JP2003193507A - Self-running soil texture improving machine and soil texture improving material controller used in the same - Google Patents

Self-running soil texture improving machine and soil texture improving material controller used in the same

Info

Publication number
JP2003193507A
JP2003193507A JP2001399946A JP2001399946A JP2003193507A JP 2003193507 A JP2003193507 A JP 2003193507A JP 2001399946 A JP2001399946 A JP 2001399946A JP 2001399946 A JP2001399946 A JP 2001399946A JP 2003193507 A JP2003193507 A JP 2003193507A
Authority
JP
Japan
Prior art keywords
soil
soil improvement
improvement material
self
feeder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2001399946A
Other languages
Japanese (ja)
Inventor
Satoshi Sekino
聡 関野
Takashi Moro
茂呂  隆
Tetsuya Nishida
鉄也 西田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to JP2001399946A priority Critical patent/JP2003193507A/en
Publication of JP2003193507A publication Critical patent/JP2003193507A/en
Pending legal-status Critical Current

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Landscapes

  • Mixers With Rotating Receptacles And Mixers With Vibration Mechanisms (AREA)
  • Accessories For Mixers (AREA)
  • Consolidation Of Soil By Introduction Of Solidifying Substances Into Soil (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-running soil texture improving machine capable of precisely supplying a large amount of soil texture improving material for a large amount of sediment to ensure quality of improved soil so as to provide a soil texture improving material controller used in the same. <P>SOLUTION: This self-running soil texture improving machine for improving soil texture by mixing received sediment with the soil texture improving material is provided with a hydraulic drive type driving device 33, a control valve 50 controlling the flow of pressure oil into the driving device 33, a feeder driven by the driving device 33 to supply the soil texture improving material to sediment, a rotation number detector 53 detecting the number of revolutions of the driving device 33 and detecting a supply amount of the soil texture improving material by the feeder, and a computation output part 54b for computing a compensation value in accordance with deviation between a value detected by the rotation number detector 53 and a target value of a supply amount of the soil texture improving material set in advance and compensating and outputting a control signal to a solenoid 50d or a solenoid 50e of the control valve 50 based on the compensation value. <P>COPYRIGHT: (C)2003,JPO

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【発明の属する技術分野】本発明は、改質対象となる土
砂を受け入れて土質改良材と混合し改質する自走式土質
改良機及びこれに用いる土質改良材制御装置に係わるも
のである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled soil conditioner that receives soil to be modified, mixes it with a soil conditioner and reforms it, and a soil conditioner control device used therefor.

【0002】[0002]

【従来の技術】近年、建設省によるいわゆる建設リサイ
クル推進計画の策定(1997年)といった廃棄物再利
用促進の背景の下、例えば特開2000−45263号
公報等に記載のように、建設現場で発生した建設発生土
等を土質改良材と混合して改質する自走式土質改良機が
既に多数提唱されている。
2. Description of the Related Art In recent years, under the background of promoting the reuse of waste such as the establishment of a so-called construction recycling promotion plan by the Ministry of Construction (1997), as described in, for example, Japanese Unexamined Patent Publication No. 2000-45263, Many self-propelled soil improvement machines have already been proposed, which mix the soil generated by construction with the soil improvement material to modify it.

【0003】この種の自走式土質改良機において、通
常、土質改良材は予め貯留タンク内に貯留され、フィー
ダ(例えばロータリフィーダ等)により土砂に供給され
るようになっている。そして、このフィーダは、自走式
土質改良機に搭載された動力装置(パワーユニット)を
動力源とした電動モータで駆動されるのが一般的であっ
た。
In this type of self-propelled soil improvement machine, the soil improvement material is usually stored in advance in a storage tank and supplied to the earth and sand by a feeder (for example, a rotary feeder). Then, this feeder is generally driven by an electric motor using a power unit (power unit) mounted on the self-propelled soil improvement machine as a power source.

【0004】[0004]

【発明が解決しようとする課題】従来、自走式土質改良
機は、主に建設発生土等からリサイクル用の改良土製品
を生産するために用いられることが一般的であった。と
ころが、最近では自走式土質改良機の用途は拡大傾向に
あり、改良土製品の生産の他にも、例えば、いわゆる表
層地盤安定化処理等といった作業に用いられるケースが
生じてきている。表層地盤安定化処理では、例えば宅地
建設用地等の表層の土砂を掘削し、その場で改質して埋
め戻したり、道路建設用地等で現場内で掘削した土砂を
その場で改質し路床材として敷設するといった作業が行
われる。従って、こうした作業を行うにあたり、自走式
土質改良機には、その場で大量の土砂を迅速に改質する
だけの土砂処理能力が要求され、土質改良材の供給能力
の向上が不可欠となる。
Conventionally, a self-propelled soil improvement machine has been generally used mainly for producing improved soil products for recycling from soil generated from construction or the like. However, recently, the applications of self-propelled soil improvement machines have been expanding, and in addition to the production of improved soil products, there are cases in which they are used for work such as so-called surface ground stabilization treatment. In the surface layer ground stabilization treatment, for example, the earth and sand in the surface layer of a land for construction of a residential land, etc. are excavated and modified on site to backfill, or the earth and sand excavated on site at the site for road construction etc. is modified on the site. Work such as laying as flooring is performed. Therefore, in carrying out such work, the self-propelled soil improvement machine is required to have a sediment treatment capacity that can rapidly modify a large amount of sediment on the spot, and it is essential to improve the supply capacity of the soil improvement material. .

【0005】しかしながら、土質改良材の供給能力を向
上させるため、フィーダを駆動する電動モータを大型化
した場合、自走式土質改良機に搭載した動力装置では、
大型の電動モータを駆動するだけの動力を十分に確保す
ることは困難である。そこで、上記フィーダの駆動装置
を電動モータに代え、油圧モータにすることが考えられ
るが、油圧モータの場合、ヒステリシスの影響が大きく
入出力間に10%程度の誤差が生じてしまう場合があ
る。つまり、目標とする土質改良材の供給量を狙って指
令信号を出力しても、実際の土質改良材の供給量は、目
標値と大きくずれてしまう可能性がある。このように、
土質改良材供給量の増大を図るにあたって、フィーダを
油圧モータで駆動しようとすると、土砂と土質改良材と
の混合比を適正に制御することが難しくなり、所望の性
状の改良土が生成できなくなる結果、改良土の品質が低
下するといった新たな問題が発生する。
However, in the case of enlarging the electric motor for driving the feeder in order to improve the supply capacity of the soil improvement material, in the power unit mounted on the self-propelled soil improvement machine,
It is difficult to secure sufficient power to drive a large electric motor. Therefore, it is conceivable to use a hydraulic motor instead of the electric motor as the drive device of the feeder. However, in the case of a hydraulic motor, the influence of hysteresis is large and an error of about 10% may occur between input and output. That is, even if the command signal is output aiming at the target supply amount of the soil improvement material, the actual supply amount of the soil improvement material may be largely deviated from the target value. in this way,
If an attempt is made to drive the feeder with a hydraulic motor in order to increase the amount of soil improvement agent supplied, it will be difficult to properly control the mixing ratio of the soil and soil improvement agent, and it will not be possible to produce improved soil with the desired properties. As a result, new problems occur such that the quality of the improved soil deteriorates.

【0006】本発明は、上記の事柄に基づいてなされた
ものであり、その目的は、大量の土砂に対して大量の土
質改良材を精度良く供給し、改良土の品質を確保するこ
とができる自走式土質改良機及びこれに用いる土質改良
材制御装置を提供することにある。
The present invention has been made on the basis of the above matters, and an object thereof is to supply a large amount of a soil improvement material to a large amount of earth and sand with high precision and ensure the quality of the improved soil. An object is to provide a self-propelled soil improvement machine and a soil improvement material control device used therefor.

