Construction machine

Abstract

To reduce a time required for construction, this construction apparatus is provided with: a traveling device that causes a main body device provided thereon to travel; a working device comprising a movable part that is connected to the main body device and is movable and a working unit that is connected to the movable part and performs work; and a control device that performs the work by the working device during the travel by the traveling device.　

Description

Construction machinery

[0001] The present invention relates to a construction machine.

[0002] Conventionally, when carrying out repair work inside a tunnel, Patent Document 1 discloses that approximately one-third to one-half of the thickness of the existing concrete is removed using a drum cutter mounted on a movable support base.

[0003] JP 2017-193885 A

[0004] However, in conventional repair work inside tunnels, the moving support base is stopped when the drum cutter is in operation, which has the problem of making repair work take a long time.

[0005] SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a construction machine that can reduce the time required for construction work (particularly repair work) inside a tunnel.

[0006] The construction machine of the present invention comprises a traveling device that causes a main body device provided above to travel, a processing device that has a movable part connected to the main body device and movable, and a processing section connected to the movable part that performs processing, and a control device that performs processing using the processing device while the traveling device is traveling.

[0007] According to the present invention, since processing is performed by the processing device while traveling by the traveling device, a construction machine that can shorten the construction period can be realized.

[0008] 1(a) is a schematic diagram of a construction machine representing the first embodiment, where FIG. 1(a) is a top view, FIG. 1(b) is a front view, and FIG. 1(c) is a side view. It is a block diagram of the main parts of the first embodiment. It is a diagram showing the state of peeling work of the first embodiment, where FIG. 3(a) is a diagram showing the state before peeling work, and FIG. 3(b) is a diagram showing the state of peeling the upper part of the tunnel. It is a flowchart executed by the heavy equipment control device of the first embodiment. It is a diagram showing the area to be peeled, where FIG. 5(a) is a diagram when the traveling speed of the traveling device is high, FIG. 5(b) is a diagram when the traveling speed of the traveling device is medium, and FIG. 5(c) is a diagram when the traveling speed of the traveling device is low. It is a diagram showing a modified example of the first embodiment, where FIG. 6(a) shows the state of swinging clockwise by the swing device, FIG. 6(b) shows the reset operation and the state of swinging clockwise, and FIG. 6(c) shows the reset operation. 7(a) and 7(b) are diagrams showing the state where the actuator is extended, respectively, of a construction machine according to a second embodiment of the present invention.

[0009] A construction machine according to a first embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below. In this embodiment, the description will be continued on an example in which the peeling system 1 is used as a construction machine for repair work on a tunnel 100 (see FIG. 3 ), but the present invention is not limited to this example.

[0010] (First Embodiment) FIG. 1 is a schematic diagram showing a stripping system 1 representing this first embodiment, with FIG. 1(a) being a top view, FIG. 1(b) being a front view, and FIG. 1(c) being a side view. FIG. 2 is a block diagram of the main parts of this first embodiment. FIG. 3 is a diagram showing the stripping work of this first embodiment, with FIG. 3(a) showing the state before the stripping work and FIG. 3(b) showing the state during stripping of the upper part of the tunnel 100. Note that FIG. 3 shows only half (one side) of the tunnel. Furthermore, in the following description, for convenience, the vertical direction is referred to as the Z direction, and two orthogonal axial directions in a horizontal plane are referred to as the X direction and the Y direction.

[0011] The configuration of the stripping system 1 will be described below with reference to FIGS. 1 to 3. As is clear from FIG. 1, the stripping system 1 of this embodiment is an autonomous type that does not have a driver's seat. The stripping system 1 may be autonomous when traveling at a construction site, and may be transported on a trailer on public roads. The stripping system 1 may be operated automatically or remotely from a remote location away from the construction site. The stripping system 1 may also be a manned type that has a driver's seat.

[0012] The peeling system 1 of this first embodiment has a backhoe type base machine, and includes a drive system 10 (see Figure 2), a traveling device 20, a turning device 30, a main body device 40, and a working device 60.

[0013] The drive system 10 includes an engine 11, a fuel tank 12, and a generator 13. The engine 11 is an internal combustion engine, and in this embodiment, a diesel engine is used. The engine 11 burns fuel supplied from the fuel tank 12 to drive the generator 13.

