JP2010071001A - Mixer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To switch between continuous processing mode and batch processing mode as appropriate in accordance with the properties of the earth and sand which are to be improved. <P>SOLUTION: The mixer is provided with a processing mode switching means 14 which consists of a first and a second rotary sensors 15, 16, a first and a second motors 19, 21, an input setting machine 23, a motor controller 24, or the like, and switching is performed as appropriate between the continuous processing mode and the batch processing mode. In the continuous processing mode, the right-and-left stirring shafts 6 and 10 are rotated in the same direction, and the improved soil is transferred from the earth-and-sand supply port 4 side of a mixing tank 3 to a discharge port 3F. In the batch processing mode, the right-and-left stirring shafts 6 and 10 are rotated in the direction opposite to each other, and the improved soil is transferred from the earth-and-sand supply port 4 side of the mixing tank 3 to the discharge port 3F by the left stirring shaft 6, and the improved soil is transferred from the discharge port 3F of the mixing tank 3 to the earth-and-sand supply port 4 side by the right stirring shaft 10. Because of this, the continuous processing mode and the batch processing mode can be selectively performed by using a single mixer 1, and the improved soil of good quality can always be generated regardless of the properties of the earth and sand. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a mixer that is suitably used for mixing soil improvement material for improving soil quality, such as excavation residual soil generated in large quantities at a construction site such as civil engineering.

  In general, a large amount of excavated soil is generated in civil works such as building work, road work, and dredging work. Therefore, in order to reuse the earth and sand such as the excavated soil as a backfill material and a foundation ground material, a mixer is known in which soil improvement materials such as a solidifying material and a water absorbing material are mixed with the earth and sand to generate improved soil. .

  The mixer according to this prior art usually includes a mixing tank to which earth and sand and a soil conditioner are supplied, and two stirring shafts rotatably provided in parallel in the mixing tank. The agitation shaft is provided with a plurality of paddles that agitate the earth and sand and the soil quality improving material facing each other. And the earth and sand supplied to the mixing tank and the soil conditioner are conveyed through the mixing tank while being stirred by paddles provided on the respective stirring shafts. Thereby, the improved soil which mixed the earth and sand and the soil quality improvement material in the mixing tank is produced | generated, and this improved soil is discharged | emitted outside through the discharge port provided in the mixing tank (for example, refer patent document 1).

JP 2004-270147 A

  In this case, the mixer described in Patent Document 1 linearly conveys the earth and sand having a low water content ratio and the soil quality improving material from the supply port side of the earth and sand to the discharge port of the mixing tank. In this way, the soil and soil improvement material are continuously mixed in a short time to produce improved soil, and this improved soil is continuously discharged from the discharge port to the outside (hereinafter referred to as continuous processing mode). Suitable for).

  On the other hand, as a mixing machine according to another conventional technique, for example, mixing suitably used for mixing water-absorbing material (soil improving material) such as waste paper into muddy water-like earth and sand having a relatively high water content ratio generated by dredging work, etc. A machine has been proposed.

  In this mixer, each stirring shaft is rotated while the discharge port of the mixing tank is closed by the gate device, so that a fixed amount of earth and sand supplied to the mixing tank and the soil quality improving material are provided on each stirring shaft. These can be circulated (circulated) so as to draw an ellipse in the mixing tank while stirring with a plurality of paddles. As a result, it is possible to generate improved soil in which soil and water absorbing material having a high water content ratio are sufficiently mixed, and by opening the discharge port of the mixing tank by the gate device, the generated improved soil is released to the outside through the discharge port. It becomes the structure which can discharge | emit (for example, refer patent document 2).

JP 2005-87895 A

  Therefore, the mixer described in Patent Document 2 is a process for producing improved soil by sufficiently mixing a certain amount of soil and soil improvement material by circulating the soil and soil improvement material in the mixing tank. Suitable for mode (hereinafter referred to as batch processing mode).

  As described above, the mixer of Patent Document 1 generates improved soil while linearly transporting the inside of the mixing tank while stirring the earth and sand having a low water content ratio and the soil quality improving material, and continues the improved soil. Suitable for continuous processing mode that discharges to the outside through the discharge port.

  However, if batch processing is performed using a mixer suitable for the continuous processing mode, the earth and sand and the soil conditioner simply reciprocate linearly in the mixing tank along the length of the stirring shaft. For this reason, there is a problem that earth and sand having a high moisture content overflow to the one end side or the other end side of the mixing tank and overflow from the mixing tank, so that the earth and sand and the soil conditioner cannot be mixed properly. Moreover, even if earth and sand and a soil quality improvement material are mixed by performing the said operation | work taking care over time, the following problems will arise. That is, when the earth and sand and the soil quality improver are stirred and mixed, the earth and sand strength rises. Therefore, when the above operation is further performed in this state, the earth and sand whose strength has been increased is shifted to one end side or the other end side of the mixing tank. In addition, this earth and sand is pressed and fixed to the end face on one end side or the end face on the other end side of the mixing tank. Then, as the earth and sand strength increases, the adhesion force of the earth and sand increases, so that the stirring torque by each paddle increases and eventually becomes impossible to stir. For the above reasons, there is a problem that the mixer for the continuous processing mode is not suitable for batch processing.

  On the other hand, the mixer of Patent Document 2 sufficiently stirs a certain amount of soil and soil improvement material by circulating soil and soil improvement material having a high water content ratio in the mixing tank with the discharge port closed. It is suitable for batch processing mode that produces improved soil.

  However, if continuous processing is performed using a mixer suitable for the batch processing mode, the generated improved soil is discharged to the outside through the discharge port while circulating in the mixing tank by two stirring shafts. Therefore, the earth and sand and the soil quality improving material are discharged before they are sufficiently mixed, and do not function as a mixer. Generally, a mixer suitable for the batch processing mode has a shorter stirring axis than a mixer suitable for the continuous processing mode. The reason for this is that the mixer for the batch processing mode circulates and mixes the sand and the soil conditioner in the mixing tank as described above, so the mixer for the continuous processing mode requires a longer stirring shaft length. Because it does not. Depending on the object to be processed and the conditions, there may be a case where a sufficient mixing operation can be performed using a short stirring shaft of a mixer for batch processing mode, but its application range is very narrow and not suitable for practical use. For the above reasons, there is a problem that the mixer for batch processing mode is not suitable for continuous processing.

  The present invention has been made in view of the above-described problems of the prior art, and can switch between the continuous processing mode and the batch processing mode as appropriate according to the properties of the soil to be improved, thereby improving the workability of soil improvement work. It aims to provide a blender that can be used.

  In order to solve the above-described problems, the present invention provides a mixing tank to which earth and sand and a soil quality improving material for modifying the earth and sand are supplied, and a mixing tank that is spaced apart from a supply port to which the earth and sand and the soil quality improving material are supplied. The soil and the soil conditioner are agitated by a discharge port provided in the tank for discharging the generated improved soil and a paddle which is rotatably provided in parallel in the mixing tank and faces each other in a state of being able to interfere with each other. However, the present invention is applied to a mixer having two stirring shafts that are moved in the mixing tank.

  The feature of the configuration adopted by the invention of claim 1 is that the improved soil is conveyed from the supply port side of the mixing tank toward the discharge port by the two stirring shafts in a state where the discharge port is opened. With the processing mode and the discharge port closed, the improved soil is conveyed from the supply port side of the mixing tank to the discharge port by one of the two stirring shafts and improved by the other stirring shaft. A processing mode switching means for switching between batch processing modes for conveying soil from the discharge port of the mixing tank to the supply port side is provided.

  According to a second aspect of the present invention, the processing mode switching means rotates the first and second rotation sensors that respectively detect the rotation speeds of the two stirring shafts and the two stirring shafts independently. The first and second motors, the setting device for setting the rotation direction of the two stirring shafts, and the first and first motors for preventing the paddles provided on the two stirring shafts from interfering with each other. And a motor control device that relatively controls the rotational speeds of the first and second motors based on the detection signals detected by the two rotation sensors.

  According to a third aspect of the present invention, when the region where the two paddles provided facing each other on the two stirring shafts interfere with each other is an interference region, the motor control device can Motor stop means for stopping the first and second motors when both of the paddles of the other stirring shaft are within the interference region, and a reference position predetermined for the paddle of the one stirring shaft is the interference Calculate the angle difference between the rotation angle until exiting the region and the rotation angle until the reference position predetermined for the paddle of the other stirring shaft enters or exits the interference region, and according to this angle difference And motor speed control means for relatively controlling the rotation speeds of the first and second motors.

  According to a fourth aspect of the present invention, the reference position of the paddle of one of the two stirring shafts is determined at the position of the rear end in the rotational direction of the paddle, and the reference position of the paddle of the other stirring shaft. Is that the configuration is determined at the position of the front end in the rotational direction of the paddle.

  According to the first aspect of the present invention, when the continuous processing mode is selected by the processing mode switching means, the earth and sand and the soil conditioner are stirred by the two stirring shafts while the discharge port of the mixing tank is opened, and generated. The improved soil can be conveyed from the supply port side toward the discharge port. Thereby, earth and sand and a soil quality improvement material can be mixed in a short time, an improvement soil can be produced | generated, and it can discharge | emit rapidly outside through a discharge port.

