JP2013028923A - Control device of ground improvement machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a ground improvement machine capable of stably installing a good-quality columnar improvement pile.SOLUTION: A control device of ground improvement machine comprises driving means for rotating and lifting a rod having an agitation head and means for injecting and supplying cement milk in a drilling hole through the rod. In a plurality times of continuous ground improvement construction for boring a plurality of drilling holes in a ground sequentially to improve the ground, when the first-time ground improvement construction is performed by manual operation, depth, rotational direction, rotational frequency and injection rate are detected by sensing means (a detector 9 for rotational direction and rotational frequency, a detector 10 for lifting distance and a flow meter 17), and at the time of construction next time and later, the driving means and supply means are driven and controlled based on the depth, rotational direction, rotational frequency and injection rate.

Description

  The present invention has a stirring head for excavating the ground in a ground improvement machine that improves the ground by a columnar improved pile in which cement milk is stirred and mixed in the drilling hole when constructing by sequentially drilling a plurality of drilling holes in the ground. The present invention relates to a control device for driving and controlling a driving means for rotating and lifting a rod and a supply means for injecting cement milk into a drilling hole through the rod.

  Conventionally, when a building is provided on soft ground, a columnar improved pile may be constructed to prevent the building from sinking. When constructing this pillar-like improved pile, it is necessary to operate the above-mentioned drive means and supply means in the ground improvement machine. Often borne by experience.

Japanese Patent Laid-Open No. 7-158056

Then, in order to reduce the burden of the constructor accompanying construction of a columnar improvement pile, the control apparatus of the ground improvement machine disclosed by said patent document 1 etc. is provided.
However, all of them only provide a ground improvement machine that can predict the situation of the ground to be constructed in the future and automatically perform construction based on the construction pattern previously stored in the computer before construction. Whether or not it is a construction pattern that suits the ground condition of the building is not known until after the actual improvement of columnar piles, and it may be difficult to stably provide dozens of high-quality columnar piles at all times. obtain.

  An object of the present invention is to provide a ground improvement machine that makes it possible to stably provide high-quality columnar improvement piles.

The present invention will be described with reference to the reference numerals of the drawings (FIGS. 1 to 6) of the embodiments described later.
The control device of the ground improvement machine according to the invention of claim 1 is configured as follows.
The ground improvement machine comprises a drive means (2) for rotating and raising and lowering a rod (8) having a stirring head (8a) for excavating the ground, and a supply means for injecting cement milk into the excavation hole through the rod (8). (12), and when excavating and constructing a plurality of excavation holes sequentially in the ground, the cement milk is stirred and mixed in the excavation holes to improve the ground. Among the plurality of constructions, the driving means (2) is provided with sensing means (9, 10) for detecting predetermined manual operation data when the first construction is performed manually. And processing means (20, 23) for controlling the driving means (2) based on predetermined manual operation data detected and stored by the sensing means (9, 10).

  In the invention of claim 1, since the predetermined manual operation data detected when the driving means (2) is manually operated in the first construction is used in the second and subsequent automatic construction, it is obtained by the manual operation in the first construction. In addition, it is possible to perform a plurality of times of construction based on the construction pattern of the driving means (2) that matches the actual ground condition, and to stably provide high-quality columnar improved piles.

  In the invention of claim 2 premised on the invention of claim 1, the sensing means (9, 10) of the drive means (2) is used as predetermined manual operation data of the stirring head (8a) of the rod (8). Detect depth and rotation direction. In the invention of claim 2, the construction pattern of the drive means (2) in the first construction is easily reproduced in the second and subsequent constructions by detecting the depth and rotation direction of the stirring head (8a) of the rod (8). Can do.

  In the invention of claim 3 premised on the invention of claim 2, the sensing means (9, 10) of the drive means (2) is used as predetermined manual operation data of the stirring head (8a) of the rod (8). Detect the number of rotations. In the invention of claim 3, since the number of rotations is detected in addition to the detection of the depth and rotation direction of the stirring head (8a) of the rod (8), the drive means (2) in the first construction in the second and subsequent constructions This construction pattern can be reproduced more easily.

  In the invention of claim 4 premised on the invention of any one of claims 1 to 3, a sensing means for detecting predetermined manual operation data when performing the first construction by manual operation ( 17) is provided in the supply means (12), and the supply means (12) is driven and controlled based on predetermined manual operation data detected and stored by the sensing means (17) during the second and subsequent constructions. Processing means (20, 23) are provided. In the invention of claim 4, since the predetermined manual operation data detected when the supply means (12) is manually operated in the first construction is used in the second and subsequent automatic construction, it is obtained by the manual operation in the first construction. In addition, it is possible to perform a plurality of times of construction based on the construction pattern of the drive means (2) and the supply means (12) that match the actual ground condition, and to stably provide good quality columnar improved piles.

