JP2013209843A - Slope compaction device - Google Patents

Slope compaction device Download PDF

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JP2013209843A
JP2013209843A JP2012080843A JP2012080843A JP2013209843A JP 2013209843 A JP2013209843 A JP 2013209843A JP 2012080843 A JP2012080843 A JP 2012080843A JP 2012080843 A JP2012080843 A JP 2012080843A JP 2013209843 A JP2013209843 A JP 2013209843A
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slope
diaphragm
vibration
compaction
compaction device
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JP5499069B2 (en
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Mitsuru Taniyama
充 谷山
Shigeo Tsuna
成郎 津名
Taizo Kobayashi
泰三 小林
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ASAKAWAGUMI KK
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Abstract

PROBLEM TO BE SOLVED: To provide a slope compaction device capable of: evaluating a compaction degree of a slope on the basis of a value according to an increase in hardness of the slope through blows of a vibration plate; uniformly compacting an entire region of the slope; and reliably preventing uneven or insufficient compaction of the slope as well as waste of time due to excessive compaction.SOLUTION: A slope compaction device 2 has a vibration plate 22 to compact a slope by applying vibrational blows of a vibration generating device 20. The slope compaction device 2 also has: a plate spring 23 with a base edge thereof attached to the vibration plate 22; a penetration body 24 which is energized by elastic force of the plate spring 23 so that a tip portion thereof is inserted through an opening 225 and projected outward and is freely movable in a vertical direction through the opening hole 225; and a first strain gauge 25 which is attached to the plate spring 23 and continuously measures in real time a degree of elastic deformation of the plate spring 23 which elastically deforms due to reaction force acting thereon from a slope N through the penetration body 24 every time the vibration plate 22 delivers the vibration blow.

Description

本発明は、バックホウ等の自走する掘削機械のアーム先端に装備され、かつ道路建設や造成工事などにおいて盛土された法面に振動による打撃を加えて締固める振動板を備えた法面締固め装置に関するものである。   The present invention provides a slope compaction equipped with a vibration plate that is mounted on the tip of an arm of a self-propelled excavating machine such as a backhoe and that is compacted by striking it by vibration on a slope that has been embanked in road construction or construction work. It relates to the device.

一般に、盛土された平坦な地盤つまり平坦面を締固める際には、振動ローラなどが用いられる。この振動ローラによる平坦面での締固めの品質管理には、振動ローラが与える振動を加速度計で計測し、その周波数分析により得られる地盤応答値からの周波数変化を利用した手法が適用されている。この手法は、平坦面の締固めが進行して地盤が固くなるのに伴い、ローラの振動スペクトルに高周波成分が出現することに着目するものである。そして、ローラの振動スペクトルの周波数分析をリアルタイムで行い、その周波数特性を定量化した指標、例えばCMV、ひずみ率、乱れ率などに基づいて、締固め具合を評価している。この場合、CMVは振動ローラの基本振動数成分に対する1次高調波成分の割合を、ひずみ率及び乱れ率は高調波成分として2次以上も加え、締固めの進行とともに発生してくる1/2分数調波も加えて評価している。   In general, a vibrating roller or the like is used when compacting a flat ground, that is, a flat surface. For quality control of compaction on a flat surface by this vibrating roller, a method is applied that measures the vibration given by the vibrating roller with an accelerometer and uses the frequency change from the ground response value obtained by the frequency analysis. . This technique focuses on the appearance of high-frequency components in the vibration spectrum of the roller as the flat surface is compacted and the ground becomes harder. Then, frequency analysis of the vibration spectrum of the roller is performed in real time, and the degree of compaction is evaluated based on an index obtained by quantifying the frequency characteristics, such as CMV, distortion rate, and disturbance rate. In this case, CMV adds the ratio of the first harmonic component to the fundamental frequency component of the vibration roller, and the distortion rate and the disturbance rate are added to the second or higher order as the harmonic component. Evaluation is also made by adding fractional harmonics.

一方、盛土された法面では、斜面であるが故に振動ローラによる締固めが行えないため、特許文献1に示すような法面締固め装置が従来より用いられている。この法面締固め装置は、無限軌道によって自走するパワーショベル型の掘削機械であるバックホウなどのアームの先端に設けられている。そして、法面締固め装置による法面の締固めは、アームの先端に設けた振動発生装置からの振動を振動板に伝達し、この振動板の振動による打撃を法面に連続的に加えることによって行われる。   On the other hand, since the embankment slope is a slope, it cannot be compacted by a vibrating roller, and therefore a slope compaction apparatus as shown in Patent Document 1 has been used. This slope compaction device is provided at the tip of an arm such as a backhoe, which is a power excavator type excavating machine that self-propels on an endless track. The slope compaction by the slope compaction device is to transmit the vibration from the vibration generator provided at the tip of the arm to the diaphragm and continuously apply the impact by the vibration of the diaphragm to the slope. Is done by.