  On the other hand, when the batch processing mode is selected by the processing mode switching means, while the discharge port of the mixing tank is closed, the earth and sand and the soil conditioner are agitated with two agitation shafts, and the earth and sand etc. are agitated with one agitation shaft. While transporting from the supply port side to the discharge port and transporting earth and sand from the discharge port to the supply port side by the other stirring shaft, the earth and sand and the soil quality improving material can be circulated in the mixing tank. Thereby, after producing | generating the improved soil which fully mixed the earth and sand and the soil quality improvement material over time, this improved soil can be discharged | emitted outside by opening a discharge port.

  As a result, even if the properties of the soil to be modified are different, such as soil with a high water content or soil with a low water content, the continuous processing mode and the batch processing mode can be selectively selected using a single mixer. By executing this, it is possible to always produce a high-quality improved soil regardless of the properties of the earth and sand, and it is possible to improve workability when performing soil quality improvement work.

  According to the invention of claim 2, the rotation speeds of the two stirring shafts are always detected by the first and second rotation sensors, and the motor control is performed based on the detection signals from the first and second rotation sensors. The apparatus relatively controls the rotational speeds of the first and second motors. For this reason, even if paddles provided facing the two stirring shafts approach each other due to a difference in the number of rotations of the two stirring shafts due to the load when stirring the earth and sand and the soil conditioner, the motor By relatively controlling the rotational speeds of the first and second motors by the control device, it is possible to reliably prevent the paddles provided on these two stirring shafts from interfering with each other.

  According to the invention of claim 3, when the earth and sand and the soil conditioner are stirred by the paddles provided on the two stirring shafts, both the paddle on one stirring shaft and the paddle on the other stirring shaft interfere with each other. When it is within the region, the first and second motors can be stopped by the motor stopping means, so that the two paddles provided facing the two stirring shafts can be prevented from interfering with each other. it can.

  Also, the angle difference between the rotation angle until the reference position of the paddle of one stirring shaft escapes from the interference area and the rotation angle until the reference position of the paddle of the other stirring shaft enters or exits the interference area is calculated. Thus, it can be determined whether or not the paddle of the other stirring shaft is approaching the paddle of the one stirring shaft. When these two paddles are approaching, the motor speed control is performed. The rotational speeds of the first and second motors can be relatively controlled by the means. As a result, the two paddles provided on the two stirring shafts can always rotate while maintaining an appropriate interval without interfering with each other. As a result, even when the continuous processing mode is executed or when the batch processing mode is executed, the interference between the paddles provided on the two stirring shafts can be surely prevented, and the reliability of the mixer is improved. Can do.

  According to the invention of claim 4, the reference position of the paddle of one stirring shaft is set to the position of the rear end portion in the rotation direction of the paddle, and the reference position of the paddle of the other stirring shaft is set to the rotation direction of the paddle. The angle between the rotation angle until the rear end portion of one paddle escapes from the interference area and the rotation angle until the front end portion of the other paddle enters or exits the interference area. By calculating the difference, the interval between one paddle and the other paddle can be accurately determined regardless of the shape of the paddle.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a mixer according to the present invention will be described in detail with reference to the accompanying drawings.

  In the figure, reference numeral 1 denotes a stationary mixer. The mixer 1 mixes a soil improvement material such as a solidified material and a water absorbing material with earth and sand whose properties such as excavation residual soil generated by civil engineering work are to be improved. Thus, for example, improved soil that can be reused as a backfill material, a foundation ground material, or the like is generated. Here, the mixer 1 includes a mixing tank 3, a left stirring shaft 6, a right stirring shaft 10, a processing mode switching means 14, and the like, which will be described later, mounted on a gantry 2 that forms a support structure.

  Reference numeral 3 denotes a mixing tank serving as a base of the mixer 1, and the mixing tank 3 is formed as a bottomed rectangular parallelepiped box having an open upper end as a whole, and the earth and sand to be improved in properties and a soil conditioner. Is supplied.

  Here, the mixing tank 3 includes a bottom surface portion 3A extending in the front and rear directions, a front surface portion 3B rising upward from the front end portion of the bottom surface portion 3A, and a rear surface portion rising upward from the rear end portion of the bottom surface portion 3A. 3C, a left side surface portion 3D that rises upward from the left end portion of the bottom surface portion 3A and connects between the front surface portion 3B and the rear surface portion 3C, and a front surface portion 3B that rises upward from the right end portion of the bottom surface portion 3A and the rear surface portion 3C. It is roughly constituted by a right side surface portion 3E that connects between them. And the earth and sand supply port 4 mentioned later is attached to the upper end side of 3 C of rear surface parts, and the left stirring shaft 6 and the right stirring shaft 10 which are mentioned later are provided in the mixing tank 3 rotatably in parallel. It has become.

  In addition, a rectangular tube-like discharge port 3F that protrudes downward is provided at one end side (front surface portion 3B side) in the length direction of the bottom surface portion 3A so as to be spaced apart from a later-described earth and sand supply port 4. A guide groove 3G for guiding a gate plate 5B, which will be described later, is formed on the lower end side. And the improved soil produced | generated in the mixing tank 3 is discharged | emitted outside the mixing tank 3 through the discharge port 3F, and becomes a structure which falls on the conveyance conveyor 25 mentioned later. Further, a motor bracket 3H for mounting first and second motors 19 and 21 described later is provided on the front surface portion 3B of the mixing tank 3, and first and second rotation sensors 15 described later are provided on the rear surface portion 3C. , 16 is provided with a sensor bracket 3I.

  Reference numeral 4 denotes a sediment supply port as a supply port spaced from the discharge port 3F of the mixing tank 3 and attached to the upper end side of the rear surface portion 3C. The sediment supply port 4 is, for example, a pump for pumping sediment (not shown). ) Is connected to the pipe. And the earth and sand supply port 4 supplies the earth and sand which should be improved, and soil improvement materials, such as a water absorption material and a solidification material, in the mixing tank 3. FIG.

  5 is a gate device provided between the gantry 2 and the bottom surface portion 3A of the mixing tank 3, and the gate apparatus 5 opens and closes the discharge port 3F of the mixing tank 3 as shown in FIG. is there. Here, the gate device 5 includes an opening / closing cylinder 5A composed of a hydraulic cylinder or the like attached to the mount 2 on the bottom side, and a guide groove 3G provided on the rod side of the opening / closing cylinder 5A and provided on the lower end side of the discharge port 3F. And a flat gate plate 5B that slides forward and backward (in the direction of arrow A in FIG. 1). Therefore, the discharge port 3F of the mixing tank 3 can be opened and closed by expanding and contracting the rod of the open / close cylinder 5A and sliding the gate plate 5B.

  6 is a left stirring shaft rotatably provided in the mixing tank 3, and the left stirring shaft 6 is rotated in the mixing tank 3 together with a right stirring shaft 10 which will be described later. The earth and sand and the soil quality improver are agitated and mixed. Here, the left stirring shaft 6 is formed in a cylindrical shape using a pipe material or the like, and extends in the mixing tank 3 forward and backward, and is connected to the front end side of the intermediate cylinder part 6A. 3 is substantially constituted by a front support shaft 6B that protrudes forward from the front surface portion 3B and a rear support shaft 6C that is connected to the rear end side of the intermediate cylinder portion 6A and protrudes rearward from the rear surface portion 3C of the mixing tank 3. Yes.

  The front support shaft 6B of the left stirring shaft 6 is rotatably supported by a bearing 7 attached to the front surface portion 3B of the mixing tank 3, and the rear support shaft 6C is attached to the rear surface portion 3C of the mixing tank 3. The bearing 8 is rotatably supported. Further, the intermediate cylinder portion 6A of the left stirring shaft 6 is provided with a number of paddles (stirring blades) 9, 9,.

  9, 9... Are a large number of paddles provided in the intermediate cylinder portion 6A of the left stirring shaft 6. These paddles 9 are arranged at regular intervals in the length direction of the intermediate cylinder portion 6A. Arranged at a certain angular interval (for example, 90 degrees) in the circumferential direction of the part 6A, the earth and sand supplied into the mixing tank 3 and the soil quality improving material are agitated and mixed.

  Here, as shown in FIG. 5 and the like, each paddle 9 includes a rod-shaped arm 9A protruding from the outer peripheral surface of the intermediate cylinder portion 6A, and a flat blade 9B attached to the protruding end of the arm 9A. The blade 9B is attached to the arm 9A with a constant inclination angle with respect to the axial direction of the left stirring shaft 6. Thereby, when the left stirring shaft 6 rotates in the direction indicated by the arrow RL in FIG. 2, the earth and sand and the soil conditioner are stirred by the paddles 9, and the inside of the mixing tank 3 is moved to the earth and sand supply port 4 side (rear surface portion). 3C side) to the discharge port 3F in the direction indicated by the arrow FF.

