JP2009281068A - Self-propelled recycling machine and self-propelled conveyor device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled recycling machine and a self-propelled conveyor device capable of improving authenticity of detection results of the amount of work during operation. <P>SOLUTION: The self-propelled recycling machine for discharging, by a discharging conveyor 26, a treated material treated by a processor 19 includes a work amount detector 40 detecting the amount of conveyance (the amount of work) of the treated material conveyed by the discharging conveyor 26, a work amount setting device 121 setting a target work amount, a reference detection value storing part 141a storing the reference detection value of the work amount detector 40, a reference discharge speed storing part 141c storing, in relation with the target work amount, a reference discharge speed of the discharging conveyor 26 detecting the reference detection value based on the treated material of the target work amount, a discharge speed computing part 142 computing the reference discharge speed with respect to the target work amount based on the stored information of the reference discharge speed storing part 141c, and a discharging conveyor control part 143 controlling the discharging conveyor 26 based on the computed reference discharge speed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a self-propelled recycling machine and a self-propelled conveyor device that receive and process raw materials to be treated.

  Under the background of the promotion of waste reuse in recent years, for example, self-propelled soil improvement machines and self-propelled crushers can be self-propelled at the site where the material to be treated (recycled raw materials) is generated and installed at any location within the site. The field of active use of self-propelled recycling machines is expanding.

  For example, construction work such as propulsion work with pipe propulsion machine, shield work with shield machine, foundation work with vertical hole excavator, dredging work, gas pipe burial work, water and sewage work, and other road works / foundation work In the production work of gravel and crushed stone, soft soil with high water content is generated. A self-propelled soil improvement machine receives such earth and sand as a recycled material in a hopper, conveys it to a mixing device by a conveyor, and mixes it with a soil improvement material (lime-based solidifying material, flocculant, etc.) in the mixing device. The soil will be improved to the same strength as the remaining construction soil. Self-propelled crushers, for example, receive large chunks of waste stone generated at building demolition sites, quarrying sites, etc. as recycled raw materials in hoppers, and crush them to a predetermined size with a crushing device to remove gravel and Reusable as aggregate. In any self-propelled recycling machine, the processed material processed by a processing device such as a mixing device or a crushing device is carried out of the machine by a discharge conveyor.

  In the self-propelled recycling machine as described above, for example, there is one in which a transport amount detection device that detects the weight of a transported object is installed on a discharge conveyor. For example, in the self-propelled soil improvement machine described in Japanese Patent No. 3370643 (Patent Document 1), the mixing ratio is adjusted to the mixing device based on the detection value of the conveyance amount detection device in order to adjust the mixing ratio of the soil improvement material and the earth and sand. The supply speed of the object to be processed is controlled.

Japanese Patent No. 3370643

  By the way, this kind of self-propelled recycling machine may move to the place where the processing object is generated in addition to operating at a certain place, and the property of the processing object can be changed by changing the place even at the same site. May change. Therefore, when the properties of the processing object are relatively stable and easy to process, the work amount (production amount of the processing object) increases, whereas when the processing object with unstable properties is handled The amount may decrease. In addition, since self-propelled recycling machines generally operate in an environment where a large amount of earth and sand is generated, the earth and sand may adhere to the conveyor belt.

  Usually, the transport amount detection device that detects the transported material on the discharge conveyor of a self-propelled recycling machine can measure the maximum amount so that it can withstand the load of the transported material with the maximum work amount that is expected when processing easy-to-handle objects. A sensor with a sufficient detection capacity with a margin in the range is selected. For this reason, if the work amount is significantly reduced with respect to the maximum work amount and the conveyed product becomes too light for the measurement ability, the detection accuracy of the conveyed product weight is lowered, and the quality of the processed product to be produced may be fluctuated.

  However, the driving speed of the discharge conveyor is generally not adjustable by the operator, and the amount of work mainly depends on the supply amount of the processing object, so that the detection accuracy is guaranteed within the detection capacity. Therefore, it is difficult to detect the transport amount. For this reason, the detection result of the operation amount during operation may not always be accompanied by reliability.

  Then, an object of this invention is to provide the self-propelled recycling machine and self-propelled conveyor apparatus which can improve the reliability of the detection result of the operation amount in driving | operation.

  In order to achieve the above object, a first invention includes a traveling body, a main body frame provided on the traveling body, a hopper provided on one side in a longitudinal direction of the main body frame and receiving a processing object, A processing device for processing a processing object received by a hopper, a power device provided on the other side in the longitudinal direction of the main body frame and having a power source, and a longitudinal position of the main body frame with a lower position of the processing device as a base end In a self-propelled recycling machine equipped with a discharge conveyor that extends to the other side of the direction and discharges the processed material discharged from the processing device to the outside of the machine, the amount of processed material transported by the discharge conveyor is detected as a work amount A work amount detector for setting, a work amount setter for setting a target work amount, and a reference in which a reference detection value set in advance in consideration of reliability of detection accuracy in the detection capacity of the work amount detector is stored. Inspection When the speed of the discharge conveyor at which the detection value of the work amount detector becomes the reference detection value when the discharge conveyor conveys the processed object of the target work amount is the reference discharge speed, A reference discharge speed storage unit that associates and stores a reference discharge speed and a corresponding target work amount, and a reference discharge speed of the discharge conveyor with respect to the target work amount set by the work amount setting unit is stored in the reference discharge speed storage unit. A discharge speed calculation unit that calculates based on stored information, and a discharge conveyor control unit that drives and controls the discharge conveyor based on a reference discharge speed calculated by the discharge speed calculation unit. .

  According to a second invention, in the first invention, a feeder that supplies the processing object received by the hopper to the processing device, and a supply speed setting unit that sets a supply speed of the processing object by the feeder. The reference discharge speed storage unit further processes a combination of a target work amount and a reference discharge speed of the discharge conveyor for conveying the target work amount and causing the work amount detector to detect the reference detection value. The discharge speed calculation unit inputs a target work amount set by the work amount setting device and a supply speed of the processing object set by the supply speed setting device. The reference discharge speed of the discharge conveyor is calculated based on the information stored in the reference discharge speed storage unit.

  According to a third invention, in the first invention, a feeder that supplies the processing object received by the hopper to the processing device, a supply speed of the processing object by the feeder, and the target work amount are stored in association with each other. A reference supply speed storage unit, a supply speed calculation unit that calculates a reference supply speed of the feeder for a target work amount set by the work amount setting unit based on storage information of the reference supply speed storage unit, and the supply And a feeder control unit that drives and controls the feeder based on the reference supply speed calculated by the speed calculation unit.

  According to a fourth invention, in any one of the first to third inventions, the reference detection value storage unit considers reliability of detection accuracy in a detection capacity of the work amount detector including the reference detection value. The preset reference detection range is stored, and when the detection value of the work amount detector exceeds the upper limit value of the reference detection range, the reference discharge speed of the discharge conveyor is increased, and the work amount is increased. The apparatus further includes a discharge speed correction calculation unit that reduces a reference discharge speed of the discharge conveyor when a detection value of the detector falls below a lower limit value of the reference detection range.