特開平7−166569号公報Japanese Patent Laid-Open No. 7-166669

ところで、振動板により法面を締固める際には、その締固め具合の評価が行われていないのが現状であり、かかる点から、経験の長い熟練の作業者に作業が委ねられている。そのため、経験の浅い作業者が法面の締固めを行うと、法面の全領域を均一に締固めるのが難しく、法面にむらが生じたり、法面を過度に締固め過ぎて時間を要したりするおそれがある。しかも、地盤の土質によっても法面の締固めには技量を要し、法面のむらや締固めの過不足に注意を要する。   By the way, when the slope is compacted with the diaphragm, the current state is that the degree of compaction is not evaluated, and from this point, the work is entrusted to a skilled worker with long experience. For this reason, if an inexperienced operator compacts the slope, it is difficult to compact all areas of the slope uniformly, resulting in unevenness in the slope or excessively compacting the slope. May be necessary. Moreover, depending on the soil quality, it takes skill to compact the slope, and it is necessary to pay attention to unevenness of the slope and excessive or insufficient compaction.

そこで、平坦面での締固め具合を評価する手法を法面の締固めにも応用することが考えられる。つまり、振動板の振動による打撃時に作用する法面からの応答を計測することで、法面の締固め具合を評価することが考えられる。   Therefore, it is conceivable to apply a technique for evaluating the compaction degree on the flat surface to the compaction of the slope. In other words, it is conceivable to evaluate the degree of compaction of the slope by measuring the response from the slope that acts when the diaphragm is struck by vibration.

しかし、振動板による打撃では、その打撃運動自体が片振り方式である上、打撃インパクトが強すぎるため、地盤側からの応答を殆ど計測することができず、これでは、地盤側からの応答を利用した法面の締固め具合を評価できない。   However, when hitting with a diaphragm, the hitting motion itself is a one-way swing method and the hitting impact is too strong, so the response from the ground side can hardly be measured. The degree of compaction of the slope used cannot be evaluated.

本発明は、かかる点に鑑みてなされたものであり、その目的とするところは、振動板の打撃による地盤からの応答に基づいて法面の締固め具合を評価可能とし、経験の浅い作業者であっても、法面の全領域を均一に締固めることができ、地盤の土質に左右されることなく法面のむらや締固め不足、並びに過度の締固め過ぎによる時間の浪費を確実に防止することができる法面締固め装置を提供することにある。   The present invention has been made in view of such points, and the object of the present invention is to enable evaluation of the degree of compaction of the slope based on the response from the ground due to the impact of the diaphragm, and an inexperienced worker Even in this case, the entire slope area can be compacted uniformly, and the unevenness of the slope, lack of compaction, and excessive waste of time due to excessive compaction can be surely prevented regardless of the soil texture. It is an object of the present invention to provide a slope compaction device that can be used.

前記目的を達成するため、本発明では、自走する掘削機械のアームの先端に装着され、法面に振動発生装置からの振動による打撃を加えて締固める振動板を備えた法面締固め装置を前提とする。そして、前記振動板に設けられた弾性変形自在な弾性部材と、前記弾性部材の弾性力により前記振動板に開口する開口孔を介して貫入された先端が外方へ突出するように付勢され、前記開口孔を介して内外方向へ進退自在な貫入体と、前記振動板の振動による打撃毎に前記貫入体を介して作用する法面からの反力により弾性変形する前記弾性部材の弾性変形度合いをリアルタイムに連続して計測する計測手段と、を備えることを特徴としている。   In order to achieve the above object, in the present invention, a slope compaction device is provided with a vibration plate that is attached to the tip of an arm of a self-propelled excavating machine and compacts by applying a blow from the vibration generator to the slope. Assuming Then, an elastically deformable elastic member provided on the vibration plate and a tip inserted through an opening hole opened in the vibration plate are biased by the elastic force of the elastic member so as to protrude outward. An elastic member that is elastically deformed by a reaction force from a slope that acts through the penetrating body every time it is struck by vibration of the diaphragm And measuring means for continuously measuring the degree in real time.

また、前記計測手段からの計測値を入力し、この計測値が既定値に到達したときに法面の締固めが完了したと判定する判定手段を備えていてもよい。   Further, a determination unit may be provided that inputs a measurement value from the measurement unit and determines that the slope compaction has been completed when the measurement value reaches a predetermined value.