【0007】[0007]

【課題を解決するための手段】(1)上記目的を達成す
るために、本発明は、受入れた改質対象土砂を土質改良
材と混合して改質する自走式土質改良機において、油圧
駆動式の駆動装置と、この駆動装置への圧油の流れを制
御する制御弁と、前記駆動装置により駆動され、前記土
質改良材を前記改質対象土砂に供給するフィーダと、こ
のフィーダによる土質改良材の供給量を検出する第1の
検出手段と、この第1の検出手段の検出値と、予め設定
した土質改良材供給量の目標値との偏差に応じて補正値
を演算し、この補正値を基に前記制御弁への制御信号を
補正して出力する演算出力手段とを備える構成とする。
[Means for Solving the Problems] (1) In order to achieve the above object, the present invention is directed to a self-propelled soil improvement machine that mixes the received soil to be reformed with a soil improvement agent and reforms it. Drive type drive device, control valve for controlling the flow of pressure oil to the drive device, feeder driven by the drive device to supply the soil improvement material to the soil to be modified, and soil quality by the feeder A first detection means for detecting the supply amount of the improvement material, a correction value is calculated according to a deviation between a detection value of the first detection means and a preset target value of the soil improvement material supply amount. And a calculation output unit for correcting and outputting the control signal to the control valve based on the correction value.

【0008】本発明においては、土質改良材の供給量の
検出値と、予め設定した土質改良材供給量の目標値との
偏差に応じて補正値を演算し、この補正値を基に、フィ
ーダを駆動制御する制御弁への制御信号を補正して出力
することにより、実際の土質改良材の供給量を目標とす
る土質改良材の供給量に近付けることができる。つま
り、実際の土質改良材の供給量(検出値)と目標値との
間に偏差が生じた場合、演算出力手段は、その偏差に応
じて制御信号を補正して制御弁に出力し、制御弁の開度
を調整する。これにより、駆動装置への圧油の流量が変
化し、駆動装置の駆動速度が変化するので、土質改良材
供給量が、目標値に向かって増大又は減少する。そし
て、随時或いは所定の時間間隔でこうした制御を繰り返
すことにより、実際の土質改良材の供給量を目標値に追
従させることができる。従って、大量の土砂に対して大
量の土質改良材を精度良く供給することができ、その結
果、改良土の品質を確保することができる。
In the present invention, the correction value is calculated according to the deviation between the detected value of the soil improvement material supply amount and the preset target value of the soil improvement material supply amount, and the feeder is based on this correction value. By correcting and outputting the control signal to the control valve for driving and controlling, the actual supply amount of the soil improvement material can be brought close to the target supply amount of the soil improvement material. That is, when a deviation occurs between the actual supply amount (detected value) of the soil improvement material and the target value, the calculation output means corrects the control signal according to the deviation and outputs it to the control valve for control. Adjust the valve opening. As a result, the flow rate of the pressure oil to the drive device changes and the drive speed of the drive device changes, so that the soil improvement material supply amount increases or decreases toward the target value. Then, by repeating such control at any time or at predetermined time intervals, it is possible to make the actual supply amount of the soil improvement material follow the target value. Therefore, a large amount of soil improvement material can be accurately supplied to a large amount of soil, and as a result, the quality of the improved soil can be secured.

【0009】(2)上記目的を達成するために、また本
発明は、受入れた改質対象土砂を土質改良材と混合して
改質する自走式土質改良機において、油圧駆動式の駆動
装置と、この駆動装置への圧油の流れを制御する制御弁
と、前記駆動装置により駆動され、前記土質改良材を前
記改質対象土砂に供給するフィーダと、このフィーダに
よる土質改良材の供給量を検出する第1の検出手段と、
前記改質対象土砂の供給量を検出する第2の検出手段
と、前記第1及び第2の検出手段の検出値から演算した
実際の土砂及び土質改良材の混合比と、予め設定した目
標の混合比との偏差に応じて補正値を演算し、この補正
値を基に前記制御弁への制御信号を補正して出力する演
算出力手段とを備える構成とする。
(2) In order to achieve the above-mentioned object, the present invention is a self-propelled soil improvement machine which mixes the received soil to be modified with a soil improvement material to improve the hydraulically driven device. A control valve for controlling the flow of pressure oil to the drive device, a feeder driven by the drive device to supply the soil improvement material to the soil to be modified, and an amount of the soil improvement material supplied by the feeder. First detecting means for detecting
The second detection means for detecting the supply amount of the soil to be modified, the actual mixing ratio of the soil and the soil improvement material calculated from the detection values of the first and second detection means, and a preset target value A correction value is calculated according to the deviation from the mixing ratio, and a calculation output means for correcting and outputting the control signal to the control valve based on the correction value is provided.

【0010】本発明においては、土質改良材及び土砂の
供給量を検出し、これら検出値から演算した実際の土砂
及び土質改良材の混合比と、予め設定した目標の混合比
との偏差に応じて補正値を演算し、上記と同様にして制
御信号を出力する。これにより、上記と同様の効果を得
ると共に、土砂及び土質改良材の混合比をより好ましい
値に制御することができるので、改良土の品質をより向
上させることができる。
In the present invention, the amount of soil improvement material and the amount of soil supply are detected, and the difference between the actual mixing ratio of the soil and soil improvement material calculated from these detected values and the preset target mixing ratio is determined. Then, the correction value is calculated and the control signal is output in the same manner as above. As a result, the same effect as described above can be obtained, and the mixing ratio of the soil and the soil conditioner can be controlled to a more preferable value, so that the quality of the improved soil can be further improved.

【0011】(3)また、上記目的を達成するために、
本発明は、受入れた改質対象土砂を土質改良材と混合し
て改質する自走式土質改良機に用いる土質改良材制御装
置において、土質改良材供給量の検出値と、予め設定し
た土質改良材供給量の目標値との偏差に応じて補正値を
演算し、この補正値を基に土質改良材のフィーダの駆動
装置への圧油の流れを制御する制御弁への制御信号を補
正して出力する演算出力手段を備える構成とする。
(3) Further, in order to achieve the above object,
The present invention, in a soil improvement material control device used in a self-propelled soil improvement machine for mixing and modifying the received soil to be modified with a soil improvement material, the detected value of the soil improvement material supply amount, and a preset soil quality A correction value is calculated according to the deviation of the improvement material supply amount from the target value, and based on this correction value, the control signal to the control valve that controls the flow of pressure oil to the drive device of the soil improvement material feeder is corrected It is configured to include a calculation output means for outputting the output.

【0012】(4)上記目的を達成するために、また本
発明は、受入れた改質対象土砂を土質改良材と混合して
改質する自走式土質改良機に用いる土質改良材制御装置
において、改質対象土砂及び土質改良材の供給量の検出
値から演算した実際の土砂及び土質改良材の混合比と、
予め設定した目標の混合比との偏差に応じて補正値を演
算し、この補正値を基に土質改良材のフィーダの駆動装
置への圧油の流れを制御する制御弁への制御信号を補正
して出力する演算出力手段を備える構成とする。
(4) In order to achieve the above-mentioned object, the present invention provides a soil improvement material control device for use in a self-propelled soil improvement machine for mixing and modifying the received soil to be modified with the soil improvement material. , The mixing ratio of the actual soil and soil improvement material calculated from the detection value of the supply amount of the soil and soil improvement material to be modified,
A correction value is calculated according to the deviation from the preset target mixing ratio, and the control signal to the control valve that controls the flow of pressure oil to the drive device of the soil improvement agent is corrected based on this correction value. It is configured to include a calculation output means for outputting the output.

