JP2003253665A - Wire type excavation accuracy control device for soil improving and treating machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wire type excavation accuracy control device capable of surely assuring a lapped amount between soil column row piles at a constant by correcting or controlling the tip position of the excavating and agitating blade shaft of a soil improving and treating machine. <P>SOLUTION: This wire type excavation accuracy control device comprises a three-dimensional gyro sensor device installed near a bearing member 11 to detect the tip position of the excavating and agitating shaft 6, an installation control device allowing detection signals at the tip of the excavating and agitating shaft 6 measured by the three-dimensional gyro sensor device to be inputted therein, and a hydraulic pressure control circuit for hydraulic cylinders controlled by control signals processed by the installation control device based on the detection signals. The hydraulic cylinders are individually controlled to pull the wires thereof to forcibly correct and control the tip position of the excavating and agitating blade shaft 6. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to the construction of lap type pile pillar piles for the purpose of constructing earth retaining walls, civil engineering foundation works, ground liquefaction prevention works, water blocking walls, etc. The wire type that forcibly corrects or controls the tip position of the excavation and stirring blade axis of the soil improvement processor used for the construction in real time during construction to ensure a certain amount of lap between the soil column piles. It belongs to the technical field of excavation accuracy control equipment.

[0002]

2. Description of the Related Art Conventionally, various types of ground improvement work have been performed by using a ground improvement processing machine as shown in FIG. 1, for example. This is driven by the excavation drive unit 2 which is hung on the top sheave 5 of the leader 1 and moved up and down along the rails 3, while driving the drive shaft 4 hung directly below the drive shaft 4 in a vertically downward direction. At the lower end of the drive shaft 4, a tip cutter 7
And an excavation stirring blade shaft 6 provided with a plurality of stirring blades 8 on the upper and lower sides are connected, and when excavating while rotating this, or when pulling up, the excavated soil of the ground and the stabilizer are mixed by stirring,
Usually, pile pillar piles with a diameter of about 1 m are formed. In the case of wrap type pile pillar piles, the adjacent piles are
Lapping is performed with a wrap length of about 0 cm (also called lap width), and continuous continuous ground improvement is performed. In order to ensure vertical installation accuracy of the drive shaft 4, drive shaft sway 37 and 38 are provided in the lower and middle portions of the reader 1.
The swing stops 37 and 38 also move up and down along the rail 3.

In various types of ground improvement work using a ground improvement processor, when the lap length between adjacent soil column piles (improved piles) is insufficient or does not wrap, the integrity of the improved piles ( (Continuity) is impaired, the structural strength and rigidity of the improved ground are reduced, and the construction does not satisfy the water stopping property, resulting in poor construction.

Therefore, various methods and devices for controlling excavation accuracy have been studied as a coping method for ensuring a certain amount of lap between soil column piles. This is a technique for correcting the position of the tip of the excavating stirring blade shaft in real time during construction. As such a conventional technique, for example,

(1) The invention disclosed in Japanese Patent No. 2736471 (filed on June 8, 1990, Japanese Patent Application Laid-Open No. 4-44592) "Excavation accuracy control method and apparatus for multi-axial soil column excavator" Is a configuration in which the upper part and the lower part of the excavation shaft are connected by a plurality of wires, and the movement amount of each wire is controlled by a hydraulic control device.

(2) Japanese Patent No. 3156049 (filed on November 27, 1998, Japanese Patent Laid-Open No. 2000-160549)
No. 4) discloses a method for managing the lap length between soil column rows, in which a so-called three-dimensional gyro sensor that measures the tip position of the excavation stirring blade shaft is installed near the upper portion of the excavation stirring blade shaft. Equipped with a global positioning system that measures its own position by using GPS, and when the measuring means measures the bending tendency of the excavation stirring blade axis when constructing a lap type soil column pile, the tip excavation cutter is reversed. Drive to correct the position. When constructing an adjacent soil column pile that wraps with a previously constructed soil column pile, grasp and manage the actual lap length based on the horizontal intervals and horizontal cross-sectional shape of the preceding and following construction records (construction locus). . If the lap length error and bending tendency are observed, the tip excavation cutter is operated in reverse to correct the position and the ground improvement device.