また、前記判定手段に、前記振動板の振動による打撃により前記貫入体が内外方向に進退移動する際の進退移動平均値に基づいて前記弾性部材の弾性変形度合いの計測値を補正する補正手段を設けていてもよい。   Further, the determination means includes a correction means for correcting a measured value of the degree of elastic deformation of the elastic member based on an advancing / retreating moving average value when the penetrating body advances / retreats in / out by an impact caused by vibration of the diaphragm. It may be provided.

また、前記振動板の振動による打撃時に作用する前記アームからの軸力を検出する軸力検出手段を備える。そして、前記軸力検出手段の検出値が適正値となるように前記アームからの軸力を調整していてもよい。   In addition, an axial force detection unit that detects an axial force from the arm that acts when striking due to vibration of the diaphragm is provided. And the axial force from the said arm may be adjusted so that the detected value of the said axial force detection means may become an appropriate value.

また、前記振動板の大きさに応じて複数の領域に分割された法面の各領域の位置を衛星からの電波に基づいて測定するグローバルポジショニングシステムのためのGPS受信機を備える。そして、前記判定手段により法面の締固めが完了したと判定されたときに、前記GPS受信機によって受信される信号に基づいて、前記各領域の中から前記振動板による締固めが未だ行われていない未締固め領域に前記振動板を順次移動させて当該振動板による締固めを行うようにしてもよい。   In addition, a GPS receiver for a global positioning system is provided that measures the position of each area of the slope divided into a plurality of areas according to the size of the diaphragm based on radio waves from a satellite. Then, when the determination unit determines that the slope compaction has been completed, based on the signal received by the GPS receiver, the diaphragm is still compacted from the respective regions. The diaphragm may be sequentially moved to an unconsolidated region that is not yet compacted by the diaphragm.

また、前記掘削機械のアームの先端に、前記振動板を脱着可能に装着する装着部を設けていてもよい。   In addition, a mounting portion for detachably mounting the diaphragm may be provided at the tip of the arm of the excavating machine.

更に、前記弾性部材として、前記振動板に基端が片持ち支持されかつ先端側に前記貫入体が設けられた板ばねを適用していてもよい。   Further, as the elastic member, a leaf spring in which a base end is cantilevered on the diaphragm and the penetrating body is provided on the distal end side may be applied.

これに対し、前記弾性部材として、前記振動板と前記貫入体との間に縮装されたコイルスプリングを適用していてもよい。   On the other hand, a coil spring that is contracted between the diaphragm and the penetrating body may be applied as the elastic member.

以上、要するに、振動板に弾性部材を介して設けた貫入体を、振動板の開口孔を介して先端が外方へ突出するように貫入し、振動板による打撃毎に貫入体を介して作用する法面からの反力により弾性変形する弾性部材の弾性変形度合いを計測手段により連続的に計測している。つまり、「地盤の硬度」が「締固め具合」に関連していることに着目し、貫入体を地盤に貫入させた際の反力に応じて変形する弾性部材の変形量を計測することにより、「地盤の硬度」、延いては「締固め具合」を評価する。
これにより、弾性部材の弾性変形度合いに基づいて振動板による法面の締固め度合いが分かり、経験の浅い作業者であっても、法面の全領域を均一に締固めることができ、法面のむらや締固め不足、並びに過度の締固め過ぎによる時間の浪費を確実に防止することができる。
In short, the penetrating body provided through the elastic member on the diaphragm is penetrated so that the tip protrudes outward through the opening hole of the diaphragm, and acts through the penetrating body every time the diaphragm is hit. The degree of elastic deformation of the elastic member that is elastically deformed by the reaction force from the slope is measured continuously by the measuring means. That is, paying attention to the fact that “ground hardness” is related to “consolidation”, by measuring the amount of deformation of the elastic member that deforms according to the reaction force when the penetrating body penetrates the ground , "Ground hardness", and in other words, "Consolidation" is evaluated.
As a result, the degree of consolidation of the slope by the diaphragm can be understood based on the degree of elastic deformation of the elastic member, and even an inexperienced operator can uniformly compact all areas of the slope. Unevenness, insufficient compaction, and excessive waste of time due to excessive compaction can be reliably prevented.

また、計測手段からの連続的な計測値が既定値に到達したときに判定手段によって振動板による法面の締固めが完了したと判定することで、法面の過度の締固めが確実に防止される上、法面の締固め不足も確実に防止される。これにより、法面の全領域をより均一に締固めることができる上、法面のむらをなくして作業時間の短縮化を図ることもできる。   In addition, when the continuous measurement value from the measurement means reaches a predetermined value, the determination means determines that the slope has been compacted by the diaphragm, thereby preventing excessive compaction of the slope. In addition, the lack of compaction of the slope is surely prevented. As a result, the entire area of the slope can be more uniformly compacted, and the working time can be shortened by eliminating unevenness of the slope.