  Reference numeral 10 denotes a right stirring shaft that is rotatably provided in the mixing tank 3 in parallel with the left stirring shaft 6, and the right stirring shaft 10 rotates in the mixing tank 3 together with the left stirring shaft 6 to be described later. Each paddle 13 is used to stir and mix the earth and sand and the soil conditioner. Here, the right agitation shaft 10 is similar to the left agitation shaft 6 described above, and has an intermediate cylinder part 10A extending forward and rearward in the mixing tank 3 and a front support connected to the front end side of the intermediate cylinder part 10A. The shaft 10B and the rear support shaft 10C connected to the rear end side of the intermediate cylinder portion 10A are roughly configured.

  The front support shaft 10B of the right stirring shaft 10 is rotatably supported by a bearing 11 attached to the front surface portion 3B of the mixing tank 3, and the rear support shaft 10C is attached to the rear surface portion 3C of the mixing tank 3. The bearing 12 is rotatably supported. Further, the intermediate cylinder portion 10A of the right stirring shaft 10 is provided with a number of paddles (stirring blades) 13, 13,.

  .. Are a number of paddles provided in the intermediate cylinder portion 10A of the right agitating shaft 10, and these paddles 13 are arranged at regular intervals in the length direction of the intermediate cylinder portion 10A. Arranged at a certain angular interval (for example, 90 degrees) in the circumferential direction of the part 10A, the earth and sand supplied into the mixing tank 3 and the soil quality improving material are agitated and mixed.

  Here, each paddle 13 is similar to each paddle 9 of the left agitation shaft 6, and is a rod-shaped arm 13A projecting from the outer peripheral surface of the intermediate cylinder portion 10A, and a flat plate attached to the projecting end of the arm 13A. The blade 13 </ b> B is attached to the arm 13 </ b> A with a certain inclination angle with respect to the axial direction of the right stirring shaft 10.

  In this case, the rotation direction of the right stirring shaft 10 is changed by the processing mode switching means 14 described later in the direction indicated by the arrow RL in FIGS. 2 and 5 (the same direction as the left stirring shaft 6), and in FIGS. It is configured to be selectively switched in the direction indicated by the arrow RR (the direction opposite to the left stirring shaft 6). When the right agitation shaft 10 rotates in the direction indicated by the arrow RL in FIG. 2, the earth and sand and the soil quality improving material are agitated by the paddles 13 and the inside of the mixing tank 3 is discharged from the earth and sand supply port 4 side to the discharge port 3F. It is conveyed in the direction of arrow FF. On the other hand, when the right agitation shaft 10 rotates in the direction of the arrow RR in FIG. 3, the earth and sand and the soil conditioner are agitated by the paddles 13, and the inside of the mixing tank 3 is discharged from the discharge port 3 </ b> F to the earth / sand supply port 4 side. It is configured to be conveyed in the direction indicated by the arrow FR.

  Thus, when the left agitation shaft 6 and the right agitation shaft 10 are rotated in the same direction as shown in FIGS. 2 and 5, etc., the earth and sand supplied to the mixing tank 3 are Stirring is performed by each paddle 9 of the stirring shaft 6 and each paddle 13 of the right stirring shaft 10, and is conveyed in the mixing tank 3 from the earth and sand supply port 4 side to the discharge port 3 </ b> F in the direction indicated by the arrow FF. Thereby, the discharge port 3F of the mixing tank 3 from the earth and sand supply port 4 side, stirring the earth and sand supplied to the mixing tank 3 from the earth and sand supply port 4 with the left and right stirring shafts 6 and 10. It is possible to execute a continuous processing mode in which mixing is carried out in a short time while being conveyed linearly and continuously discharged to the outside of the mixing tank 3 through the discharge port 3F.

  On the other hand, when the left agitation shaft 6 and the right agitation shaft 10 are rotated in opposite directions as shown in FIGS. 3 and 12, the earth and sand supplied to the mixing tank 3 are not mixed with the left agitation shaft 6. Are fed in the direction of arrow FF from the earth and sand supply port 4 side to the discharge port 3F of the mixing tank 3 while being agitated by each paddle 9, and discharged from the mixing tank 3 while being agitated by each paddle 13 of the right agitating shaft 10. It is conveyed in the direction of arrow FR from the outlet 3F to the earth and sand supply port 4 side. As a result, the batch processing mode in which a fixed amount of earth and sand and the soil quality improving material supplied in the mixing tank 3 are stirred while circulating around the ellipse in the mixing tank 3 and sufficiently mixed over time. Can be executed.

  Next, reference numeral 14 denotes a processing mode switching means. The processing mode switching means 14 includes first and second rotation sensors 15 and 16 and first and second motors 19 described later, as shown in FIG. , 21, an input setting unit 23, and a motor control device 24. Then, the processing mode switching means 14 includes a continuous processing mode executed by rotating the left stirring shaft 6 and the right stirring shaft 10 in the same direction as shown in FIGS. As shown in FIG. 4, the batch processing mode executed by rotating the left stirring shaft 6 and the right stirring shaft 10 in opposite directions is appropriately switched according to the properties of the soil to be reformed.

  Reference numeral 15 denotes a first rotation sensor that detects the rotation speed of the left stirring shaft 6, and 16 denotes a second rotation sensor that detects the rotation speed of the right stirring shaft 10. Here, the first and second rotation sensors 15 and 16 are attached to the sensor bracket 3I of the mixing tank 3, and the first rotation sensor 15 is connected to the rear support shaft 6C of the left stirring shaft 6 via a joint 15A. The second rotation sensor 16 is connected to the rear support shaft 10C of the right stirring shaft 10 via a joint 16A. The first and second rotation sensors 15 and 16 are composed of, for example, rotary encoders, and the number of pulses corresponding to the rotation angle while the left and right stirring shafts 6 and 10 rotate from 0 ° to 360 °. Is output as a detection signal.

  Reference numeral 17 denotes a first converter connected to the first rotation sensor 15, and 18 denotes a second converter connected to the second rotation sensor 16. The first converter 17 converts the detection signal from the first rotation sensor 15 into a rotation angle of the left stirring shaft 6 and outputs a signal indicating the rotation angle α to a motor control device 24 described later. The rotation speed Vα of the left stirring shaft 6 is calculated based on the number of pulses per unit time, and a signal indicating the rotation speed Vα is output to the motor control device 24. On the other hand, the second converter 18 converts the detection signal from the second rotation sensor 16 into a rotation angle of the right stirring shaft 10 and outputs a signal indicating the rotation angle β to the motor control device 24. The rotational speed Vβ of the right stirring shaft 10 is calculated based on the number of pulses per time, and a signal indicating the rotational speed Vβ is output to the motor control device 24.

  Reference numeral 19 denotes a first motor that rotationally drives the left stirring shaft 6, and the first motor 19 is attached to the motor bracket 3 </ b> H of the mixing tank 3 and is connected to the front support shaft 6 </ b> B of the left stirring shaft 6. The first motor 19 rotates the left stirring shaft 6 independently of the right stirring shaft 10 in a state where the rotation speed is adjusted by the first inverter 20 based on a control signal from the motor control device 24. It is something to be made.

  Reference numeral 21 denotes a second motor that rotationally drives the right stirring shaft 10, and the second motor 21 is attached to the motor bracket 3 </ b> H of the mixing tank 3 along with the first motor 19. It is connected to the shaft 10B. The second motor 21 rotates the right stirring shaft 10 independently of the left stirring shaft 6 in a state where the rotation speed is adjusted by the second inverter 22 based on a control signal from the motor control device 24. It is something to be made.

  Reference numeral 23 denotes an input setting device for setting the rotation directions of the left and right stirring shafts 6, 10. The input setting device 23 is operated by an operator when performing the soil quality improvement work using the mixer 1. It is what is done. Here, when the mixer 1 is operated in the continuous processing mode shown in FIG. 2, the input setting unit 23 sets the rotation directions of the left stirring shaft 6 and the right stirring shaft 10 to the RL direction which is the same direction. When the mixer 1 is operated in the batch processing mode shown in FIG. 3 after being input to the motor control device 24 described later, the rotation directions of the left stirring shaft 6 and the right stirring shaft 10 are opposite to each other. The rotation direction of the left stirring shaft 6 is set to the RL direction, and the rotation direction of the right stirring shaft 10 is set to the RR direction and input to the motor control device 24. In addition to the rotation directions of the left and right stirring shafts 6, 10, the input setting unit 23 includes a rotation speed (set rotation speed) Vα 0 of the left stirring shaft 6 and a rotation speed (set rotation speed) of the right stirring shaft 10. Vβ 0 and an allowable angle difference γ described later are set and input to the motor control device 24.

  Reference numeral 24 denotes a motor control device that relatively controls the rotational speeds of the first and second motors 19, 21. The motor control device 24 controls the rotational speeds of the first and second motors 19, 21. Thus, the paddle 9 provided on the left stirring shaft 6 and the paddle 13 provided on the right stirring shaft 10 are prevented from interfering with each other. Here, the motor control device 24 is constituted by, for example, a microcomputer, and the first and second converters 17 and 18 and the input setting unit 23 are connected to the input side, and the first and first converters are connected to the output side. Two inverters 20 and 22 are connected.