(3) The invention "ground improvement method and device" disclosed in Japanese Patent Application Laid-Open No. 2001-254388 (filed on March 14, 2000) includes a drive shaft of a ground improvement processor and an excavation stirring blade shaft. Is a universal joint capable of transmitting rotational torque, and at least three hydraulic cylinders can be used to correct the position of the excavation stirring blade shaft. The measurement means using a three-dimensional gyro sensor is used. Meanwhile, the excavation direction can be corrected.

(4) The invention "lower connecting band of a stirring and excavating shaft" described in the specification and drawings of Japanese Patent Application No. 2000-348361 (filed on November 15, 2000) is arranged in the lateral direction of the excavating and stirring blade shaft. In order to facilitate the direction control of each of the bearings, the bearings in the lower connecting band (refer to the member of reference numeral 9 in FIG. 1) that maintains the distance between the plurality of excavating and stirring impeller shafts can be deformed in a horizontal direction. It has a free structure by connecting with the pin.

(5) The invention "excavation accuracy control method" described in the specification and drawings of Japanese Patent Application No. 2000-368478 (filed on December 4, 2000) is a wire type control method, but the above ( The invention disclosed in Japanese Patent No. 2736471 of 1), "Excavation accuracy control method for multi-axis soil column excavator", can only control the direction of the excavation stirring blade shaft in the front-rear direction (left-right direction in FIG. 1). Can be controlled in the lateral direction (direction perpendicular to the plane of FIG. 1) to improve the accuracy.

[0010]

[Problems to be Solved by the Invention] In the construction of a lap-type soil column pile by a ground improvement processor, in order to prevent inadequate construction in which the lap length is insufficient or the lap length does not wrap between the soil column piles. As a measure against the above, in the past, work was often performed including an extra lap length, which is larger than the lap length required in advance for design. As a result, the volume of ground improvement increases as much as the pitch of the ground improvement pile decreases, which is inefficient and uneconomical.

Therefore, although the improved techniques as exemplified in the above (1) to (5) are being researched, it cannot be said that the technique is fully matured to a sufficiently satisfactory content.

That is, the above control method (1) has a configuration in which the movement amount of the wire is controlled by the hydraulic control device.
The important control target value is based on an indirect measurement method based on the amount of movement of the wire, and it is doubtful that a control result that matches the error in the tip position of the excavation axis can be obtained.

In the construction management method (2) above, the point that the real lap length is grasped and managed in real time by the global positioning system that employs a three-dimensional gyro sensor and uses GPS to measure its own position is important. It is a term. However, there is a problem in that it is difficult to expect agile and reliable responsiveness because the position excavation cutter is only rotated backward to correct the position as a means for correcting the position.

In the ground improvement method of the above (3), the point of measurement by the measuring means using the three-dimensional gyro sensor and the transmission of the rotational torque at the connecting portion between the drive shaft of the ground improvement processor and the excavation stirring blade shaft can be transmitted. As a possible universal joint, at least three hydraulic cylinders can be used to correct the position of the excavation and stirring blade axis, and agile and reliable responsiveness can be expected compared to the former two. However, since the precision machine parts (such as universal joints and hydraulic cylinders) are deeply penetrated into the excavated soil, there are problems in terms of ensuring durability, maintenance and inspection.

Although the usefulness of the lower connecting band of the above (4) is sufficiently recognized, the excavation accuracy control method sufficiently applying this has not been completed yet.

It can be noted that the excavation accuracy control method (5) is a wire type control method, but its relevance to the technique for measuring the position of the excavation stirring blade axis is ambiguous.

As a result of the individual examination and examination as described above, although the conventional technology has its own unique characteristics, the technical contents are fully matured so that the entire system can be integrated and immediately implemented. Not not.