また、振動板の振動による打撃によって貫入体が内外方向に進退移動する際の進退移動平均値に基づいて弾性部材の弾性変形度合いの計測値を補正手段により補正することで、計測手段の計測時に外乱となる振動板の打撃によるノイズが効率よく除去され、弾性部材の弾性変形度合いの計測値が正確な値として得られ、判定手段による法面の締固めの完了判定をより正確に行うことができる。   Further, by correcting the measured value of the degree of elastic deformation of the elastic member based on the advancing / retreating moving average value when the penetrating body moves forward / backward due to striking due to the vibration of the diaphragm, the correcting means corrects the measured value of the elastic member during measurement by the measuring means. Noise due to the impact of the diaphragm that becomes a disturbance can be efficiently removed, and the measured value of the degree of elastic deformation of the elastic member can be obtained as an accurate value, so that the determination of the completion of the compaction of the slope by the determination means can be performed more accurately. it can.

また、振動板の振動による打撃時に作用するアームからの軸力が適正値となるように調整することで、軸力検出手段の検出値に基づいて最適な載荷力を作用させ、法面の締固めを効率よく行うことができる。   In addition, by adjusting the axial force from the arm acting at the time of striking due to vibration of the diaphragm to an appropriate value, the optimum loading force is applied based on the detection value of the axial force detection means, and the slope is tightened. Hardening can be performed efficiently.

また、判定手段により法面の締固めが完了したと判定されたときに、GPS受信機によって受信される信号に基づいて、各領域の中から未締固め領域に振動板を移動させて当該振動板による締固めを行うことで、法面の各領域をもれなく円滑に締固めることができる。   Further, when the determination means determines that the slope compaction has been completed, the vibration is moved by moving the diaphragm from each region to the uncompacted region based on the signal received by the GPS receiver. By compacting with a plate, each area of the slope can be compacted smoothly.

また、掘削機械のアームの先端に振動板を脱着可能に装着する装着部を設けることで、掘削機械のアームに対する振動板の脱着を円滑に行うことができる。   Further, by providing a mounting portion for detachably mounting the diaphragm at the tip of the arm of the excavating machine, the diaphragm can be smoothly attached to and detached from the arm of the excavating machine.

更に、弾性部材として、振動板に基端が片持ち支持されかつ先端側に貫入体が設けられた板ばねを適用することで、基端を片持ち支持した板ばねの先端側に貫入体を設けるだけの簡単な構造で弾性部材を構成することができる。   Further, as the elastic member, a leaf spring in which the base end is cantilevered on the diaphragm and a penetrating body is provided on the distal end side is applied, so that the penetrating body is placed on the distal end side of the leaf spring that cantilevered the base end. The elastic member can be configured with a simple structure that is simply provided.

これに対し、弾性部材として、振動板と貫入体との間に縮装されたコイルスプリングを適用することで、振動板と貫入体との間にコイルスプリングを縮装するだけの簡単な構造で弾性部材を構成することができる上、弾性部材の弾性力を簡単に調整することもできる。   On the other hand, by applying a coil spring that is compacted between the diaphragm and the penetrating body as an elastic member, the structure is simple and only the coil spring is compacted between the diaphragm and the penetrating body. The elastic member can be configured, and the elastic force of the elastic member can be easily adjusted.