  The motor control device 24 includes the rotation direction of the left and right stirring shafts 6 and 10 set by the input setting unit 23, the set rotational speeds Vα0 and Vβ0 of the left and right stirring shafts 6 and 10, and the allowable angle difference. γ is input, and a signal indicating the current rotation angle α and rotation speed Vα of the left stirring shaft 6 is always input from the first converter 17 based on the detection signal of the first rotation sensor 15. Based on the detection signal of the second rotation sensor 16, a signal indicating the current rotation angle β and rotation speed Vβ of the right stirring shaft 10 is always input from the second converter 18.

  As described above, the motor control device 24 always detects the current rotation angle α and the rotation speed Vα of the left stirring shaft 6 based on the detection signal from the first rotation sensor 15, and the second rotation sensor 16. The present rotation angle β and rotation speed Vβ of the right agitating shaft 10 are always detected based on the detection signal from the right stirring shaft 10 so that the paddle 9 of the left agitating shaft 6 and the paddle 13 of the right agitating shaft 10 do not interfere with each other. It is determined whether or not it is rotating at an interval.

  Then, the motor control device 24 generates a difference between the rotation speed of the left stirring shaft 6 and the rotation speed of the right stirring shaft 10 depending on the load when stirring the sand and the soil conditioner, and the paddle 9 of the left stirring shaft 6 When the paddle 13 of the right stirring shaft 10 approaches, the motor control device 24 controls the rotational speeds of the first and second motors 19 and 21 to relatively control the paddle 9 of the left stirring shaft 6. And the paddle 13 of the right stirring shaft 10 are prevented from interfering with each other.

  In addition, 25 in FIG. 1 is a transport conveyor disposed below the discharge port 3F of the mixing tank 3, and the transport conveyor 25 is constituted by, for example, a belt conveyor. And the conveyance conveyor 25 receives the improved soil produced | generated in the mixing tank 3, and was discharged | emitted outside through the discharge port 3F, and conveys this improved soil continuously to a desired accumulation | storage location.

  The mixer 1 according to the present embodiment has the above-described configuration. Hereinafter, an operation of mixing the earth and sand with the soil conditioner using the mixer 1 will be described.

  First, a continuous processing mode suitable for modifying earth and sand having a low water content will be described. In this continuous processing mode, as shown in FIG. 2, the left and right stirring shafts 6 and 10 are rotated in the arrow RL direction, which is the same direction, with the discharge port 3F of the mixing tank 3 opened. And the soil quality improving material are stirred, and the improved soil is conveyed linearly in the direction indicated by the arrow FF from the earth and sand supply port 4 side toward the discharge port 3F.

  When executing this continuous processing mode, the operator sets the rotation directions of the left stirring shaft 6 and the right stirring shaft 10 to the RL direction by the input setting unit 23 and inputs them to the motor control device 24. The set rotational speed Vα0 of the left stirring shaft 6 and the set rotational speed Vβ0 of the right stirring shaft 10 are input to the motor control device 24 as equal speeds.

  Then, the operator places the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 provided facing each other at the initial position shown in FIG.

  In this case, the paddle 9 of the left stirring shaft 6 is rotated 360 ° in the direction indicated by the arrow RL from the point O (origin) in FIG. 5, and the front end 9C and the rear end in the direction of rotation of the paddle 9 (the direction indicated by the arrow RL). If the rear end 9D of the portion 9D is the reference position of the paddle 9, the initial position of the paddle 9 in the continuous processing mode is set to a position where the rear end 9D of the paddle 9 overlaps the point O in FIG. . On the other hand, the paddle 13 of the right stirring shaft 10 also rotates 360 ° from the point O in FIG. 5 in the direction indicated by the arrow RL, and the front end 13C and the rear end 13D in the direction of rotation of the paddle 13 (direction indicated by the arrow RL) Assuming that the front end 13C is the reference position of the paddle 13, the initial position of the paddle 13 in the continuous processing mode is set to a position where the front end 13C of the paddle 13 overlaps the point O in FIG.

  Here, the rotation trajectory of the paddle 9 and the rotation trajectory of the paddle 13 intersect at a point P and a point Q in FIG. 5, and a spindle-shaped region (hatched) is formed between the points P and Q. Area) is an interference area 26 where the paddle 9 and the paddle 13 can interfere with each other.

  When the continuous processing mode is executed, the earth and soil to be reformed in the mixing tank 3 through the earth and sand supply port 4 with the discharge port 3F of the mixing tank 3 opened by the gate device 5 shown in FIG. Supply improvement materials. In this state, the left stirring shaft 6 is rotated in the RL direction by the first motor 19, and the right stirring shaft 10 is rotated in the RL direction that is the same direction as the left stirring shaft 6 by the second motor 21.

  Thus, the earth and sand and the soil quality improving material supplied into the mixing tank 3 are stirred by the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 while the inside of the mixing tank 3 is placed on the side of the sediment supply port 4 2 is conveyed linearly in the direction of arrow FF in FIG. 2 toward the discharge port 3F.

  In this way, the earth and sand supplied to the mixing tank 3 from the earth and sand supply port 4 and the soil quality improving material are mixed in a short time while being conveyed from the earth and sand supply port 4 toward the discharge port 3F. Therefore, it is possible to efficiently produce high quality improved soil from soil having a low water content. Then, the generated improved soil is discharged to the outside of the mixing tank 3 through the discharge port 3F, and is then transported to a desired accumulation place by the transport conveyor 25.

  Here, in the mixer 1 according to the present embodiment, the left stirring shaft 6 and the right stirring shaft 10 are not connected via a timing gear, and are independent from each other by the first and second motors 19 and 21. It is configured to rotate. For this reason, when there is a difference in the number of rotations (rotational speed) between the left stirring shaft 6 and the right stirring shaft 10 due to a difference in load when the earth and sand and the soil quality improving material are stirred, the paddle 9 of the left stirring shaft 6 And the paddle 13 of the right stirring shaft 10 come close to each other.

  For this reason, the motor control device 24 always detects the rotation angle α and the rotation speed Vα of the left stirring shaft 6 based on the detection signal from the first rotation sensor 15 and detects from the second rotation sensor 16. Based on the signal, the rotation angle β and the rotation speed Vβ of the right stirring shaft 10 are always detected. When both the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 are in the interference region 26, the first and second motors 19 and 21 are immediately stopped, and the paddle 9 and the paddle 13 To prevent interference. Further, when the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 approach each other, the rotational speeds of the first and second motors 19 and 21 are relatively controlled to control the left stirring shaft 6. The distance between the paddle 9 and the paddle 13 of the right stirring shaft 10 is kept constant, and interference between the paddle 9 and the paddle 13 is prevented.

  Therefore, the operation of preventing interference between the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 by the motor control device 24 will be described.

  First, as shown in FIG. 6, when the front end 9C in the rotation direction of the paddle 9 enters the point Q of the interference region 26, the position of the rear end 9D, which is the reference position of the paddle 9, is set as the rotation angle αq. As shown in FIG. 7, when the position where the rear end portion 9D of the paddle 9 escapes from the point P of the interference area 26 is defined as a rotation angle αp, the rear end portion 9D of the paddle 9 is between the rotation angle αq and the rotation angle αp. In some cases, the paddle 9 is in the interference area 26.

  On the other hand, as shown in FIG. 6, the position where the front end portion 13C, which is the reference position of the paddle 13, has entered the point P of the interference region 26 is defined as a rotation angle βp, and as shown in FIG. If the position of the front end portion 13C when the point E escapes from the point Q of the interference area 26 is defined as the rotation angle βq, the paddle 13 is in the interference area 26 when the front end portion 13C of the paddle 13 is between the rotation angle βp and the rotation angle βq. Exists within.

  The motor control device 24 constantly detects the current rotation angle αn of the left stirring shaft 6 based on the detection signal from the first rotation sensor 15, and based on the detection signal from the second rotation sensor 16. When the current rotation angle βn of the right stirring shaft 10 is always detected and the following equations 1 and 2 are established simultaneously, it is determined that both the paddle 9 and the paddle 13 are present in the interference region 26, and By outputting control signals to the first and second inverters 20 and 22, the first and second motors 19 and 21 are stopped.

  Thereby, when the paddle 9 and the paddle 13 are present in the interference region 26 at the same time, the rotation of the left and right stirring shafts 6 and 10 can be stopped immediately, and the paddle 9 and the paddle 13 interfere with each other. Can be prevented.

  Next, when the paddle 9 and the paddle 13 are rotating in the same RL direction, as shown in FIG. 8, before the rear end portion 9D of the paddle 9 escapes from the point P of the interference area 26, When the front end portion 13C of the paddle 13 enters the point P of the interference area 26, the paddle 9 and the paddle 13 interfere with each other.

  For this reason, the motor control device 24 determines that the rotation angle of the left agitating shaft 6 until the rear end 9D of the paddle 9 escapes the point P of the interference area 26 and the front end 13C of the paddle 13 is the point P of the interference area 26. The angle difference with the rotation angle of the right agitating shaft 10 until entering the position is calculated, and it is determined whether or not the paddle 9 and the paddle 13 are approaching based on this angle difference. When it is determined that the paddle 9 and the paddle 13 are close to each other, the rotational speeds of the first and second motors 19 and 21 are set relative to each other so that the paddle 9 and the paddle 13 are kept at a sufficient interval. Control.