【0013】[0013]

【発明の実施の形態】以下、本発明の自走式土質改良機
の一実施の形態を図面を用いて説明する。図1は本発明
の自走式土質改良機の一実施の形態の全体構造を表す側
面図である。この図1において、1は走行体で、この走
行体1は、左・右1対の走行装置2と、この走行装置2
の上部に略平行に延設した本体フレーム3とで構成され
ている。また、4は走行装置2のトラックフレームで、
このトラックフレーム4は、本体フレーム3の下部に連
設している。5,6はそれぞれこのトラックフレーム4
の両端に設けた従動輪(アイドラ)及び駆動輪、7はこ
れら従動輪5及び駆動輪6に掛け回した履帯(無限軌道
履帯)、8は駆動輪6に直結した駆動装置である。9
a,9bは本体フレーム3上に立設した複数の支持ポス
トで、これら支持ポスト9a,9bは、支持フレーム1
0,11を支持している。
BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a self-propelled soil improvement machine of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing the overall structure of an embodiment of a self-propelled soil improvement machine of the present invention. In FIG. 1, reference numeral 1 is a traveling body, and the traveling body 1 includes a pair of left and right traveling devices 2 and this traveling device 2.
And a main body frame 3 extending substantially parallel to the upper part of the. Further, 4 is a track frame of the traveling device 2,
The track frame 4 is connected to the lower portion of the main body frame 3. 5 and 6 are this track frame 4 respectively
Driven wheels and idler wheels provided at both ends of the drive wheel 7, a crawler belt (infinite track) wound around the driven wheel 5 and the drive wheel 6, and a drive device 8 directly connected to the drive wheel 6. 9
Reference numerals a and 9b denote a plurality of support posts provided upright on the main body frame 3, and these support posts 9a and 9b are the support posts 1a and 9b.
It supports 0 and 11.

【0014】12は改質対象となる土砂を受入れるホッ
パ(詳細は後述)で、このホッパ12は、上下が開口し
た概略枠型に形成されており、支持フレーム10によ
り、本体フレーム3の長手方向一方側(図1中左側)に
支持されている。また、改質対象となる土砂は、例えば
油圧ショベル等の投入重機で投入される場合も多く、こ
のホッパ12は、土砂投入の利便性を考慮して上方拡開
に形成されている。
Reference numeral 12 denotes a hopper (details will be described later) for receiving the soil to be modified. The hopper 12 is formed in a substantially frame shape having upper and lower openings. It is supported on one side (left side in FIG. 1). In addition, the earth and sand to be modified is often introduced by a heavy equipment such as a hydraulic excavator, and the hopper 12 is formed in an upwardly expanded manner in consideration of the convenience of the earth and sand introduction.

【0015】13はこのホッパ12で受入れた土砂を搬
送する搬送コンベアで、この搬送コンベア13は、ホッ
パ12の下方から後述する混合装置35の入口筒体37
上方にかけて上り傾斜に延設されている。14はこの搬
送コンベア13のコンベアフレームで、このコンベアフ
レーム14は、上記支持ポスト9a,9b等に支持され
ている。15A,15Bはそれぞれこのコンベアフレー
ム14の両端に設けた駆動輪及び従動輪、16はこれら
駆動輪15A及び従動輪15Bに掛け回した搬送ベル
ト、17はこの搬送ベルト16の搬送面を支持する複数
の支持ローラである(後述の図2も参照)。また、駆動
輪15Aには、この駆動輪15Aを駆動して搬送ベルト
16を循環駆動させる駆動装置18(後述の図5参照)
が連結されている。
Reference numeral 13 denotes a conveyor for conveying the earth and sand received by the hopper 12. The conveyor 13 is provided below the hopper 12 and has an inlet cylinder 37 of a mixing device 35 which will be described later.
It extends upwards and slopes upward. Reference numeral 14 is a conveyor frame of the transfer conveyor 13, and the conveyor frame 14 is supported by the support posts 9a and 9b. 15A and 15B are drive wheels and driven wheels provided at both ends of the conveyor frame 14, 16 is a conveyor belt wound around the drive wheels 15A and driven wheels 15B, and 17 is a plurality of conveyor belts that support the conveyor surface of the conveyor belt 16. (See also FIG. 2 described later). Further, the drive wheel 15A is driven by the drive device 18 that drives the drive wheel 15A to circulate the conveyor belt 16 (see FIG. 5 described later).
Are connected.

【0016】なお、繁雑防止のため特に図示しないが、
上述のホッパ12の搬送コンベア13による土砂搬送方
向下流側(図1中右側)壁面の下端には、上記搬送ベル
ト16に対向して所定の幅(搬送ベルト16よりも僅か
に狭い幅)及び所定の高さに形成された土砂出口が設け
られている。従って、搬送コンベア13により搬送され
る土砂は、この土砂出口を介して所定の断面積でホッパ
12外に切り出されるようになっている。
Although not shown in the figure for the purpose of preventing complexity,
At the lower end of the wall surface on the downstream side (the right side in FIG. 1) in the earth and sand conveying direction by the conveyor 13 of the hopper 12, a predetermined width (slightly narrower than the conveyor belt 16) and a predetermined distance are provided facing the conveyor belt 16. There is a sediment outlet formed at the height of. Therefore, the earth and sand conveyed by the conveyor 13 are cut out of the hopper 12 with a predetermined cross-sectional area through the earth and sand outlet.

【0017】19は搬送コンベア13上の土砂に土質改
良材を添加する土質改良材供給装置である。図2はこの
土質改良材供給装置19近傍の詳細構造を表す側面図で
ある。この図2に示すように、土質改良材供給装置19
は、水平断面が略方形の土質改良材の貯留タンク20
と、この貯留タンク20内の土質改良材を下方に導出す
るフィーダ21(本例ではスクリューフィーダとした
が、例えばロータリフィーダとしても構わない)と、貯
留タンク20内の土質改良材をフィーダ21に導く漏斗
の役割を果たす略四角錐形状のシュート22とで構成さ
れている。また、貯留タンク20は、このシュート22
上部のフランジ状の枠板22aに連設した蛇腹部23
と、この蛇腹部23の上部をカバーする天板部24とで
構成されている。繁雑防止のため特に図示しないが、天
板部24のほぼ中央には、開閉蓋を有する土質改良材充
填用の開口が設けられ、この開口を介して土質改良材を
貯留タンク20内に充填するようになっている。
Reference numeral 19 is a soil-improving-material supplying device for adding the soil-improving material to the earth and sand on the conveyor 13. FIG. 2 is a side view showing a detailed structure in the vicinity of the soil improvement material supply device 19. As shown in FIG. 2, the soil improvement material supply device 19
Is a storage tank 20 for soil improvement material having a substantially rectangular horizontal section.
And a feeder 21 (a screw feeder in the present example, which may be a rotary feeder, for example) that guides the soil improvement material in the storage tank 20 downward, and the soil improvement material in the storage tank 20 to the feeder 21. It is configured with a chute 22 having a substantially quadrangular pyramid shape that serves as a guiding funnel. Further, the storage tank 20 is provided with this chute 22.
Bellows portion 23 connected to the upper flange-shaped frame plate 22a
And a top plate portion 24 that covers the upper portion of the bellows portion 23. Although not shown in the drawings to prevent complexity, an opening for opening a soil improvement material having an opening / closing lid is provided at approximately the center of the top plate 24, and the soil improvement material is filled in the storage tank 20 through this opening. It is like this.

【0018】25は天板部24の外周部に複数(この例
では3つ)設けた取付部、26はこれら取付部25の下
部に固定的に垂設した支柱で、この支柱26の上下に
は、それぞれ所定の位置にピン穴27(上側のもののみ
図2に図示)が穿設されている。28はこの上記支持フ
レーム11上の略枠型の台板29(図1参照)上に立設
した複数のガイド筒で、このガイド筒28は、図示しな
いピン穴を有し、前述のシュート22の枠板22aに貫
通している。そして、上記各支柱26は、それぞれこれ
らガイド筒28に挿入されて台板29の下方にまで突出
可能となっており、支柱26が上下スライドすることに
より、前述の蛇腹部23が伸縮し、貯留タンク20の高
さが可変な構造となっている。即ち、例えば稼動時等に
は、蛇腹部23を伸長させ、ガイド筒28のピン穴を介
し支柱26の下側のピン穴27にストッパピン30を挿
入することにより、貯留タンク20の内部容積を十分確
保し(図示した状態)、トレーラで輸送する際等には、
蛇腹部23を縮ませ支柱26の上側のピン穴27に固定
することにより、輸送制限をクリアする程度に高さ低減
されるようになっている。
Reference numeral 25 is a mounting portion provided in a plurality (three in this example) on the outer peripheral portion of the top plate portion 24, and 26 is a pillar fixedly hung under the mounting portion 25. Each have a pin hole 27 (only the upper one is shown in FIG. 2) at a predetermined position. Reference numeral 28 denotes a plurality of guide cylinders erected on a substantially frame type base plate 29 (see FIG. 1) on the support frame 11. The guide cylinders 28 have pin holes (not shown), and the chute 22 described above is provided. Through the frame plate 22a. Each of the columns 26 is inserted into each of the guide cylinders 28 and can project below the base plate 29. When the columns 26 slide up and down, the above-mentioned bellows portion 23 expands and contracts to store. The height of the tank 20 is variable. That is, for example, at the time of operation or the like, the bellows portion 23 is extended, and the stopper pin 30 is inserted into the pin hole 27 on the lower side of the support column 26 through the pin hole of the guide cylinder 28 to reduce the internal volume of the storage tank 20. Secure enough (state shown), when transporting with a trailer, etc.
By contracting the bellows portion 23 and fixing it in the pin hole 27 on the upper side of the support column 26, the height is reduced to the extent that the transportation restriction is cleared.