[0014] In this embodiment, the fuel tank 12 stores liquid ammonia (NH3), and is provided with a fuel level gauge (not shown) inside. The liquid ammonia is vaporized by a vaporizer (not shown), and the vaporized ammonia is burned together with air by the engine 11. Note that a plurality of fuel tanks 12 may be provided, each serving as an ammonia storage tank and a diesel storage tank. In this case, the engine 11 may be a dual-fuel engine that burns ammonia and diesel fuel together.

[0015] The generator 13 is connected to the output shaft of the engine 11 and generates electricity using the rotational driving force of the output shaft of the engine 11. The electric power generated by the generator 13 is supplied to various cylinders and motors, as shown in the block diagram of FIG.

[0016] The traveling device 20 has a pair of tracks 23 wound around an idler wheel 21 and a drive wheel 22, and a traveling motor (not shown) that drives the drive wheels 22, and the pair of tracks 23 are driven by the drive wheels 22 to travel the peeling system 1. The traveling motor 24 is driven by power supplied from the generator 13, and in this embodiment, an in-wheel motor is used that is connected coaxially to the drive wheels 22 or the hubs of the drive wheels 22. Note that a hydraulic motor may also be used as the traveling motor 24.

[0017] The slewing device 30 is disposed between the traveling device 20 and the main device 40. The slewing device 30 includes a bearing (not shown) and a slewing motor 31 supplied with power from the generator 13, and rotates the main device 40 and the working device 60. Note that the rotation of the main device 40 and the working device 60 by the slewing device 30 may be performed by a hydraulic motor using hydraulic pressure instead of the slewing motor 31.

[0018] The main unit 40 has a cylindrical shape, and a groove 41 is formed on the top surface to avoid interference with the working device 60. The area and depth of the groove may be set appropriately depending on the range of motion of the working device 60. The top surface of the main unit 40 is flat except for the groove 41. The shape of the main unit 40 is not limited to a cylindrical shape and can be any shape. The main unit 40 houses the engine 11, fuel tank 12, generator 13, and a counter mass (not shown) inside.

[0019] The main body device 40 is connected to the working device 60 via a connection part 42. The connection part 42 is composed of a base part 42a connected to the main body device 40, a pair of holding parts 42b that hold a boom 53 (described later) and a boom cylinder 54 (described later), and a fixing member such as a pin.

[0020] In addition to the engine 11, fuel tank 12, and generator 13 described above, the main device 40 is provided with a position detection device 45, a first GNSS 47 (Global Navigation Satellite System) which is a global positioning system, a first communication device 48, a first memory 49, and a heavy equipment control device 50 which controls the entire peeling system 1, as shown in the block diagram of Figure 2.

[0021] The position detection device 45 detects the position of the peeling system 1 within the tunnel 100. Wireless access points are provided at predetermined intervals in the tunnel 100, and beacon signals indicating the positions of these access points are transmitted from these access points. The position detection device 45 includes a receiving unit that receives these beacon signals and a detecting unit that detects the radio wave intensity of the beacon signals, and detects the position of the peeling system 1 within the tunnel 100 from the received beacon signals.

[0022] The position detection device 45 may transmit the reception results of the receiving unit and the detection results of the detecting unit to the heavy equipment control device 50, which then calculates the position of the stripping system 1. In this case, the heavy equipment control device 50 can calculate the position of the stripping system 1 more accurately by calculating the position of the stripping system 1 based on the movement speed of the stripping system 1. The detection of the position of the stripping system 1 within the tunnel 100 by the position detection device 45 is not limited to the beacon signal method, and other methods may be used as long as they can detect the position of the stripping system 1 within the tunnel 100.

[0023] The first GNSS 47 (see FIG. 2 ) uses an artificial satellite to determine the position of the stripping system 1. In the first embodiment, when the stripping system 1 can receive a signal from the artificial satellite, the heavy equipment control device 50 detects the position of the stripping system 1 based on the positioning result of the first GNSS 47, and when the stripping system 1 cannot receive a signal from the artificial satellite (when the stripping system 1 is inside the tunnel 100), the heavy equipment control device 50 detects the position of the stripping system 1 based on the detection result of the position detection device 45. Note that when the stripping system 1 is operated by a person, the first GNSS 47 and the position detection device 45 may be omitted.