  Here, the rotation angle of the left stirring shaft 6 until the rear end portion 9D of the paddle 9 escapes the point P of the interference region 26, and the right angle until the front end portion 13C of the paddle 13 enters the point P of the interference region 26. A method for calculating the rotation angle of the stirring shaft 10 will be described.

  First, as shown in FIG. 9, when the current position of the rear end portion 9D of the paddle 9 is N points, when this N point is within the range from the O point to the P point in the rotation direction, If the rotation angle from the point O to the point N is αn and the rotation angle from the point O to the point P is αp, the rotation angle αnp until the rear end portion 9D of the paddle 9 escapes the point P from the point N is It is represented by the following number 3.

  Further, as shown in FIG. 10, when the current position N point of the rear end portion 9D of the paddle 9 is within the range from the point P to the point O in the rotation direction, the rear end portion 9D of the paddle 9 is N The rotation angle αnp until the point P is escaped from the point is expressed by the following equation 4.

  On the other hand, as shown in FIG. 9, when the current position N point of the front end portion 13C of the paddle 13 is within the range from the point P to the point O in the rotation direction, the rotation angle from the point O to the point N is set. If the rotation angle from the point O to the point P is βp, the rotation angle βnp until the front end portion 13C of the paddle 13 enters the point P from the point N is expressed by the following equation (5).

  As shown in FIG. 10, when the current position N point of the front end portion 13C of the paddle 13 is within the range from the point O to the point P in the rotation direction, the front end portion 13C of the paddle 13 is moved from the point N. The rotation angle βnp until entering the point P is expressed by the following formula 6.

  Then, the motor control device 24 detects the rotation angle αnp until the rear end 9D of the paddle 9 exits the point P of the interference area 26 from the current position N point, and the front end 13C of the paddle 13 interferes from the current position N point. Whether or not the angle difference from the rotation angle βnp until entering the point P in the region 26 is larger than the allowable angle difference γ set in advance by the input setting unit 23 is determined by the following equation (7).

  Here, when the angle difference between the rotation angle βnp and the rotation angle αnp is larger than the allowable angle difference γ, before the rear end portion 9D of the paddle 9 escapes the point P of the interference region 26, the front end portion of the paddle 13 Since 13C does not enter the point P of the interference area 26, it can be determined that the paddle 9 and the paddle 13 do not interfere with each other.

  In this case, the motor control device 24 outputs a control signal to the second inverter 22 so as to maintain the rotational speed Vβ of the right stirring shaft 10 at a speed equal to the rotational speed Vα of the left stirring shaft 6. As a result, the second motor 21 controls the rotational speed of the right stirring shaft 10 to a rotational speed Vβ equal to the rotational speed Vα of the left stirring shaft 6, so that the paddle 9 of the left stirring shaft 6 and the right stirring shaft 10 The paddle 13 can stir the earth and sand and the soil quality improving material in a state of maintaining a constant interval without interfering with each other.

  On the other hand, when the angle difference between the rotation angle βnp and the rotation angle αnp is equal to or smaller than the allowable angle difference γ in the above equation 7, before the rear end portion 9D of the paddle 9 escapes from the point P of the interference region 26. In addition, the front end portion 13C of the paddle 13 enters the point P of the interference area 26, and it can be determined that the paddle 9 and the paddle 13 may interfere with each other.

  In this case, the motor control device 24 delays the front end portion 13C of the paddle 13 from entering the point P of the interference region 26. For example, the rotation speed Vβ of the right stirring shaft 10 is changed to the rotation speed Vα of the left stirring shaft 6. A control signal is output to the second inverter 22 so as to reduce it to 90%. As a result, the second motor 21 lowers the rotational speed Vβ of the right stirring shaft 10 by 10% from the rotational speed Vα of the left stirring shaft 6, so that the rear end portion 9D of the paddle 9 has a point P in the interference region 26. It is possible to prevent the front end portion 13C of the paddle 13 from entering the point P of the interference area 26 before exiting the paddle 13, and the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 interfere with each other. Can be prevented.

  Next, a series of control processing executed by the motor control device 24 when the mixer 1 mixes the sediment and the soil quality improving material in the continuous processing mode will be described with reference to FIG.

  First, when the mixer 1 is operated, the motor control device 24 causes the left and right stirring shafts 6 and 10 set in the input setting unit 23 in step 1 to rotate (RL direction), left and right stirring. The set rotational speeds Vα0 and Vβ0 and the allowable angle difference γ of the shafts 6 and 10 are read.

  In step 2, the current rotation angle αn and the rotation speed Vα of the left stirring shaft 6 are read from the signal output from the first converter 17 based on the detection signal from the first rotation sensor 15, Based on the detection signal from the second rotation sensor 16, the current rotation angle βn and the rotation speed Vβ of the right stirring shaft 10 are read by a signal output from the second converter 18.

  Next, in step 3, the rear end portion 9D of the paddle 9 provided on the left stirring shaft 6 is moved between the rotation angle αq shown in FIG. 6 and the rotation angle αp shown in FIG. It is determined whether or not there is. And when it determines with "YES" at step 3, since the paddle 9 exists in the interference area | region 26, it transfers to step 4, and in step 4, the above-mentioned number 2 is used and the right stirring shaft 10 is used. It is determined whether or not the front end portion 13C of the provided paddle 13 is between the rotation angle βp shown in FIG. 6 and the rotation angle βq shown in FIG. If “YES” is determined in step 4, since both the paddle 9 and the paddle 13 exist in the interference region 26, the process proceeds to step 5, and the first and second motors 19 and 21 are turned on. Stop.

  On the other hand, if “NO” is determined in Step 3 or Step 4, the process proceeds to Step 6 and, as shown in FIGS. 9 and 10, the current position N of the rear end portion 9 D of the paddle 9 of the left stirring shaft 6. It is determined whether the point is in the range from the point O to the point P or the range from the point P to the point O in the rotation direction. If “YES” is determined in step 6, the process proceeds to step 7, and after calculating the rotation angle αnp until the rear end portion 9D of the paddle 9 escapes from the point P from the point N by the above-described equation (3). Then, the process proceeds to step 9. If “NO” is determined in step 6, the process proceeds to step 8, and after calculating the rotation angle αnp until the rear end portion 9 </ b> D of the paddle 9 escapes from the point P from the point N according to the above equation 4. Then, the process proceeds to step 9.

  Next, in step 9, as shown in FIGS. 9 and 10, is the current position N point of the front end portion 13C of the paddle 13 of the right stirring shaft 10 within the range from the point O to the point P in the rotation direction? , Whether it is within the range from point P to point O is determined. And when it determines with "YES" at step 9, it transfers to step 10, and after calculating rotation angle (beta) np until the front-end part 13C of the paddle 13 approachs P point from N point by the above-mentioned Formula 6, Control goes to step 12. Further, if “NO” is determined in Step 9, the process proceeds to Step 11, and after calculating the rotation angle βnp until the front end portion 13 </ b> C of the paddle 13 enters the P point from the N point according to the above-described Equation 5, Control goes to step 12.

  Next, in step 12, the rotational angle βnp until the front end portion 13C of the paddle 13 enters the point P of the interference area 26 from the current position N point and the rear end portion 9D of the paddle 9 are It is determined whether or not the angle difference from the rotation angle αnp until the point P of the interference area 26 escapes from the position N is larger than the allowable angle difference γ set in advance by the input setting unit 23. If “YES” is determined in step 12, an appropriate interval is maintained between the paddle 9 and the paddle 13. Therefore, in step 13, the rotational speed Vβ of the right stirring shaft 10 is set to the left stirring shaft. 6 is set equal to the rotational speed Vα, and then the processing from step 2 onward is repeated.

  On the other hand, if “NO” is determined in step 12, since the paddle 9 and the paddle 13 are close to each other, the front end 13 </ b> C of the paddle 13 is delayed from entering the point P of the interference area 26. After the rotation speed Vβ of the stirring shaft 10 is reduced to 90% of the rotation speed Vα of the left stirring shaft 6, the processes in and after step 2 are repeated.

  Thus, in the continuous processing mode, step 3 to step 5 of the control processing executed by the motor control device 24 described above constitutes the motor stopping means according to the present invention. Of the control processing executed by the motor control device 24 described above, steps 6 to 14 constitute the motor speed control means according to the present invention.

  Next, a batch processing mode suitable for modifying soil having a high water content will be described. In the batch processing mode, the left and right agitation shafts 6 and 10 are in directions opposite to each other in the arrow RL direction and the arrow RR direction as shown in FIG. 3 with the discharge port 3F of the mixing tank 3 closed. And the soil and the soil conditioner are agitated. For example, the left stirring shaft 6 transports the improved soil from the sediment supply port 4 side to the discharge port 3F in the direction indicated by the arrow FF, and the right stirring shaft 10 improves the soil. The soil is conveyed in the direction indicated by the arrow FR from the discharge port 3F toward the sediment supply port 4 side.