  In the invention of claim 5 based on the invention of claim 4, the sensing means (17) of the supply means (12) detects the amount of cement milk injected as predetermined manual operation data. In the invention of claim 5, by detecting the amount of cement milk injected, the construction pattern of the drive means (2) and the supply means (12) in the first construction can be easily reproduced in the second and subsequent constructions.

  In the invention of claim 6 premised on the invention of any one of claims 1 to 5, the processing means (20, 23) is the first construction in the second and subsequent constructions. The drive means (2) is driven and controlled following the predetermined manual operation data stored at the time. In the invention of claim 6, the construction pattern of the drive means (2) or the drive means (2) and the supply means (12) in the first construction can be easily reproduced in the second and subsequent constructions.

  In the invention of claim 7 premised on the invention of claim 6, the processing means (20, 23) registers a plurality of points that approximate the actual motion trajectory relating to the depth and rotation direction in the drive means (2). Then, the drive means (2) is drive-controlled using an operation pattern connecting these points as predetermined manual operation data. In invention of Claim 7, it memorize | stored in the time of the first construction in the construction after the 2nd by the construction pattern which simplified the actual operation locus regarding the depth and rotation direction of the drive means (2) in the first construction. It becomes easy to follow predetermined manual operation data.

Next, technical ideas other than the claims will be described with reference to the reference numerals in the drawings of the embodiments.
In the eighth invention premised on the invention of claim 4 or claim 5, the supply means (12) includes a cement milk mixer (14) and a cement from the cement milk mixer (14) to the rod (8). An infusion pump (15) for injecting milk and a flow meter (17) for detecting the flow rate of cement milk injected from the infusion pump (15) into the rod (8), the processing means (20, 23) Displays on the screen the remaining amount of cement milk obtained by subtracting the amount of cement milk that has passed through the flow meter (17) from the amount of cement milk that has been kneaded in the cement milk mixer (14). In the eighth aspect of the invention, the cement milk remaining amount can be easily confirmed simply by the installer looking at the screen.

  In the invention of any one of claims 1 to 7 or the ninth invention based on the eighth invention, the processing means (20, 23) injects cement milk into the excavation hole. The construction positions of a plurality of construction piles to be provided are displayed on the screen in the arrangement state at the time of construction, and registration for distinguishing the presence or absence of those constructions can be set on the screen. In 9th invention, in a ground improvement machine, a builder can confirm easily the presence or absence of construction only by seeing a screen.

  In the invention of any one of claims 1 to 7 or the tenth invention based on the eighth invention, the processing means is used when the ground improvement machine is used as a pile burial machine. (20, 23) can display the construction positions of a plurality of buried piles on the screen in the arrangement state at the time of construction, and can set registration for distinguishing the presence or absence of those constructions on the screen. In the tenth invention, it is possible to easily confirm whether or not the pile is buried by simply looking at the screen in the pile placing machine.

  The present invention can provide a ground improvement machine that makes it possible to stably provide high-quality columnar improvement piles.

(A) is a system diagram which shows roughly the ground improvement machine concerning this embodiment, (b) is a cement milk residual amount display screen. It is an electric block circuit diagram of the ground improvement machine. (A) (b) is a construction screen at the time of ground improvement construction, respectively. (A) (b) is a construction screen at the time of ground improvement construction, respectively. It is a registration screen at the time of ground improvement construction. It is a registration screen at the time of pile embedding construction.

Hereinafter, a ground improvement machine according to an embodiment of the present invention will be described with reference to the drawings.
In the ground improvement machine shown in FIG. 1 (a), the driving means 2 installed on the front side of the vehicle 1 is arranged along the leader 5 by the leader 5 which can be tilted around the support shaft 4 by the tilting cylinder 3 and the lifting device 6. And a rod 8 that can be rotated by the drive motor 7. The rod 8 is moved up and down along the reader 5 together with the drive motor 7 by the lifting device 6 while being rotated by the drive motor 7, and excavates the ground by the stirring head 8a. At that time, the detector 9 attached to the drive motor 7 as an actuator detects the rotation direction (forward rotation direction and reverse rotation direction) of the drive motor 7 using a pressure switch as an operation unit sensing means, The rotational speed is detected using a sensor. Moreover, the detector 10 attached to the raising / lowering apparatus 6 as an actuator detects the raising / lowering distance (depth) of the rod 8 as an operation | movement part sensing means. A pressure sensor 11 attached to the drive motor 7 detects excavation pressure generated in the rod 8 as an operation unit sensing means.