[0024] The first communication device 48 is a wireless communication unit that has a transmitter, a receiver, various circuits, an antenna (not shown), and the like, and accesses the aforementioned access point or a wide area network such as the Internet. In this first embodiment, the first communication device 48 communicates with a host computer located away from the construction site. Note that if there are multiple peeling systems 1 in the tunnel 100, the first communication device 48 may communicate with the other peeling systems 1.

[0025] The first memory 49 is a non-volatile memory (for example, a flash memory) that stores various data and programs for driving the stripping system 1 and various data and programs for automatically operating the stripping system 1. The first memory 49 also stores data related to the shape of the tunnel 100, position data for where the stripping work will be performed within the tunnel 100, and the like.

[0026] The heavy equipment control device 50 is equipped with a CPU and is a control device that controls the entire peeling system 1. For example, it controls the peeling operation and rotation operation of the work device 60, position detection of the peeling system 1, and movement control.

[0027] As described above, the working device 60 is connected to the main body device 40 via the connection part 42. The working device 60 has a boom 53, a boom cylinder 54, an arm 55, an arm cylinder 56, a peeling cylinder 58, and a peeling device 65.

[0028] The boom 53 is a rotating L-shaped part connected to the main body 40 via the connection part 42, and is rotated by a boom cylinder 54. The boom cylinder 54 is a cylinder that extends and retracts using power supplied from the generator 13, thereby driving the boom 53.

[0029] The arm 55 is connected to the tip of the boom 53 and rotated by an arm cylinder 56. The arm cylinder 56 is a cylinder that extends and retracts using power supplied from the generator 13, thereby driving the arm 55.

[0030] The peeling cylinder 58 is a cylinder that extends and retracts using power supplied from the generator 13 to drive the peeling device 65. In the first embodiment, the boom cylinder 54, the arm cylinder 56, and the peeling cylinder 58 are driven by power from the generator 13, but these cylinders may also be driven using hydraulic pressure.

[0031] The peeling device 65 is connected to the tip of the arm 55 and rotates using a peeling cylinder 58 to peel off the concrete on the surface of the tunnel 100 and reinforcing sheets (e.g., carbon fiber sheets) adhered to the surface of the concrete.

[0032] The peeling device 65 includes an expandable damper 66, a peeling motor 67, a peeling unit 68, and a distance sensor 69. One end of the expandable damper 66 is connected to the arm 55 and the peeling cylinder 58, and the other end is connected to the peeling unit 68 via the peeling motor 67. In the first embodiment, an oil damper is used for the expandable damper 66, and the piston rod is configured to expand and contract. The expandable damper 66 adjusts the distance between the peeling unit 68 and the surface of the tunnel 100, and is driven so that the peeling unit 68 comes into contact with the surface of the tunnel 100 when peeling the surface of the tunnel 100.

[0033] The peeling motor 67 is provided between the expansion / contraction damper 66 and the peeling unit 68, and is a motor that rotates the peeling unit 68 around the X axis in the case of FIG. 1(b).

[0034] The peeling unit 68 has a cutting function and may employ, for example, a button bit or a drum cutter. The peeling unit 68 peels off deteriorated concrete and deteriorated reinforcing sheets by rotation of the peeling motor 67 and pressure from the extendable damper 66. During this process, the peeling device 65 is rotated from the bottom to the top of the tunnel 100 by the boom cylinder 54, and moved in the Y direction by the traveling device 20, thereby continuously peeling off the surface of the tunnel 100. When rotating the peeling device 65 from the bottom to the top of the tunnel 100 by the boom cylinder 54, the position of the peeling device 65 can be controlled as needed by rotating the arm cylinder 56 and the peeling cylinder 58. The peeling unit 68 may employ cutting members other than a button bit or a drum cutter. The peeling unit 68 may be replaceable depending on the hardness of the concrete or reinforcing sheets on the surface of the tunnel 100. Multiple peeling units 68 may be provided, including one for rough cutting, which requires a large amount of peeling, and one for finishing, which requires a small amount of peeling.