【0019】31は上記フィーダ21のケーシングで、
このケーシング31は、略円筒状に形成され、スクリュ
ー32を内包している。このスクリュー32は、油圧駆
動式の駆動装置(つまり油圧モータ)33により回転駆
動され、上述のシュート22からケーシング31内に導
入された土質改良材を、図2中左側に移送するようにな
っている。そして、ケーシング31の長手方向一方側
(図2中左側)下部に設けた土質改良材の出口34か
ら、搬送コンベア13の搬送方向下流側(図2中右側)
端部付近の土砂に、土質改良材を一定量づつ添加するよ
うになっている。なお、図1に示すように、フィーダ2
1は、その移送方向上流側(図1中右側)が下方の空間
に入り込むよう、移送方向下流側(図1中左側)に対し
て低くなるように配設されており、土質改良材供給装置
19を全体的に低く配置できるよう配慮されている。
Reference numeral 31 is a casing of the feeder 21,
The casing 31 is formed in a substantially cylindrical shape and contains the screw 32. The screw 32 is rotationally driven by a hydraulic drive type drive device (that is, a hydraulic motor) 33 to transfer the soil improvement material introduced into the casing 31 from the chute 22 to the left side in FIG. There is. Then, from the soil-improving material outlet 34 provided at the lower part of one side of the casing 31 in the longitudinal direction (left side in FIG. 2), the downstream side in the conveying direction of the conveyer 13 (right side in FIG. 2).
A certain amount of soil improvement agent is added to the soil near the edges. In addition, as shown in FIG.
1 is arranged so that the upstream side (the right side in FIG. 1) in the transfer direction enters the space below, and the position is lower than the downstream side (the left side in FIG. 1) in the transfer direction. It is considered that 19 can be arranged low overall.

【0020】図1に戻り、35は搬送コンベア13から
導入された土砂及び土質改良材を混合して改良土を生成
する混合装置である。36はこの混合装置35の略箱状
の本体で、この混合装置本体36は、その長手方向一方
側(図1中左側)上部に土砂及び土質改良材の入口筒体
37を、他方側(図1中右側)下部に改良土の出口筒体
(図示せず)を設けている。そして、繁雑防止のため特
に図示しないが、混合装置本体36内には、複数(例え
ば2本)のパドルミキサが設けられており、入口筒体3
7を介して導入された土砂及び土質改良材は、このパド
ルミキサにより混合されつつ反対側に移送され、改良土
として出口筒体から下方に導出されるようになってい
る。
Returning to FIG. 1, reference numeral 35 is a mixing device for mixing the earth and sand introduced from the conveyer 13 and the soil conditioner to generate improved soil. Reference numeral 36 denotes a substantially box-shaped main body of the mixing device 35. The mixing device main body 36 has an inlet cylinder 37 of earth and sand and a soil improvement agent on the upper side on one side (left side in FIG. 1) in the longitudinal direction and the other side (see FIG. An outlet cylinder (not shown) for the improved soil is provided at the lower part of the right side of the center of FIG. Although not shown in the drawings to prevent complication, a plurality of paddle mixers (for example, two) are provided in the mixing device main body 36, and the inlet tube body 3 is provided.
The earth and sand and the soil conditioner introduced through 7 are mixed by this paddle mixer, transferred to the opposite side, and led out downward from the outlet cylinder as improved soil.

【0021】38は混合装置35から導出された改良土
を機外に排出する排出コンベアで、この排出コンベア3
8は、混合装置35の出口筒体(図示せず)の下方から
外側(この場合図1中右側)に向かって所定距離略水平
に延在した後、上り傾斜に延在している。39はこの排
出コンベア38のコンベアフレームで、このコンベアフ
レーム39は、支持部材40,41等を介し、動力装置
45(後述)や本体フレーム3等から支持されている。
42はこの排出コンベア38の搬送方向下流側(図1中
右側)端部に設けた駆動輪、43は搬送ベルトで、この
搬送ベルト43は、駆動輪42及び排出コンベア38の
搬送方向上流側(図1中左側)に設けた図示しない従動
輪に巻回されている。また特に図示しないが、駆動輪4
2は駆動装置と直結しており、この駆動装置により回転
駆動され、搬送ベルト43を循環駆動させるようになっ
ている。44は排出コンベア38のサイドカバーで、こ
のサイドカバー44は、コンベアフレーム39の幅方向
(図1中紙面直交方向)両側に設けられている。
Reference numeral 38 denotes a discharge conveyor for discharging the improved soil discharged from the mixing device 35 to the outside of the machine.
The reference numeral 8 extends substantially horizontally from below the outlet cylinder (not shown) of the mixing device 35 toward the outside (in this case, the right side in FIG. 1), and then extends upward. Reference numeral 39 denotes a conveyor frame of the discharge conveyor 38. The conveyor frame 39 is supported by a power unit 45 (described later), a main body frame 3 and the like via supporting members 40 and 41 and the like.
42 is a drive wheel provided at the downstream end (right side in FIG. 1) of the discharge conveyor 38, 43 is a transport belt, and the transport belt 43 is an upstream side of the drive wheel 42 and the discharge conveyor 38 in the transport direction ( It is wound around a driven wheel (not shown) provided on the left side in FIG. Although not shown in particular, the drive wheel 4
Reference numeral 2 is directly connected to a drive device, which is rotationally driven by the drive device to circulate the conveyor belt 43. Reference numeral 44 denotes a side cover of the discharge conveyor 38, and the side covers 44 are provided on both sides of the conveyor frame 39 in the width direction (direction orthogonal to the paper surface in FIG. 1).

【0022】45は先に触れた動力装置で、この動力装
置45は、本体フレーム3の長手方向他方側(図1中右
側)端部に支持部材46を介して支持されている。ま
た、この動力装置45は、前述してきた各機器の駆動装
置に供給する圧油を吐出する少なくとも1つの油圧ポン
プ(例えば後述の図3中の油圧ポンプ49)と、この油
圧ポンプを駆動するエンジン(図示せず)と、油圧ポン
プから各駆動装置へ供給される圧油の方向及び流量(或
いは方向のみ)をそれぞれ制御する複数の制御弁(例え
ば後述の図3中の制御弁50)等を内部に備えている。
47はこの動力装置45の前方側(図1中左側)の区画
に設けた運転席で、この運転席47には、上記走行装置
2の駆動装置を操作する操作レバー48等が備えられて
いる。
Reference numeral 45 denotes the power unit mentioned above, and the power unit 45 is supported by the other end (right side in FIG. 1) in the longitudinal direction of the main body frame 3 via a support member 46. Further, the power unit 45 includes at least one hydraulic pump (for example, a hydraulic pump 49 in FIG. 3 described later) that discharges the pressure oil to be supplied to the drive unit of each device described above, and an engine that drives this hydraulic pump. (Not shown), and a plurality of control valves (for example, control valve 50 in FIG. 3 described later) for controlling the direction and flow rate (or only direction) of the pressure oil supplied from the hydraulic pump to each drive device. Prepared inside.
Reference numeral 47 denotes a driver's seat provided in a section on the front side (left side in FIG. 1) of the power unit 45. The driver's seat 47 is provided with an operating lever 48 for operating the drive unit of the traveling unit 2. .