It is an object of the present invention to make the best use of the feature of the wire type excavation accuracy control method, to combine the technique for detecting the position of the tip of the excavating stirring blade shaft by the three-dimensional gyro sensor explained in (2) above, and to improve the construction previously carried out The position (trajectory) of the pile and the tip position of the excavation axis of the improved pile to be wrapped around this are detected in real time, and if a tendency to deviate from the planned position is observed during construction, the direction of the tip position is promptly corrected. The wire type of the ground improvement processor, which can perform the precise responsive control, correct the position in real time during construction, secure the necessary or appropriate lap amount, and control the building accuracy. An object is to provide an excavation accuracy control device.

A second object of the present invention is to easily and surely secure a certain amount of lap between the soil column piles so that the lap length required for the design can be constructed without waste. And properly construct the pitch of the ground improvement pile,
Consequently, it is an object of the present invention to provide a wire type excavation accuracy control device for a ground improvement processor, which enables efficient and economical ground improvement work.

[0020]

As a means for solving the above problems, a wire type excavation accuracy control device for a ground improvement processor according to the invention as set forth in claim 1 uses a drive shaft of the ground improvement processor. Driven between a hydraulic cylinder that is rotatably driven and propelled vertically downward along the leader, below the excavation drive unit, and a bearing member that is connected to the lower end of the drive shaft and is located directly above the excavation stirring blade shaft. A wire-type excavation accuracy control device configured by connecting a plurality of wires or the like around an axis and individually pulling each wire or the like by the hydraulic cylinder to correct and control the tip position of the excavation stirring blade shaft, wherein the bearing member A three-dimensional gyro sensor device that is installed in the vicinity of the
A construction management device to which a detection signal of the tip position of the excavation stirring blade shaft measured by the three-dimensional gyro sensor device is input, and the construction management device is controlled by a control signal calculated based on the detection signal. A hydraulic control circuit for a hydraulic cylinder is provided, and the corresponding hydraulic cylinder is individually controlled to pull the wire or the like to forcibly correct and control the tip position of the excavation stirring blade shaft.

According to the invention described in claim 2, in the wire type excavation accuracy control device of the ground improvement processor according to claim 1, the drive shaft is configured as a plurality of connecting shafts in which a plurality of unit shafts are joined in series. It is characterized in that the drive shaft is bent by utilizing the play of the shaft joint at each joint, and the tip position of the excavating stirring blade shaft can be forcibly corrected and controlled.

The invention described in claim 3 is the wire type excavation accuracy control device for a ground improvement processor according to claim 1 or 2, wherein each drive shaft in a multi-axis ground improvement processor uses a plurality of drive shafts. The bearing member that keeps the inter-axis distance constant is configured as a roller bearing for each drive shaft, and is movable by a horizontal pin to allow deformation between the bearings between adjacent drive shafts. And a lower end of a plurality of wires or the like is evenly arranged on each bearing and connected to a bearing member.

According to a fourth aspect of the present invention, in the wire-type excavation accuracy control device for the ground improvement processor according to the first aspect, the hydraulic control circuit of the hydraulic cylinder is provided with a high pressure control circuit and a low pressure control circuit in parallel. The high pressure oil of the high pressure control circuit is supplied to the hydraulic cylinder to pull the wire,
It is characterized by supplying low-pressure oil from the low-voltage control circuit to loosen wires and the like.

[0024]

Embodiments and Examples of the Invention Next, with reference to FIGS. 1 to 6, an embodiment of a wire type excavation accuracy control device for a ground improvement processor according to the present invention will be described.

As described above, the ground improvement processor of FIG. 1 rotates the drive shaft 4 while rotating the rail 3 of the leader 1.
A hydraulic cylinder 10 suspended below the excavation drive unit 2 for propelling vertically downward along the shaft, and a bearing member 1 provided directly above the excavation stirring impeller shaft 6 connected to the lower end of the drive shaft 4.
1 and a plurality of wires 1 around the drive shaft 4
2 (or a PC steel rod, a PC steel wire, etc., which will be collectively referred to as wires hereinafter) are connected, and each wire 12 is individually pulled by the hydraulic cylinder 10 to excavate and stir blades. A wire-type excavation accuracy control device for forcibly correcting and controlling the tip position of the shaft 6 is configured.