[0035] In the first embodiment, the distance sensor 69 is provided above the peeling motor 67 and is a non-contact sensor that detects the distance to the surface of the tunnel 100 in the X direction before the peeling unit 68 starts peeling. An ultrasonic sensor or a laser distance sensor can be used as the distance sensor 69. Note that it is desirable to provide the distance sensor 69 inside a cover (not shown) with an opening and closing function so that the concrete or reinforcing sheet peeled by the peeling unit 68 does not hit the distance sensor 69.

[0036] The following is a description of the control of the stripping work inside the tunnel 100 by the heavy equipment control device 50 of this embodiment configured as described above. Figure 4 is a flowchart executed by the heavy equipment control device 50 of this embodiment. This flowchart is executed when the stripping system 1 arrives near the entrance of the tunnel 100.

[0037] (Flowchart) The heavy equipment control device 50 detects its position within the tunnel 100 using the position detection device 45 (step S1). The heavy equipment control device 50 communicates with an access point installed near the entrance of the tunnel 100 to detect the position of the stripping system 1, recognize the start position of the stripping work, and move the stripping system 1 to the start position of the stripping work.

[0038] Prior to the start of the stripping work, the heavy equipment control device 50 determines whether calibration is necessary (step S2). The heavy equipment control device 50 determines whether calibration is necessary depending on whether data on the radius of curvature of the tunnel 100 is available when performing the stripping work. Note that even if data on the radius of curvature of the tunnel 100 is known, calibration can also be performed if it is desired to confirm the actual radius of curvature or if the tunnel 100 is not semicircular. In this case, calibration is deemed necessary, so the determination in step S2 is Yes and the process proceeds to step S3.

[0039] The heavy equipment control device 50 uses the work device 60 to perform calibration to check the shape (e.g., radius of curvature) of the inside of the tunnel 100 (step S3). As shown in Fig. 3(a), the heavy equipment control device 50 drives the work device 60 so that the peeling unit 68 approaches the inside of the tunnel 100. When the peeling unit 68 approaches the inside of the tunnel 100, the heavy equipment control device 50 measures the distance to the inside of the tunnel 100 using the distance sensor 69.

[0040] Next, the heavy equipment control device 50 fixes the X and Y coordinate positions of the distance sensor 69, moves the distance sensor 69 in the Z direction, and uses the distance sensor 69 to measure the distance to the inside of the tunnel 100. The heavy equipment control device 50 can recognize the shape of the inside of the tunnel 100 by measuring the distance to the inside of the tunnel 100 multiple times while changing the position of the distance sensor 69 in the Z direction.

[0041] In this calibration, the distance sensor 69 may be moved in the Z direction without fixing the X coordinate of the distance sensor 69. In this case, the heavy machine control device 50 may confirm a change in the position of the X coordinate of the distance sensor 69 from the outputs of encoders (not shown) provided on the boom cylinder 54, the arm cylinder 56, and the peeling cylinder 58, and correct the value detected by the distance sensor 69.

[0042] After confirming the shape of the inside of the tunnel 100, the heavy equipment control device 50 proceeds to step S4. Note that, although it is preferable to perform the calibration in step S3 with the traveling device 20 stopped, it may also be performed while the traveling device 20 is moving in the Y direction.

[0043] The heavy equipment control device 50 sets the construction conditions (step S4). In the first embodiment, the setting of the construction conditions includes setting the travel speed of the traveling device 20 and setting the working speed of the work device 60 based on the construction area of ​​the tunnel 100.

[0044] The tunnel construction area can be stored in the first memory 49 or derived from the calibration results of step S3. As an example, if the tunnel 100 is semicircular and has a radius of 5 m, the peeling length H when construction is performed from the ground to the top of the inner wall of the tunnel 100 is as follows: Peeling length P = 5 x π ÷ 2 = 7.85 m

[0045] Here, if the speed at which the work device 60 rises from the ground to the top of the inner wall of the tunnel 100 is 65 m / min, the time required to peel the inner wall of the tunnel 100 from the ground to the top is as follows: Required time = 7.85 m ÷ 65 m / min = 0.12 min

[0046] Similarly, if the speed at which the work device 60 descends from the top of the inner wall of the tunnel 100 to the ground is 65 m / min, the time required for the work device 60 to make a round trip is 0.24 min.

