JP2003038980A - Controller for crushing mixer for soil improving equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for a crushing mixer for a soil improving equipment which is capable of preventing clogging of raw material soil and efficiently crushing and mixing the raw material soil. SOLUTION: This controller has a load sensor (14) for detecting the load on a first rotary actuator (13) for driving the crushing mixer (7a) and a controller (10) for controlling the rotation command of the first rotary actuator (13) based on the load detected with the load sensor 3754/2414). The controller (10) lowers the speed of the crushing mixer (7a) when the load increases to a prescribed value or above. When the load falls down to the prescribed value or below after the speed of the crushing mixer (7a) is lowered, the controller returns the speed of the crushing mixer (7a) to a prescribed number of revolutions. When the load increases to the prescribed value or above, the speed of a second rotary actuator (19) for driving a raw material soil feeder (8) may be increased.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crushing mixer control device for a soil improvement device.

[0002]

2. Description of the Related Art As a conventional soil improvement device, for example, one described in Japanese Patent Laid-Open No. 9-195266 is known. According to the publication, as shown in FIG. 6, the self-propelled soil improvement device 1 stores raw soil (improved soil) at one end side in the front-rear direction of a vehicle body 3 placed on a crawler-type lower traveling body 2. The first hopper 5 is provided, and below the first hopper 5, a raw material soil supply device 8 such as a belt conveyor that conveys the raw material soil discharged from the first hopper 5 at a predetermined speed is provided. Further, a second hopper 6 for storing the improvement material is mounted on the vehicle body center side with respect to the first hopper 5, and the second hopper 6
The improvement material is discharged from the discharge port 6a provided at the lower part of the above, and is added to the raw material soil conveyed by the raw material soil supply device 8 by a predetermined amount. Further, a crusher 7 is mounted on the upper part of the center of the vehicle body 3 and on the downstream side of the raw soil material feeder 8. A discharge device 9 such as a belt conveyor is placed below the crusher 7, and the improved soil crushed and mixed by the crusher 7 is discharged as a product to the outside by the discharge device 9.

Inside the crusher 7, a soil cutter 7a and a rotary impactor 7b are rotatably provided. The soil cutter 7a is provided at the raw material soil inlet of the disintegrator 7, and rotates a plurality of rotary cutters provided radially from the rotating shaft to crush the raw soil material supplied from the raw soil material supply device 8 and at the same time. And improver. The rotary hitting element 7b is provided on the downstream side of the soil cutter 7a, that is, inside the crusher 7, and further finely crushes and mixes what has been primary crushed and mixed by the soil cutter 7a. The figure shows an example in which a plurality of rotary impactors 7b are provided.

[0004]

However, the conventional soil improvement apparatus has the following problems. Soil cutter 7a to improve the crushing and mixing of the raw material soil
The rotation speed of the (crushing mixer) may be increased. At this time, the mixing property of the raw material soil is improved, but since the rotation speed of the soil cutter 7a is too high depending on the supply speed of the raw material soil supply device 8, stones and the like mixed in the raw material soil are removed.
It becomes difficult to pass a. As a result, the stones stay in front of the soil cutter 7a, the raw soil becomes difficult to flow, and the supply amount is not constant, which leads to a deterioration of the quality of the improved soil and finally the raw soil supply device 8 is clogged with the soil for improvement. It may be difficult to continue the work.

The present invention has been made in view of the above problems, and provides a control device of a crushing mixer for a soil improvement device which can prevent clogging of the raw material soil and efficiently crush and mix the raw material soil. Is intended.

[0006]

[Means for Solving the Problems, Actions and Effects] In order to achieve the above object, a first aspect of the present invention is to provide a raw material soil supply device for supplying a raw material soil and a rotary for crushing and mixing the supplied raw material soil. Type crushing mixer, a first rotary actuator that drives the rotary crushing mixer, a load sensor that detects the load of the first rotary actuator, and a first rotary actuator based on the load detected by the load sensor. A controller for a crushing mixer for a soil improvement device, comprising a controller for controlling a rotation speed.

According to the first invention, the load of the rotary crushing mixer is detected, and the rotation speed of the crushing mixer is controlled based on the magnitude of the load, so that the raw material is provided before the crushing mixer. The soil does not stay and the supply amount does not change, the raw soil can be supplied smoothly and efficiently, and the mixing precision of the improved soil is very good. Furthermore, if it is possible to adjust the time of passage through the rotary crushing mixer based on the duration of the overload condition, the retention of the raw material soil before the crushing mixer can be easily eliminated, so mixing of the improved soil The accuracy becomes even better.

In a second aspect based on the first aspect, the controller outputs a rotation command for reducing the speed of the crushing mixer when the load becomes larger than a predetermined value.

According to the second aspect of the invention, when the load of the crushing mixer becomes large, it is determined that a large stone or the like that is difficult to pass through is caught, and the rotation of the crushing mixer is reduced to facilitate passage. Clogs are removed and raw material soil is supplied smoothly. Therefore, even if the rotation speed of the crushing mixer is high,
If it becomes clogged with stones, etc., it will slow down and make it easier to pass through, so soil improvement work can be done efficiently.

In a third aspect based on the second aspect, the controller sets the speed of the crushing mixer to a predetermined number of revolutions when the load drops below a predetermined value after reducing the speed of the crushing mixer. I'm trying to bring it back.