  When executing this batch processing mode, the operator sets the rotation direction of the left stirring shaft 6 to the RL direction by the input setting unit 23 and reverses the rotation direction of the right stirring shaft 10 to that of the left stirring shaft 6. The RR direction is set and input to the motor control device 24, and the set rotational speed Vα0 of the left stirring shaft 6 and the rotational speed Vβ0 of the right stirring shaft 10 are input to the motor control device 24 as equal speeds.

  Then, the operator places the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 provided facing each other at an initial position shown in FIG.

  In this case, the paddle 9 of the left stirring shaft 6 rotates 360 ° in the direction indicated by the arrow RL from the point O (origin) in FIG. 12, and the front end 9C and the rear end in the direction of rotation of the paddle 9 (the direction indicated by the arrow RL). If the rear end portion 9D of the portion 9D is the reference position of the paddle 9, the initial position of the paddle 9 in the batch processing mode is set to a position where the rear end portion 9D of the paddle 9 overlaps the point O in FIG. . On the other hand, the paddle 13 of the right stirring shaft 10 rotates 360 ° in the direction indicated by the arrow RR from the point O in FIG. 12, and the front end 13C and the rear end 13D in the direction of rotation of the paddle 13 (the direction indicated by the arrow RR) Assuming that the front end 13C is the reference position of the paddle 13, the initial position of the paddle 13 in the batch processing mode is set to a position where the front end 13C of the paddle 13 is advanced 180 ° from the point O in FIG.

  When the continuous processing mode is executed, the earth and soil to be reformed in the mixing tank 3 through the earth and sand supply port 4 with the discharge port 3F of the mixing tank 3 closed by the gate device 5 shown in FIG. Supply improvement materials. In this state, the left stirring shaft 6 is rotated in the RL direction by the first motor 19 and the right stirring shaft 10 is rotated in the RR direction opposite to the left stirring shaft 6 by the second motor 21.

  As a result, the earth and the soil quality improving material supplied into the mixing tank 3 are stirred by the paddle 9 of the left stirring shaft 6 while the inside of the mixing tank 3 is directed from the earth and sand supply port 4 side to the discharge port 3F in FIG. 3 and conveyed in the direction indicated by the arrow FR in FIG. 3 from the discharge port 3F toward the earth and sand supply port 4 while being stirred by the paddle 13 of the right stirring shaft 10. Then, it circulates around the mixing tank 3 so as to draw an ellipse.

  In this way, by thoroughly mixing a certain amount of earth and sand supplied in the mixing tank 3 with the soil quality improving material over time, it is possible to produce good quality improved earth from earth and sand having a high water content. . Then, by opening the discharge port 3F of the mixing tank 3 by the gate device 5, the generated improved soil is discharged to the outside of the mixing tank 3 through the discharge port 3F and is transported to a desired accumulation place by the transport conveyor 25. The

  Here, even when executing the batch processing mode described above, the motor control device 24 always detects the rotation angle α and the rotation speed Vα of the left stirring shaft 6 based on the detection signal from the first rotation sensor 15. At the same time, the rotation angle β and the rotation speed Vβ of the right stirring shaft 10 are always detected based on the detection signal from the second rotation sensor 16. When both the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 are in the interference region 26, the first and second motors 19 and 21 are immediately stopped, and the paddle 9 and the paddle 13 To prevent interference. Further, when the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 approach each other, the rotational speeds of the first and second motors 19 and 21 are relatively controlled to control the left stirring shaft 6. An appropriate interval is maintained between the paddle 9 and the paddle 13 of the right stirring shaft 10 to prevent interference between the paddle 9 and the paddle 13.

  Therefore, the operation of preventing interference between the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 by the motor control device 24 will be described.

  First, as shown in FIG. 13, when the front end 9C in the rotational direction of the paddle 9 enters the point Q of the interference region 26, the position of the rear end 9D, which is the reference position of the paddle 9, is set as the rotation angle αq. As shown in FIG. 14, when the position at which the rear end 9D of the paddle 9 escapes from the point P of the interference region 26 is defined as a rotation angle αp, the rear end 9D of the paddle 9 is between the rotation angle αq and the rotation angle αp. In some cases, the paddle 9 is in the interference area 26.

  On the other hand, as shown in FIG. 14, the position where the front end portion 13C, which is the reference position of the paddle 13, has entered the point Q of the interference region 26 is defined as a rotation angle βq, and as shown in FIG. If the position of the front end portion 13C when the point P of the interference region 26 escapes is the rotation angle βp, when the front end portion 13C of the paddle 13 is between the rotation angle βq and the rotation angle βp, the paddle 13 Exists within.

  The motor control device 24 constantly detects the current rotation angle αn of the left stirring shaft 6 based on the detection signal from the first rotation sensor 15, and based on the detection signal from the second rotation sensor 16. When the current rotation angle βn of the right agitating shaft 10 is constantly detected and the following equations 8 and 9 are satisfied simultaneously, it is determined that both the paddle 9 and the paddle 13 are present in the interference region 26, and By outputting control signals to the first and second inverters 20 and 22, the first and second motors 19 and 21 are stopped.

  Thereby, when the paddle 9 and the paddle 13 are present in the interference region 26 at the same time, the rotation of the left and right stirring shafts 6 and 10 can be stopped immediately, and the paddle 9 and the paddle 13 interfere with each other. Can be prevented.

  Next, when the paddle 9 rotates in the RL direction and the paddle 13 rotates in the RR direction opposite to the paddle 9, as shown in FIG. If the front end portion 13C of the paddle 13 exits the point P of the interference area 26 before exiting the point P, the paddle 9 and the paddle 13 interfere with each other.

  For this reason, the motor control device 24 determines that the rotation angle of the left agitating shaft 6 until the rear end 9D of the paddle 9 escapes the point P of the interference area 26 and the front end 13C of the paddle 13 is the point P of the interference area 26. The angle difference with the rotation angle of the right stirring shaft 10 until it escapes is calculated, and it is determined whether or not the paddle 9 and the paddle 13 are approaching based on this angle difference. When it is determined that the paddle 9 and the paddle 13 are close to each other, the rotational speeds of the first and second motors 19 and 21 are set so that the paddle 9 and the paddle 13 are kept at an appropriate distance. Control.

  Here, the rotation angle of the left stirring shaft 6 until the rear end portion 9D of the paddle 9 escapes the point P of the interference area 26, and the right angle until the front end portion 13C of the paddle 13 escapes the point P of the interference area 26. A method for calculating the rotation angle of the stirring shaft 10 will be described.

  First, as shown in FIG. 16, when the current position of the rear end portion 9D of the paddle 9 is N points, when this N point is within the range from the O point to the P point in the rotation direction, If the rotation angle from the point O to the point N is αn and the rotation angle from the point O to the point P is αp, the rotation angle αnp until the rear end portion 9D of the paddle 9 escapes the point P from the point N is It is represented by the following formula 10.

  As shown in FIG. 17, when the current position N point of the rear end 9D of the paddle 9 is within the range from the point P to the point O in the rotation direction, the rear end 9D of the paddle 9 is N The rotation angle αnp until the point P is escaped from the point is expressed by the following formula 11.

  On the other hand, as shown in FIG. 16, when the current position N point of the front end portion 13C of the paddle 13 is within the range from the O point to the P point in the rotation direction, the front end portion 13C of the paddle 13 is from the N point. The rotation angle βnp until the point P is escaped is represented by the following formula 12.

  Further, as shown in FIG. 17, when the current position N point of the front end portion 13C of the paddle 13 is within the range from the point P to the point O in the rotation direction, the rotation angle from the point O to the point N is set. If βn is the rotation angle from the O point to the P point, βp is the rotation angle βnp until the front end portion 13C of the paddle 13 escapes from the N point to the P point.

  Next, the motor control device 24 determines that the rotation angle βnp until the front end portion 13C of the paddle 13 escapes the point P of the interference area 26 from the current position N as shown in the following equation 14 is the rear end portion of the paddle 9. It is compared whether 9D is larger than the rotation angle αnp from the current position N point until the point P of the interference area 26 is escaped.

  Here, when the rotation angle βnp is larger than the rotation angle αnp, the paddle 9 precedes the paddle 13, and the rear end portion 9D of the paddle 9 has P in the interference region 26 before the front end portion 13C of the paddle 13. It is considered to escape the point. On the other hand, when the rotation angle βnp is equal to or less than the rotation angle αnp, the paddle 13 precedes the paddle 9, and the front end portion 13C of the paddle 13 has P in the interference region 26 before the rear end portion 9D of the paddle 9. It is considered to escape the point.

  Therefore, when the rotation angle βnp is larger than the rotation angle αnp (when the paddle 9 precedes the paddle 13), the motor control device 24 determines the rotation angle βnp of the front end portion 13C of the paddle 13 and the paddle 9 Whether the angle difference from the rotation angle αnp of the rear end portion 9D is larger than the allowable angle difference γ set in advance by the input setting unit 23 is determined by the following equation (15).