  Further, in the ground improvement machine shown in FIG. 1A, the supply means 12 connected to the drive means 2 is a cement milk plant 13, a mixer 14 for producing cement milk, and an injection pump 15 connected to the mixer 14. And an injection pipe 16 for connecting the injection pump 15 to the rod 8. The injection pump 15 injects cement milk from the mixer 14 into the rod 8 through an injection pipe 16. The flow meter 17 attached to the injection pipe 16 detects the flow rate (injection amount) of cement milk injected into the rod 8 from the injection pump 15 as an operation unit sensing means.

  In the vehicle 1, a manual operation device 18 for the driving means 2, a manual operation device 19 for the infusion pump 15, and a mobile computer 20 are installed. The operation amounts for the driving means 2 and the infusion pump 15 by the manual operation devices 18 and 19 are detected by the operation unit sensing means 21 and 22 shown in FIG.

  As shown in FIG. 2, the main computer 23 operates as an input device in the operation unit sensing means (the detector 9, the detector 10, the pressure sensor 11, and the flow meter 17), the driving means 2 and the infusion pump 15. In addition to being connected to the part sensing means 21, 22, it is also connected to an inclination sensor 24 (operation part sensing means) that detects the inclination of the rod 8. The main computer 23 is connected to the actuators (the lifting device 6 and the drive motor 7) as output devices, and via a wireless transmitter 25 on the vehicle 1 and a wireless receiver 26 on the infusion pump 15. And connected to a control panel 27 for the infusion pump 15. Further, the main computer 23 (processing means) is connected to a mobile computer 20 (processing means), and the mobile computer 20 is connected to a remote office computer 28 via a communication facility 29 and an external memory 30.

  Now, when excavating a plurality of excavation holes in the ground one after another and improving the ground with construction piles (column-like improved piles) installed by stirring and mixing cement milk in those excavation holes, Of the construction, only the first construction is performed manually as follows.

  The construction pile setting screen regarding the pile number to be constructed on the mobile computer 20 is displayed. Next, on the construction pile setting screen, construction pile setting input regarding the planned depth, the lifting speed, the number of blades of the stirring head 8a, and the number of blade cutting is performed. Next, the construction screen shown in FIG. Further, the stirring head 8a of the rod 8 is applied to the ground, and the position is set to the depth of zero in the mobile computer 20. Data such as construction pile setting input is sent from the mobile computer 20 to the main computer 23.

  After completion of such construction preparation, the contractor looks at the construction screen shown in FIG. 3 (a), the lifting device 6 and the drive motor 7 of the drive means 2, the manual operation device 18 for the drive means 2, The manual operation device 19 for the infusion pump 15 is manually operated to start the first construction. At that time, data from the operation unit sensing means (the detector 9, the detector 10, the pressure sensor 11, the flow meter 17, and the inclination sensor 24) and the operation unit sensing means 21 and 22 in the drive unit 2 and the infusion pump 15 are used. Is sent to the main computer 23. Based on the data from the operation unit sensing means (detector 9, detector 10, pressure sensor 11, flow meter 17, tilt sensor 24) and operation unit sensing means 21, 22, the main computer 23 operates the actuator ( The elevating device 6 and the drive motor 7) are driven and controlled, and the infusion pump 15 of the supply means 12 is driven and controlled via the radio transmitter 25, the radio receiver 26 and the control panel 27.

  When the construction pattern storage start button is pressed on the construction screen shown in FIG. 3A at the time of the first construction by such manual operation, the main computer 23 detects the number of rotations of the drive motor 7 detected by the detector 9 and The rotation direction (forward rotation direction or reverse rotation direction) and the depth detected by the detector 10 (excavation distance from zero depth) are stored as predetermined manual operation data, and the cement milk detected by the flow meter 17 is stored. The injection amount is stored as predetermined manual operation data. Based on the stored data sent from the main computer 23, the mobile computer 20 shows the depth trajectory in the forward rotation direction, the depth trajectory in the reverse rotation direction, and the injection amount on the construction screen as shown in FIG. Display and store as construction pattern data by pressing the completion button on the construction screen. The main computer 23 stops the driving unit 2 and the supply unit 12 based on data from the pressure sensor 11 and data from the inclination sensor 24 when an abnormality occurs during excavation.