According to the third aspect of the invention, when the load falls below a predetermined value after the rotation of the crushing mixer is reduced, it is determined that a large stone or the like has passed through the crushing mixer, and the speed of the crushing mixer is set to a predetermined number of revolutions. Since it is returned to the above, it can be crushed and mixed at a speed suitable for the raw material soil at a high speed under a predetermined load condition. Therefore, it is possible to prevent clogging of the raw material soil, and at the same time to supply the raw material soil efficiently and crush and mix it for soil improvement work.

A fourth aspect of the invention is to drive a raw material soil supplying device for supplying the raw material soil, a rotary crushing mixer for crushing and mixing the raw material soil supplied from the raw material soil supplying device, and a rotary crushing mixer. A first rotary actuator, a second rotary actuator that drives the raw soil material supply device, and
A load sensor that detects the load of the rotary actuator of
And a controller for controlling the speed of the second rotary actuator based on the load detected by the load sensor.

According to the fourth aspect of the present invention, the feed rate of the raw material soil feeder is controlled based on the load of the rotary crusher / mixer, so that the raw material soil stays in front of the crusher / mixer and the amount of feed is increased. The material soil can be supplied smoothly and efficiently, and the mixing precision of the improved soil is very good. Furthermore, by controlling the feed rate of the raw material soil based on the duration of the load so that the time for passing through the rotary crushing mixer can be adjusted, the retention of the raw material soil in front of the crushing mixer is eliminated. Since it is easy, the mixing accuracy of the improved soil is further improved.

According to a fifth aspect of the present invention, in the fourth aspect, the controller outputs a command to increase the supply speed of the raw material soil supply device when the load exceeds a predetermined value.

According to the fifth aspect of the present invention, when the load on the crushing mixer becomes large, the feed rate of the raw material soil feeder is increased so that large stones and the like can easily pass through the crushing mixer, thus eliminating clogging. Raw soil is supplied smoothly. Therefore, even if the rotation speed of the crushing mixer is high, stones and the like are not clogged, and soil improvement work can be performed efficiently.

In a sixth aspect based on the fifth aspect, the controller controls the feed rate of the raw material feed device based on the feed rate of the raw material feed device when the load drops below a predetermined value after increasing the feed rate of the raw material feed device. It is configured to return to the speed of.

According to the sixth aspect of the present invention, after increasing the feed rate of the raw soil material feeder, when the load drops below a predetermined value, it is determined that large stones have passed through the crushing mixer, and the raw soil material feeder is operated. Since the feed rate is returned to the original rate, it can be fed at a feed rate suitable for the raw material soil under a normal load. As a result, an appropriate amount of raw material soil can be efficiently supplied without clogging.

A seventh aspect of the present invention is a controller for a crushing mixer for a soil improvement apparatus, which drives a rotary crushing mixer for crushing and mixing raw material soil supplied from a raw material soil supplying apparatus, and a rotary crushing mixer. A first rotary actuator for
A load sensor that detects the load of the rotary actuator of
When a warning means for notifying an operator of an abnormality upon receiving an alarm command and an abnormal load state in which the load detected by the load sensor is a predetermined value or more occurs a predetermined first number of times within a predetermined first determination time, Output a warning command to the warning means,
It is configured to include a controller that warns of the occurrence of an abnormal mixing ratio of stones in the raw material soil.

According to the seventh aspect of the invention, when the abnormal load state occurs the first number of times within the first determination time, the warning means warns that the stone mixing ratio in the raw material soil is abnormal.
The operator can easily know the occurrence of the stone mixing ratio abnormality. For this reason, the operator can immediately perform a procedure such as selecting stones by passing the raw material soil through a sieve, thus preventing the stones from being clogged in the crushing mixer with hard stones, and the degree of wear of the crushing mixer or the like. To reduce the frequency of replacement of the crushing mixer, etc., and to perform efficient work.

In an eighth aspect based on the seventh aspect, the controller outputs a command to stop the raw material soil supply device, instead of outputting the warning command.

According to the eighth aspect of the present invention, instead of the warning command, a command for stopping the raw material soil supplying device is output to stop the work, so that a crushing mixer with hard stones etc. when the work is continued under an abnormal load condition Wear is eliminated, and as a result, the same efficient work can be performed.

In a ninth aspect based on the seventh aspect, the controller outputs the warning command, and further, when the abnormal load state occurs a predetermined second number of times within a predetermined second determination time, The configuration is such that a command to stop the material soil supply device is output.

According to the eighth aspect of the present invention, after the output of the warning command, when the abnormal load state occurs the second number of times within the second determination time, the raw soil material feeder is stopped and the work is stopped. The abrasion of the crushing mixer and the like due to the hard stone during the continuation of the above is eliminated, and as a result, the same efficient work as described above can be performed.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. Here, an example of the self-propelled soil improvement apparatus shown in FIG. 6 will be described as an application machine of the present invention.