  5th invention is a self-propelled conveyor apparatus provided with the traveling body, the motive power apparatus provided on the said traveling body, which has a power source, and the discharge conveyor provided on the said traveling body, The conveyance of the said discharge conveyor A work amount detector that detects the transport amount of an object as a work amount, a work amount setter that sets a target work amount, and a detection capacity of the work amount detector that is set in advance in consideration of reliability of detection accuracy A reference detection value storage unit that stores the reference detection value, and a detection value of the discharge conveyor in which the detection value of the work amount detector becomes the reference detection value when the discharge conveyor transports the transported object of the target work amount. When the speed is set as a reference discharge speed, a reference discharge speed storage unit that stores the reference discharge speed and a corresponding target work amount in association with each other, and a reference of the discharge conveyor with respect to the target work amount set by the work amount setting device Discharge speed A discharge speed calculation unit that calculates based on information stored in the reference discharge speed storage unit, and a discharge conveyor control unit that drives and controls the discharge conveyor based on the reference discharge speed calculated by the discharge speed calculation unit. It is characterized by.

  ADVANTAGE OF THE INVENTION According to this invention, the reliability of the detection result of the operation amount in driving | operation can be improved.

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

  FIG. 1 is a side view showing the overall structure of a self-propelled soil improvement machine which is a self-propelled recycling machine according to a first embodiment of the present invention, and FIG. 2 is a plan view. In this embodiment, unless otherwise specified, the left side in FIGS. 1 and 2 is described as one side, and the right side is described as the other side. Moreover, let the right side of FIG.1 and FIG.2 be the front of an airframe, and let the left side be back.

  The self-propelled soil improvement machine shown in FIGS. 1 and 2 has a traveling body 1 for traveling on its own, a hopper 12 for receiving processing target earth and sand (recycled raw material), an upper part of the hopper 12 provided in the hopper 12. A vibrating sieve 31 for removing large ingots and foreign matters having a predetermined particle size or more from the earth and sand, a conveyor 13 which is a feeder for conveying the earth and sand received by the hopper 12, and a soil quality improving material supply device 14 for supplying soil quality improving material to the earth and sand , A mixing device 19 as a processing device for mixing soil and soil improvement material, a conveyor (discharge conveyor) 26 for conveying the improved soil discharged from the mixing device 19 and discharging it out of the machine, and a power source of each mounted device Is provided.

  The traveling body 1 includes a pair of left and right traveling devices 2 and a pair of left and right main body frames 3 provided in the upper part of the traveling device 2 and extending substantially in parallel in the front-rear direction. The traveling device 2 includes a track frame 4 continuously provided at a lower portion of the main body frame 3, driven wheels (idlers) 5 and drive wheels 6 provided at both ends of the track frame 4, and crawler belts wound around the driven wheels 5 and the drive wheels 6. (Endless track crawler belt) 7 and a driving device (hydraulic motor) 8 for traveling directly connected to the driving wheel 6 are provided. In addition, in this example, although the crawler type traveling apparatus 2 which has the crawler belt 7 is illustrated, what is called a wheel type traveling apparatus can also be used.

  Support posts 9a to 9d are erected on the upper portions of the left and right main body frames 3, respectively, and the support frames 10a and 9d disposed above one side in the longitudinal direction of the main body frame 3 by the support posts 9a to 9d. 3, a support frame 11 disposed substantially above the center in the longitudinal direction is supported.

  The vibration sieve 31 is supported by the support frame 10 via a spring 32, and the rear side is lower than the front side. When the vibration is generated by the vibration device 34, components of various sizes included in the earth and sand put in the vibrating screen 31 are discharged by flowing down to the rear side the components larger than the mesh members 33. The earth and sand components smaller than the eyes are selected and introduced into the lower hopper 12.

  The hopper 12 is a frame-shaped member that is open at the top and bottom, and is formed so as to expand upward. The hopper 12 is supported on one side in the longitudinal direction of the main body frame 3 via the support frame 10. The conveyor 13 is supported between the left and right support posts 9b to 9d so as to extend from below the hopper 12 above an inlet (not shown) of a mixing device 19 described later. In addition, although the structure where earth and sand are thrown into the hopper 12 through the vibration sieve 31 was illustrated, the structure where the vibration sieve 31 is omitted and the earth and sand is directly thrown into the hopper 12 may be used.

  The soil quality improvement material supply device 14 includes a storage tank 15 for storing the soil quality improvement material, and a rotary feeder (or screw feeder) 16 for supplying the soil quality improvement material in the storage tank 15 to the earth and sand on the transport conveyor 13. The main body frame 3 is disposed substantially at the center via the support frame 11. A crane 18 is disposed on one side of the machine body width direction (left side in this example) so as to be located on the side of the soil quality improving material supply device 14. The crane 18 is used to suspend, for example, a flexible container (ton pack) filled with a soil quality improving material above the storage tank 15 and assist the filling of the soil quality improving material in the flexible container into the storage tank 15. As the soil improvement material, quick lime, fly ash (coal ash generated at a thermal power plant) and cement, a mixture of quick lime, cement and gypsum, lime-based solidifying material, aggregating agent, and the like are used.

  The mixing device 19 mixes the earth and sand introduced from the transport conveyor 13 with a paddle mixer (not shown) to generate improved soil as a processed product, and is positioned below the rotary feeder 16. The main body frame 3 is provided substantially at the center in the longitudinal direction. The improved soil generated by the mixing device 19 is discharged onto the discharge conveyor 26.

  The power unit 21 is supported on the other end of the main body frame 3 in the longitudinal direction via a support member 22. As shown in FIG. 2, a driver's seat 23 is provided in a compartment on the rear side of the power unit 21. The driver seat 23 is provided with an operation lever (not shown) that operates the traveling device 2. An operation panel (not shown) for operating each device such as the mixing device 19 excluding the traveling device 2 is provided at a position below the driver's seat 23 on the side of the machine body.

  The discharge conveyor 26 includes a conveyor frame 43, driving wheels 20 and driven wheels (not shown) that are rotatably attached to the front and rear ends of the conveyor frame 43, and a conveyor belt that is wound around the driving wheels 20 and the driven wheels. 41, a driving device 27 connected to the driving wheel 20, and a belt support roller 42 provided on the conveyor frame 43 at a predetermined pitch in the front-rear direction and supporting a conveying surface (surface for conveying improved soil) of the conveying belt 41 from the back side. The drive belt 27 is driven to circulate by the drive device 27 and the improved soil on the transfer belt 41 is carried out of the machine. The discharge conveyor 26 extends substantially horizontally for a predetermined distance from the lower side of the mixing device 19 toward the other side in the longitudinal direction of the main body frame 3, and then extends upward from the vicinity of the lower side of the power device 21. The upstream part (the left part in FIG. 1) is suspended from the main body frame 3 via a support member (not shown), and the downstream part (the right part in FIG. 1) is suspended from the power unit 21 via a support member 29. Has been. The discharge conveyor 26 is provided with a work amount detector for detecting the amount of processed material conveyed by the discharge conveyor 26 (conveyed material weight per belt unit length) as a work amount.

  FIG. 3 is a diagram showing the structure of the work amount detector provided on the discharge conveyor 26.

  The work amount detector 40 shown in FIG. 3 is a so-called conveyor scale, and is provided at a substantially intermediate position between the pair of belt support rollers 42 and 42. The work amount detector 40 includes a stand 45 erected on the conveyor frame 43, a swing plate 47 that is pivotally supported by the stand 45 via a shaft 46, and extends in the traveling direction of the conveyor belt 41, A belt load transmitting roller 49 which is rotatably attached to one end side of the swing plate 47 via a bracket 48 and rolls on the back surface of the transport surface of the transport belt 41, and an upper end on the other end side of the swing plate 47. A load sensor (load cell or the like) 50 that detects a load received from the other end side of the swing plate 47 that is installed so as to contact and receives a force from the conveyor belt 41 via the roller 49 and swings in the direction of the arrow. ing.