  As described above, after the completion button is pressed on the construction screen, when the installer registers a plurality of points approximate to the construction pattern data (actual motion trajectory) regarding the depth and the rotation direction on the construction screen, the mobile computer 20 As shown in FIG. 4A, an operation pattern simplified by connecting these points to each other is stored as predetermined manual operation data. For example, the vertical movement width can be set by setting a parameter that can be set in advance. If the vertical movement width is exceeded, the turning point is registered as a turning point, and the turning point of the stirring head 8a is changed as a turning point. Register points. Moreover, the mobile computer 20 memorize | stores the operation | movement pattern regarding the injection amount for every predetermined depth division as predetermined manual operation data, as shown to Fig.4 (a). The mobile computer 20 may automatically select and register from previously stored points based on the construction pattern data (actual operation trajectory).

When the first construction by manual operation is completed in this way, the second and subsequent constructions are performed as follows.
In the second construction, as with the first construction, after placing the stirring head 8a of the rod 8 on the ground and setting the position to zero depth, the construction pile setting screen related to the pile number to be constructed on the mobile computer 20 is displayed. The construction pile setting input confirmation regarding the planned depth, the lifting speed, the number of blades of the stirring head 8a, and the number of blade cutting is performed on the construction pile setting screen, and the construction screen shown in FIG. Next, when the run switch 31 shown in FIG. 2 is pressed, the main computer 23 follows the operation pattern relating to the first construction sent from the mobile computer 20, for example, as shown in the construction screen shown in FIG. The drive unit 2 and the supply unit 12 are automatically driven and controlled. When the SKIP button is pressed, the target point is skipped and the target point moves to the next point. Next, when the run switch 31 shown in FIG. 2 is pressed, the automatic construction is completed. The third and subsequent constructions are performed in the same way as the second construction.

  In addition, since the mobile computer 20 in the vehicle 1 and the office computer 28 are connected via the communication equipment 29 and the external memory 30, the advance information input before construction is read from the office computer 28. It can be confirmed in the vehicle 1 or construction data can be read from the mobile computer 20 in the vehicle 1 and confirmed at the office.

  At the time of the construction described above, the mobile computer 20 calculates the cement milk kneading amount in the mixer 14 from a pre-input cement input amount, water cement ratio, and cement specific gravity by a predetermined arithmetic expression, and the cement milk kneading amount. Is subtracted from the amount of cement milk that has passed through the flow meter 17 to determine the remaining amount of cement milk. As shown in FIG. 1B, the mobile computer 20 displays the cement milk remaining amount on the screen step by step by a signal from the main computer 23.

  At the time of the ground improvement construction described above, the mobile computer 20 may display the construction positions of a plurality of construction piles provided by injecting cement milk into the excavation hole on the screen in the arrangement state at the time of construction, as shown in FIG. it can. On the screen of the mobile computer 20, a table displaying pile numbers, construction status (completed or not yet constructed) and construction order, various operation buttons such as a registration button and a clear button, and a layout screen of construction piles are displayed. . In that screen, for example, select the pile number of the construction position of the construction pile you want to register according to the construction order or arbitrarily, press the registration button and press the construction pile on the layout screen that corresponds to that pile number, the construction pile you want to register The construction position of is confirmed. Also, if you select the pile number of the construction position of the construction pile you want to deregister on that screen, the construction pile on the placement screen that corresponds to that pile number will flash, and then press the clear button, the construction pile you want to deregister The construction position of is confirmed. After selecting the construction position of the construction pile to be registered or deregistered in this way and confirming the registration, the display of the construction pile on the arrangement screen changes from “not constructed” to “completed” together with the construction status. Completed items cannot be set as unfinished ones.

  On the other hand, the ground improvement machine described above is constructed with the main computer 23 and the mobile computer 20 set in the ground improvement mode, but when set in the pile embedding mode, the vehicle 1 and the drive means excluding the supply means 12 are provided. 2 is used as a pile burial machine. Although not shown, in the pile burying machine, instead of the rod 8, a plurality of buried piles are sequentially connected to each other and driven into the ground.

  As shown in FIG. 6, when piles are laid, the mobile computer 20 can display the burying positions of a plurality of buried piles on the screen in the arrangement state at the time of burying. The screen of the mobile computer 20 displays a table showing the pile number, construction status (completed or not yet constructed or halfway) and construction order, various operation buttons such as a registration button and a clear button, and a layout screen for buried piles. Is done. On that screen, for example, select the pile number of the buried position of the buried pile you want to register according to the construction order or arbitrarily, press the register button and press the buried pile on the layout screen that corresponds to that pile number, the buried pile you want to register The burial position is fixed. In addition, if you select the pile number of the burial position of the buried pile you want to deregister on that screen, the buried pile on the placement screen corresponding to that pile number will flash, and then press the clear button, then the buried pile you want to deregister The burial position is fixed. After selecting the burying position of the buried pile to be registered or deregistered in this way and confirming the registration, the display of the buried pile on the arrangement screen changes from “not constructed” to “completed” together with the buried state. Completed items cannot be set as unfinished ones. In the middle of the burial, the burial pile display on the layout screen is displayed as “midway”.