The first embodiment will be described with reference to FIGS. First, according to the control configuration block diagram shown in FIG.
The configuration of the control device of the crushing mixer for soil improvement device of the present embodiment will be described. The crushing mixer 7a such as a soil cutter having a rotary cutter is rotationally driven by a rotary actuator 13 such as a hydraulic motor or an electric servomotor, and the rotary actuator 13 is driven by a driving means 12. When the rotary actuator 13 is a hydraulic motor, the drive means 12 is a solenoid operated switching valve, and the controller 1
Based on the command current input from 0, the rotation direction and rotation speed of the hydraulic motor, that is, the rotation of the crushing mixer 7a is controlled. When the rotary actuator 13 is an electric servomotor, the driving means 12 is composed of a servo amplifier, and the speed command signal input from the controller 10 and the speed feedback signal from the rotation sensor (not shown) of the rotary actuator 13 are used. The electric current (that is, drive torque) of the electric servomotor is controlled so that the deviation value becomes smaller on the basis of the deviation value between and, and the rotation direction and the rotation speed, that is, the rotation of the crushing mixer 7a are controlled.

The load sensor 14 detects the load of the crushing mixer 7a, and here the rotary actuator 13 is used.
In the example shown in FIG. That is, in the case of hydraulic drive, the load pressure of the hydraulic motor is detected by the pressure sensor, and in the case of electric drive, the motor current value of the drive means 12 (servo amplifier) is detected by the current sensor. The detected load (pressure value or current value) is output to the controller 10.

The controller 10 is mainly composed of a high-speed arithmetic device such as a microcomputer and a high-speed numerical arithmetic processor, and has a plurality of timers 11, a memory having a predetermined capacity, and an input / output port. The controller 10 is the load sensor 1
4, a detected load signal is input through a predetermined input port, and based on this load, a predetermined calculation process as described below is performed to obtain a rotation command of the rotary actuator 13, and a drive unit is output through a predetermined output port. 12 to control the rotary actuator 13. When it is determined by the predetermined calculation process that the load of the crushing mixer 7a is abnormal or overloaded, a warning command is output to the warning means 17 to notify the operator of this.

The warning means 17 issues a warning based on the above-mentioned warning command. For example, a warning device such as a warning buzzer, a monitor display device such as a patrol light, a lamp display device, a message display device, a graphic display device, or the like, or It is composed of these combinations.

Next, the control processing procedure of the controller 10 according to the present invention will be described with reference to the control flowcharts shown in FIGS. Here, a case where the crushing mixer 7a is hydraulically driven, that is, a case where the rotary actuator 13 is a hydraulic motor and the load sensor 14 is a pressure sensor will be described as an example. The speed of the crushing mixer 7a is controlled in three stages of high speed (H mode), medium speed (M mode), and low speed (L mode).

First, in step S1, the speed of the crushing mixer is set to the H mode (for example, 500 rpm), and the alarm flag is reset. Next, in step S2, the load sensor 14 detects the load P0 of the crushing mixer 7a, and in step S3, this load P0 is the preset abnormality detection load P0.
It is checked whether the abnormality detection load P1 or more is reached from a state smaller than 1 (for example, 8 MPa). And the load P0
Is above the abnormality detection load P1, at step S4,
It is checked whether the load P0 is equal to or higher than the overload set load Pm (for example, 16 MPa). If the load P0 is equal to or higher than the overload set load Pm, a predetermined overload abnormality process (for example,
The crushing mixer 7a and the raw material soil supply device 8 are stopped, and the warning means 17 gives an alarm). If the load P0 is smaller than the overload set load Pm, then step S
In step 5, the timer TM3 starts timing, and in step S6, the timer value of the timer TM3 is a predetermined first determination time T1 (determination time for distinguishing from noise-like load fluctuation, for example, 0.05 s). Or more), that is, whether the load abnormal state of “load P0 ≧ abnormality detected load P1” continues for the first determination time T1 or more.

When T1 or more is continued in step S6, the timer TM3 is stopped and cleared in step S7, and then it is checked in step S8 whether the mode is the current H mode.
If in H mode, the crushing mixer speed is set to M in step S13.
Set the mode (for example, 150 rpm). At this time, the controller 10 outputs a command current corresponding to the M mode to the drive means 12 to control the rotary actuator 13 to rotate at a predetermined medium speed, and the warning means 17 causes an abnormal load state. To inform. The command current corresponding to the M mode is modulated for a predetermined time,
The rotation speed may be smoothly reduced. Thereafter, in the M mode, first, in step S14, the timer TM2 starts counting, the counter n1 is cleared, and the process proceeds to the next step S16. If it is not the H mode in step S8, it is further checked in step S9 whether it is the current M mode. If it is the M mode, the process proceeds to the next step S15. If it is not the M mode, it is determined that the current mode is the L mode. The processing moves to step S40 described below.

In step S15, it is determined that a new load abnormality has occurred in the M mode, and the counter n1
Is incremented by 1, and the timer value of the timer TM2 at this time is stored as Tmn in association with the counter n1. Next, in step S16, the current load P0 is detected,
In step S17, it is monitored that the load P0 becomes smaller than the abnormality detection load P1. Then, while the load P0 continues to be in the state of being equal to or more than the abnormality detection load P1, step S
At 18, the load abnormality is performed a predetermined number of K1 times (for example, 3 times) within the immediately preceding predetermined time T2 (for example, 10 seconds) based on the plurality of counter n1 values and the timer value Tmn stored so far.
Check if it occurs. This check
The K1 time has occurred within a predetermined time T2 from the time when the M mode is entered, or the elapsed time from the past time of the counter n1-k1 + 1 to the current time of the counter n1 is the predetermined time T2.
It is possible by checking whether it is within. When the load abnormality occurs K1 times within the predetermined time T2, the crushing mixer speed is set to the L mode (for example, 75 rpm) in step S19, and then the timer TM2 is stopped and cleared in step S20. , The stored counter n1 value and timer value Tmn are cleared, and the counter n
After clearing 2 and starting the time measurement of the timer TM4, the process returns to step S2 and the above processing is repeated. In the step S18, the load abnormality is K1 within the predetermined time T2.
When it has not occurred, the process waits for the load P0 to become smaller than the abnormality detection load P1 in steps S16 and S17, and when the load P0 becomes smaller than the abnormality detection load P1, the process proceeds to step S21 described later.