[0047] 5A and 5B are diagrams showing the area to be peeled off, in which FIG. 5A shows the case where the traveling speed of the traveling device 20 is high (8 m / min), FIG. 5B shows the case where the traveling speed of the traveling device 20 is medium (6 m / min), and FIG. 5C shows the case where the traveling speed of the traveling device 20 is low (4 m / min). Here, the peeling width W of the peeling portion 68 is 1 m (radius 0.5 m).

[0048] As shown in Figure 5(a), when the traveling speed of the traveling device 20 is high (8 m / min), it is possible to peel off area A11 and area A12, and it is possible to peel off area OL1, where area A11 and area A12 overlap, twice. However, there is an area B11 that is not peeled off. Note that the round-trip time required is 0.24 min, so the travel distance L1 of the peeling system 1 using the traveling device 20 is 1.92 m.

[0049] As shown in FIG. 5B, when the traveling speed of the traveling device 20 is medium (6 m / min), it is possible to peel off areas A21 and A22, and it is possible to peel off area OL2, where areas A21 and A22 overlap, twice. Furthermore, area OL2 is larger than area OL1. On the other hand, area B21, which is not peeled off, is smaller than area B11, but still exists. Since the round-trip time is 0.24 min, the travel distance L1 of the peeling system 1 using the traveling device 20 is 1.44 m.

[0050] As shown in FIG. 5C, when the traveling speed of the traveling device 20 is low (4 m / min), it is possible to peel off areas A21 and A22, and it is possible to peel off area OL3, where areas A21 and A22 overlap, twice. Furthermore, area OL3 is larger than area OL2. Note that no area is left unpeeled. Furthermore, because the round-trip time is 0.24 min, the travel distance L1 of the stripping system 1 using the traveling device 20 is 0.96 m, which is smaller than the stripping width W.

[0051] The heavy equipment control device 50 sets the travel speed of the travel device 20 to 4 m / min, which is slower than the movement speed of the work device 60, 6 m / min, so that no area is left unpeeled.

[0052] As described above, the heavy equipment control device 50 sets the travel speed of the traveling device 20 based on the required round trip time, which is the cycle time of the work device 60 , and the peeling width W of the peeling section 68 .

[0053] The heavy equipment control device 50 can set the amount of extension (pressure) of the expansion damper 66, the rotation speed of the peeling motor 67, and other parameters depending on the material of the inner wall of the tunnel 100. Note that in step S3, the heavy equipment control device 50 may peel off a portion of the inner wall of the tunnel 100 and set the amount of extension (pressure) of the expansion damper 66, the rotation speed of the peeling motor 67, and other parameters based on the peeling results. In this case, the amount of extension (pressure) of the expansion damper 66, the rotation speed of the peeling motor 67, and other parameters may be set by the host computer by transmitting the image capture results of an image capture device (not shown) to the host computer, or by the operator. After setting the construction conditions, the heavy equipment control device 50 proceeds to step S5.

[0054] The heavy equipment control device 50 moves the peeling system 1 in the Y direction using the traveling device 20, while rotating the peeling motor 67 and pressing with the expandable damper 66 to peel the inner surface of the tunnel 100 using the peeling unit 68 (step S5). At this time, the heavy equipment control device 50 repeatedly rotates the peeling device 65 using the boom cylinder 54. This allows the heavy equipment control device 50 to continuously peel the inner surface of the tunnel 100.

[0055] The rotation of the peeling device 65 by the boom cylinder 54 may be performed, for example, from the bottom (see FIG. 3(a)) to the top (see FIG. 3(b)) in accordance with the shape of the tunnel 100, and then from the top to the bottom, or the peeling device 65 may be returned to the bottom and then peeled as it rotates upward. Conversely, the peeling device 65 may be rotated from the top to the bottom.

[0056] The heavy equipment control device 50 communicates with an access point within the tunnel 100 using the position detection device 45 to detect the position of the stripping system 1 and to detect whether the end position of the stripping work has been reached (step S6).

[0057] The heavy equipment control device 50 determines whether the stripping work has been completed based on the detection result of step S6 (step S7). If the end position of the stripping work has not been reached, the heavy equipment control device 50 proceeds to step S5 and continues the stripping work. On the other hand, if the end position of the stripping work has been reached, the heavy equipment control device 50 ends the stripping work and ends this flowchart.