【0023】ここで、本実施の形態においては、上記フ
ィーダ21による土質改良材の供給量をフィードバック
制御するようになっている。図3にその制御概念図を表
す。この図3において、49は図示しないエンジンによ
り駆動される油圧ポンプ、50はこの油圧ポンプ49か
ら上述のフィーダ21の駆動装置33への圧油の流れを
制御する制御弁である。この制御弁50は、3位置切替
式の電磁比例弁で構成され、図3に示すように、中立位
置50aの時、油圧ポンプ49から駆動装置33への圧
油の流れを遮断し、油圧ポンプ49の吐出する圧油をタ
ンク51に導くようになっている。そして、切替位置5
0b(又は切替位置50c、以下の対応関係同様)の
時、それぞれ油圧ポンプ49からの圧油を供給管路52
a(又は供給管路52b)へ導き、駆動装置33を正転
(又は逆転)駆動させるようになっている。
Here, in the present embodiment, the feed amount of the soil improvement material by the feeder 21 is feedback controlled. FIG. 3 shows the control conceptual diagram. In FIG. 3, 49 is a hydraulic pump driven by an engine (not shown), and 50 is a control valve for controlling the flow of pressure oil from the hydraulic pump 49 to the drive device 33 of the feeder 21. This control valve 50 is composed of a three-position switching type electromagnetic proportional valve, and as shown in FIG. 3, at the neutral position 50a, the flow of pressure oil from the hydraulic pump 49 to the drive device 33 is shut off, and the hydraulic pump The pressure oil discharged from 49 is guided to the tank 51. And switching position 5
0b (or the switching position 50c, the same as the corresponding relationship below), the pressure oil from the hydraulic pump 49 is supplied to the supply pipeline 52, respectively.
a (or the supply conduit 52b) to drive the drive device 33 in the normal direction (or reverse direction).

【0024】53は駆動装置33の回転数を検出する回
転数検出器で、この回転数検出器53の検出信号は、制
御装置54に入力されるようになっている。この制御装
置54は、回転数検出器53からの検出信号をディジタ
ル信号に変換するA/D変換器54aと、このA/D変
換器54aの信号から駆動装置33の実際の回転数を演
算し、この演算値と設定入力部55に入力された駆動装
置33の回転数の目標値との偏差を基に制御信号を補正
して演算出力する演算出力部54bと、この制御信号を
アナログ信号に変換するD/A変換器54cと、制御信
号を増幅して制御弁50のソレノイド50d又はソレノ
イド50eに出力する増幅器54dとを備えている。
Reference numeral 53 is a rotation speed detector for detecting the rotation speed of the drive unit 33, and the detection signal of the rotation speed detector 53 is inputted to the control unit 54. This control device 54 calculates an actual rotation speed of the drive device 33 from an A / D converter 54a for converting the detection signal from the rotation speed detector 53 into a digital signal and the signal of this A / D converter 54a. A calculation output unit 54b that corrects and outputs a control signal based on a deviation between the calculated value and the target value of the rotation speed of the drive device 33 input to the setting input unit 55, and the control signal as an analog signal. A D / A converter 54c for converting and an amplifier 54d for amplifying the control signal and outputting it to the solenoid 50d or the solenoid 50e of the control valve 50 are provided.

【0025】図4は制御装置54の上記演算出力部54
bにおける制御手順を表すフローチャートである。この
図4に示すように、演算出力部54bは、まず、ステッ
プ110でA/D変換器54aを介してディジタル信号
化された回転数検出器53の検出信号を入力し、この検
出信号からステップ120でフィーダ21の実際の回転
数N1(つまり実際の土質改良材供給量)を演算する。
次に、ステップ130で設定入力部55からフィーダ2
1の目標回転数N0(つまり目標とする土質改良材供給
量)を入力し、ステップ140にて、先に演算した実回
転数N1と目標回転数N0との誤差から補正値∠Nを演算
する。ここでは、一般的に広く用いられるPI方式の制
御方法を採用し、以下のように補正値∠Nを算出し、ス
テップ150に移る。 ∠N=P×e+I×∫e・・・(1) 但し、この式において、eは目標回転数N0に対する実
回転数N1の偏差(=N 0−N1)、∫eは偏差eの積算
値、P,Iは係数である。
FIG. 4 shows the operation output section 54 of the controller 54.
It is a flowchart showing the control procedure in b. this
As shown in FIG. 4, the operation output unit 54b first starts the step.
Digital signal via A / D converter 54a
The detected signal of the rotation speed detector 53 is input and the detected signal is detected.
The actual rotation of the feeder 21 in step 120 from the output signal
Number N1(That is, the actual amount of soil improvement material supplied) is calculated.
Next, in step 130, the feeder 2 is set from the setting input unit 55.
Target speed N of 10(That is, the target supply of soil improvement materials.
Amount), and in step 140, the actual number calculated previously
Number of turns N1And target speed N0Calculate the correction value ∠N from the error between
To do. Here, the PI system control, which is generally widely used, is used.
Control method and calculate the correction value ∠N as follows,
Move to step 150. ∠N = P × e + I × ∫e (1) However, in this equation, e is the target speed N0Against
Number of revolutions N1Deviation (= N 0-N1), ∫e is the sum of deviation e
The values P and I are coefficients.

【0026】ステップ150では、演算した補正値∠N
を目標回転数N0に積算した補正回転数N’(=N0+∠
N)を演算し、ステップ160で補正回転数N’で駆動
装置33を駆動させる制御信号αを演算する。そして、
ステップ170で、演算した制御信号αをD/A変換器
54cに出力して手順を終了する。本実施の形態におい
ては、こうした手順を順次繰り返し行うことにより、フ
ィーダ21の実回転数N1が目標回転数N0に近似され、
実際の土質改良材の供給量が目標に近付くようになって
いる。
In step 150, the calculated correction value ∠N
Correction rotation speed obtained by integrating the target rotational speed N 0 of the N '(= N 0 + ∠
N) is calculated, and in step 160, the control signal α for driving the drive device 33 at the corrected rotation speed N ′ is calculated. And
In step 170, the calculated control signal α is output to the D / A converter 54c, and the procedure ends. In the present embodiment, the actual rotation speed N 1 of the feeder 21 is approximated to the target rotation speed N 0 by sequentially repeating such a procedure,
The actual supply of soil improvement materials is approaching the target.

【0027】次に、上記構成の本実施の形態の自走式土
質改良機の動作及び作用を説明する。例えば油圧ショベ
ル等によりホッパ12に改質対象となる土砂を投入する
と、ホッパ12で受け入れられた土砂は、その下方の搬
送コンベア13上に載置され搬送される。土質改良材供
給装置19は、その貯留タンク20内の土質改良材をフ
ィーダ21により、搬送コンベア13で搬送される土砂
に一定量づつ供給していく。そして、搬送コンベア13
により混合装置35に導入された土砂及び土質改良材
は、パドルミキサ(図示せず)で均一に攪拌混合され、
排出コンベア38上に改良土として導出される。この改
良土は、排出コンベア38により搬送され、最終的に自
走式土質改良機外に排出される。
Next, the operation and action of the self-propelled soil improvement machine of the present embodiment having the above configuration will be described. For example, when the earth and sand to be modified is put into the hopper 12 by a hydraulic excavator or the like, the earth and sand received by the hopper 12 is placed on the conveyor 13 below and conveyed. The soil quality improving material supply device 19 supplies the soil quality improving material in the storage tank 20 to the earth and sand conveyed by the conveyor 13 by the feeder 21 in constant amounts. Then, the conveyor 13
The earth and sand and the soil conditioner introduced into the mixing device 35 by the above are uniformly stirred and mixed by a paddle mixer (not shown),
It is discharged as improved soil on the discharge conveyor 38. This improved soil is conveyed by the discharge conveyor 38 and finally discharged outside the self-propelled soil improvement machine.