In step S6, the abnormal load state is the first
If the judgment time T1 has not been exceeded, step S1
At 0, the current load P0 is detected, and at step S11,
It is checked whether the load P0 is equal to or greater than the abnormality detection load P1, that is, whether the load abnormality state continues, and the abnormality detection load P
When it is 1 or more, the process returns to step S6 again, and the check whether the abnormal load state continues for the first determination time T1 or more is repeated. When the load P0 is smaller than the abnormality detection load P1 in step S11, the timer TM is read in step S12.
After 3 is stopped and cleared, step S21 described later is performed.
Move to.

In step S40, it is checked whether the warning flag is on. If not, step S40
At 41, the counter n2 is incremented by 1, and the timer value of the timer TM4 at this time is stored as Tmn in association with the counter n2. Next, the current load P0 is detected in step S42, and it is monitored in step S43 that the load P0 becomes smaller than the abnormality detection load P1. And
While the load P0 continues to be equal to or more than the abnormality detection load P1, in step S44, based on the plurality of counter n2 values and the timer value Tmn stored so far, the predetermined time T4 immediately before (for example, 10 s). Within a predetermined load abnormal K
Check if it occurs twice (for example, three times). This check is performed for a predetermined time T4 from the time when the L mode is entered.
K2 times occurred within, or counter n2-K2 + 1
This can be done by checking whether the elapsed time from the past time to the current time of the counter n2 is within the predetermined time T4. When the load abnormality occurs K2 times within the predetermined time T4, a warning command is output to the warning means 17 in step S45 to notify the operator of the mixing ratio of the hard stone having a predetermined size or more in the raw material soil. Notify that it is high. Thereafter, in step S46, the warning flag is set and the counter n
The counter n2 value and the timer value Tmn stored as "2" are cleared, the timer TM4 is once cleared, and then the time counting start is performed again, and the process returns to step S2 to repeat the above processing. In step S44, the predetermined time T4
If the load abnormality does not occur K2 times within the time period, wait for the load P0 to become smaller than the abnormality detection load P1 in steps S42 and S43, and if it becomes smaller than the abnormality detection load P1, proceed to step S21 described later. To migrate.

When the warning flag is ON in step S40, the counter n2 is incremented by 1 in step S51, and the timer value of the timer TM4 at this time is set to Tm.
It is stored as n in association with the counter n2. Next, in step S52, the current load P0 is detected, and in step S5
At 3, the load P0 is monitored to be smaller than the abnormality detection load P1. Then, while the load P0 continues to be in a state of being equal to or greater than the abnormality detection load P1, in step S54, based on the plurality of counter n2 values and the timer value Tmn stored so far, the immediately preceding predetermined time T5 (for example, It is checked whether a load abnormality has occurred within a predetermined number of K3 times (for example, 3 times) within 10 seconds. This check is whether or not the K3 time has occurred within a predetermined time T5 from the time when the L mode is set,
Or counter n2-K3 + 1 from the past point in time to counter n2
This can be done by checking whether the elapsed time up to the present time is within the predetermined time T5. When the load abnormality occurs K3 times within the predetermined time T5, step S5
In step 5, since the state where the mixing ratio of the hard stones of the raw material soil is high continues, the raw material soil supply device 8 is stopped and a warning command is output to the warning means 17 to notify the operator of the stop of the raw material soil supply device 8. To do. After this, this processing ends. If the load abnormality does not occur K3 times within the predetermined time T5 in step S54, the load P0 is determined in steps S52 and S53.
Wait until the load becomes smaller than the abnormality detection load P1, and if it becomes smaller than the abnormality detection load P1, step S2 to be described later.
The processing shifts to 1.

If the load P0 is smaller than the abnormality detection load P1 in step S3, it is checked in step S21 if the mode is the current H mode. If the mode is the H mode, the process returns to step S2 to repeat the above process. , In step S22, the timer TM1 starts counting. Then, in step S23, it is the third state that the timer value of TM1 is equal to or longer than the predetermined third determination time T3 (for example, 5 s), that is, the load P0 is smaller than the abnormality detection load P1.
It is checked whether the judgment time T3 or more has continued, and if the judgment time T3 or more has continued, M, L in step S24.
Cancel the mode and set it to H mode
Stop, clear 4, reset the alarm flag,
After this, the process returns to step S2 and the above process is repeated. At this time, when the controller 10 outputs the command current corresponding to the H mode to the driving means 12, the command current is modulated for a predetermined time so that the speed of the crushing mixer 7a can be smoothly increased. Good.