本発明の第1の実施の形態に係る法面締固め装置を備えたバックホウの概略説明図である。It is a schematic explanatory drawing of the backhoe provided with the slope compaction apparatus which concerns on the 1st Embodiment of this invention. 図1の法面締固め装置の振動板をアーム先端側の振動付与軸に取り付けた状態で上方から見た平面図である。It is the top view seen from the upper side in the state which attached the diaphragm of the slope compaction apparatus of FIG. 1 to the vibration provision axis | shaft of the arm front end side. 図2の振動板の一部切り欠き側面図である。FIG. 3 is a partially cutaway side view of the diaphragm of FIG. 2. 図2の振動板をアーム先端側の振動付与軸から取り外した状態での平面図である。FIG. 3 is a plan view of a state in which the diaphragm of FIG. 2 is detached from a vibration applying shaft on the arm tip side. 図2の振動板をアーム先端側の振動付与軸に取り付けるためのブラケットの側面図である。It is a side view of the bracket for attaching the diaphragm of FIG. 2 to the vibration provision axis | shaft of an arm front end side. 貫入体の浮き上がり量と沈下量との関係を示す説明図であって、(a)は法面の締固め作業前の状態、(b)は法面の締固め作業の初期状態、(c)は法面の締固め作業の完了状態をそれぞれ示している。It is explanatory drawing which shows the relationship between the amount of floating of a penetration body, and the amount of subsidence, (a) is the state before the compaction operation of a slope, (b) is the initial state of the compaction work of a slope, (c). Indicates the completed state of the slope compaction work. 打撃による締固め開始後10秒間での板ばねの弾性変形度合いを測定する際に貫入体の進退移動量からノイズを除去する手法を説明する説明図であり、(a)は打撃による貫入体の時間単位毎の内外方向への進退量の特性を連続的に示す説明図、(b)は貫入体の時間単位毎の前後10個の内外方向への進退平均値の特性を連続的に示す説明図、(c)は貫入体の時間単位毎の前後50個の内外方向への進退平均値の特性を連続的に示す説明図、(d)は貫入体の時間単位毎の前後100個の内外方向への進退平均値の特性を連続的に示す説明図をそれぞれ示している。It is explanatory drawing explaining the method of removing a noise from the amount of advancing / retreating movement of a penetrating body when measuring the elastic deformation degree of the leaf | plate spring in 10 second after the compaction start by impact | shock, (a) is a figure of the penetrating body by impact Explanatory drawing which shows the characteristic of the amount of advance / retreat in the inside / outside direction for every time unit continuously, (b) is the explanation which shows the characteristic of the advancing / retreating average value of ten inward / outward directions for every time unit of the penetration body continuously Figure, (c) is an explanatory diagram continuously showing the characteristics of the forward and backward average values of 50 inward and outward directions for each time unit of the penetrating body, and (d) is 100 inner and outer front and rear for each time unit of the penetrating body. The explanatory view which shows the characteristic of the advance and retreat average value to the direction continuously is shown, respectively. 複数の領域に分割された法面を示す説明図である。It is explanatory drawing which shows the slope divided | segmented into the several area | region. 法面の各領域での締固め作業の経過状態を表示するディスプレイ装置の説明図である。It is explanatory drawing of the display apparatus which displays the progress state of the compacting operation | work in each area | region of a slope. 本発明の第2の実施の形態に係る法面締固め装置の振動板を振動付与軸に取り付けた状態で上方から見た平面図である。It is the top view seen from the upper part in the state which attached the diaphragm of the slope compaction apparatus which concerns on the 2nd Embodiment of this invention to the vibration provision shaft. 図10の振動板の一部切り欠き側面図である。FIG. 11 is a partially cutaway side view of the diaphragm of FIG. 10.

以下、本発明の実施の形態を添付した図面により詳細に説明する。   Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

先ず、図1は本発明の第1の実施の形態に係る法面締固め装置を備えたバックホウの概略説明図、図2は法面締固め装置の振動板をアーム先端側の振動付与軸に取り付けた状態で上方から見た平面図、図3は振動板の一部切り欠き側面図、図4は振動板をアーム先端側の振動付与軸から取り外した状態での平面図、図5は振動板をアーム先端側の振動付与軸に取り付けるためのブラケットの側面図をそれぞれ示している。   First, FIG. 1 is a schematic explanatory view of a backhoe provided with a slope compaction device according to the first embodiment of the present invention, and FIG. 2 is a vibration imparting shaft on the arm tip side with a diaphragm of the slope compaction device. FIG. 3 is a partially cutaway side view of the diaphragm, FIG. 4 is a plan view with the diaphragm removed from the vibration applying shaft on the arm tip side, and FIG. 5 is a vibration view. The side view of the bracket for attaching a board to the vibration provision axis | shaft of the arm front end side is shown, respectively.

図1において符号1で示す掘削機械としてのバックホウは、一対のクローラ11を有する下部走行体12と、この下部走行体12の上部に旋回可能に設けられ、作業者が乗り込み可能な上部旋回体13とを備えている。上部旋回体13の後側には、図示しない油圧ポンプ及びこの油圧ポンプを駆動するエンジンが配置されている。   A backhoe as an excavating machine denoted by reference numeral 1 in FIG. 1 includes a lower traveling body 12 having a pair of crawlers 11, and an upper revolving body 13 provided on the upper portion of the lower traveling body 12 so that an operator can get on. And. A hydraulic pump (not shown) and an engine for driving the hydraulic pump are disposed on the rear side of the upper swing body 13.