  With the above configuration, in the section between the belt support rollers 42 and 42 before and after the work amount detector 40, the conveyor belt 41 that is bent by the weight of the improved soil that is conveyed is pressed against the roller 49 in the direction indicated by the arrow D (pressing force). ) Actuates the load sensor 50 by the other end of the swing plate 47 that is about to swing in the direction of arrow U (upward). The load sensor 50 measures the pressing force from the swing plate 47 as a load, and outputs a detection signal to the control device 110 (see FIG. 4 later). As will be described later, the control device 110 per unit time conveyed by the discharge conveyor 26 based on the detection signal from the work amount detector 40 and the drive speed (improved soil transfer speed) of the drive device 27 of the discharge conveyor 26. The transport weight of the improved soil is calculated.

  FIG. 4 is a hydraulic circuit diagram that extracts and represents portions related to the discharge conveyor 26 and the transfer conveyor 13.

  As shown in FIG. 4, the hydraulic drive device provided in the self-propelled soil improvement machine of the present embodiment includes a hydraulic pump 100 driven by an engine (not shown), the discharge conveyor hydraulic motor 27, A control valve 102 for controlling the flow (direction / flow rate) of pressure oil to the discharge conveyor hydraulic motor 27, a transfer conveyor hydraulic motor 103 for driving the transfer conveyor 13, and pressure oil to the transfer conveyor hydraulic motor 103 A control valve 104 for controlling the flow (direction / flow rate), the control device 110, the work amount detector 40, and a discharge speed detector 112 for detecting the transport speed (discharge speed) of the improved soil by the discharge conveyor 26; , A work amount setting unit 121 for setting a target work amount (conveyance amount (unloading weight) of the improved soil per unit time by the discharge conveyor 26), and a conveyance conveyor And a feed speed setter 122 for setting the conveying speed of the sediment by 13.

  The discharge speed detector 112 detects a belt movement speed by detecting a pulse signal from a rotation speed detector provided in the hydraulic motor 27 for the discharge conveyor or a groove (not shown) arranged in the traveling direction of the conveyor belt 41. Can be used.

  The work amount setting device 121 sets a target work amount. However, since the driving speed of the discharge conveyor 26 is mainly determined by the set value by the work amount setting device 121, the side as a means for setting the driving speed of the discharge conveyor 26. Also have. Since the amount of work is regarded as an important management item in the actual site, the amount of work is set so as to provide a more intuitive interface from the viewpoint of user friendliness. Specifically, operation means such as dials and buttons for selecting work modes such as “large work amount mode”, “medium work amount mode”, and “small work amount mode” are provided on an operation panel (not shown). In accordance with the operation, the control device 110 sets the driving speed of the discharge conveyor 26 as described later.

  The supply speed setting device 122 is used by an operator to manually input the driving speed of the transport conveyor 13. For example, the supply speed setting device 122 is provided on an operation panel (not shown) together with the work amount setting device 122. Here, the case where the drive speed of the transfer conveyor 121 is directly set by the supply speed setting device 121 is taken as an example, but the drive speed is not set directly like the discharge conveyor 26. A configuration in which a supply amount is set by a supply speed setting device 121 such as “mode” “medium supply amount mode” “small supply amount mode”, and the driving speed of the conveyor 13 is controlled by the control device 110 according to the setting. It can also be.

  In the hydraulic circuit shown in FIG. 4, when the control valves 102 and 104 are switched from the shut-off positions 102a and 104a to the communication positions 102b and 104b by signals S102 and S104 from the control device 110, the hydraulic pressure is passed through the control valves 102 and 104. The pressure oil discharged from the pump 100 is supplied to the hydraulic motors 27 and 103, respectively, whereby the discharge conveyor 26 and the transport conveyor 13 are driven. The return oil from the hydraulic motors 27 and 103 is returned to the tank 101 via the control valves 102 and 104, respectively.

  FIG. 5 is a functional block diagram of the control device 110.

  As shown in FIG. 5, the control device 110 calculates the driving speed (command value) of the storage unit 141 storing the control program, necessary constants, and the like of the discharge conveyor 26 and the transfer conveyor 13, and the discharge conveyor 26. Based on detection signals from the speed calculation unit 142, the discharge conveyor control unit 143 that drives and controls the discharge conveyor 26 according to the command value from the discharge speed calculation unit 142, and the work amount detector 40 and the discharge speed detector 112. Based on the set value of the driving speed of the transport conveyor 13 input to the supply speed setting unit 122 and the work amount calculation unit 144 for calculating (discharge amount of improved soil per unit time), the driving speed (command) Value) and a conveyor control unit 146 for driving and controlling the conveyor 13 according to a command value from the supply speed calculator 145, The discharge speed correction calculation unit 147 corrects the reference discharge speed of the discharge conveyor 26, and a feed rate correction calculation unit 148 corrects the reference feed rate of the conveyor 13.

  The storage unit 141 has, as main storage areas, a reference detection value storage unit 141a that stores a reference detection range including a reference detection value of the work amount detector 40, and a minimum discharge speed storage that stores the minimum discharge speed of the discharge conveyor 26. 141b, a reference discharge speed storage unit 141c that stores the reference discharge speed of the discharge conveyor 26, a reference supply speed storage unit 141d that stores the reference supply speed of the transport conveyor 13, and a maximum discharge speed of the discharge conveyor 26. And a maximum discharge speed storage unit 141e.

  The reference detection value stored in the reference detection value storage unit 141a is a value in the detection capacity (detectable range) of the work amount detector 40, and the reliability of the detection accuracy of the work amount detector 40 is considered. In this case, the detection value is the value having the highest reliability or sufficient reliability as the detection value. On the other hand, the reference detection range stored in the reference detection value storage unit 141a includes a reference detection value and is a region of a value set in advance in consideration of the reliability of detection accuracy in the detection capacity of the work amount detector 40. This is an area for giving a width as a control threshold. For example, the upper limit value and lower limit value of the reference detection range may be set above and below the reference set value, or the upper limit value or lower limit value of the reference detection range may be set as the reference detection value.

  The maximum discharge speed stored in the maximum discharge speed storage unit 141e is literally the maximum speed of the discharge conveyor 26. For example, the maximum speed allowable as a drive speed of the discharge conveyor 26 from the viewpoint of performance or operation management, or for the discharge conveyor This value is set in advance in consideration of the specifications (rated speed) of the drive device 27 and the like.

  The minimum discharge speed stored in the minimum discharge speed storage unit 141b is literally the minimum speed of the discharge conveyor 26. For example, as the drive speed of the discharge conveyor 26, the minimum speed allowable from the viewpoint of performance or operation management, or for the discharge conveyor This value is set in advance in consideration of the specifications (rated speed) of the drive device 27 and the like.