This embodiment has the following effects.
(1) After memorizing the construction pattern that matches the actual ground condition by manual operation in the first construction, the second and subsequent automatic construction is performed based on the construction pattern, so quality columnar improvement in multiple constructions A pile can be provided stably. At that time, the drive means 2 and the supply means 12 in the first construction in the second and subsequent constructions are detected by detecting the depth, rotational direction and rotational speed of the stirring head 8a of the rod 8 and the amount of cement milk injected by the injection pump 15. The construction pattern can be easily reproduced.

  (2) In the first construction, a plurality of points that approximate the actual motion trajectory relating to the depth and rotation direction of the stirring head 8a of the rod 8 are registered, and these points are connected to each other to simplify the operation pattern. During construction, it is easy to follow the predetermined manual operation data (depth, rotation direction, rotation speed, injection amount) stored at the time of the first construction, and the construction pattern at the first construction can be easily reproduced. be able to.

  (3) Since the installer can easily check the remaining amount of cement milk in the mixer 14 simply by looking at the screen as needed, the installer does not have to bother to look inside the mixer 14 Can be accurately managed using only the screen.

  (4) With the ground improvement machine, the construction status (completed or not yet constructed) can be easily checked by the installer simply by looking at the screen displaying the construction position of multiple construction piles in the arrangement state at the time of construction. The construction status (completed, unfinished, or halfway) can be easily checked by the installer simply by looking at the screen that displays the construction position of the buried piles at the time of construction. it can. In addition, since it is easy to check the construction status (completed, unfinished, or halfway) in a pile burial machine, when connecting multiple buried piles to each other in sequence, the pile is checked while checking the construction status on the screen. The work of burying other piles can be performed during the work of connecting the two.

For example, the following embodiment may be configured as follows.
In the above-described embodiment, in the first construction by manual operation, the depth, the rotation direction and the rotation speed of the stirring head 8a of the rod 8 and the amount of cement milk injected by the injection pump 15 are detected, and these are determined. Although it is used in the automatic construction after the second time, at least the depth and the rotation direction may be used only in the second and subsequent automatic construction.

  A rotary encoder may be used as the detector 9 that detects the rotation direction (forward rotation direction and reverse rotation direction) of the drive motor 7 or detects the rotation speed.

  DESCRIPTION OF SYMBOLS 2 ... Drive means, 8 ... Rod, 8a ... Agitation head, 9 ... Detector as sensing means, 10 ... Detector as sensing means, 12 ... Supply means, 14 ... Mixer, 15 ... Injection pump, 17 ... Sensing means , 20... Mobile computer as processing means, 23... Main computer as processing means.

Claims (7)

  A drive means for rotating and raising and lowering a rod having a stirring head for excavating the ground and a supply means for injecting cement milk into the excavation hole through the rod, and excavating and constructing a plurality of excavation holes in the ground in order. Sensing means for detecting predetermined manual operation data when performing the first construction manually among a plurality of constructions in a ground improvement machine that improves the ground by stirring and mixing the cement milk in the excavation hole Is provided in the driving means, and a processing means for driving and controlling the driving means is provided based on predetermined manual operation data detected and stored by the sensing means in the second and subsequent constructions. Control device for ground improvement machine.   The ground improvement machine control device according to claim 1, wherein the sensing means of the driving means detects the depth and rotation direction of the stirring head of the rod as predetermined manual operation data.   3. The ground improvement machine control device according to claim 2, wherein the sensing means of the driving means detects the number of rotations of the stirring head of the rod as predetermined manual operation data.   Sensing means for detecting predetermined manual operation data when performing the first construction by manual operation is provided in the supply means, and predetermined manual operation data detected and stored by the sensing means at the second and subsequent constructions The ground improvement machine control device according to any one of claims 1 to 3, further comprising processing means for driving and controlling the supply means.   The ground improvement machine control device according to claim 4, wherein the sensing means of the supply means detects the amount of cement milk injected as predetermined manual operation data.   The said processing means drives and controls the said drive means following the predetermined manual operation data memorize | stored in the time of the first construction at the time of the construction after the 2nd time. The ground improvement machine control device according to any one of claims 5 to 5.   The processing means drives the driving means by using, as predetermined manual operation data, a plurality of points that approximate the actual motion trajectory relating to the depth and rotation direction in the driving means and connecting the points to each other. It controls, The control apparatus of the ground improvement machine of Claim 6 characterized by the above-mentioned.

Images