may be used instead of the excavator 10. FIG.

In this embodiment, a plurality of excavation holes 4 are formed in the central portion of the caisson skeleton 1 in plan view. Further, in the present embodiment, a plurality of excavated holes 4 are formed in the ground 2 so as to be surrounded by the plurality of excavated holes 3 in plan view.

Here, the interval L1 (see FIG. 10) between the adjacent excavation holes 4 is narrower than the maximum opening width L2 of the grab bucket 7 (see FIG. 11). The interval L1 can be appropriately set so that the grab bucket 7 can efficiently transport the excavated earth and sand. As an example, the interval L1 can be set to satisfy the following formula.
0.5×L2<L1<L2

After the central portion drilling step, in the bucket excavating step, as shown in FIG. 11, the ground 2 located inside the caisson skeleton 1 in plan view is excavated using an excavating device 6 having a grab bucket 7 .
In this manner, excavation of the ground 2 is performed.

In particular, according to the present embodiment, after the cutting edge lower part excavation step and prior to the bucket excavation step, a plurality of excavation holes extending in the vertical direction are formed in the ground 2 located within the caisson skeleton 1 in plan view. 4 is formed (center drilling step). As a result, the ground 2 which is hard ground can be easily grasped by the grab bucket 7 . Therefore, excavation workability in the bucket excavation process can be improved. Here, it is preferable that the interval L1 between the adjacent excavation holes 4 is narrower than the maximum opening width L2 of the grab bucket 7 .

Further, according to the present embodiment, the caisson body 1 is press-fitted and lowered after the cutting edge lower portion excavation step and prior to the central portion boring step and the bucket excavating step. As a result, the strength of the ground 2 (hard ground) under the cutting edge 1b can be reduced and then the caisson body 1 can be pressed and subsided, so that the caisson body 1 can be efficiently pressed and subsided even on hard ground. be able to.

Further, according to this embodiment, the excavator 10 can vertically excavate the underwater ground (ground 2 ) to form the excavation hole 4 . Since the excavator 10 does not need to be provided with a separate reaction force receiving device, it is possible to reduce underwater work related to the reaction force receiving device, and is particularly suitable for underwater ground excavation.

In the present embodiment, the central drilling process and the bucket excavating process are performed after the caisson skeleton 1 has settled down. /or a bucket digging process may be performed.

In the first and second embodiments described above, a contact detection unit (for example, including a piezoelectric element) that detects whether or not the shoe members 43a and 43b are in contact with the inner peripheral surface 1a of the caisson body 1 is provided. The shoe members 43a and 43b are installed on the shoe members 43a and 43b, and the detection signal is transmitted to the operation panel 58 in the operation room on the ground via the control unit 18 to check whether the shoe members 43a and 43b are in contact with the inner peripheral surface 1a of the caisson frame 1. You may make it display on the display of the operation panel 58 whether it is yes. Accordingly, by monitoring the display of the operation panel 58, a worker in the operation room on the ground can easily grasp whether or not the shoe members 43a and 43b are in contact with the inner peripheral surface 1a of the caisson frame 1. can.

In the above-described first and second embodiments, the ground excavating section 14 capable of excavating the ground 2 is configured including the cutter head 30, but the configuration of the ground excavating section 14 is not limited to this. For example, the ground excavating unit 14 may include any one of a rotary excavating device such as an auger other than the cutter head 30, a striking device such as a breaker, and a vibrating device such as a vibro-hammer.

In the first and second embodiments described above, the cross-sectional shape of the caisson body 1 is circular, but the cross-sectional shape of the caisson body 1 is not limited to circular, and may be oval or rectangular, for example.

The caisson skeleton 1 in the first and second embodiments described above may be configured including lots manufactured in a factory or the like remote from the construction site (lots made of so-called precast materials), or constructed at the construction site. It may be configured including a plurality of lots that are processed.

Although the excavator 10 is used underwater in the first and second embodiments described above, the excavator 10 may also be used on land.
In the first and second embodiments described above, the excavator 10 is used for excavating the ground below the cutting edges 1b of the caisson frame 1, but it may also be used for so-called openwork excavation.

In the first and second embodiments described above, an example in which the excavator installation method and the ground excavation method according to the present invention are applied to the construction of a shaft has been described. is not limited to this. For example, the excavator installation method and ground excavation method according to the present invention may be applied to construction of underground structures other than vertical shafts and construction of foundations of structures.