In step S23, if not, the current load P0 is newly detected in step S25, and this load P0 is detected as the abnormality detection load P1 in step S26.
It is checked whether or not the above is satisfied, and if the state in which the load P0 is smaller than the abnormality detection load P1 continues, the process returns to step S23 and the process is repeated. When the load P0 becomes equal to or greater than the abnormality detection load P1, step S2
In step 7, the timer TM1 is stopped and the timer value is cleared, and then the process proceeds to step S4.

The operation of the above configuration will be described with reference to the time chart shown in FIG. In FIG. 4, (a)
Is the load P0 of the crushing mixer 7a, and (b) is the crushing mixer 7
The speed V of a, (c) is the counter n1 value described in the above flowchart, (d) is the counter n2 value, (e)
Represents an alarm output, and (f) represents a stop command output of the raw material soil supply device 8. In the following description, each process is compared with the step numbers in the flowcharts shown in FIGS.

Now, it is assumed that the speed of the crushing mixer 7a is set to the H mode. In this state, time t shown in the figure
1, the load P0 of the crushing mixer 7a is a predetermined abnormality detection load P
If it becomes 1 or more, it is confirmed that it is not an overload abnormality (that is, smaller than the overload set load Pm) (step S4).
After that, it is checked whether the load abnormality state of the abnormality detection load P1 or more continues for the first determination time T1 or more, and it is confirmed whether or not it is a momentary increased noise-like load variation.
(Steps S5, 6, 10, 11,) If the first judgment time T1 or more continues, it is judged that one load abnormality has occurred, and the speed of the crushing mixer 7a is reduced from the H mode to the M mode ( (S8, 13), and further, as the initial processing in the M mode, the timer TM2 starts counting and the counter n1 is cleared (counter n1 value = 0). (Step S14)

Next, when the load P0 falls below the abnormality detection load P1 (steps S16, 17), it is checked whether the state smaller than the abnormality detection load P1 continues for the third determination time T3 or longer. (Steps S21, 22, 23, 2
5, 26) This process is a condition check for canceling the M and L modes. Then, at the time point t2 shown in the figure, the state smaller than the abnormality detection load P1 has continued for the third determination time T3 or longer, so the M mode is canceled and the H mode is restored. (Step S24)

In the H mode, when the load P0 becomes equal to or higher than the abnormality detection load P1 again at the time points t1a and t1b, the mode is set to the M mode by the same process as at the time point t1 and the counter n1 is set to 0. After load P0 is the abnormal detection load P
If the value falls below 1, it is checked whether the state smaller than the abnormality detection load P1 continues for the third determination time T3 or longer, as described above. At this time, if the load P0 again becomes equal to or more than the abnormality detection load P1 at the time point t3 or the time point t3b before continuing for the third determination time T3 or more (steps S26 and 27), it is confirmed that the load does not change like noise (step S5). , 6, 1
0, 11), the counter n1 is incremented by 1 and set to 1, and the timer value of the timer TM2 at this time is set to T.
Stored as m1 in association with the counter n1 value 1.
(Steps S7, 8, 9, 15) After that, similarly, M
Every time a new load abnormality occurs in the mode, the counter n1
Is incremented by 1 and the timer value of the timer TM2 at this time is stored as Tmn in association with the counter n1 value.

Then, in the M mode, while monitoring that the load P0 becomes smaller than the abnormality detection load P1 (steps S16, 17), the plurality of counter n1 values and the timer value Tmn stored so far are set. Based on this, it is checked whether or not the load abnormality has occurred K1 times within the predetermined time T2 immediately before the present time after the shift to the M mode. (Step S
18) At this time, if it is determined that the load abnormality occurs K1 times (K1 = 3 in FIG. 4) within the predetermined time T2 at the time point t4 or the time point t4b shown in the figure, the crushing mixer speed is set to the L mode (step S19). ), The timers TM2 and TM3 are stopped and cleared, the stored counter n1 value and timer value Tmn are cleared, further, the counter n2 is cleared (counter n2 value = 0), and the timer TM4 is timed and started. The M mode processing ends. (Step S2
0)

Next, in the L mode, from the time t5 or t5b when the detected load P0 becomes smaller than the abnormality detected load P1, the condition check for canceling the L mode, that is, the detected load P0 is higher than the abnormality detected load P1. It is checked whether the small state continues for the third determination time T3 or longer. (Steps S3, 21, 22, 23, 25, 26) and
When this condition is satisfied (at time t5c in the figure), the L mode is released and the H mode is restored. (Step S24)

Also, from the time when the L mode is entered, the occurrence of an abnormal load state in which the state in which the detected load P0 is equal to or greater than the abnormal detected load P1 continues for the first determination time T1 or longer is checked as described above (steps S2, 3). , 5, 6, 10, 11),
The number of occurrences is counted by the counter n2, and the value of the counter n2 at this time and the timer value Tmn of the timer TM4 are sequentially stored. (Steps S9, 40, 41) Then, it is checked whether an abnormal load has occurred a predetermined number of K2 times (K2 = 3 in the figure) within the predetermined time T4 (Step S4).
2, 43, 44), when an abnormal load occurs K2 times (t6 in the figure), an alarm command is output to the alarm means 17,
Inform the operator that the rate of inclusion of large hard stones is high, and thus encourage the raw soil to be screened.
(Step S45) In addition, the warning means 17 notifies by a horn, a patrol light, or the like based on the above-mentioned alarm command, and preferably displays a message such as "please select with a sieve" on the display. Once the warning command is output, the warning flag is set, the counter n2 is cleared, and the timer TM4 is restarted for counting. (Step S46)
Instead of outputting the warning command to the warning means 17, a stop command may be output to the raw material soil supply device 8 immediately.