【0028】本実施の形態においては、上述のように、
土質改良材の供給量をフィードバック制御することによ
り、実際の土質改良材の供給量を目標とする土質改良材
の供給量に近付けることができる。つまり、実際の土質
改良材の供給量(検出値)と目標値との間に偏差が生じ
た場合、演算出力部54bは、その偏差を基に制御信号
を補正して制御弁50のソレノイド50d(又はソレノ
イド50e)に出力し、制御弁50の開度を制御する。
これにより、駆動装置33への圧油の流量が変化し、駆
動装置33の駆動速度が目標速度に向かって変動するの
で、土質改良材供給量が、目標値に近付く。そして、随
時或いは所定の時間間隔でこうした制御を繰り返すこと
により、実際の土質改良材の供給量を目標値に追従させ
ることができ、大量の土砂に対して大量の土質改良材を
精度良く供給し、所望の品質を確保することができる。
In the present embodiment, as described above,
By feedback controlling the supply amount of the soil improvement material, the actual supply amount of the soil improvement material can be brought close to the target supply amount of the soil improvement material. That is, when a deviation occurs between the actual supply amount (detected value) of the soil improvement material and the target value, the calculation output unit 54b corrects the control signal based on the deviation and the solenoid 50d of the control valve 50. (Or the solenoid 50e) to control the opening of the control valve 50.
As a result, the flow rate of the pressure oil to the drive device 33 changes, and the drive speed of the drive device 33 changes toward the target speed, so that the soil improvement material supply amount approaches the target value. Then, by repeating such control at any time or at a predetermined time interval, it is possible to make the actual supply amount of the soil improvement material follow the target value, and to supply a large amount of the soil improvement material to a large amount of earth and sand accurately. The desired quality can be ensured.

【0029】また、こうして土質改良材供給量を適正化
することができるので、品質不良の発生を減少させるこ
とができ、施工期間の短縮、稼動効率向上、処理能力向
上等といった様々なメリットが得られ、更に、従来、定
置プラントを導入していたような現場にも対応可能とな
るので、プラントの輸送コスト等、コスト低減の効果も
得られる。
In addition, since the soil improvement material supply amount can be optimized in this way, the occurrence of quality defects can be reduced, and various advantages such as shortening the construction period, improving operating efficiency, and improving processing capacity can be obtained. Further, since it becomes possible to deal with a site where a stationary plant has been conventionally introduced, cost reduction effects such as plant transportation cost can be obtained.

【0030】本発明の自走式土質改良機の他の実施の形
態を図5及び図6を用いて説明する。図5は本実施の形
態の自走式土質改良機における制御概念図、図6その制
御手順を表すフローチャートである。これら図5及び図
6は、それぞれ図3及び図4に対応し、先の各図と同様
の部分には同符号を付し説明を省略する。これら図5及
び図6において、56は前述の搬送コンベア13(図1
参照)の駆動装置18の回転数を検出する回転数検出
器、57は搬送コンベア13(厳密には搬送ベルト1
6)上の土砂の高さを検出する高さ検出器で、これら検
出器56,57の検出値は、土砂量演算部58に入力さ
れるようになっている。この土砂量演算部58は、回転
数検出器56の検出値から搬送コンベア13における搬
送ベルト16(図2参照)の駆動速度(すなわち土砂搬
送速度)を演算し、高さ検出器57の検出値から搬送土
砂の高さを演算するようになっている。ここで前述のよ
うに、搬送土砂は、土砂出口(図示せず)の幅でホッパ
12(図1参照)から切り出されるため、土砂量演算部
58は、土砂出口の幅に演算した土砂の高さ及び搬送速
度を乗じることにより、混合装置35に導入される供給
土砂の単位時間当たりの体積(土砂供給量)を演算する
ようになっている。演算出力手段54bは、こうして演
算した土砂供給量を入力し、この土砂供給量と、演算し
た土質改良材の実際の供給量との比を実際の混合比とし
て演算するようになっている。
Another embodiment of the self-propelled soil improvement machine of the present invention will be described with reference to FIGS. 5 and 6. FIG. 5 is a control conceptual diagram in the self-propelled soil improvement machine of the present embodiment, and FIG. 6 is a flowchart showing the control procedure. 5 and 6 correspond to FIG. 3 and FIG. 4, respectively, and the same parts as those in the previous drawings are denoted by the same reference numerals and the description thereof will be omitted. 5 and 6, reference numeral 56 denotes the above-mentioned transfer conveyor 13 (see FIG. 1).
A rotation speed detector for detecting the rotation speed of the driving device 18 of the reference numeral 57, 57 is the conveyor 13 (strictly speaking, the conveyor belt 1).
6) A height detector for detecting the height of the upper sediment, and the detection values of these detectors 56 and 57 are input to the sediment amount calculation unit 58. The sediment amount calculation unit 58 calculates the drive speed (that is, the sediment transfer speed) of the conveyor belt 16 (see FIG. 2) of the conveyor 13 from the detected value of the rotation speed detector 56, and the detected value of the height detector 57. It is designed to calculate the height of transported sediment. Here, as described above, since the transported sediment is cut out from the hopper 12 (see FIG. 1) with the width of the sediment outlet (not shown), the sediment amount calculation unit 58 causes the sediment height calculated according to the width of the sediment outlet. By multiplying the feed rate and the transport speed, the volume of the supplied earth and sand introduced into the mixing device 35 per unit time (earth and sand supply amount) is calculated. The calculation output means 54b inputs the calculated sediment supply amount and calculates the ratio of the calculated sediment supply amount and the calculated actual supply amount of the soil improvement material as an actual mixing ratio.

【0031】また、本実施の形態において、上記設定入
力部55には目標とする土砂及び土質改良材の混合比が
設定されており、演算出力手段54bは、この目標混合
比を入力し、演算した実際の混合比と比較して、制御信
号を補正するようになっている。つまり、図6に示すよ
うに、演算出力部54bは、まず、ステップ210でA
/D変換器54aを介してディジタル信号化された回転
数検出器53の検出信号を入力し、この検出信号からス
テップ220でフィーダ21の実際の土質改良材供給量
を演算する。次に、ステップ230で土砂量演算部58
で演算された現在の土砂供給量を入力し、これらから、
ステップ240にて現在混合されている土砂と土質改良
材の比(つまり実際の混合比)を演算してステップ25
0に移る。
Further, in the present embodiment, the target mixing ratio of the soil and the soil improvement material is set in the setting input section 55, and the calculation output means 54b inputs this target mixing ratio and calculates. The control signal is corrected by comparing with the actual mixing ratio. That is, as shown in FIG. 6, the calculation output unit 54b first sets A in step 210.
The detection signal of the rotation speed detector 53, which has been converted into a digital signal, is input via the / D converter 54a, and in step 220, the actual soil improvement material supply amount of the feeder 21 is calculated from this detection signal. Next, in step 230, the sediment amount calculation unit 58
Enter the current amount of sediment supply calculated in
In step 240, the ratio of the soil and the soil improvement material currently mixed (that is, the actual mixing ratio) is calculated, and step 25 is performed.
Move to 0.

【0032】ステップ250では、設定入力部55から
目標とする土砂及び土質改良材の混合比を入力し、ステ
ップ260にて、この入力した目標混合比と先に演算し
た実際の混合比とを基に、現在の土質改良材の供給量の
過不足を演算し、上記補正値∠Nを演算する。この場
合、演算した土質改良材の過不足量からフィーダ21の
駆動装置33の回転数の目標との偏差eを求めれば良
い。その後のステップ270〜290は、図4の手順の
ステップ150〜170と同様である。
In step 250, the target mixing ratio of the soil and soil improvement material is input from the setting input section 55, and in step 260, the input target mixing ratio and the actual mixing ratio calculated above are used as the basis. Then, the current excess or deficiency of the soil improvement material supply amount is calculated, and the correction value ∠N is calculated. In this case, the deviation e of the rotational speed of the driving device 33 of the feeder 21 from the target may be obtained from the calculated excess or deficiency of the soil improvement material. Subsequent steps 270 to 290 are the same as steps 150 to 170 in the procedure of FIG.