As shown in FIGS. 2A and 2B in an enlarged view of the excavation drive section 2, this is an embodiment of a biaxial ground improvement processor. Two drive shafts 4, 4 and thus two excavator blade shafts 6, 6 connected to the lower ends of each and a plurality of wires 1
The arrangement relationship with 2 ... is as illustrated in FIG. 4, and a total of 6 wires 12 ... Enclose the two drive shafts 4, 4.

FIG. 2 shows that the upper ends of the six wires 12 ...
The configuration is shown in which the output shaft of FIG. The upper end of the main body of each hydraulic cylinder 10 is also freely connected by a pin joint 14 to a bracket prepared on the lower bottom of the excavation drive unit 2.

On the other hand, the lower end of each of the six wires 12 ... As shown in the enlarged view of FIG.
Each bracket 15 of No. 1 is connected to each other by a screw-type connecting tool 16 so that the length can be adjusted. A part of the connecting tool 16 is covered with a protective cover 17 so as not to be soiled with soil. The length of each wire 12 is adjusted in advance to a length in which the bearing member 11 maintains a horizontal posture in a state where the hydraulic cylinder 10 is extended by the maximum stroke.

The bearing member 11 for keeping the two drive shafts 4 and 4 at a constant distance between the shafts uses a roller bearing bearing 11a for rotatably supporting the drive shaft 4 with low friction. The roller bearing bearing 11a also has a feature that it has a high rigidity enough to withstand the forced correction of the tip position of the excavation and stirring blade shaft 6 by pulling the bearing member 11 by wire control. As a specific configuration of the roller bearing bearing 11a, as shown in FIG. 5 of Japanese Patent Laid-Open No. 2001-234527, a configuration in which the drive shaft 4 is rotatably supported by an angular type roller bearing is preferably adopted.

While the distance between the two drive shafts 4 and 4, and hence the two excavating and stirring impeller blades 6 and 6 is kept constant, lateral deformation between the adjacent drive shafts 4 and 4 is facilitated. The two roller bearings 11
A is movable as a pin joint structure in which a bracket 11b extending in parallel to the lateral direction from its outer surface is superposed on both ends of a hinge member 11c at an intermediate position, and two pins 11d are horizontally inserted and connected. There is.

The lower ends of the six wires 12 ...
As shown in FIG. 4, two roller bearing bearings 11
Each of a and 11a is connected to each bracket 15 which is provided equidistantly so as to project a horizontal arm and to exert moments at positions in three right-angled directions included in semicircles on the outer side of each of the a and 11a. The invention described).

Therefore, depending on which one of the six wires 12 is strong and which is weakly pulled by the hydraulic cylinder 10, the two drive shafts 4 and 4, and thus the two excavating and stirring impeller shafts 6, The tip position of 6 can be easily and forcibly corrected and controlled easily in both the front-back direction (Y direction in FIG. 4) and the lateral direction (X direction in FIG. 4).

As a real-time measuring means for measuring the tip positions of the two drive shafts 4, 4 and by extension, the two excavating and stirring impeller shafts 6, 6, the position near the bearing member 11, more specifically, FIG. As shown in FIG. 3, the sensor case 20 fixed to the outer surface of the bearing bearing 11a on the right side in the drawing and positioned in the center of the two drive shafts 4 and 4 is omitted to be specifically illustrated. However, as disclosed in, for example, Japanese Patent No. 3156049, a three-dimensional gyro sensor device including a combination of an inclinometer in the X and Y two-dimensional directions and a gyro sensor is installed.

With this three-dimensional gyro sensor device,
In the construction process of the ground improvement work by the ground improvement processor, the tip position of the excavation and stirring blade shaft 6 is accurately detected in real time. In addition, the trajectories and horizontal cross-sectional shapes of the constructed soil column piles are also recorded as data. The measurement signal from the three-dimensional gyro sensor device is sent to the ground construction management device 22 (FIG. 5) through the signal line in the signal line protection tube 21 connected to the sensor case 20.