After that, the occurrence of the abnormal load is checked in the same manner as above, and the number of occurrences is counted by the counter n2.
The counter n2 value at this time and the timer value Tmn of the timer TM4 are sequentially stored. (Steps S9, 40, 51) Next, it is checked whether an abnormal load has occurred a predetermined number of K3 times (K3 = 3 in the figure) within a predetermined time T5 (Steps S52, 53, 54), and the abnormal load is K.
At the time of occurrence three times (t7 in the figure), the raw material soil supply device 8 is stopped, and an alarm command is output to inform the operator that the condition is abnormal due to the continued high rate of hard stone mixing. After that, the operator restarts the work after treating the raw material soil by sieving so as to supply the one from which large stones have been removed.

On the other hand, the load abnormality at the time points t8 and t9 is regarded as noise load fluctuation because the duration of the load abnormality state is shorter than the first judgment time T1, and the crushing mixer speed is H.
It stays in mode. (Steps S6, 10, 11, 1
2)

With the configuration described above, the following actions and effects can be obtained. When the load equal to or greater than the predetermined abnormality detection load P1 continues for the predetermined first determination time T1 or more, it is determined that the rotating cutter of the crushing mixer 7a hits a large stone to cause the load abnormality, and the crushing mixer 7a rotates. Since the speed is reduced by the predetermined speed, the time during which the stone can pass between the cutters of the rotary cutter becomes long, so that the stone easily passes without hitting the rotary cutter. Therefore, the abnormal load condition is easily resolved, stones can be prevented from staying in front of the crushing mixer 7a, the raw material soil can be prevented from being clogged, and the raw material soil can be smoothly supplied. Can be improved. Further, even if the crushing mixer 7a rotates at a high speed, the rotation speed is automatically reduced when it is about to be clogged with stones, so the stones can easily pass through and the raw material soil can be supplied smoothly and the soil quality can be improved efficiently. Can be improved.

At this time, the size and the degree of clogging of the stone are judged by the speed of the crushing mixer 7a and the number of times of load abnormality occurring at that time, and the speed of the crushing mixer 7a is determined by the size of the stone and the degree of clogging. It is set. For example, at a high speed (H mode), if one load abnormality occurs, it is determined that there is a stone of a predetermined size, and the speed is lowered to a medium speed (M mode), and at a medium speed (M mode), during a predetermined time T2 in the past. Load abnormality occurs K1 times within a predetermined time T2 (3 times in the above example)
If it occurs, it is determined that there is a larger stone and the speed is lowered to a lower speed (L mode). Therefore, since the speed of the crushing mixer 7a is set according to the size of the stone, it is possible to prevent the stone from staying more easily and reliably, and it is possible to perform an efficient soil improvement work without clogging with the raw material soil.

Here, in the M mode, it is checked whether or not a load abnormality has occurred a predetermined number of times within a predetermined time T2 from the present time, because the crushing mixer 7a becomes clogged by the rotating cutter when the speed becomes lower. Is easier to solve,
This is because it is uncertain whether or not a load abnormality has occurred if it occurs only once. Therefore, as described above, by checking whether or not it has occurred a plurality of times during the past of the predetermined time T2, the crushing mixer 7a will not be unnecessarily slowed down when the load is not abnormal, and thus more efficient. You can perform various soil improvement work. 1
Even if the crushing mixer 7a is set to a lower speed (for example, from the M mode to the L mode) due to the occurrence of the load abnormality only once,
The abnormal load condition can be released. Therefore, when the H mode is set to the M mode, the switching may be performed only once when the load abnormality occurs as in the above example, or may be switched when the load abnormality occurs a predetermined number of times within a predetermined time.

After reducing the speed of the crushing mixer 7a to the M or L mode, if the load for which the abnormality detection load P1 or higher does not occur continues for a predetermined third determination time T3 or longer, the clogged stone has passed. Therefore, the speed of the crushing mixer 7a is returned to the original high speed, so that the crushing mixer 7a can always perform high speed crushing and mixing at a speed suitable for the raw material soil under a load below a predetermined load. Therefore, soil improvement work can be performed efficiently.

Further, when the stone clogging is released (in the above example, in the L mode), if the load abnormality occurs K2 times within a predetermined time T4, the raw material soil is It is determined that hard stones of a predetermined size or more are mixed in more than the allowable amount, or because the stones are hard stones, the cutter of the crushing mixer 7a is determined to be slipping. Therefore, if the state is continued, the crushing mixer 7a is crushed by the hard stone.
The degree of wear of the cutter and the hammer of the rotary impactor 7b is severe, and the crushing mixer 7a and the rotary impactor 7b are frequently replaced. Therefore, the warning means 17 notifies the operator that the mixing ratio of hard stones is high, and prompts the operator to remove large hard stones in the raw material soil with a sieve or the like. As a result, the operator can understand the abnormality of the mixing ratio of large hard stones in the raw material soil and immediately perform the processing for dealing with it.
Efficient work can be performed by reducing the replacement frequency of the crushing mixer 7a and the rotary impactor 7b.