バックホウ1は、上部旋回体13に回転可能に軸支されると共にブームシリンダ14により傾動されるブーム15と、このブーム15の先端に回転可能に軸支され、アームシリンダ16により揺動されるアーム17と、このアーム17の先端に回転自在に軸支され、揺動シリンダ18により揺動される取付具19とを備えている。そして、取付具19には、法面締固め装置2が設けられている。法面締固め装置2は、振動を発生する油圧式の振動発生装置20と、この振動発生装置20より先端が突出し、当該振動発生装置20からの振動を付与する振動付与軸21と、この振動付与軸21の先端に脱着自在に取り付けられ、法面Nの地盤に振動による打撃を加える振動板22とを備え、法面Nの地盤に振動発生装置20からの振動による打撃を連続的に加えて締固めるようにしている。   The backhoe 1 is rotatably supported by the upper swing body 13 and is tilted by the boom cylinder 14. The backhoe 1 is rotatably supported by the tip of the boom 15 and is pivoted by the arm cylinder 16. 17 and an attachment 19 that is pivotally supported at the tip of the arm 17 and is rocked by a rocking cylinder 18. The fixture 19 is provided with a slope compaction device 2. The slope compaction device 2 includes a hydraulic vibration generating device 20 that generates vibration, a tip that protrudes from the vibration generating device 20, a vibration applying shaft 21 that applies vibration from the vibration generating device 20, and the vibration. A vibration plate 22 is attached to the tip of the imparting shaft 21 so as to be detachable and applies a vibration hitting to the ground surface of the slope N, and the impact from the vibration generator 20 is continuously applied to the ground of the slope N. So that it can be compacted.

振動発生装置20の一例としては、油圧シリンダによって棒状ノッカーを周期的に進退させるもの、すなわち振動付与軸21を棒状ノッカーで高速打撃するものがあげられる。なお、油圧シリンダに代えて空気圧シリンダを用いた空気圧式の振動発生装置や、電気的に振動するバイブレータ式の振動発生装置であってもよい。   As an example of the vibration generating device 20, there is a device that periodically moves a rod-shaped knocker back and forth with a hydraulic cylinder, that is, a device that strikes the vibration applying shaft 21 at a high speed with a rod-shaped knocker. Note that a pneumatic vibration generator using a pneumatic cylinder instead of a hydraulic cylinder or a vibrator-type vibration generator that vibrates electrically may be used.

振動板22は、図2〜図4に示すように、平面視でほぼ正方形状を呈する本体プレート220と、この本体プレート220の周縁に連設され、その周縁よりそれぞれ斜め上方外向きに延びる4本の延設片221,221,…とを備えている。各延設片221のうち、互いに相隣なる延設片221,221は、本体プレート220の四隅において周端同士が接合されている。本体プレート220の上面には、それぞれの四隅より中心に向かって対角線上を延びる4本の縦リブ222,222,…が立設されている。各縦リブ222は、外方端が延設片221と略一致する高さに設定されている一方、内方端が中心に向かうに従い高くなるように設定されている。また、各縦リブ222の内方端には、3つのボルト孔(図示せず)が上下方向に連設されている。そして、振動板22(本体プレート220、各延設片221及び各縦リブ222)は、一般構造用圧延鋼材(SS400)により成形されている。この場合、互いに同じ対角線上を延びる2つの縦リブ222,222のうちの一方の縦リブ222の一側縦面と他方の縦リブ222の他側縦面とは、当該同じ対角線上に位置している。   As shown in FIGS. 2 to 4, the diaphragm 22 is connected to a main body plate 220 having a substantially square shape in a plan view and a peripheral edge of the main body plate 220, and extends obliquely upward and outward from the peripheral edge 4. The extending pieces 221, 221,. Among the extended pieces 221, the extended pieces 221 and 221 adjacent to each other are joined to each other at the four corners of the main body plate 220. On the upper surface of the main body plate 220, four vertical ribs 222, 222,... That extend diagonally from the four corners toward the center are erected. Each of the vertical ribs 222 is set to a height at which the outer end substantially coincides with the extending piece 221, while the inner end is set to become higher toward the center. In addition, three bolt holes (not shown) are connected to the inner end of each vertical rib 222 in the vertical direction. And the diaphragm 22 (main body plate 220, each extending piece 221 and each vertical rib 222) is shape | molded by the general structural rolled steel (SS400). In this case, one of the vertical ribs 222 of the two vertical ribs 222, 222 extending on the same diagonal line, and the other vertical surface of the other vertical rib 222 are positioned on the same diagonal line. ing.