  The reference discharge speed stored in the reference discharge speed storage unit 141c is a value detected by the work amount detector 40 on the assumption that the discharge conveyor 26 transports the improved soil having the target work amount set by the work amount setting unit 121. Is the speed of the discharge conveyor 26 set so as to be the reference detection value, and is stored in association with the corresponding target work amount (data table or the like). At this time, for example, even if the “large work amount mode” is set by the work amount detector 121, the set value of the supply speed setting device 122 is too low to secure the work amount assumed in the “large work amount mode”. However, the supply speed of the processing target earth and sand is also associated with the previous data table stored in the reference discharge speed storage unit 141c. For example, in order for the detection value of the work amount detector 40 to be a value in the vicinity of the reference detection value at the reference discharge speed corresponding to the target work amount, the supply amount of the processing target earth and sand is within a certain range. There is a need. Therefore, for example, the allowable range of the supply speed is associated with each data table of the combination of the previous target work amount and the reference discharge speed, and the set supply speed is used to obtain the reference detection value at the reference discharge speed corresponding to the target work amount. If the value is within the allowable range, the conveyor 13 is driven at the speed set by the supply speed setter 122. If the set supply speed is out of the allowable range, the value closest to the set supply speed within the allowable range. Then, the conveyor 13 is driven. When the supply speed is more important than the target work amount, it is conceivable to give priority to the supply speed and adjust the reference discharge speed side to obtain the reference detection value.

  The reference supply speed stored in the reference supply speed storage unit 141d is the speed of the conveyor 13 that is set so as to convey the processing target sediment of the supply amount set by the supply speed setter 122, and the corresponding supply amount (Data table etc.).

  The discharge speed calculation unit 142 inputs the target work amount set by the work amount setter 121 and the supply speed of the processing target sediment set by the supply speed setter 122, and based on the storage information of the reference discharge speed storage unit 141c. Then, the reference discharge speed of the discharge conveyor 26 is calculated and output to the discharge conveyor control unit 143 as a command value. In addition, when an unbalance occurs between the reference discharge speed and the supply speed in detecting the reference detection value at the reference discharge speed, if the discharge speed is prioritized and the supply speed is adjusted, the set supply speed is set to the discharge speed calculation unit 142. It is not always necessary to enter. If the reference detection value is not detected even if the supply speed is adjusted within the allowable range, the reference discharge speed should be set so that the reference detection value is detected under the condition where the supply speed is adjusted within the allowable range. It can also be set as the structure adjusted.

  When the reference discharge speed calculated by the discharge speed calculation unit 142 is not less than the minimum discharge speed and not more than the maximum discharge speed, the discharge conveyor control unit 143 determines the calculated reference discharge speed based on the calculated reference discharge speed. If it is smaller than the minimum discharge speed, the control signal S102 is generated based on the minimum discharge speed, and if the calculated reference discharge speed is higher than the maximum discharge speed, the control signal S102 is generated to control the discharge conveyor hydraulic motor 27. Output to the control valve 102. Thereby, the drive speed of the discharge conveyor 26 is controlled.

  The supply speed calculator 145 drives the conveyor 13 based on the set supply speed set by the supply speed setter 122, the reference discharge speed calculated by the discharge speed calculator 142, and the stored information of the reference supply speed calculator 141d. A command value for the apparatus 103 is calculated and output to the conveyor control unit 146. As described above, for example, if the set supply speed is within the allowable range of the supply speed at which the reference detection value can be detected with respect to the reference discharge speed of the discharge conveyor 26 calculated according to the target work amount, the supply speed is set. The set supply speed by the device 122 is output to the conveyor control unit 13 as a command value. On the other hand, if the set supply speed is outside the allowable range, a value closest to the set supply speed among the values in the allowable range is output to the conveyor control unit 13 as a command value. Although overlapping with the above description, when priority is given to the supply speed, the supply speed is commanded as set by the supply speed setter 122, and a detection value near the reference detection value is obtained by speed adjustment on the reference discharge speed side. It is also possible to balance supply and discharge speeds on the premise of this.

  The transport conveyor control unit 146 generates a control signal S104 based on the command value from the supply speed calculation unit 145, and outputs it to the control valve 104 that controls the transport conveyor hydraulic motor 103. Thereby, the drive speed of the conveyance conveyor 13 is controlled.

  The discharge speed correction calculation unit 147 performs, for example, an operation of charging the earth to be processed during operation at the reference discharge speed calculated by the discharge speed calculation unit 142 according to the set values of the work amount setting unit 121 and the supply speed setting unit 122. The lower limit value of the reference detection range stored in the reference detection value storage unit 141a due to a decrease in the detection value (conveying weight per belt unit length) by the work amount detector 40 due to fluctuations in the supply amount that occurs according to the state If the value is lower than the reference speed, the reference discharge speed of the discharge conveyor 26 is reduced to a slower correction speed to shift to a deceleration operation. On the other hand, if the detection value by the work amount detector 40 increases during operation and exceeds the upper limit value of the reference detection range stored in the reference detection value storage unit 141a, the conveyance speed of the discharge conveyor 26 is increased. The speed is increased to a faster correction speed to shift to a speed increasing operation (details will be described later). Furthermore, when the set supply speed by the supply speed setter 122 is slower than the driving speed (discharge speed) of the discharge conveyor 26, the accuracy of the work amount detector 40 may be lowered due to the reduction of the improved soil on the discharge conveyor 26. When the supply speed setting unit 122 is operated during operation, the discharge speed correction calculation unit 147 or the discharge speed calculation unit 142 has a function of increasing or decreasing the reference discharge speed of the discharge conveyor 26 in accordance with the increase or decrease of the set supply speed. It may be added.

  The supply speed calculation correction unit 148 is configured so that, even if the conveyance speed of the discharge conveyor 26 is adjusted by the discharge speed calculation correction unit 147, the detected value by the work amount detector 40 is below the lower limit value of the reference detection range. The driving speed is increased by a set amount to shift to the speed increasing operation. On the other hand, if the detected value by the work amount detector 40 exceeds the upper limit value of the reference detection range even if the transport speed of the discharge conveyor 26 is adjusted by the discharge speed calculation correction unit 147, the drive speed of the transport conveyor 13 is changed. Lower than the set amount to shift to deceleration operation.

  The work amount calculation unit 144 calculates the work amount (improved soil from the amount of the improved soil transported by the discharge conveyor 26 detected by the work amount detector 40 and the speed of the improved soil transported by the discharge conveyor 26 detected by the discharge speed detector 112. Discharge amount per unit time) and the calculation result is displayed on a work amount display device 150 such as a monitor provided on an operation panel (not shown).

  Although not particularly illustrated, the control device 110 controls the drive speed of the rotary feeder 16 of the soil improvement material supply device 14 according to the supply speed set by the supply speed setting device 122. That is, when the earth and sand supply speed is large, the driving speed of the rotary feeder 16 is increased in order to ensure an appropriate amount of the soil quality improving material added, and when the earth and sand supply speed decreases, the driving speed of the rotary feeder 16 is decreased. Accordingly, the driving speed of the rotary feeder 16 is controlled in accordance with the set value of the supply speed setting unit 122. The driving speed of the rotary feeder 16 is set to a threshold given by the set value of the earth and sand supply speed. It may be controlled stepwise depending on whether it is large or small, or may be configured to vary steplessly according to the sediment supply speed without using a threshold value.

  FIG. 6 is an explanatory diagram showing the concept of controlling the driving speed of the discharge conveyor 26 by the control device 110. In FIG. 6, the production amount (carrying amount) of the improved soil per hour is taken as the work amount on the horizontal axis, and the output (detection signal) of the work amount detector 40 is taken on the vertical axis.