  Here, when the angle difference between the rotation angle βnp and the rotation angle αnp is larger than the allowable angle difference γ, before the rear end portion 9D of the paddle 9 escapes the point P of the interference region 26, the front end portion of the paddle 13 Since 13C does not escape from the point P of the interference area 26, it can be determined that the paddle 9 and the paddle 13 do not interfere with each other.

  In this case, the motor control device 24 controls the second inverter 22 to maintain the rotational speed Vβ of the right stirring shaft 10 at the current speed, that is, the speed equal to the rotational speed Vα of the left stirring shaft 6. Output a signal. As a result, the second motor 21 controls the rotational speed of the right stirring shaft 10 to a rotational speed Vβ equal to the rotational speed Vα of the left stirring shaft 6, so that the paddle 9 of the left stirring shaft 6 and the right stirring shaft 10 The paddle 13 can stir the earth and sand and the soil quality improving material in a state of maintaining a constant interval without interfering with each other.

  Further, in the above formula 15, when the angle difference between the rotation angle βnp and the rotation angle αnp is equal to or smaller than the allowable angle difference γ, before the rear end portion 9D of the paddle 9 escapes from the point P of the interference region 26. Further, the front end portion 13C of the paddle 13 escapes from the point P of the interference area 26, and it can be determined that the paddle 9 and the paddle 13 may interfere with each other.

  In this case, the motor control device 24 delays the front end portion 13C of the paddle 13 from exiting the point P of the interference region 26. For example, the rotation speed Vβ of the right stirring shaft 10 is changed to the rotation speed Vα of the left stirring shaft 6. A control signal is output to the second inverter 22 so as to reduce it to 90%. As a result, the second motor 21 lowers the rotational speed Vβ of the right stirring shaft 10 by 10% from the rotational speed Vα of the left stirring shaft 6, so that the rear end portion 9D of the paddle 9 has a point P in the interference region 26. It is possible to prevent the front end portion 13C of the paddle 13 from reaching the point P in the interference area 26 before exiting the paddle 13, and the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 interfere with each other. Can be prevented.

  On the other hand, when the rotation angle βnp is equal to or smaller than the rotation angle αnp (when the paddle 13 precedes the paddle 9), the motor control device 24 determines the rotation angle αnp of the rear end portion 9D of the paddle 9 and the paddle. It is determined by the following equation 16 whether the angle difference between the 13 front end portions 13C and the rotation angle βnp is larger than the allowable angle difference γ set in advance by the input setting unit 23.

  Here, when the angle difference between the rotation angle αnp and the rotation angle βnp is larger than the allowable angle difference γ, the rear end portion of the paddle 9 before the front end portion 13C of the paddle 13 escapes from the point P of the interference region 26. Since 9D does not escape from the point P of the interference area 26, it can be determined that the paddle 9 and the paddle 13 do not interfere with each other.

  In this case, the motor control device 24 controls the second inverter 22 to maintain the rotational speed Vβ of the right stirring shaft 10 at the current speed, that is, the speed equal to the rotational speed Vα of the left stirring shaft 6. Output a signal. As a result, the second motor 21 controls the rotational speed of the right stirring shaft 10 to a rotational speed Vβ equal to the rotational speed Vα of the left stirring shaft 6, so that the paddle 9 of the left stirring shaft 6 and the right stirring shaft 10 The paddle 13 can stir the earth and sand and the soil quality improving material in a state of maintaining a constant interval without interfering with each other.

  Further, in the above equation 16, when the angle difference between the rotation angle αnp and the rotation angle βnp is equal to or smaller than the allowable angle difference γ, before the front end portion 13C of the paddle 13 escapes from the point P of the interference region 26. The rear end 9D of the paddle 9 escapes from the point P of the interference area 26, and it can be determined that the paddle 9 and the paddle 13 may interfere with each other.

  In this case, the motor control device 24 increases the rotational speed Vβ of the right stirring shaft 10 to the rotational speed Vα of the left stirring shaft 6, for example, in order to accelerate the front end portion 13C of the paddle 13 from exiting the point P of the interference region 26. A control signal is output to the second inverter 22 so as to increase it to 110%. As a result, the second motor 21 increases the rotational speed Vβ of the right stirring shaft 10 by 10% from the rotational speed Vα of the left stirring shaft 6, so that the front end portion 13C of the paddle 13 sets the point P in the interference region 26. Before the escape, the rear end 9D of the paddle 9 can be prevented from reaching the point P of the interference region 26, and the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 interfere with each other. Can be prevented.

  Next, a series of control processes executed by the motor control device 24 when the mixer 1 mixes the soil and the soil conditioner in the batch processing mode will be described with reference to FIG.

  First, when the mixer 1 is operated, the motor control device 24, in step 21, the rotation direction (RL direction) of the left stirring shaft 6 and the rotation direction (RR direction) of the right stirring shaft 10 set by the input setting unit 23. ), The set rotational speeds Vα0 and Vβ0 and the allowable angle difference γ of the left and right stirring shafts 6 and 10 are read.

  In step 22, the current rotation angle αn and rotation speed Vα of the left stirring shaft 6 are read from the signal output from the first converter 17 based on the detection signal from the first rotation sensor 15, Based on the detection signal from the second rotation sensor 16, the current rotation angle βn and the rotation speed Vβ of the right stirring shaft 10 are read by a signal output from the second converter 18.

  Next, in step 23, the rear end portion 9D of the paddle 9 provided on the left stirring shaft 6 is moved between the rotation angle αq shown in FIG. 13 and the rotation angle αp shown in FIG. It is determined whether or not there is. If “YES” is determined in step 23, the paddle 9 is present in the interference region 26, and thus the process proceeds to step 24. In step 24, the right agitation shaft 10 is applied using the above-described formula 9. It is determined whether or not the front end portion 13C of the provided paddle 13 is between the rotation angle βq shown in FIG. 14 and the rotation angle βp shown in FIG. If “YES” is determined in step 24, both the paddle 9 and the paddle 13 are present in the interference region 26, so the process proceeds to step 25, and the first and second motors 19 and 21 are switched on. Stop.

  On the other hand, if “NO” is determined in step 23 or step 24, the process proceeds to step 26, and as shown in FIGS. 16 and 17, the current position N of the rear end portion 9D of the paddle 9 of the left stirring shaft 6 is determined. It is determined whether the point is in the range from the point O to the point P or the range from the point P to the point O in the rotation direction. Then, if “YES” is determined in step 26, the process proceeds to step 27, and after calculating the rotation angle αnp until the rear end portion 9D of the paddle 9 escapes from the point P from the point N by the above formula 10. Then, the process proceeds to step 29. If “NO” is determined in the step 26, the process proceeds to the step 28, and after calculating the rotation angle αnp until the rear end portion 9D of the paddle 9 escapes the P point from the N point according to the above equation 11. Then, the process proceeds to step 29.

  Next, in step 29, as shown in FIGS. 16 and 17, is the current position N point of the front end portion 13C of the paddle 13 of the right stirring shaft 10 within the range from the point O to the point P in the rotation direction? , Whether it is within the range from point P to point O is determined. And when it determines with "YES" at step 29, it transfers to step 30, and after calculating rotation angle (beta) np until the front-end part 13C of the paddle 13 escapes P point from N point by the above-mentioned Formula 12, Control goes to step 32. If it is determined “NO” in step 29, the process proceeds to step 31, and after calculating the rotation angle βnp until the front end portion 13 </ b> C of the paddle 13 escapes from the point P from the point N by the above equation 13, Control goes to step 32.

  Next, in step 32, it is determined whether or not the rotation angle βnp of the front end portion 13C of the paddle 13 is larger than the rotation angle αnp of the rear end portion 9D of the paddle 9 by the above-described equation 14, and in step 32, “ If “YES” is determined, the process proceeds to step 33, and if “NO” is determined, the process proceeds to step 34.

  In step 33, the angular difference between the rotation angle βnp of the front end portion 13C of the paddle 13 and the rotation angle αnp of the rear end portion 9D of the paddle 9 is set by the input setting unit 23 according to the above-described equation 15. It is determined whether or not the angle difference γ is larger. If “YES” is determined in step 33, a sufficient space is maintained between the preceding paddle 9 and paddle 13, and therefore, in step 35, the rotational speed Vβ of the right stirring shaft 10 is set to the left. After setting it to be equal to the rotational speed Vα of the stirring shaft 6, the processing after step 22 is repeated.

  On the other hand, if “NO” is determined in step 33, the paddle 13 is approaching the preceding paddle 9, so that the front end portion 13 </ b> C of the paddle 13 is prevented from escaping from the point P of the interference region 26. Therefore, in step 36, the rotational speed Vβ of the right stirring shaft 10 is reduced to 90% of the rotational speed Vα of the left stirring shaft 6, and then the processing in and after step 22 is repeated.

  In step 34, the angle difference between the rotation angle αnp of the rear end portion 9D of the paddle 9 and the rotation angle βnp of the front end portion 13C of the paddle 13 is set by the input setting unit 23 according to the above-described equation 16. It is determined whether or not the angle difference γ is larger. If “YES” is determined in step 34, a sufficient space is maintained between the preceding paddle 13 and the paddle 9, and in step 37, the rotational speed Vβ of the right stirring shaft 10 is set to the left. After setting it to be equal to the rotational speed Vα of the stirring shaft 6, the processing after step 22 is repeated.