FIG. 5 shows a hydraulic control circuit for automatically controlling the hydraulic cylinder 10 in real time based on the measured values of the three-dimensional gyro sensor device. This is a configuration in which a high pressure control circuit 30 and a low pressure control circuit 31 are provided in parallel for one hydraulic cylinder 10, and the wire 12 is pulled by the high pressure control circuit 30.

The measurement signal 23 measured by the three-dimensional gyro sensor device in the underground sensor case 20 is the construction management device 2
2 (this is an ordinary personal computer), the pressure signal 25 input from the pressure converter 24 attached to each hydraulic cylinder 10 and the comparison calculation process are performed, and the comparison calculation result is obtained. Is sent to the cylinder operation panel 27. At the same time, it is displayed on the monitor 26 of the operator in real time.

In the cylinder operation panel 27, there are six hydraulic cylinders 1 based on the result of the above-mentioned comparison calculation.
A control signal for the high voltage control circuit 30 and the low voltage control circuit 31 of 0 ... Is generated and transmitted. That is, the electromagnetic relief valve 32, the shutoff valve 33, the electromagnetic switching valve 34 of the high pressure control circuit 30, and the electromagnetic switching valve 35 of the low pressure control circuit 31 are controlled.

For example, the hydraulic cylinder 10 and the wire 12
When pulling, the high-pressure control circuit 30 is opened and the hydraulic cylinder 1 is opened with the shut-off valve 33 free.
High-pressure oil is sent to the piston lower chamber of 0 to cause contraction operation.
In the holding state, the shut-off valve 33 is closed to keep the stroke of the hydraulic cylinder 10 unchanged even when an external force is applied. When the wire 12 is in a neutral state where the wire 12 is slackened, the low-pressure control circuit 31 is opened with the shut-off valve 33 free, and low-pressure oil is sent to the piston lower chamber of the hydraulic cylinder 10 so that the wire 12 is The tension state is maintained by a weak tension that does not loosen (the invention according to claim 4).

In short, in FIG. 4, pulling the wire 12 indicated by a, b or e, d by the hydraulic cylinder 10 allows the position to be corrected in the front-rear direction. Pulling the wire 12 with the reference signs b, c, d or a, f, e causes it to move sideways (left and right).
The position can be corrected in the direction. At this time, the hydraulic cylinders 10 of the other wires 12 are kept in the respective holding states to apply a reaction force for position correction. In addition, in various combinations, the control necessary for position correction of the tip positions of the two drive shafts 4, 4 and by extension, the two excavating and stirring impeller shafts 6, 6 can be accurately and forcibly and promptly executed. .

When the tip position of the excavating and stirring impeller shaft 6 deviates from the planned position (position of the set lap length) or is likely to deviate, the hydraulic cylinder 10 and the wire 12 are immediately used for correction and control to the planned position. Is done. Therefore, it is not necessary to construct an extra lap length in advance.

The position correction of the tip positions of the two drive shafts 4, 4 and by extension, the two excavating and stirring impeller shafts 6, 6 is controlled by pulling each wire 12 by the hydraulic cylinder 10 as described above. Adjusting the amount of pulling force (hydraulic cylinder 1
The magnitude of the hydraulic pressure supplied to 0) is the excavated soil quality and its properties,
It changes depending on the conditions such as the size of the lap length of the soil column pile. Therefore, it is preferable to first carry out a test construction to collect information necessary for practical use, and based on the result, determine the magnitude of the pulling force and the hydraulic pressure that can be controlled to carry out.

As the ground improvement work progresses, as disclosed in the patented invention of Japanese Patent No. 3156049, various data necessary for the construction management of the soil column piles are collected and the analyzed numerical values are used as the construction management device. It is input to 22 and recorded, and the tensile force required for position correction and control is calculated. Then, it is preferable to repeat the step of comparing and collating with the position detection data and the plan, reflecting the result in the automatic hydraulic pressure control, and feeding back the result to the tip position control.