【0033】本実施の形態においても、こうした手順を
順次繰り返し行うことにより、前述の一実施の形態と同
様の効果を得ることができ、更に土砂及び土質改良材の
混合比をより好ましい値に制御することができるので、
品質をより向上させることができるといったメリットが
ある。
In the present embodiment as well, by repeating such a procedure in sequence, the same effect as in the above-mentioned one embodiment can be obtained, and further, the mixing ratio of the earth and sand and the soil improvement agent is controlled to a more preferable value. Because you can
There is a merit that the quality can be further improved.

【0034】なお、以上において、上記回転数検出器5
3が、特許請求の範囲に記載の第1の検出手段を構成
し、演算出力部54bが演算出力手段を構成し、上記搬
送土砂の高さ検出器57及び搬送コンベア13の駆動装
置18の回転数検出器56が第2の検出手段を構成す
る。
In the above, the rotation speed detector 5 is used.
3 constitutes the 1st detection means described in a claim, and the calculation output part 54b comprises a calculation output means, and rotation of the height detector 57 of the said conveyance earth and sand, and the drive device 18 of the conveyance conveyor 13 is carried out. The number detector 56 constitutes the second detecting means.

【0035】また、以上において、土質改良材供給量を
検出する手段として回転数検出器53を用いたが、実際
の土質改良材供給量を推定する構成として、例えば駆動
装置33の負荷を検出する負荷検出器を用いる場合も考
えられる。また、搬送土砂の高さを求めるための高さ検
出器57としては、例えば超音波式や光学式、接触式の
変位センサ、リミットスイッチ等、公知のセンサを用い
れば足りる。また、土砂表面に倣うセンサの角度を高さ
に変換する方法も適用可能である。また、高さ検出器5
7を複数設け、土砂量演算部58により、それら複数の
検出結果の平均値を算出する構成としても構わない。こ
れらの場合も、同様の効果を得る。
Further, in the above, the rotation speed detector 53 is used as a means for detecting the soil improvement material supply amount, but as a configuration for estimating the actual soil improvement material supply amount, for example, the load of the drive device 33 is detected. It is also possible to use a load detector. Further, as the height detector 57 for obtaining the height of the transported earth and sand, a well-known sensor such as an ultrasonic type, an optical type, a contact type displacement sensor, a limit switch or the like may be used. Further, a method of converting the angle of the sensor that follows the surface of the earth and sand into the height can also be applied. Also, the height detector 5
7 may be provided in plural, and the sediment amount calculation unit 58 may calculate the average value of the plurality of detection results. Similar effects are obtained in these cases as well.

【0036】また、以上において、いわゆるPI方式の
制御を採用したが、これにも限られず、単に上述の偏差
eを見て圧油の流量を増減させる方法としても良く、補
正値の演算方法を限定する必要はない。また、制御弁5
0は、3位置切替の比例電磁弁としたが、例えばパイロ
ット駆動式の切替弁等、他の切替弁としても良い。パイ
ロット駆動式の切替弁を用いた場合、この切替弁を駆動
するパイロット圧を調整する構成とすれば良く、また、
必ずしも3位置切替弁でなくとも、フィーダ21を逆転
させる必要のない場合は2位置切替の比例弁としても構
わない。これらの場合も同様の効果を得る。
In the above, the so-called PI type control is adopted, but the present invention is not limited to this, and it is also possible to simply increase or decrease the flow rate of the pressure oil by looking at the above-mentioned deviation e. There is no need to limit it. Also, the control valve 5
Although 0 is a three-position switching proportional solenoid valve, it may be another switching valve such as a pilot-driven switching valve. When a pilot drive type switching valve is used, the pilot pressure for driving this switching valve may be adjusted.
Even if the feeder 21 is not necessarily a three-position switching valve, it may be a two-position switching proportional valve when it is not necessary to reverse the feeder 21. Similar effects are obtained in these cases.

【0037】更に、上記の両実施の形態の自走式土質改
良機において、ホッパ12上部に異物を除去する振動篩
や、振動しない単なる固定式の篩を設けても良い。ま
た、こうした篩の上方にいわゆる煽りを設けても構わな
い。また、フィーダ21としては、スクリューフィーダ
に代え、例えばロータリフィーダ等、他の構成のフィー
ダを用いても良い。また、履帯7を有するいわゆるクロ
ーラ式の走行装置2を備える自走式土質改良機を例にと
って説明してきたが、これに限られず、例えばいわゆる
ホイール式の走行装置を備えた自走式土質改良機として
も良い。また、パドルミキサを備えたいわゆるミキシン
グ方式の混合装置35を搭載した自走式土質改良機を例
に説明したが、例えばパドルミキサに代えてスクリュー
ミキサを備えた混合装置や、高速回転する回転打撃子等
を用いて土砂及び土質改良材を解砕混合するいわゆる解
砕方式の混合装置等、他の構成の混合装置を備えた自走
式土質改良機においても、前述の各実施の形態は適応可
能である。これらの場合も同様の効果を得る。
Further, in the self-propelled soil improvement machines of both the above-mentioned embodiments, a vibrating screen for removing foreign matters or a simple fixed screen which does not vibrate may be provided above the hopper 12. Further, a so-called warp may be provided above such a screen. Further, as the feeder 21, instead of the screw feeder, a feeder having another configuration such as a rotary feeder may be used. Further, the self-propelled soil improvement machine provided with the so-called crawler type traveling apparatus 2 having the crawler belt 7 has been described as an example, but the present invention is not limited to this. For example, the self-propelled soil improvement apparatus provided with a so-called wheel type traveling apparatus. Also good. Further, the self-propelled soil improvement machine equipped with the so-called mixing system mixing device 35 including the paddle mixer has been described as an example, but for example, a mixing device including a screw mixer in place of the paddle mixer, a rotary impactor rotating at high speed, and the like. Even in a self-propelled soil improvement machine equipped with a mixing device of other configuration, such as a so-called crushing type mixing device for crushing and mixing earth and sand and soil improvement material using is there. Similar effects are obtained in these cases.

【0038】[0038]

【発明の効果】本発明によれば、土質改良材の供給量の
検出値と、予め設定した土質改良材供給量の目標値との
偏差に応じて補正値を演算し、この補正値を基に、フィ
ーダを駆動制御する制御弁への制御信号を補正して出力
することにより、実際の土質改良材の供給量を目標とす
る土質改良材の供給量に近付けることができるので、大
量の土砂に対して大量の土質改良材を精度良く供給する
ことができ、その結果、改良土の品質を確保することが
できる。
According to the present invention, the correction value is calculated according to the deviation between the detected value of the soil improvement material supply amount and the preset target value of the soil improvement material supply amount, and the correction value is used as the basis. In addition, by correcting and outputting the control signal to the control valve that drives and controls the feeder, it is possible to bring the actual supply amount of soil improvement material closer to the target supply amount of soil improvement material. Therefore, a large amount of soil improvement material can be supplied with high precision, and as a result, the quality of the improved soil can be secured.

【0039】また本発明によれば、土質改良材及び土砂
の供給量を検出し、これら検出値から演算した実際の土
砂及び土質改良材の混合比と、予め設定した目標の混合
比との偏差に応じて補正値を演算し、この補正値を基
に、フィーダを駆動制御する制御弁への制御信号を補正
して出力することにより、上記同様の効果に加え、土砂
及び土質改良材の混合比をより好ましい値に制御するこ
とができ、改良土の品質をより向上させることができ
る。
Further, according to the present invention, the deviation between the actual mixing ratio of the soil and the soil improving agent calculated by detecting the supplied amounts of the soil improving agent and the soil and the target mixing ratio set in advance is calculated. In addition to the same effect as above, by mixing and mixing the soil and soil improvement agent, by calculating the correction value according to the above, and correcting and outputting the control signal to the control valve that drives and controls the feeder based on this correction value. The ratio can be controlled to a more preferable value, and the quality of the improved soil can be further improved.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の自走式土質改良機の一実施の形態の全
体構造を表す側面図である。
FIG. 1 is a side view showing the overall structure of an embodiment of a self-propelled soil improvement machine of the present invention.

【図2】本発明の自走式土質改良機の一実施の形態にお
ける土質改良材供給装置近傍の詳細構造を表す側面図で
ある。
FIG. 2 is a side view showing a detailed structure in the vicinity of a soil improvement material supply device in an embodiment of a self-propelled soil improvement machine of the present invention.