  As described above, for example, some of the reference discharge speeds calculated by the discharge speed calculation unit 142 according to the settings of the work amount setting unit 121 and the supply speed setting unit 122 at the start of operation are V1, V2, V3 (V1>). V2> V3). Here, the reference discharge speed V1 is the speed when the “large work amount mode” is set by the work amount setting unit 121 (or the work amount W1 is selected), and the reference discharge speed V2 is the “medium work amount mode”. Is set (or when the work amount W2 (<W1) is selected), the reference discharge speed V3 is selected when the “small work amount mode” is selected (or the work amount W3 (<W2) is selected) Speed). These reference speeds V <b> 1 to V <b> 3 are values that are smaller than the maximum speed Vmax of the discharge conveyor 26 and are values that are assumed to be detected by the work amount detector 40 in the vicinity of the reference detection value F <b> 1.

  For example, when the work amount setting unit 121 can arbitrarily set the target work amount, the set target work amount Wng1 is too small, and even if the set supply speed is minimized, the discharge speed Vng1 is smaller than the minimum speed Vmin. Otherwise, when the detection value of the work amount detector 40 cannot be suppressed to about the reference detection value F1, the discharge speed calculation unit 142 sets the reference discharge speed to the minimum speed Vmin. Also, if the set target work amount is too large and the set supply speed Wng2 is maximized and the discharge speed Vng2 is higher than the maximum speed Vmax, the detection value of the work amount detector 40 can be suppressed to the reference detection value F1. If not, the discharge speed calculation unit 142 sets the reference discharge speed to the maximum speed Vmax.

  Next, reference speed correction control by the discharge speed correction calculation unit 147 will be described.

  First, reference detection ranges F1min to F1max including the reference detection value F1 are set as detection values of the work amount detector 40. In this example, F1min <F1 <F1max is set, but F1 = F1min or F1 = F1max may be used. For example, when the reference discharge speed V3 is calculated by the discharge speed calculation unit 142 at the start of operation, after the operation of the discharge conveyor 26 is started at the reference discharge speed V3, the conveyance amount actually detected by the work amount detector 40 is the reference. When the value falls below the lower limit value F1min of the detection range, the discharge speed correction calculation unit 147 reduces the reference discharge speed to a correction speed V3L at which a value near the reference detection value F1 is obtained with the transport amount detected at that time. Conversely, when the transport amount detected by the work amount detector 40 exceeds the upper limit value F1max of the reference detection range, the discharge speed correction calculation unit 147 sets the reference discharge speed to the transport amount detected at that time. The correction speed V3H is increased to a value near the reference detection value F1.

  Subsequently, the relationship between the correction of the reference discharge speed F1 and the detection accuracy of the work amount detector 40 including the specification of the work amount detector 40 will be described.

First, the work amount detector 40 has a detection error. The error rate E is expressed as follows, where e is the error rate with respect to the allowable capacity Fmax.
E = e × Fmax (1)
It is represented by

As shown in FIG. 6, when the conveying speed of the discharge conveyor 26 is V3, the output of the work amount detector 40 when the work amount is 0 (zero) is F0, and the work amount detector 40 when the work amount is W3. Is the reference detection value F1 and the upper limit value of the detection capacity of the work amount detector 40 is Fmax, the error rate e1 of the output of the work amount detector 40 at the work amount W3 is
e1 = e * Fmax / (F1-F0) (2)
It is represented by

Similarly, when the conveyance speed of the discharge conveyor 26 is V3, when the output of the work amount detector at the work amount W3 ′ (<W3) is F1 ′ (<F1), the work amount detector 40 at the work amount W3 ′. The error rate e2 of the output of
e2 = e × Fmax / (F1′−F0) (3)
It is represented by

  As can be seen by comparing the equations (2) and (3), the error rate e2 of the work amount detector 40 when the work amount is W3 ′ is increased as compared with the error rate e1 when the work amount is W3, and the improved soil is produced. When the amount of the improved soil transported by the discharge conveyor 26 is further reduced due to the amount fluctuation, the output error of the work amount detector 40 may further increase. That is, since the error rate of the output increases as the transport amount of the improved soil to be measured becomes smaller than the allowable capacity Fmax, there is a concern that the reliability of the measurement value may be lowered.

  In this case, if the conveyance speed of the improved soil by the discharge conveyor 26 is decreased, the layer thickness of the improved soil on the discharge conveyor 26 increases even if the discharge speed of the improved soil from the mixing device 19 is the same. The weight of the improved soil per unit length of the belt increases. In the example of FIG. 6, the output at the work amount W3 ′ is increased from F1 ′ (<F1min) to F1 (> F1min) by decelerating the conveyance speed of the improved soil by the discharge conveyor 26 to V3L (<V3). However, the error rate also decreases to e1. Thereby, the fall of the output precision of the work amount detector 40 accompanying the conveyance amount fall of improved soil can be suppressed, and a fixed precision is ensured.

  On the other hand, when the amount of earth and sand supplied increases and the detection value exceeds the upper limit value F1max of the reference detection range, the error rate does not necessarily increase, but the reference detection range is assumed to be close to the maximum detection value Fmax. When the work amount detection value exceeds the upper limit value F1max so as not to exceed the maximum detection value Fmax, the reference discharge speed is increased.

  It should be noted that the correction speed is not one by one up and down with respect to a specific reference discharge speed, such as V3L and V3H, but the reference discharge speed is increased or decreased sequentially in response to further fluctuations in the detected work amount thereafter. be able to. Further, it is also possible to adopt a configuration in which the driving speed of the discharge conveyor 26 increases or decreases steplessly as the conveyance amount detection value increases or decreases, not stepwise.

  Next, the operation and action of the self-propelled soil improvement machine having the above-described configuration will be sequentially described.

  In the self-propelled soil improvement machine configured as described above, when the earth and sand generated at the construction work site or the like is input to the hopper 12 by an input heavy machine such as a hydraulic excavator, the earth and sand is supplied to the mixing device 19 by the transport conveyor 13. In the mixing device 19, the earth and sand from the transport conveyor 13 is mixed with the soil quality improving material from the soil quality improving material supply device 14 and mixed with the soil quality improving material to be improved to improved soil having the same strength as the general construction residual soil. The improved soil discharged from the mixing device 19 is carried out of the machine by the discharge conveyor 26, and is deposited in a predetermined place such as a truck bed.

  The driving speed of the discharge conveyor 26 and the transport conveyor 13 is controlled so that the work amount detector 40 detects a value of about the reference detection value F1 according to the setting of the work amount setting device 121 and the supply speed setting device 122. 110 is automatically set. Thereafter, when the detected value of the work amount detector 40 deviates from the reference detection range F1min to F1max due to fluctuations in the supply amount during operation, the discharge rate correction calculation unit 147 adjusts the reference discharge rate.

  According to the present embodiment, as described above, by setting the target work amount and the like, the operator can adjust the reference discharge speed of the discharge conveyor 26, and the target work amount is detected in a highly reliable detection region (reference Detection value or reference detection area), the reliability of the detection result of the operation amount during operation can be improved.