Incidentally, when correcting the position in the lateral direction of pulling the wire 12 of the above-mentioned symbols b, c, d or a, f, e, it is a bearing component of the bearing member 11 as shown in FIG. Individual roller bearings 11a,
The pin joint structure that connects 11a with the pin 11d is
It does not generate unnecessary resistance and enables position correction with good responsiveness.

As a device that enables position correction with better response, the drive shaft 4 according to the ground improvement processor of the present invention is
As illustrated in FIGS. 6A and 6B, a plurality of unit shafts are configured as a plurality of connecting shafts joined in series by a shaft coupling 40. Using the play generated in the shaft coupling 40 at each joint, the drive shaft 4
Is smoothly generated up to the position of the bearing member 11, and it is possible to forcibly correct the tip position of the excavation stirring impeller shaft 6 (the invention described in claim 2).

The unit axis of the excavation axis 4 is generally 5 m to 10 m.
There is a wide variety in the range of 1 m to 4 m for adjustment. The play of the shaft coupling 40 is usually 2.6 × 1 when new.
0 ^- about ² rad there, gradually increases in accordance with frequency of use. Therefore, by appropriately designing the number of the shaft couplings 40, the flexible drive shaft 4 can be easily obtained, and the position control becomes easy, which is far more advantageous in control than a single drive shaft. . However, if an appropriate tensile force is applied to the drive shaft 4 by the wire 12 in a well-balanced manner, the drive shaft 4
Since it also has the effect of supplementarily improving the rigidity of the above, there is no fear of the adverse effect of the play.

As shown in FIGS. 6A and 6B, when the wire 12 is pulled to cause the drive shaft 4 to bend and the tip position of the excavation stirring impeller shaft 6 is corrected and controlled, the fixed point of the drive shaft 4 is fixed. Serves as a lower swing 37. Therefore, this lower swing 37 is also implemented with a structure that employs a roller guide mechanism using a roller that rotatably supports the drive shaft 4, as shown in FIG. 2A of JP 2001-234527 A, for example. Preferably. The intermediate swing rest 38 is similarly configured.

[0047]

The wire type excavation accuracy control device of the ground improvement processor according to the invention described in claims 1 to 4 measures the tip position of the excavation stirring impeller shaft by the three-dimensional gyro sensor device, and firstly executes the construction. In real time, the trajectory of the improved pile and the tip position of the excavation axis of the improved pile to be wrapped around it are detected and compared, and if a tendency to deviate from the planned position is observed, the direction of the tip position is promptly corrected. Therefore, it is possible to perform the control of the build-in accuracy that accurately secures the amount of lap required at the time of construction, because the control can be performed accurately and with high responsiveness.

Therefore, according to the present invention, it is possible to easily carry out the construction in which the amount of wrap between the soil column piles is accurately kept at a fixed amount. Therefore, the lap length required for design can be used without waste. As a result, the pitch of the ground improvement piles can be made appropriate, and efficient and economical ground improvement work can be performed.

[Brief description of drawings]

FIG. 1 is an elevational view of a ground improvement processor according to the present invention.

2A and 2B are a front view and a side view in which the vicinity of the excavation drive unit is shown in an enlarged manner.

FIG. 3 is an enlarged front view showing the vicinity of a bearing member under the drive shaft.

FIG. 4 is a sectional view of the bearing member as seen in a plane direction.

FIG. 5 is a control circuit diagram of a hydraulic cylinder.

6A and 6B are explanatory views schematically showing the configuration of a drive shaft and a bent state.

[Explanation of symbols]

4 Drive Shaft 1 Leader 2 Excavation Drive Unit 10 Hydraulic Cylinder 6 Excavation Stirring Blade Shaft 11 Bearing Member 12 Wires, etc. 20 Sensor Case (Built-in 3D Gyro Sensor Device) 22 Construction Management Device 30 High Pressure Control Circuit 31 Low Pressure Control Circuit 27 Hydraulic Cylinder Operation panel 40 Shaft joint 11a Roller bearing bearing (bearing parts) 11d Pin

[Procedure amendment]

[Submission date] February 6, 2003 (2003.2.6)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Claim 1