Even after the above warning, if the load abnormality further occurs a predetermined number of times K within the predetermined time T5, it is determined that the abnormality of the mixing ratio of large hard stones has not been improved, and the raw material soil is immediately thereafter. The supply device 8 is stopped to stop the work, and the warning means 17 notifies the operator of the abnormal stop due to the high mixing ratio of hard stones. As a result, wear of the crushing mixer 7a and the rotary impactor 7b is prevented,
The durability can be improved. Incidentally, as described above, instead of outputting the warning command to the warning means 17, the stop command may be output to the raw material soil supplying device 8 immediately, which allows the crushing mixer 7a and the rotary impactor 7b to operate similarly to the above. Wear can be prevented and durability can be improved.

In the above embodiment, when a load abnormality of K2 occurs a predetermined number of times within a predetermined time T4 in the L mode, it is determined that the mixing ratio of hard stones is high and an alarm is output.
Furthermore, after this, when the load abnormality of K3 occurs a predetermined number of times within a predetermined time T5, the raw soil material supplying device 8 is stopped. However, it is not limited to the L mode, and for example, in the H mode or the M mode, Alternatively, regardless of the mode, an alarm may be output by the same determination processing as above, and then the raw material soil supply device 8 may be stopped. At this time, the judgment of switching from the H mode to the M mode or the judgment of switching from the M mode to the L mode does not overlap with the judgment of the alarm output and the stop of the post-material soil supply device 8, that is, it functions effectively. As described above, the predetermined times T4, T5 and the predetermined number of times K
Set the values of 2, K3 (for example, T4, T5> T2)
I shall. Further, the condition for releasing the M and L modes and returning to the H mode (for example, the condition that the load smaller than the predetermined value P1 continues for the predetermined determination time T3 or more) is the predetermined time T4.
(However, when the condition is not satisfied within T4> T3), the alarm output may be performed.

Next, a second embodiment will be described with reference to FIG. FIG. 5 is a control configuration block diagram of the present embodiment.
Here, only the configuration different from that of the first embodiment will be described. The raw soil material supplying device 8 including a conveyor and a feeder is driven by a rotary actuator 19 such as a hydraulic motor or an electric servomotor, like the crushing mixer 7a, and the rotary actuator 19 is driven by a driving means 18. Depending on the type of hydraulic motor or electric servomotor of the rotary actuator 19, the drive means 18 is composed of a solenoid operated switching valve or servo amplifier like the drive means 12, and is based on a command current or speed command signal input from the controller 10. The rotation direction and rotation speed of the motor, that is, the raw material soil supply device 8 is controlled.

In the present embodiment, when a load abnormality occurs in the crushing mixer 7a, the controller 10 keeps the speed of the crushing mixer 7a constant instead of decreasing the speed of the crushing mixer 7a, and supplies the raw material soil supplying device 8 with the same speed. I try to increase the speed. That is, the process of “setting the speed of the crushing mixer 7a to high speed (H mode)” described in the first embodiment is “a predetermined normal speed (the speed of supply of the raw material soil supply device 8 is adapted to the raw material soil). "Set to normal mode" processing, "crushing mixer 7a
Is set to a medium speed (M mode) "processing is to" set the supply speed of the raw material soil supply device 8 to a first high speed (first high speed mode) which is faster than the normal speed by a predetermined value ". Further, the process of "setting the speed of the crushing mixer 7a to a low speed (L mode)" is performed by the second high speed (second high speed) in which the supply speed of the raw material soil supplying device 8 is higher than the first high speed by a predetermined value.
Set to high speed mode) ".

As a result, even if the stone is about to be clogged in the crushing mixer 7a, the raw material soil supply device 8 conveys it at a higher speed according to the size (length) and the degree of the stone, and the stone is crushed. It becomes easy to pass between the rotary cutters of the mixer 7a at high speed. Therefore, the same action and effect as those of the first embodiment can be obtained, and the soil improvement work can be efficiently performed without clogging of the raw material soil.

In the embodiments described so far, the speed of the crushing mixer 7a or the speed of the raw material soil supply device 8 is controlled by dividing it into three modes of high, medium and low, but the present invention has three levels. The present invention is not limited to this, but the point is that the control may be performed by dividing the mode into a plurality of modes. In addition, when switching between the modes, the number of occurrences of the abnormal load state may be confirmed once or a plurality of times. Further, in the process of transitioning between the respective modes, the mode is switched when the load abnormal state occurs a predetermined number of times within a predetermined time, but the load abnormal state occurs a predetermined number of times or more during the predetermined time. Then, the mode may be started after the predetermined time has elapsed. In the above embodiment, the load of the crushing mixer 7a is detected based on the load pressure of the hydraulic drive source (hydraulic motor), but the present invention is not limited to this. In the case of etc., it may be performed based on the drive current. Further, the crushing mixer 7a is not limited to one having a rotary cutter,
For example, it may have a rotary impactor that crushes and crushes the raw material soil for mixing.