アーム17の先端となる振動付与軸21の先端には、図5にも示すように、振動板22を脱着可能に装着する装着部210が設けられている。この装着部210は、振動付与軸21の外周面に突設された4つの突設片211,211,…を備えている。各突設片211は、振動付与軸21の周方向90°おきに等間隔で設けられ、それぞれ放射状に延びている。各突設片211には、各縦リブ222の内方端の各ボルト孔に対応する3つのボルト孔215,215,…が上下方向に連設されている。そして、装着部210は、各突設片211の3つのボルト孔と各縦リブ222内方端の各ボルト孔とを一致させた状態で挿通されるボルト212とナット213との螺着によって、振動板22を振動付与軸21の先端に脱着可能に装着させている。この場合、各突設片211のうちの本体プレート220の同じ対角線上を延びる2つの突設片211は、互いに同じ対角線上を延びる2つの縦リブ222,222のうちの一方の縦リブ222の一側縦面又は他方の縦リブ222の他側縦面に密接させた状態で、ボルト212とナット213とにより螺着される。   As shown in FIG. 5, a mounting portion 210 that detachably mounts the diaphragm 22 is provided at the tip of the vibration applying shaft 21 that is the tip of the arm 17. The mounting portion 210 includes four projecting pieces 211, 211,... Projecting from the outer peripheral surface of the vibration applying shaft 21. Each protruding piece 211 is provided at equal intervals every 90 ° in the circumferential direction of the vibration applying shaft 21 and extends radially. Three bolt holes 215, 215,... Corresponding to the bolt holes at the inner ends of the vertical ribs 222 are connected to the protruding pieces 211 in the vertical direction. The mounting portion 210 is screwed with a bolt 212 and a nut 213 inserted in a state where the three bolt holes of each projecting piece 211 and the bolt holes at the inner ends of the vertical ribs 222 are aligned. The diaphragm 22 is detachably attached to the tip of the vibration applying shaft 21. In this case, the two protruding pieces 211 extending on the same diagonal line of the main body plate 220 of the protruding pieces 211 are the same as the one of the two vertical ribs 222, 222 extending on the same diagonal line. It is screwed by a bolt 212 and a nut 213 in a state of being in close contact with the other side vertical surface of the one side vertical surface or the other vertical rib 222.

また、法面締固め装置2は、振動板22の内面(図3では上面)に取り付けられた弾性変形可能な弾性部材としての略長方形状の一枚の板ばね23と、この板ばね23に取り付けられた略紡錘形状の貫入体24と、振動板22の打撃によって貫入体24が浮き上がった際の板ばね23の弾性変形度合いを計測する計測手段としての第1ひずみゲージ25とを備えている。   Further, the slope compaction device 2 includes a substantially rectangular plate spring 23 as an elastically deformable elastic member attached to the inner surface (upper surface in FIG. 3) of the diaphragm 22, and the plate spring 23. A substantially spindle-shaped penetrating body 24 attached thereto and a first strain gauge 25 as a measuring means for measuring the degree of elastic deformation of the leaf spring 23 when the penetrating body 24 is lifted by striking the diaphragm 22 are provided. .

板ばね23は、ばね用冷間圧延鋼帯よりなり、振動板22の周縁側に基端がボルト226止めされて先端側が振動板22の中心に向かって延びている。また、貫入体24は、板ばね23の下面の先端側にボルト224止めされている。貫入体24は、振動板22の本体プレート220に開口する開口孔225を介して先端が下方(外方)へ突出している。この場合、貫入体24は、板ばね23が弾性力により振動板22の本体プレート220に沿って倒伏した状態で開口孔225を介して先端が最も下方に位置している。   The leaf spring 23 is made of a cold-rolled steel strip for spring, and a base end is fixed to the peripheral side of the diaphragm 22 with a bolt 226 and a distal end side extends toward the center of the diaphragm 22. Further, the penetrating body 24 is fixed to the front end side of the lower surface of the leaf spring 23 with a bolt 224. The penetrating body 24 has a tip protruding downward (outward) through an opening hole 225 opening in the main body plate 220 of the diaphragm 22. In this case, the penetrating body 24 has its distal end positioned at the lowest position through the opening hole 225 in a state where the leaf spring 23 is lying down along the main body plate 220 of the diaphragm 22 by the elastic force.

図6は貫入体24の浮き上がり量dと沈下量Sとの関係を示す説明図であって、(a)は法面Nの締固め作業前の状態、(b)は法面Nの締固め作業の初期状態、(c)は法面Nの締固め作業の完了状態をそれぞれ示している。   FIGS. 6A and 6B are explanatory diagrams showing the relationship between the amount d of lifting of the penetrating body 24 and the amount of subsidence S, where FIG. 6A shows a state before the slope N is compacted, and FIG. 6B shows how the slope N is compacted. The initial state of the work, (c) shows the completed state of the slope N compaction work.

図6の(a)〜(c)において、貫入体24の最大許容沈下高さをTとすると、
T=S+dとなり、S=T−dの関係が成立する。よって、最大許容沈下高さTと貫入体24の浮き上がり量dが分かれば、貫入体24の沈下量Sが自ずと判明する。
In (a) to (c) of FIG. 6, when the maximum allowable settlement height of the penetrating body 24 is T,
T = S + d, and the relationship S = T-d is established. Therefore, if the maximum allowable settlement height T and the floating amount d of the penetrating body 24 are known, the sinking amount S of the penetrating body 24 is naturally determined.