The illustrated embodiments are merely illustrative of the present invention, and the present invention includes various improvements and modifications made by those skilled in the art within the scope of the claims in addition to those directly indicated by the described embodiments. It goes without saying that it is inclusive.
The claims as originally filed were as follows.
[Claim 1]
An excavator for excavating the ground below the cutting edge of a cylindrical caisson frame that extends vertically and is submerged in the ground,
a pedestal placed on the ground located inside the caisson frame in a plan view;
a main body supported by the pedestal and horizontally rotatable with respect to the pedestal;
an arm having an upper portion pivotally supported on one side of the main body portion and extending downwardly from the upper portion and being extendable;
a ground excavating part provided at the lower end of the arm for excavating the ground;
a tilting device that tilts the arm around a pivot shaft on the upper part of the arm;
an excavator.
[Claim 2]
2. The excavator according to claim 1, further comprising a pump device for sucking excavated soil generated by excavating the ground by said excavating section and discharging it from the other side of said main body.
[Claim 3]
2. The apparatus according to claim 1, further comprising: an attitude measurement unit that measures the attitude of the gantry; and an attitude control unit that performs attitude control so that the gantry assumes a predetermined attitude based on the attitude measurement signal from the attitude measurement unit. Excavator according to claim 2.
[Claim 4]
The pedestal includes a plurality of legs whose lower ends are capable of contacting the ground surface, and a pedestal main body supported by the legs,
The main body is supported by the gantry body and can be horizontally turned with respect to the gantry body,
the legs are extendable,
The attitude measurement unit measures the attitude of the gantry body,
4. The excavator according to claim 3, wherein said attitude control section controls expansion and contraction of said legs so as to maintain a horizontal attitude of said gantry main body based on an attitude measurement signal from said attitude measurement section.
[Claim 5]
Water is stored in the caisson frame,
The excavator according to any one of claims 1 to 4, wherein the excavator performs underwater excavation of the ground below the cutting edge of the caisson frame.
[Claim 6]
Further comprising: an extension portion having one end connected to the pedestal and extending horizontally outward from the pedestal; and a shoe member provided at the other end of the extension,
The excavator according to any one of claims 1 to 5, wherein the shoe member can contact the inner peripheral surface of the caisson frame.
[Claim 7]
The excavator according to any one of claims 1 to 6, wherein the excavator can be lifted and lowered by being suspended by a lifting device.
[Claim 8]
A method of installing the excavator according to claim 6 on the ground located inside the caisson frame in plan view,
A method for installing an excavator, including suspending the excavator by a lifting device and lowering the excavator while bringing the shoe member into contact with the inner peripheral surface of the caisson frame.
[Claim 9]
A method of excavating the ground below the cutting edge of a cylindrical caisson frame that extends vertically and is submerged in the ground, using an excavator that excavates the ground below the cutting edge of the caisson frame. ,
The excavator is
a pedestal placed on the ground located inside the caisson frame in a plan view;
a main body supported by the pedestal and horizontally rotatable with respect to the pedestal;
an arm having an upper portion pivotally supported on one side of the main body portion and extending downwardly from the upper portion and being extendable;
a ground excavating part provided at the lower end of the arm for excavating the ground;
a tilting device that tilts the arm around a pivot shaft on the upper part of the arm;
a pump device for sucking excavated soil generated by excavating the ground by the ground excavating unit and discharging it from the other side of the main body;
with
The method includes:
By operating the main body, the arm, and the tilting device, the ground excavating unit is moved to a position below the cutting edge of the caisson frame, and the ground below the cutting edge of the caisson frame is excavated. an excavation step of excavating by a part;
An earth discharging step of discharging excavated soil discharged from the other side of the main body by the pump device from inside the caisson skeleton to outside the caisson skeleton using an excavator having an openable and closable grab bucket;
A ground excavation method, comprising:
[Claim 10]
The pedestal includes a plurality of legs whose lower ends are capable of contacting the ground surface, and a pedestal main body supported by the legs,
The main body is supported by the gantry body and can be horizontally turned with respect to the gantry body,
the legs are extendable,
The method includes a posture adjustment step of measuring the posture of the gantry body prior to the excavation step, and adjusting the expansion and contraction amounts of the legs so as to maintain the horizontal posture of the gantry body based on the measurement result. 10. The ground excavation method of claim 9, further comprising:
[Claim 11]
11. The ground excavation method according to claim 10, wherein water is introduced into the caisson frame prior to the attitude adjustment step.
[Claim 12]
The ground excavation method according to any one of claims 9 to 11, wherein water is introduced into the caisson frame prior to the excavation step.

DESCRIPTION OF SYMBOLS 1... Caisson frame, 1a... Inner peripheral surface, 1b... Cutting edge part, 2... Ground, 3, 4... Excavation hole, 6... Excavator, 7... Grab bucket, 7a... Shell, 10... Excavator, 11... Mounting frame , 12...Main body part 13...Arm 13a...Cylinder 13b...Rod 13c...Lower end part 14...Ground excavation part 15...Tilting device 16...Earth removal device 17...Slide guide device 18...Control unit , 21... Frame main body 22... Leg part 22a... Cylinder 22b... Rod 22c... Lower end part 23... Projection 25... Base part 26... Boom part 27... Pump device 28... Hydraulic jack 28a... Cylinder 28b Rod 30 Cutter head 31 Opening 33 Hydraulic jack 36 First tube 37 Second tube 38 Fourth tube 39 Fifth tube 40 Protective frame 42a, 42b Extension part 43a, 43b Shoe member 45a, 45b Column member 46a, 46b C-shaped member 47 Reinforcement member 50 Pulley 51 Suspension part 52 Suspension Wire 55 Attitude measurement unit 56 Excavation control unit 57 Attitude control unit 58 Operation panel 59 Operation signal 60 Attitude measurement signal L1 Spacing L2 Maximum opening width P Virtual axis , Q... pivot shaft, W... water