[Correction method] Change

[Correction content]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] Claim 3

[Correction method] Change

[Correction content]

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction content]

(4) The invention disclosed in Japanese Patent Application Laid-Open No. 2002-146771 (filed on Nov. 15, 2000) , "The lower connecting band of the stirring and excavating shaft", controls the lateral direction of the excavating and stirring blade shaft. In order to facilitate the above, each bearing in the lower connecting band (refer to the member indicated by reference numeral 9 in FIG. 1) that maintains the distance between the plurality of excavating and stirring impeller shafts is deformed by a horizontal pin. It is connected to form a flexible structure.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction content]

(5) The invention "excavation accuracy control method" disclosed in Japanese Unexamined Patent Application Publication No. 2002-167749 (filed on December 4, 2000) is a wire type control method. The invention disclosed in Japanese Patent No. 2736471 "Excavation accuracy control method for multi-axis soil column excavator" can only control the direction of the excavation stirring blade axis in the front-back direction (left-right direction in FIG. 1). Further, the control can be performed in the lateral direction (direction perpendicular to the paper surface of FIG. 1) to improve the accuracy.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction content]

[0020]

As a means for solving the above problems, a wire type excavation accuracy control device for a ground improvement processor according to the invention as set forth in claim 1 uses a drive shaft of the ground improvement processor. Driven between a hydraulic cylinder that is rotatably driven and propelled vertically downward along the leader, below the excavation drive unit, and a bearing member that is connected to the lower end of the drive shaft and is located directly above the excavation stirring blade shaft. A wire-type excavation accuracy control device configured by connecting a plurality of wires or the like around an axis and individually pulling each wire or the like by the hydraulic cylinder to correct and control the tip position of the excavation stirring blade shaft, wherein the bearing member A three-dimensional gyro sensor device that is installed in the vicinity of the
The construction management device to which a measurement signal of the tip position of the excavation stirring blade shaft measured by the three-dimensional gyro sensor device is input, and the construction management device is controlled by a control signal calculated based on the measurement signal. A hydraulic control circuit for a hydraulic cylinder is provided, and the corresponding hydraulic cylinder is individually controlled to pull the wire or the like to forcibly correct and control the tip position of the excavation stirring blade shaft.

[Procedure correction 6]

[Document name to be amended] Statement

[Name of item to be corrected] 0022

[Correction method] Change

[Correction content]

The invention described in claim 3 is the wire type excavation accuracy control device for a ground improvement processor according to claim 1 or 2, wherein each drive shaft in a multi-axis ground improvement processor uses a plurality of drive shafts. The bearing member that keeps the inter-axis distance constant is configured as a roller bearing for each drive shaft, and is movable by a horizontal pin to allow deformation between the bearings between adjacent drive shafts. It has a pin joint structure that is connected to each other, and the lower ends of multiple wires that are symmetrically provided on each bearing project horizontally from the bearing member.
It is characterized by being connected to the bracket .

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0026

[Correction method] Change

[Correction content]

As shown in FIGS. 2A and 2B in an enlarged view of the excavation drive section 2, this is an embodiment of a biaxial ground improvement processor. Two driving shafts 4, 4 2 connected to the lower end of their respective
The positional relationship between the excavating and stirring impeller shafts 6 and 6 and the plurality of wires 12 is as illustrated in FIGS . 3 and 4, and a total of 6
The wires 12 ... Are arranged so as to surround the two drive shafts 4 and 4.

[Procedure Amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction content]

On the other hand, the lower end of each of the six wires 12 ... As shown in the enlarged view of FIG.
Each bracket 15 protruding in the horizontal direction from 1 is connected by a screw type connecting tool 16 in a configuration in which the length can be adjusted. A part of the connecting tool 16 is covered with a protective cover 17 so as not to be soiled with soil.

[Procedure Amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0036

[Correction method] Change

[Correction content]

The measurement signal 23 measured by the three-dimensional gyro sensor device in the underground sensor case 20 is the construction management device 2
2 (this is an ordinary personal computer), the pressure signal 25 input from the pressure converter 24 attached to each hydraulic cylinder 10 and the comparison calculation process are performed, and the comparison calculation result is obtained. Is the control panel for hydraulic cylinder 2
Sent to 7. At the same time, it is displayed on the monitor 26 of the operator in real time.