  In addition, since the self-propelled soil improvement machine of the present embodiment is provided with the traveling body 1, after being brought into the site, it can run in the site and enter a relatively narrow place, There is a high degree of freedom in layout near the site where the target sediment occurs. From this, compared to stationary fixed plants where the nature and treatment amount of the target sand are generally known in advance, the details of the target sand for the self-propelled soil improvement machine may be known by going to the site where it occurs. is there. Therefore, even if the earth and sand are thrown into the hopper 12 irregularly and intermittently, even if the conveyor 13 and the discharge conveyor 26 are driven at a constant set speed, the supply speed of the earth and sand is not stable and the amount of the improved soil conveyed varies. It may be easy to do.

  In this embodiment, as described above, the reliability of the detection result of a certain work amount is ensured by appropriately setting the reference discharge speed at the start of operation. When the transport amount fluctuates, there is a concern that the reliability of the detected value of the transport amount of the improved soil by the work amount detector 40 as described above may increase due to an increase in the error rate. In such a case, the improved soil conveyance is performed so that the output of the work amount detector 40 becomes an input value with a certain reliability by increasing / decreasing the driving speed of the discharge conveyor 26 according to the fluctuation of the conveyance amount of the improved soil. Since the amount is adjusted, it is possible to flexibly cope with fluctuations in the work amount, and to suppress a decrease in detection accuracy of the transported object weight of the discharge conveyor.

  In the present embodiment, the configuration including the work amount setting unit 121 and the supply rate setting unit 122 as the setting unit related to the setting of the discharge rate and the supply rate has been described as an example. However, the supply rate setting unit 122 is described. May be omitted. The supply speed setter 122 is for manually inputting the driving speed of the transport conveyor 13. However, if the property of the object to be processed is constant, there is a constant between the driving speed of the transport conveyor 13 and the work amount. There is a relationship, and if the driving speed of the conveyor 13 is increased, the amount of work increases, and if the driving speed of the conveyor 11 is decreased, the amount of work also decreases. By utilizing this relationship, the driving speed of the conveyor 13 can be set according to the setting of the work amount setting unit 121 without separately setting the supply speed. More specifically, the reference supply speed storage unit 141 d stores the sediment supply speed and the target work amount by the transport conveyor 13 in association with each other, and stores the transport conveyor 13 for the target work amount set by the work amount setting unit 121. The reference supply speed is calculated by the supply speed calculation unit 145 based on the information stored in the reference supply speed storage unit 141d, and the transfer conveyor control unit 146 drives and controls the transfer conveyor 13 based on the calculated reference supply speed. In this way, the setting operation becomes simpler because the driving speed of the transfer conveyor 13 is set together with the driving speed of the discharge conveyor 26 only by setting the work amount setting device 121. In addition, for example, the contradictory combination of setting the work amount setting unit 121 in the “large work amount mode” and setting the supply speed setting unit 122 in the “small work amount mode” does not occur, so that the control logic is simplified. Can do.

  FIG. 7 is a diagram showing the structure of the work amount detector provided in the discharge conveyor 26 of the self-propelled recycling machine according to the second embodiment of the present invention.

  In the first embodiment, the conveyor scale for detecting the transport weight of the improved soil on the discharge conveyor 26 is exemplified as the work amount detector. However, as shown in FIG. 7, the transport volume of the improved soil on the discharge conveyor 26 is illustrated. The same effect can be obtained even if the detector is replaced with a type of detector that detects.

  The work amount detector 200 shown in FIG. 7 detects the height of the improved soil in contact with it by measuring the distance from the upper side of the improved soil being conveyed to the surface of the improved soil. The work amount detector 200 includes a frame 202 attached to the conveyor frame 43 so as to straddle the conveyor belt 41, and a plurality of ultrasonic sensors attached to the frame 202 so as to face the conveyance surface of the conveyor belt 41 of the discharge conveyor 26. 201. In the present embodiment, a total of three ultrasonic sensors 201 are provided at the same distance from the intermediate position of the belt width and the left and right sides in the direction orthogonal to the conveying direction of the conveying belt 41. The ultrasonic sensor 201 measures the time from when an ultrasonic pulse is oscillated toward the conveyor belt 41 to when the reflected echo from the surface of the improved soil on the conveyor belt 41 is received. The result is output to the calculation unit 142. The discharge speed calculation unit 142 calculates the thickness of the improved soil on the belt based on the signal from the ultrasonic sensor 201, and further multiplies the cross-sectional area of the improved soil calculated by multiplying the belt width by the conveyance speed of the discharge conveyor 26. Thus, the transport volume of the improved soil per unit time is calculated. In the first embodiment, a threshold is provided for the transport weight of the improved soil, but in the same manner as this, by setting a threshold for the transport volume and controlling the transport speed of the discharge conveyor 26 in this embodiment, The discharge conveyor 26 can be controlled in the same way as in the first embodiment.

  In the case of the ultrasonic sensor 201, since the height of the improved soil on the transport belt 41 is detected, it is necessary to suppress the amount of bending of the transport belt 41 due to the weight of the improved soil in order to increase the measurement accuracy. Accordingly, a belt having higher rigidity than the first embodiment is used as the conveyor belt 41, and two belt support rollers 42 (rollers 42 illustrated in FIG. 7) positioned before and after the frame 202 of the ultrasonic sensor 201 are used. It is preferable to narrow the interval. This also applies to the examples described later with reference to FIGS. Further, the number of ultrasonic sensors 202 is not limited to three, but may be two or less or four or more. The detection accuracy improves as the number of ultrasonic sensors 202 increases.

  Even when the transport amount of the improved soil is detected based on the volume of the improved soil, since the detection result by the ultrasonic detector 202 includes a certain error, an area with high detection accuracy (reference detection value) Etc.) If the transport amount can be detected in the vicinity, the reliability of the detection result can be improved. Furthermore, even with this type of sensor, if the transport amount of the improved soil decreases, the error rate for the detection value may increase due to the same reason as explained by comparing the equations (2) and (3) above. A constant detection accuracy can be ensured by increasing or decreasing the driving speed of the discharge conveyor 26 by comparing the detection value of the work amount detector 200 with the reference detection range.

  8 and 9 are views showing the structure of the work amount detector provided in the discharge conveyor 26 of the self-propelled recycling machine according to the third embodiment of the present invention.

  The work amount detector 210 used in the present embodiment is a contact type height detector that detects the height of the improved soil on the discharge conveyor 26. The work amount detector 210 includes an encoder 211 attached to a frame (not shown) standing on the conveyor frame 43, and a detection rod 214 attached to an input shaft 212 of the encoder 211 via a rotating disk 213. . The detection rod 214 is suspended from the conveyor belt 41, contacts the surface of the improved soil on the discharge conveyor 26, and the angle θ with respect to the vertical state changes according to the transport of the improved soil. The angle θ of the detection rod 214 is output to the discharge speed calculation unit 142 of the control device 110. The discharge speed calculation unit 142 calculates the thickness of the improved soil on the belt based on the signal from the encoder 211, and further multiplies the belt width by the transport speed of the discharge conveyor 26, thereby improving the transport volume of the improved soil per unit time. Is calculated.

  Even when such a sensor is used, the reliability of the detection result can be improved if the transport amount can be detected in the vicinity of a region with high detection accuracy (such as a reference detection value). Furthermore, the conveyance speed of the discharge conveyor 26 can be controlled according to the detection value of the work amount detector 210 in the same manner as in the second embodiment, and the same effects as those in the above-described embodiments can be obtained. Can do.