Claims (8)

An excavator for underwater excavation of the ground below the cutting edge of a cylindrical caisson frame that extends vertically and is submerged in the ground and holds water inside,
a pedestal placed on the ground located inside the caisson frame in a plan view;
a main body supported by the pedestal and horizontally rotatable with respect to the pedestal;
an arm having an upper portion pivotally supported on one side of the main body portion and extending downwardly from the upper portion and being extendable;
a ground excavation unit provided at the lower end of the arm for underwater excavation of the ground;
a tilting device that tilts the arm around a pivot shaft on the upper part of the arm;
A pump device provided in the main body, which sucks excavated soil generated by excavating the ground by the ground excavating section and discharges it into water in the caisson frame from the other side of the main body;
with
The pedestal includes a plurality of legs whose lower ends are capable of contacting the ground surface, and a pedestal main body supported by the legs,
The main body is supported by the gantry body and can be horizontally turned with respect to the gantry body,
An excavator , wherein a plurality of protrusions are provided on the lower end of the leg for making the lower end bite into a ground surface . a posture measurement unit that measures the posture of the gantry; and a posture control unit that performs posture control so that the gantry assumes a predetermined posture based on the posture measurement signal from the posture measurement unit,
the legs are extendable,
The attitude measurement unit measures the attitude of the gantry body,
2. The excavator according to claim 1 , wherein said posture control section controls expansion and contraction of said legs so as to maintain a horizontal posture of said gantry main body based on a posture measurement signal from said posture measurement section. 3. The excavator according to claim 1, wherein the gantry body has a triangular shape in plan view, and the upper parts of the legs are fixed to three corners of the triangular shape. The excavator according to any one of claims 1 to 3 , wherein the excavator is suspended by a lifting device provided on the ground so as to be able to ascend and descend in water within the caisson frame. A method for installing the excavator according to any one of claims 1 to 3 on the ground located inside the caisson frame in plan view,
The excavator further comprises: an extension portion having one end connected to the pedestal and extending horizontally outward from the pedestal; and a shoe member provided at the other end of the extension,
The method includes:
Suspending the excavator by a lifting device provided on the ground and lowering the excavator while bringing the shoe member into contact with the inner peripheral surface of the caisson skeleton in the water in the caisson skeleton, How to install an excavator. Using an excavator for underwater excavating the ground below the cutting edge of a cylindrical caisson frame that extends vertically and is submerged in the ground and holds water inside, the cutting edge of the caisson frame A method for underwater excavation of the ground below the
The excavator is
a pedestal placed on the ground located inside the caisson frame in a plan view;
a main body supported by the pedestal and horizontally rotatable with respect to the pedestal;
an arm having an upper portion pivotally supported on one side of the main body portion and extending downwardly from the upper portion and being extendable;
a ground excavation unit provided at the lower end of the arm for underwater excavation of the ground;
a tilting device that tilts the arm around a pivot shaft on the upper part of the arm;
A pump device provided in the main body, which sucks excavated soil generated by excavating the ground by the ground excavating section and discharges it into water in the caisson frame from the other side of the main body;
with
The method includes:
By operating the main body, the arm, and the tilting device, the ground excavating unit is moved to a position below the cutting edge of the caisson frame, and the ground below the cutting edge of the caisson frame is excavated. an excavation step of underwater excavation by a part;
The excavated soil discharged from the other side of the main body into the water in the caisson frame by the pump device and accumulated on the ground surface is removed from the caisson frame using an excavator having a grab bucket that can be freely opened and closed. An earth discharging process for discharging earth outside the frame,
including
The pedestal includes a plurality of legs whose lower ends are capable of contacting the ground surface, and a pedestal main body supported by the legs,
The main body is supported by the gantry body and can be horizontally turned with respect to the gantry body,
the legs are extendable,
A plurality of protrusions are provided at the lower end of the leg for making the lower end bite into the ground surface,
The method includes a posture adjustment step of measuring the posture of the gantry body prior to the excavation step, and adjusting the expansion and contraction amounts of the legs so as to maintain the horizontal posture of the gantry body based on the measurement result. further comprising
Ground excavation method. 7. The ground excavation method according to claim 6 , wherein the excavated soil is stored in the central portion of the caisson frame in plan view. The ground excavation method according to claim 6 or 7 , wherein the gantry main body has a triangular shape in a plan view, and the upper parts of the legs are fixed to three corners of the triangular shape.

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