[0058] According to the first embodiment, the stripping system 1 is moved in the Y direction by the traveling device 20 while the stripping device 65 performs stripping, thereby shortening the construction period for stripping work. Furthermore, since there is no need to repeatedly accelerate, decelerate, and stop the traveling device 20 as in conventional stripping work, the stripping system 1 can reduce exhaust gas emissions and fuel consumption, thereby achieving stripping work with excellent environmental performance.

[0059] (Modification of First Embodiment) A modification of the operation of the peeling system 1 having the configuration of the first embodiment described above will be described below. In this modification, in step S5 of the flowchart in FIG. 4, the turning device 30 is used to turn the working device 60.

[0060] In the first embodiment, as the traveling device 20 travels, the peeled area (e.g., area A11) becomes a slanted quadrangle as shown in Fig. 5. In this modified example, the heavy equipment control device 50 rotates the swivel device 30 and controls the position of the work device 60 so as to offset the amount of movement in the Y direction by the traveling device 20. As a result, the heavy equipment control device 50 causes the peeled area to become a quadrangle with almost no slant.

[0061] 6A and 6B are diagrams showing a modified example of the first embodiment, illustrating a state in which one peeling system 1 is moving in the Y direction while the turning device 30 is turning. Fig. 6A illustrates the clockwise turning by the turning device 30, Fig. 6B illustrates a reset operation and the clockwise turning, and Fig. 6C illustrates the reset operation. Note that Fig. 6 is drawn for ease of understanding, and some parts differ from the actual movement of the peeling system 1 over time. Areas A41 and A42 surrounded by dotted lines are actually adjacent to each other.

[0062] As shown in Figure 6(a), the stripping work starts at time t = 1, and the stripping system 1 starts moving in the direction of the arrow (+Y direction) by the traveling device 20. At time t = 1, the heavy equipment control device 50 starts rotating the stripping device 65 from the lower side (see Figure 3(a)) to the upper side (see Figure 3(b)) by the boom cylinder 54, and starts rotating the swivel device 30 in the clockwise direction.

[0063] At time t=2, a predetermined time after time t=1, the heavy equipment control device 50 continues to rotate the turning device 30 in the clockwise direction so as to offset the amount of movement in the Y direction by the traveling device 20, and controls the position of the working device 60 to peel off the area A41 surrounded by the dotted line.

[0064] When the peeling device 65 is rotated upward by the boom cylinder 54, the heavy equipment control device 50 performs a reset operation by rotating the swivel device 30 counterclockwise to return the swivel device 30 to the swivel position at the start of construction, time t = 1. Time t = 3 in Figure 6(b) shows the state after the reset operation has ended.

[0065] When the reset operation is completed, the heavy equipment control device 50 starts rotating the peeling device 65 from the upper side to the lower side using the boom cylinder 54, and starts rotating the rotating device 30 in the clockwise direction.

[0066] At time t=4, a predetermined time after time t=3, the heavy equipment control device 50 continues to rotate the turning device 30 in the clockwise direction so as to offset the amount of movement in the Y direction by the traveling device 20, and controls the position of the working device 60 to peel off the area A42 surrounded by the dotted line.

[0067] When the peeling device 65 is rotated downward by the boom cylinder 54, the heavy equipment control device 50 performs a reset operation by rotating the swivel device 30 counterclockwise to return the swivel device 30 to the swivel position at time t = 1. Time t = 5 in Figure 6(c) shows the state after the reset operation has ended.

[0068] In this modified example, the heavy equipment control device 50 performs one cycle from time t=1 to time t=5 to peel off the inner wall of the tunnel 100. Note that during the two reset operations, the heavy equipment control device 50 stops the rotation of the peeling device 65 by the boom cylinder 54.

[0069] 7A and 7B are diagrams showing the peeled area, where FIG. 7A shows the case where the traveling speed of the traveling device 20 is high (8 m / min), and FIG. 7B shows the case where the traveling speed of the traveling device 20 is medium (6 m / min).

[0070] As in the first embodiment described above, the peeling width W of the peeling section 68 is set to 1 m, the peeling length P is set to 7.85 m, the time required to peel the inner wall of the tunnel 100 from the ground to the top is set to 0.12 min, and the time required to peel the inner wall of the tunnel 100 from the top to the ground is set to 0.12 min.