  Although not shown in FIGS. 8 and 9, it is preferable to provide a plurality of work amount detectors 210 in the belt width direction from the viewpoint of improving detection accuracy.

  FIG. 10 is a diagram showing the structure of the work amount detector provided in the discharge conveyor 26 of the self-propelled recycling machine according to the fourth embodiment of the present invention.

  The work amount detector 220 used in the present embodiment also detects the height of the improved soil on the discharge conveyor 26 in a non-contact manner. The work amount detector 220 includes a frame 221 attached to the conveyor frame 43 so as to straddle the conveyor belt 41, and a slit light source 222 and an imaging unit 223 attached to the frame 221. The slit light source 222 obliquely irradiates slit-like illumination light extending in a direction orthogonal to the conveyance direction of the conveyance belt 41, and the imaging unit 223 images reflected light from the slit illumination part. Although not shown, the ridgeline of the slit light imaged by the imaging means 223 is image-analyzed by a total processing device, and the height of the improved soil on the conveyor belt 41 is detected by measuring the position of the ridgeline on the image. The control device 110 calculates the thickness of the improved soil on the belt based on the signal from the image processing device, and further multiplies the belt width by the transport speed of the discharge conveyor 26, so that the transport volume of the improved soil per unit time is obtained. Calculated.

  Even when such a sensor is used, the reliability of the detection result can be improved if the transport amount can be detected in the vicinity of a region with high detection accuracy (such as a reference detection value). Furthermore, the conveyance speed of the discharge conveyor 26 can be controlled according to the detection value of the work amount detector 210 in the same manner as in the second embodiment, and the same effects as those in the above-described embodiments can be obtained. Can do.

  In the above-described embodiment, the case where the present invention is applied to a self-propelled soil improvement machine has been described as an example. However, the present invention can also be applied to other self-propelled recycling machines. For example, a self-propelled crusher having a cutter on a shaft arranged in parallel as a crushing device, and having a crushing device (shredder) that shears objects to be crushed such as old tires and tatami mats by rotating them in reverse, rolls A rotary crusher (so-called roll) that crushes rocks, construction waste, etc. between the rotating bodies by rotating the pair in opposite directions with a pair of crushing blades attached with crushing blades. A self-propelled crusher with a 6-axis crusher including a crusher), a crushing device (so-called jaw) that crushes by moving rock teeth against fixed teeth and sandwiching rocks, construction waste, etc. between them A self-propelled crusher equipped with a crusher), a striking plate equipped with a plurality of blades is rotated at high speed, and rocks, construction waste, etc. are shockedly crushed using the impact from the striking plate and the impact plate. Crushing device (Iwa Self-propelled crusher with impact crusher), self-propelled crusher with wood crusher that breaks into pieces by putting wood, branch timber, construction waste wood, etc. into the rotor with bit In the case of detecting the amount of processed material on the discharge conveyor with a work amount detector for the purposes of production volume management and supply volume control, the above-described embodiments can be applied and similar effects can be obtained. Obtainable. Next, the configuration of a self-propelled crusher (jaw crusher) will be briefly described as a representative example.

  FIG. 11 is a side view showing the entire structure of a self-propelled crusher that is a self-propelled recycling machine according to a fifth embodiment of the present invention, and FIG. 12 is a plan view. In this embodiment, unless otherwise specified, the left side in FIGS. 11 and 12 is described as one side, and the right side is described as the other side. Moreover, let the right side of FIG.11 and FIG.12 be the front of a body, and let the left side be back.

  The self-propelled crusher shown in FIG. 11 and FIG. 12 is a large and small construction waste / industrial waste generated at construction sites such as a concrete lump transported at the time of building demolition and an asphalt lump discharged at the time of road repair, Alternatively, the object to be crushed is a rock or natural stone mined at a rock mining site or face. This self-propelled crusher includes a traveling body 301, a main body frame 302 provided on the traveling body 301, a hopper 303 provided on one side in the longitudinal direction of the main body frame 302, and a main body frame 302. A crushing device (jaw crusher) 304 that crushes the object to be crushed received in the hopper 303 to a predetermined size and discharges it downward, and a hopper 303 provided below the hopper 303. A feeder 305 that conveys and guides the object to be crushed to the crushing device 304, a discharge conveyor 306 that carries the crushed material crushed by the crushing device 304 to the outside of the machine, and the other side in the longitudinal direction of the main body frame 302. The magnetic device (rebar, etc.) contained in the crushed material provided on the discharge conveyor 306 and provided on the discharge conveyor 306 is magnetically And a magnetic separator 308 to suction removal.

  The crushing device 304 is located on the front side of the hopper 303 and the feeder 305, and drives the flywheel 310 by a crusher hydraulic motor 309 so that the driving force of the flywheel 310 is used to swing the moving teeth (not shown). Convert. As a result, a portion to be crushed is supplied from the feeder 305 between a moving tooth that swings and a fixed tooth (not shown), and the crushed material crushed to a predetermined size is discharged as reclaimed material such as gravel and aggregate. It is discharged onto the conveyor 306.

  The feeder 305 is a so-called grizzly feeder, and a plurality of (for example, two) serrated plates 312 are vibrated by the driving force generated by the feeder hydraulic motor 311, and are received by the hopper 303 to be received by the hopper 303. The object to be crushed placed on 312 is conveyed to the crushing device 304. At this time, fine particles, fine earth and sand, etc. contained in the object to be crushed are guided onto the discharge conveyor 306 through the chute 313 from the gap of the sawtooth of the sawtooth plate 312.

  The discharge conveyor 306 drives the conveyor belt 315 by the hydraulic motor 314 for the discharge conveyor, thereby carrying the crushed material from the crushing device 304 and the fine fallen material from the chute 313 onto the conveyor belt 315 and carrying it out of the machine.

  In addition, the structure of the traveling body 301, the power unit 307, the discharge conveyor 306, etc. is basically the same as that of the self-propelled soil improvement machine shown in FIGS.

  In the present embodiment, the discharge conveyor 306 is provided with a work amount detector for managing the production amount of crushed material and controlling the supply speed of the crushed material by the feeder 305. Therefore, the reliability of the detection result can be improved by detecting the carry amount in the vicinity of a region with high detection accuracy (reference detection value or the like) as in the first embodiment. Furthermore, the reliability of the detection result of the work amount detector is maintained by controlling the driving speed of the discharge conveyor 306 according to the fluctuation of the detection value of the work amount detector as in the above-described embodiments. can do. Thus, the present invention can be applied to various self-propelled recycling machines having a discharge conveyor, and similar effects can be obtained.

  In each of the above-described embodiments, the reference discharge speed correction function is not necessarily required to adjust the speed of the discharge conveyor 26 according to the setting of the target work amount or the like and to ensure the detection accuracy of a certain work amount. . Further, it is not always necessary to consider the set value of the supply speed in setting the reference discharge speed. In particular, as in the so-called self-propelled shredder and self-propelled screen, means for supplying the processing object to the processing apparatus (for example, the conveyor 13 in the first embodiment and the feeder 305 in the fifth embodiment). In a self-propelled recycling machine that does not have (), it is only necessary to configure so that the reference discharge speed is set according to the setting of the target work amount. The self-propelled recycling machine is not limited to a self-propelled recycling machine equipped with a processing device such as a screen, a mixing device, or a crusher. The present invention can also be applied to an apparatus, and has the same effect. When using a self-propelled conveyor device that has a transport amount detection function in combination with other self-propelled recycling machines, it can be used as a means to measure the amount of work of the self-propelled recycling machine. The advantages of applying the invention are great.