[Procedure Amendment 10]

[Document name to be amended] Statement

[Name of item to be corrected] 0037

[Correction method] Change

[Correction content]

In the hydraulic cylinder operation panel 27, control signals for the high pressure control circuit 30 and the low pressure control circuit 31 of each of the six hydraulic cylinders 10 are generated and transmitted based on the result of the above-mentioned comparison operation. That is, the electromagnetic relief valve 32, the shutoff valve 33, the electromagnetic switching valve 34 of the high pressure control circuit 30, and the electromagnetic switching valve 35 of the low pressure control circuit 31 are controlled.

[Procedure Amendment 11]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 1

[Correction method] Change

[Correction content]

[Figure 1]

[Procedure Amendment 12]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroshi Nakashiba             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka engineering works (72) Inventor Tsuneyasu Onishi             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka engineering works (72) Inventor Hidehito Morita             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka engineering works (72) Inventor Tomoaki Hirowatari             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka engineering works (72) Inventor Kouki Yamamoto             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka Corporation Tokyo Main Store (72) Inventor Hayao Aoyagi             8-21-21 Ginza, Chuo-ku, Tokyo Stock market             Takenaka Corporation Tokyo Main Store (72) Inventor Takumi Fujii             Chiba Prefecture Inzai City 1-5 Otsuka 1 Stock Association             Takenaka Corporation Technical Research Institute F term (reference) 2D040 AB05 BA08 BD03 EA12 EA14                       FA01

Claims (4)

[Claims] 1. A hydraulic cylinder hung below an excavation drive unit for rotationally driving a drive shaft of a ground improvement processor to propel it vertically downward along a leader, and an excavation stirring blade shaft connected to a lower end of the drive shaft. Composed of a plurality of wires and the like centered on the drive shaft between the bearing member provided directly above, the wire is individually pulled by the hydraulic cylinder, the tip position of the excavation stirring blade shaft is corrected, A wire type excavation accuracy control device for controlling, comprising: a three-dimensional gyro sensor device installed near the bearing member to detect the tip position of the excavation stirring blade shaft; and a three-dimensional gyro sensor device for measuring the excavation stirring blade shaft. A construction management device to which a detection signal of the tip end position is input, and the hydraulic cylinder controlled by a control signal that the construction management device performs arithmetic processing based on the detection signal. A ground improvement processor equipped with a hydraulic control circuit, characterized by individually controlling the corresponding hydraulic cylinders, pulling the wires, etc., and forcibly correcting and controlling the tip position of the excavation stirring blade axis. Wire type excavation accuracy control device. 2. The drive shaft is configured as a plurality of connecting shafts in which a plurality of unit shafts are joined in series, and the drive shaft is bent by utilizing the play of the shaft joint of each joining portion, so that the excavating stirring blade shaft The wire-type excavation accuracy control device for a ground improvement processor according to claim 1, wherein the tip position can be forcibly corrected and controlled. 3. A bearing member for maintaining a constant axial distance between drive shafts in a multi-axis ground improvement processor using a plurality of drive shafts, wherein each drive shaft bearing is a roller bearing bearing. It has a pin joint structure that is movably connected by horizontal pins so as to allow deformation between bearings between drive shafts, and the lower ends of multiple wires etc. are evenly distributed to each bearing and connected to the bearing member. The wire-type excavation accuracy control device for a ground improvement processor according to claim 1 or 2, characterized in that 4. A hydraulic control circuit for a hydraulic cylinder comprises a high-pressure control circuit and a low-pressure control circuit provided in parallel, and supplies high-pressure oil from the high-pressure control circuit to the hydraulic cylinder to pull a wire or the like. 2. The wire type excavation accuracy control device for a ground improvement processor according to claim 1, wherein the low-pressure oil is supplied to loosen wires and the like.