[0071] Here, if the time required for the two reset operations of the turning device 30 is 0.04 min each, the time required for one cycle is 0.32 min as follows: 1 cycle = 0.12 × 2 + 0.04 × 2 = 0.32

[0072] The traveling device 20 moves 2.56 m in 0.32 min at a high speed (8 m / min), resulting in an unpeeled area B41 between areas A41 and A42 where peeling is performed, as shown in Figure 7(a).

[0073] On the other hand, the traveling device 20 moves 1.92 m in 0.32 min at a medium speed (6 m / min). Therefore, as shown in Fig. 7B, an overlapping area OL where the areas A41 and A42 overlap is formed between the areas A41 and A42 where peeling is performed, and no area is left unpeeled.

[0074] Therefore, the heavy equipment control device 50 can set the traveling speed of the traveling device 20 to 6 m / min, which is faster than in the first embodiment. In other words, by rotating the work device 60 using the swivel device 30 as in this modified example, the traveling speed of the traveling device 20 can be increased compared to the first embodiment.

[0075] Here, the drive speed of the boom cylinder 54 is increased so that the time required to peel from the top of the inner wall of the tunnel 100 to the ground surface is reduced from 0.12 min to 0.09 min. This is because it is easier to increase the drive speed by driving the boom cylinder 54 from top to bottom than by driving the boom cylinder 54 from bottom to top.

[0076] In this case, the time required for one cycle is 0.25 min, and since the travel distance is 2 m in 0.25 min at high speed (8 m / min), there is no area that is not peeled. Therefore, the heavy equipment control device 50 can set the travel speed of the traveling device 20 to 8 m / min.

[0077] Similarly, in the first embodiment, if the drive speed of the boom cylinder 54 is increased so that the time required to peel from the top of the inner wall of the tunnel 100 to the ground is reduced from 0.12 min to 0.09 min, one cycle becomes 0.21 (0.12 + 0.09) min, and the heavy equipment control device 50 can set the running speed of the traveling device 20 to 4.7 m / min, thereby increasing the running speed.

[0078] As described above, in this modified example, the heavy equipment control device 50 rotates the swivel device 30 so as to offset the amount of movement in the Y direction by the traveling device 20, thereby making it possible to form the peeling shape into a rectangular shape with almost no inclination and to increase the traveling speed of the traveling device 20. Furthermore, because the driving speed for driving the boom cylinder 54 from above downward is faster than the driving speed for driving the boom cylinder 54 from below upward, it is possible to shorten the time required for one cycle and increase the traveling speed of the traveling device 20.

[0079] In the first embodiment and the modified examples described above, a swing mechanism that rotates the working device 60 about the Z axis may be employed instead of the turning device 30. Even when a swing mechanism is employed, if the swing mechanism is rotated so as to offset the amount of movement in the Y direction by the traveling device 20, the peeling shape can be made rectangular with almost no inclination, and the traveling speed of the traveling device 20 can be increased.

[0080] Second Embodiment A second embodiment will be described below using Fig. 8. The same components as those in the first embodiment are given the same reference numerals, and their description will be omitted or simplified. Fig. 8 is a schematic diagram of a peeling system 1 representing an example of a construction machine representing the second embodiment, with Fig. 8(a) showing a state in which the actuator 18b is retracted and Fig. 8(b) showing a state in which the actuator 18b is extended.

[0081] As shown in Figure 8, the peeling system 1 of the second embodiment has a bogie-type base machine, and the swivel device 30 of the first embodiment is omitted. The traveling device 20 is driven by four tires 14, and may be four-wheel drive. Alternatively, the traveling device 20 may have two or four triangular tracks with one drive wheel and two rollers on the inside, as disclosed in Japanese Patent Application Laid-Open No. 2017-218105.

[0082] The four tires 14 are connected to the central frame 16 via a pair of side frames 17 and a pair of link mechanisms 18 .

[0083] The central frame 16 is a frame located between two drive wheels 22 spaced apart in the Y direction, and is connected to a pair of side frames 17 via a pair of link mechanisms 18. The central frame 16 is connected to the main body device 40.

[0084] The pair of side frames 17 are frames connected to the four tires 14 via bearings (not shown).