  Moreover, in each embodiment, although the case where the hydraulic motor was used for the drive device of the discharge conveyor was illustrated, you may use an electric motor. In this case, the rotational speed of the electric motor is controlled by controlling the power supply frequency by an inverter using an AC motor, and if the rotational speed of the electric motor, that is, the conveying speed of the discharge conveyor can be kept constant, the discharge is performed. A conveyor speed detector is not necessarily required, and the conveyance speed may be converted from the power supply frequency.

It is a side view showing the whole structure of the self-propelled soil improvement machine which is a self-propelled recycling machine concerning a 1st embodiment of the present invention. It is a top view showing the whole structure of the self-propelled soil improvement machine which is a self-propelled recycling machine concerning a 1st embodiment of the present invention. It is a figure showing the structure of the work amount detector with which the discharge conveyor of the self-propelled recycling machine which concerns on the 1st Embodiment of this invention was equipped. It is the figure which extracted and represented the hydraulic circuit which concerns on the conveyance conveyor and discharge | emission conveyor of the self-propelled recycling machine which concerns on the 1st Embodiment of this invention. It is a functional block diagram of the control apparatus with which the self-propelled recycling machine which concerns on the 1st Embodiment of this invention was equipped. It is explanatory drawing showing the control concept of the conveyance speed of the discharge conveyor in the self-propelled recycle machine of this invention. It is a figure showing the structure of the work amount detector with which the discharge conveyor of the self-propelled recycling machine which concerns on the 2nd Embodiment of this invention was equipped. It is a figure showing the structure of the work amount detector with which the discharge conveyor of the self-propelled recycling machine which concerns on the 3rd Embodiment of this invention was equipped. It is a figure showing the structure of the work amount detector with which the discharge conveyor of the self-propelled recycling machine which concerns on the 3rd Embodiment of this invention was equipped. It is a figure showing the structure of the work amount detector with which the discharge conveyor of the self-propelled recycling machine which concerns on the 4th Embodiment of this invention was equipped. It is a side view showing the whole structure of the self-propelled crusher which is a self-propelled recycle machine concerning a 5th embodiment of the present invention. It is a top view showing the whole structure of a self-propelled crusher which is a self-propelled recycling machine concerning a 5th embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling body 3 Main body frame 12 Hopper 13 Conveyor 19 Mixing device 21 Power unit 26 Discharge conveyor 40 Work amount detector 110 Control device 121 Work amount setting device 122 Supply speed setting device 141 Storage unit 141a Reference detection value storage unit 141b Minimum discharge Speed storage unit 141c Reference discharge speed storage unit 142 Discharge speed calculation unit 145 Supply speed calculation unit 146 Conveyor conveyor control unit 147 Discharge speed correction calculation unit 200 Work amount detector 210 Work amount detector 220 Work amount detector 301 Traveling body 302 Main body Frame 303 Hopper 304 Crusher 306 Discharge conveyor 307 Power unit 305 Feeder F1max Upper limit value F1min of reference detection range Lower limit value V1-3 of reference detection range Reference discharge speed V3L, H Correction speed Vmin Minimum discharge speed W1-3 Work amount

Claims (5)

A traveling body, a main body frame provided on the traveling body, a hopper provided on one side in the longitudinal direction of the main body frame for receiving a processing object, and a processing device for processing the processing object received by the hopper A power device provided on the other side in the longitudinal direction of the main body frame and having a power source; and extending from the lower position of the processing device to the other side in the longitudinal direction of the main body frame and discharged from the processing device. In a self-propelled recycling machine equipped with a discharge conveyor that discharges the processed material outside the machine,
A work amount detector for detecting a transport amount of a processed product of the discharge conveyor as a work amount;
A work amount setting device for setting a target work amount;
A reference detection value storage unit that stores a reference detection value that is set in advance in consideration of the reliability of detection accuracy in the detection capacity of the work amount detector;
Corresponding to the reference discharge speed when the discharge conveyor speed at which the detection value of the work amount detector becomes the reference detection value is the reference discharge speed when the discharge conveyor conveys the processed product of the target work amount A reference discharge speed storage unit that stores the target work amount to be associated with each other;
A discharge speed calculation unit that calculates a reference discharge speed of the discharge conveyor with respect to a target work amount set by the work amount setting device based on storage information of the reference discharge speed storage unit;
A self-propelled recycling machine comprising: a discharge conveyor control unit that drives and controls the discharge conveyor based on a reference discharge speed calculated by the discharge speed calculation unit. The self-propelled recycling machine according to claim 1,
A feeder for supplying the processing object received by the hopper to the processing apparatus;
A supply speed setting device for setting the supply speed of the processing object by the feeder;
The reference discharge speed storage unit further combines a target work amount and a reference discharge speed of the discharge conveyor for conveying the target work amount and causing the work amount detector to detect the reference detection value. Associated with the supply speed of
The discharge speed calculation unit inputs a target work amount set by the work amount setter and a supply speed of the object to be processed set by the supply speed setter, and is based on storage information of the reference discharge speed storage unit. A self-propelled recycling machine that calculates a reference discharge speed of the discharge conveyor. The self-propelled recycling machine according to claim 1,
A feeder for supplying the processing object received by the hopper to the processing apparatus;
A reference supply speed storage unit that stores the supply speed of the object to be processed by the feeder and the target work amount;
A supply speed calculation unit that calculates a reference supply speed of the feeder with respect to a target work amount set by the work amount setting device based on storage information of the reference supply speed storage unit;
A self-propelled recycling machine comprising: a feeder control unit that drives and controls the feeder based on a reference supply speed calculated by the supply speed calculation unit. In the self-propelled recycling machine in any one of Claims 1-3,
The reference detection value storage unit stores a reference detection range that is set in advance in consideration of reliability of detection accuracy in the detection capacity of the work amount detector including the reference detection value;
When the detection value of the work amount detector exceeds the upper limit value of the reference detection range, the reference discharge speed of the discharge conveyor is increased, and the detection value of the work amount detector falls below the lower limit value of the reference detection range. A self-propelled recycling machine further comprising a discharge speed correction calculation unit that lowers a reference discharge speed of the discharge conveyor. In a self-propelled conveyor apparatus comprising a traveling body, a power device provided on the traveling body and having a power source, and a discharge conveyor provided on the traveling body,
A work amount detector for detecting a transport amount of a transported object of the discharge conveyor as a work amount;
A work amount setting device for setting a target work amount;
A reference detection value storage unit that stores a reference detection value that is set in advance in consideration of the reliability of detection accuracy in the detection capacity of the work amount detector;
Corresponding to the reference discharge speed when the discharge conveyor speed at which the detection value of the work amount detector becomes the reference detection value is the reference discharge speed when the discharge conveyor transports the object of the target work amount. A reference discharge speed storage unit that stores the target work amount to be associated with each other;
A discharge speed calculation unit that calculates a reference discharge speed of the discharge conveyor with respect to a target work amount set by the work amount setting device based on storage information of the reference discharge speed storage unit;
A self-propelled conveyor apparatus comprising: a discharge conveyor control unit that drives and controls the discharge conveyor based on a reference discharge speed calculated by the discharge speed calculation unit.

Images