As described above, the present invention has the following effects. In a soil improvement device that supplies raw soil with a raw soil supply device (conveyor, feeder, etc.) and crushes and mixes it with a crushing mixer to produce improved soil, stones mixed in the raw soil are in front of the crushing mixer. When it stays and the rotation load of the crushing mixer increases, the rotation speed of the crushing mixer is slowed down, or the supply speed of the raw material soil feeder is increased,
Since the stones easily passed through the crushing mixer, clogging of the raw material soil due to stagnant stones is eliminated, the raw material soil can be smoothly supplied, and high-quality improved soil can be produced. In addition, even if a load abnormality due to stone clogging is likely to occur when the crushing mixer is operated at high speed, the speed of the crushing mixer or the raw material soil feeder is automatically changed as described above, and the stone is quickly Since it can be passed through the crushing mixer to eliminate the load abnormality, soil improvement work can be efficiently performed at a speed suitable for the raw material soil. Further, since the speed of the changed crushing mixer or the raw material soil supply device is restored after the above-mentioned load abnormality is eliminated, the soil improvement work can always be performed efficiently at a speed suitable for the raw material soil.

[Brief description of drawings]

FIG. 1 is a control configuration block diagram according to a first embodiment of the present invention.

FIG. 2 is a control flowchart (first half) according to the first embodiment of the present invention.

FIG. 3 is a control flowchart (second half) according to the first embodiment of the present invention.

FIG. 4 is a time chart explaining the operation of the first embodiment.

FIG. 5 is a control configuration block diagram according to a second embodiment.

FIG. 6 is a side view of the soil improvement device.

[Explanation of symbols]

1 ... soil improvement device, 5 ... first hopper, 6 ... second hopper,
7 ... Crusher, 7a ... Crushing mixer (soil cutter), 7b
... Rotary striker, 8 ... Raw material soil supply device, 10 ... Controller, 1
DESCRIPTION OF SYMBOLS 1 ... Timer, 12 ... Driving means, 13 ... Rotation actuator, 14 ... Load sensor, 17 ... Warning means, 18 ... Driving means, 19 ... Rotation actuator.

Claims (9)

[Claims] 1. A rotary crushing mixer (7a) for crushing and mixing the raw material soil supplied from the raw material soil supplying device (8) in a control device of the crushing mixer for soil improvement apparatus, and a rotary crushing mixer. A first rotary actuator (13) for driving (7a), a load sensor (14) for detecting the load of the first rotary actuator (13), and a first rotary actuator based on the load detected by the load sensor (14). And a controller (10) for controlling the rotation speed of a rotary actuator (13) of the above. 2. The control device for the crushing mixer for soil improvement device according to claim 1, wherein the controller (10) controls the speed of the crushing mixer (7a) when the load exceeds a predetermined value. A controller for a crushing mixer for a soil improvement device, which is characterized in that it outputs a rotation command to reduce the temperature. 3. The control device for the crushing mixer for soil improvement device according to claim 2, wherein the controller (10) reduces the speed of the crushing mixer (7a) and then the load is below a predetermined value. A control device for a crushing mixer for a soil improvement device, characterized in that the speed of the crushing mixer (7a) is returned to a predetermined number of revolutions when the temperature has dropped to 10. 4. A control device for a crushing mixer for a soil improvement device, wherein a raw material soil supply device (8) for supplying the raw material soil and the raw material soil supplied from the raw material soil supply device (8) are crushed and mixed. Rotary crushing mixer (7a), first rotary actuator (13) that drives the rotary crushing mixer (7a), and second rotary actuator (19) that drives the raw soil supply device (8) A load sensor (14) for detecting the load of the first rotary actuator (13), and a controller for controlling the speed of the second rotary actuator (19) based on the load detected by the load sensor (14) (10) A control device for a crushing mixer for a soil improvement device, comprising: 5. The control device for a crushing mixer for a soil improvement device according to claim 4, wherein the controller (10) controls the raw soil supply device (8) when the load exceeds a predetermined value. A control device for a crushing mixer for a soil improvement device, which is characterized by outputting a command to increase a supply speed. 6. The control device for a crushing mixer for a soil improvement device according to claim 5, wherein the controller (10) makes the load a predetermined value after increasing the supply speed of the raw soil supply device (8). When it goes down below,
A control device for a crushing mixer for a soil improvement device, characterized in that the feed rate of a raw material soil feeder (8) is returned to the original rate. 7. A crushing mixer (7a) for crushing and mixing the raw material soil supplied from the raw material soil supplying device (8) in a control device of the crushing mixer for soil improvement apparatus, and a rotary crushing mixer. A first rotary actuator (13) for driving (7a), a load sensor (14) for detecting the load of the first rotary actuator (13), and warning means for notifying an operator of an abnormality upon receiving an alarm command.
(17) and an abnormal load state in which the load detected by the load sensor (14) is equal to or greater than a predetermined value, the predetermined first judgment time (T4)
When the number of times (K2) occurs, a warning command is output to the warning means (17), and a controller (10) is provided to warn of the occurrence of an abnormal mixing ratio of stones in the raw material soil. Control device of crushing mixer for soil improvement equipment. 8. The control device for a crushing mixer for a soil improvement device according to claim 7, wherein the controller (10) replaces the output of the warning command with a command to stop the raw material soil supply device (8). A control device for a crushing mixer for soil improvement equipment, which is characterized in that 9. The control device for a crushing mixer for a soil improvement device according to claim 7, wherein the controller (10) further outputs the warning command and then outputs a second judgment time in which the abnormal load state is a predetermined value. When a predetermined second number (K3) occurs within (t5), a command to stop the raw material soil supply device (8) is output. .