[0085] The pair of link mechanisms 18 are Z-shaped or inverted Z-shaped, and include a pair of connecting members 18a, one end of which is connected to the pair of side frames 17 and the other end of which is connected to the central frame 16, and an actuator 18b, one end of which is connected to the connecting member 18a on the central frame 16 side and the other end of which is connected to the connecting member 18a on the side frame 17 side. Two of the pair of connecting members 18a are provided, spaced apart in the Z direction.

[0086] The actuator 18b is provided at an angle and extends and contracts to drive the pair of side frames 17 in the Z direction and the Y direction. By driving the actuator 18b, the heavy equipment control device 50 can change the state in which the actuator 18b is contracted as shown in Fig. 8(a) to the state in which the actuator 18b is extended as shown in Fig. 8(b).

[0087] As a result, the height from the ground to the bottom surface of the main device 40 increases from h1 to h2, and the main device 40 is moved in the vertical direction (+Z direction). Therefore, for example, when the peeling unit 68 does not reach near the top of the tunnel 100, the heavy equipment control device 50 can drive the actuator 18b to extend the actuator 18b as shown in FIG. 8(b), thereby making it possible for the peeling unit 68 to reach near the top.

[0088] Furthermore, by driving the actuator 18b, the width of the two tires 14 in the Y direction narrows from W1 to W2, and the four tires 14 do not protrude from the main body device 40 in the Y direction, making it easier for the peeling system 1 to enter even narrow spaces. Note that the actuator 18b may be of a type that does not drive in the Y direction. Furthermore, a hydraulic jack or an electric jack can be used as the actuator 18b, but is not limited to these.

[0089] In the second embodiment, a turning device 30 for turning the main body device 40 may be provided, or a swing mechanism for turning the working device 60 about the Z axis may be provided. In this way, by turning the turning device 30 or the swing mechanism so as to offset the amount of movement in the Y direction by the traveling device 20, the peeling shape can be made into a square shape with almost no inclination, and the traveling speed of the traveling device 20 can be increased.

[0090] The drive system 10 of the first and second embodiments described above may use hydrogen and a fuel cell instead of an internal combustion engine to drive the stripping system 1. In this case, high-pressure hydrogen gas may be stored in the fuel tank 12 and supplied to the fuel cell. If a drive system 10 that emits fewer greenhouse gases is used, a more environmentally friendly stripping system 1 can be realized.

[0091] REFERENCE SIGNS LIST 1 Peeling system 20 Traveling device 30 Swinging device 40 Main body device 50 Heavy equipment control device 60 Work device 65 Peeling device 68 Peeling unit 69 Distance sensor

Claims

1. a travel device for traveling the main body device provided above; a processing device including a movable part connected to the main body device and movable, and a processing unit connected to the movable part and performing processing; a control device that sets the travel speed of the traveling device in accordance with the processing set by the processing device, and performs processing by the processing device while the traveling device is traveling.

2. 2. The construction machine according to claim 1, wherein the control device sets the operating speed of the movable part to be higher than the traveling speed of the traveling device.

3. 3. The construction machine according to claim 1, wherein the control device sets the travel speed of the traveling device based on a cycle time of the movable part and a processing area of ​​the processing part.

4. 3. The construction machine according to claim 1, wherein the control device sets a first speed at which the movable part moves from below to above to be slower than a second speed at which the movable part moves from above to below.

5. 2. The construction machine according to claim 1, further comprising a distance sensor for detecting the distance between the processing portion and the processing location where the processing is performed.

6. 6. The construction machine according to claim 5, wherein the control device detects the shape of the area to be machined by the distance sensor before the machining is performed.

7. 7. A construction machine according to claim 5, further comprising an extension / contraction section for extending and contracting said processing section.

8. 3. The construction machine according to claim 1, wherein the processing unit processes a part of the processing area where the processing is performed a plurality of times.

9. 3. The construction machine according to claim 1, further comprising a movement device that moves the processing device so as to offset movement in the first direction while the traveling device is traveling in the first direction.

10. 10. The construction machine according to claim 9, wherein the moving device is a swivel device provided between the main body device and the traveling device for swiveling the main body device.

11. The construction machine according to claim 10, wherein the control device changes the direction of rotation of the rotation device after moving the movable part from below to above.

12. 3. The construction machine according to claim 1, further comprising an actuator for moving the main body device in the vertical direction.