  On the other hand, if “NO” is determined in step 34, the paddle 9 is approaching the preceding paddle 13, so that the front end portion 13 </ b> C of the paddle 13 escapes from the point P of the interference area 26. Therefore, in step 38, the rotational speed Vβ of the right stirring shaft 10 is increased to 110% of the rotational speed Vα of the left stirring shaft 6, and then the processes in and after step 22 are repeated.

  Thus, in the batch processing mode, among the control processing executed by the motor control device 24 described above, Step 23 to Step 25 constitute the motor stopping means according to the present invention. Of the control processing executed by the motor control device 24 described above, steps 26 to 38 constitute the motor speed control means according to the present invention.

  Thus, the mixer 1 according to the present embodiment includes the first and second rotation sensors 15 and 16, the first and second motors 19 and 21, the input setting unit 23, and the motor control device 24. By providing the processing mode switching means 14, the soil and the soil conditioner are stirred by the left and right stirring shafts 6 and 10 rotating in the same direction, and the improved soil is discharged from the soil supply port 4 side of the mixing tank 3. Sediment and soil quality improver are stirred by the continuous processing mode that conveys in one direction to the outlet 3F, and the left and right stirring shafts 6 and 10 rotating in opposite directions, and the improved soil is mixed by the left stirring shaft 6 3 and the batch processing mode in which the improved soil is conveyed from the discharge port 3F of the mixing tank 3 to the sediment supply port 4 side by the right stirring shaft 10 as appropriate. It can be switched and executed.

  For this reason, even if the properties of the soil to be modified are different, such as soil with a low water content or soil with a high water content, the continuous processing mode and the batch processing mode are selectively used with the single mixer 1. By executing the above, it is possible to always produce a high quality improved soil regardless of the properties of the earth and sand. As a result, there is no need to use a mixer dedicated to the continuous processing mode and a mixer dedicated to the batch processing mode according to the properties of the sediment, improving the workability of the work for modifying the sediment and reducing the work cost. Can also contribute.

  Further, when the soil and the soil conditioner are agitated by the left and right agitation shafts 6 and 10, the paddle 9 of the left agitation shaft 6 and the paddle 13 of the right agitation shaft 10 facing each other in a state where they can interfere with each other. When both are within the interference region 26, the first and second motors 19 and 21 can be stopped by the motor stop means of the motor control device 24. Thereby, even if the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 enter the interference region 26 at the same time, it is possible to reliably prevent the paddle 9 and the paddle 13 from interfering with each other. .

  Furthermore, the rotation angle αnp until the rear end 9D in the rotation direction of the paddle 9 provided on the left stirring shaft 6 escapes from the interference region 26, and the front end 13C in the rotation direction of the paddle 13 provided on the right stirring shaft 10 are An angle difference from the rotation angle βnp until the interference area 26 enters or exits is calculated, and it is determined whether or not the paddle 9 and the paddle 13 are close to each other according to the angle difference. When 9 and 13 are close to each other, the rotational speeds of the first and second motors 19 and 21 can be relatively controlled by the motor speed control means of the motor control device 24.

  As a result, the paddle 9 of the left stirring shaft 6 and the paddle 13 of the right stirring shaft 10 can always rotate while maintaining an appropriate interval without interfering with each other. As a result, it is possible to reliably prevent the paddles 9 and 13 provided on the left and right stirring shafts 6 and 10 from interfering with each other whether the continuous processing mode or the batch processing mode is executed. The reliability of the mixer 1 can be increased.

  In the above-described embodiment, when the batch processing mode is executed, the case where the left stirring shaft 6 is rotated in the RL direction and the right stirring shaft 10 is rotated in the RR direction is illustrated. However, the present invention is not limited to this. For example, the left stirring shaft 6 may be rotated in the RR direction, and the right stirring shaft 10 may be rotated in the RL direction.

  Moreover, in embodiment mentioned above, the stationary mixer 1 is illustrated. However, the present invention is not limited to this, and can be applied to, for example, a movable mixer including a traveling body capable of self-propelling.

1 is a partially broken longitudinal sectional view showing a mixer according to an embodiment of the present invention. It is the top view which looked at the mixer which performs a continuous processing mode from the arrow II-II direction in FIG. It is the top view which looked at the mixer which performs batch processing mode from the same position as FIG. It is a block diagram which shows a process mode switching means. FIG. 5 is a cross-sectional view seen from the direction of arrows V-V in FIG. 2 showing a state in which the paddles of the left and right stirring shafts are arranged at initial positions in the continuous processing mode. It is sectional drawing which shows the state which the paddle of the left and the right stirring shaft approached into the interference area | region. It is sectional drawing which shows the state which the paddle of the left and right stirring shaft escaped from the interference area | region. It is sectional drawing which shows the state which the paddle of the left and right stirring shaft interferes. It is sectional drawing which shows the rotation angle until the paddle of the left stirring shaft escapes from the interference area, and the rotation angle until the paddle of the right stirring shaft enters the interference area. Sectional view showing the rotation angle until the paddle of the left stirring shaft escapes from the interference region from a position different from FIG. 9 and the rotation angle until the paddle of the right stirring shaft enters the interference region from a position different from FIG. It is. It is a flowchart which shows the control processing which a motor control apparatus performs in a continuous processing mode. FIG. 6 is a cross-sectional view similar to FIG. 5 showing a state in which the paddles of the left and right stirring shafts are arranged at the initial position in the batch processing mode. It is sectional drawing which shows the state which the paddle of the left stirring shaft approached into the interference area | region, and the paddle of the right stirring shaft escaped from the interference area | region. It is sectional drawing which shows the state in which the paddle of the left stirring shaft escaped from the interference area, and the paddle of the right stirring shaft entered the interference area. It is sectional drawing which shows the state which the paddle of the left and right stirring shaft interferes. It is sectional drawing which shows the rotation angle until the paddle of a left stirring shaft escapes from an interference area | region, and the rotation angle until the paddle of a right stirring shaft escapes from an interference area | region. Sectional view showing the rotation angle until the paddle of the left stirring shaft escapes from the interference region from a position different from FIG. 16, and the rotation angle until the paddle of the right stirring shaft escapes from the interference region from a position different from FIG. It is. It is a flowchart which shows the control processing which a motor control apparatus performs in batch processing mode.

Explanation of symbols

1 Mixer 3 Mixing tank 3F Discharge port 4 Earth and sand supply port (supply port)
6 Left stirring shaft 9,13 Paddle 9C, 13C Front end (reference position)
9D, 13D Rear end (reference position)
DESCRIPTION OF SYMBOLS 10 Right stirring shaft 14 Processing mode switching means 15 1st rotation sensor 16 2nd rotation sensor 19 1st motor 21 2nd motor 23 Input setting device 24 Motor control apparatus 26 Interference area

Claims (4)

A mixing tank to which earth and sand and a soil quality improving material for modifying the earth and sand are supplied, and a generated soil provided in the mixing tank at a distance from a supply port to which the earth and sand and the soil quality improving material are supplied are discharged. The two outlets that move in the mixing tank while stirring the earth and sand and the soil conditioner by a paddle that is rotatably arranged in parallel in the mixing tank and facing each other in a state where they can interfere with each other. In a mixer comprising a stirring shaft,
In the state where the discharge port is opened, the two agitation shafts convey the improved soil from the supply port side of the mixing tank toward the discharge port, and in the state where the discharge port is closed, the 2 Of the stirring shafts, one of the stirring shafts conveys the improved soil from the supply port side of the mixing tank to the discharge port, and the other stirring shaft transfers the improved soil from the discharge port of the mixing tank to the supply port side. A mixer comprising a processing mode switching means for switching between batch processing modes.   The processing mode switching means includes first and second rotation sensors for detecting rotation speeds of the two stirring shafts, and first and second motors for independently rotating the two stirring shafts, respectively. And a setter for setting the rotation direction of the two stirring shafts, and the first and second rotation sensors to prevent the paddles provided on the two stirring shafts from interfering with each other. The mixer according to claim 1, comprising a motor control device that relatively controls the rotation speeds of the first and second motors based on the detected signal. When the region where the two paddles provided opposite to each other on the two stirring shafts interfere with each other is an interference region, the motor control device includes a paddle on one stirring shaft and a paddle on the other stirring shaft. Motor stop means for stopping the first and second motors when both are within the interference region;
The rotation angle until the reference position predetermined for the paddle of the one stirring shaft escapes from the interference region, and the reference position predetermined for the paddle of the other stirring shaft enters or exits the interference region. The motor speed control means which calculates the angle difference with the rotation angle until and calculates the relative rotation speed of the first and second motors according to the angle difference. Blender.   Of the two stirring shafts, the reference position of the paddle of one stirring shaft is determined at the position of the rear end in the rotational direction of the paddle, and the reference position of the paddle of the other stirring shaft is the rotational direction of the paddle. The mixer according to claim 3, wherein the mixer is configured to be determined at a position of a front end portion.

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