【図3】本発明の自走式土質改良機の一実施の形態にお
ける制御概念を簡単に表す回路図である。
FIG. 3 is a circuit diagram simply showing a control concept in one embodiment of the self-propelled soil improvement machine of the present invention.

【図4】本発明の自走式土質改良機の一実施の形態に備
えられた演算出力部における制御手順を表すフローチャ
ートである。
FIG. 4 is a flowchart showing a control procedure in an arithmetic output unit provided in an embodiment of the self-propelled soil improvement machine of the present invention.

【図5】本発明の自走式土質改良機の他の実施の形態に
おける制御概念を簡単に表す回路図である。
FIG. 5 is a circuit diagram simply showing a control concept in another embodiment of the self-propelled soil improvement machine of the present invention.

【図6】本発明の自走式土質改良機の他の実施の形態に
備えられた演算出力部における制御手順を表すフローチ
ャートである。
FIG. 6 is a flowchart showing a control procedure in a calculation output unit provided in another embodiment of the self-propelled soil improvement machine of the present invention.

【符号の説明】[Explanation of symbols]

21 フィーダ 33 駆動装置 50 制御弁 53 回転数検出器(第1の検出手段) 54 制御装置(土質改良材制御装置) 54b 演算出力部(演算出力手段) 56 回転数検出器(第2の検出手段) 57 高さ検出器(第2の検出手段) 21 feeder 33 Drive 50 control valve 53 Rotation speed detector (first detecting means) 54 Control device (soil conditioner control device) 54b Operation output section (operation output means) 56 rotation speed detector (second detection means) 57 Height detector (second detecting means)

フロントページの続き (72)発明者 西田 鉄也 茨城県土浦市神立町650番地 日立建機株 式会社土浦工場内 Fターム(参考) 2D040 AB07 CD07 EB04 FA00 4G035 AB48 AE02 AE13 4G036 AC70 4G037 AA05 BA06 BC01 BD10 EA03Continued front page    (72) Inventor Tetsuya Nishida             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory F-term (reference) 2D040 AB07 CD07 EB04 FA00                 4G035 AB48 AE02 AE13                 4G036 AC70                 4G037 AA05 BA06 BC01 BD10 EA03

Claims (4)

【特許請求の範囲】[Claims] 【請求項1】受入れた改質対象土砂を土質改良材と混合
して改質する自走式土質改良機において、 油圧駆動式の駆動装置と、 この駆動装置への圧油の流れを制御する制御弁と、 前記駆動装置により駆動され、前記土質改良材を前記改
質対象土砂に供給するフィーダと、 このフィーダによる土質改良材の供給量を検出する第1
の検出手段と、 この第1の検出手段の検出値と、予め設定した土質改良
材供給量の目標値との偏差に応じて補正値を演算し、こ
の補正値を基に前記制御弁への制御信号を補正して出力
する演算出力手段とを備えたことを特徴とする自走式土
質改良機。
1. A self-propelled soil improvement machine that mixes received soil to be modified with a soil improvement agent and controls the hydraulically driven drive device and the flow of pressure oil to the drive device. A control valve, a feeder that is driven by the drive device and that supplies the soil improvement material to the soil to be modified, and a first amount that detects the amount of the soil improvement material supplied by the feeder.
Of the first detecting means, and a correction value is calculated according to the deviation between the detection value of the first detecting means and the preset target value of the soil improvement material supply amount, and based on this correction value, the correction value to the control valve is calculated. A self-propelled soil improvement machine, comprising a calculation output means for correcting and outputting a control signal.
【請求項2】受入れた改質対象土砂を土質改良材と混合
して改質する自走式土質改良機において、 油圧駆動式の駆動装置と、 この駆動装置への圧油の流れを制御する制御弁と、 前記駆動装置により駆動され、前記土質改良材を前記改
質対象土砂に供給するフィーダと、 このフィーダによる土質改良材の供給量を検出する第1
の検出手段と、 前記改質対象土砂の供給量を検出する第2の検出手段
と、 前記第1及び第2の検出手段の検出値から演算した実際
の土砂及び土質改良材の混合比と、予め設定した目標の
混合比との偏差に応じて補正値を演算し、この補正値を
基に前記制御弁への制御信号を補正して出力する演算出
力手段とを備えたことを特徴とする自走式土質改良機。
2. A self-propelled soil improvement machine that mixes the received soil to be modified with a soil improvement agent and reforms the hydraulically driven drive device, and controlling the flow of pressure oil to the drive device. A control valve, a feeder that is driven by the drive device and that supplies the soil improvement material to the soil to be modified, and a first amount that detects the amount of the soil improvement material supplied by the feeder.
Detection means, second detection means for detecting the supply amount of the soil to be modified, and the actual mixing ratio of the soil and soil improvement material calculated from the detection values of the first and second detection means, And a calculation output unit for calculating a correction value according to a deviation from a preset target mixing ratio and correcting and outputting a control signal to the control valve based on the correction value. Self-propelled soil improvement machine.
【請求項3】受入れた改質対象土砂を土質改良材と混合
して改質する自走式土質改良機に用いる土質改良材制御
装置において、 土質改良材供給量の検出値と、予め設定した土質改良材
供給量の目標値との偏差に応じて補正値を演算し、この
補正値を基に土質改良材のフィーダの駆動装置への圧油
の流れを制御する制御弁への制御信号を補正して出力す
る演算出力手段を備えたことを特徴とする自走式土質改
良機に用いる土質改良材制御装置。
3. A soil quality improving material control device used in a self-propelled soil quality improving machine for mixing the received soil to be modified with a soil quality improving material and modifying it, and a preset value of the detected value of the soil quality improving material supply amount and a preset value. A correction value is calculated according to the deviation of the soil improvement material supply amount from the target value, and a control signal to a control valve that controls the flow of pressure oil to the soil improvement material feeder drive device is calculated based on this correction value. A soil improvement material control device for use in a self-propelled soil improvement machine, characterized by comprising a calculation output means for correcting and outputting.
【請求項4】受入れた改質対象土砂を土質改良材と混合
して改質する自走式土質改良機に用いる土質改良材制御
装置において、 改質対象土砂及び土質改良材の供給量の検出値から演算
した実際の土砂及び土質改良材の混合比と、予め設定し
た目標の混合比との偏差に応じて補正値を演算し、この
補正値を基に土質改良材のフィーダの駆動装置への圧油
の流れを制御する制御弁への制御信号を補正して出力す
る演算出力手段を備えたことを特徴とする自走式土質改
良機に用いる土質改良材制御装置。
4. A soil improvement material control device for use in a self-propelled soil improvement machine that mixes the received soil to be modified with a soil improvement material, and detects the supply amount of the soil to be modified and the soil improvement material. Calculate the correction value according to the deviation between the actual mixing ratio of soil and soil improvement material calculated from the value and the preset target mixing ratio, and based on this correction value, drive to the soil improvement material feeder drive device. A soil improvement material control device for use in a self-propelled soil improvement machine, comprising a calculation output means for correcting and outputting a control signal to a control valve for controlling the flow of the pressure oil.
JP2001399946A 2001-12-28 2001-12-28 Self-running soil texture improving machine and soil texture improving material controller used in the same Pending JP2003193507A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2001399946A JP2003193507A (en) 2001-12-28 2001-12-28 Self-running soil texture improving machine and soil texture improving material controller used in the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2001399946A JP2003193507A (en) 2001-12-28 2001-12-28 Self-running soil texture improving machine and soil texture improving material controller used in the same

Publications (1)

Publication Number Publication Date
JP2003193507A true JP2003193507A (en) 2003-07-09

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Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012076074A (en) * 2010-08-13 2012-04-19 Mixer Technologies Inc Mixer nozzle assembly

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012076074A (en) * 2010-08-13 2012-04-19 Mixer Technologies Inc Mixer nozzle assembly
US9180415B2 (en) 2010-08-13 2015-11-10 Mixer Technologies Inc. Mixer nozzle assembly
US9586185B2 (en) 2010-08-13 2017-03-07 Mixer Technologies Inc. Mixer nozzle assembly

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