第1ひずみゲージ25は、板ばね23の上面の基端側となるボルト226付近に貼着され、振動板22の打撃により板ばね23が最も弾性変形し易い部位でのひずみ量(曲げ)を計測、つまり貫入体24の浮き上がりによる板ばね23の弾性変形度合い(浮き上がり量)を計測している。   The first strain gauge 25 is affixed in the vicinity of the bolt 226 on the base end side of the upper surface of the leaf spring 23, and the amount of strain (bending) at the portion where the leaf spring 23 is most elastically deformed by striking the diaphragm 22. The measurement, that is, the degree of elastic deformation (lifting amount) of the leaf spring 23 due to the floating of the penetrating body 24 is measured.

また、法面締固め装置2は、振動板22による法面Nの締固めを判定する判定手段26を備えている。この判定手段26は、第1ひずみゲージ25からの計測値を入力し、この計測値が規定値に到達したときに法面Nの締固めが完了したことを判定している。この規定値とは、法面Nの締固めが十分に行えた際に得られる計測値に相当するものであり、法面Nの締固めを行うに先立ちその付近において地盤の締固めが十分に行えた際に第1ひずみゲージ25により計測された計測値が適用される。そして、判定手段26は、上部旋回体13の作業者が乗り込むためのキャビン130に設けられている。このキャビン130には、ディスプレイ装置131が設置され、このディスプレイ装置131に判定手段26が接続されている。   Further, the slope compaction device 2 includes a determination unit 26 that determines whether the slope N is compacted by the diaphragm 22. The determination means 26 inputs a measurement value from the first strain gauge 25, and determines that the compaction of the slope N has been completed when the measurement value reaches a specified value. This specified value corresponds to a measured value obtained when the slope N is sufficiently compacted, and the ground is sufficiently compacted in the vicinity before the slope N is compacted. The measured value measured by the first strain gauge 25 when applied can be applied. And the determination means 26 is provided in the cabin 130 for the operator of the upper turning body 13 to board. A display device 131 is installed in the cabin 130, and a determination unit 26 is connected to the display device 131.

振動付与軸21の中途部には、振動板22の振動による打撃時に作用するアーム17からの軸力を検出する軸力検出手段としての第2ひずみゲージ27が取り付けられている。また、アーム17先端の取付具19には、法面Nの傾斜角度を撮像するカメラ28が取り付けられている。そして、第1及び第2ひずみゲージ25,27及びカメラ28は、取付具19に設けられたデータ送信装置29に接続され、第1及び第2ひずみゲージ25,27からの計測値並びにカメラ28からの法面Nの傾斜角度の撮像データが無線で送信されるようになっている。このとき、カメラ28からの法面Nの傾斜角度の撮像データに基づいて、振動板22の本体プレート220が法面Nに対して平行となるように揺動シリンダ18により取付具19を揺動させている。   A second strain gauge 27 serving as an axial force detecting means for detecting an axial force from the arm 17 acting at the time of striking due to vibration of the diaphragm 22 is attached to the middle portion of the vibration applying shaft 21. Further, a camera 28 that captures an inclination angle of the slope N is attached to the fixture 19 at the tip of the arm 17. The first and second strain gauges 25 and 27 and the camera 28 are connected to a data transmission device 29 provided on the fixture 19, and the measurement values from the first and second strain gauges 25 and 27 and the camera 28 are connected. The imaging data of the inclination angle of the slope N is transmitted wirelessly. At this time, based on the imaging data of the inclination angle of the normal plane N from the camera 28, the fixture 19 is swung by the swing cylinder 18 so that the main body plate 220 of the diaphragm 22 is parallel to the normal plane N. I am letting.

キャビン130の天面には、データ送信装置29から送信されたデータを受信するデータ受信装置30が設けられている。このデータ受信装置30は、判定手段26に接続され、第1及び第2ひずみゲージ25,27からの計測値並びにカメラ28からの法面Nの傾斜角度の撮像データが判定手段26に入力される。なお、データ送信装置29及びデータ受信装置30は必須の構成要件ではなく、第1及び第2ひずみゲージ25,27からの計測値並びにカメラ28からの法面Nの傾斜角度の撮像データが有線で判定手段26に入力されていてもよい。   A data receiving device 30 that receives data transmitted from the data transmitting device 29 is provided on the top surface of the cabin 130. The data receiving device 30 is connected to the determination unit 26, and the measurement values from the first and second strain gauges 25 and 27 and the imaging data of the inclination angle of the slope N from the camera 28 are input to the determination unit 26. . Note that the data transmission device 29 and the data reception device 30 are not indispensable components, and the measurement values from the first and second strain gauges 25 and 27 and the imaging data of the inclination angle of the slope N from the camera 28 are wired. It may be input to the determination means 26.

また、判定手段26は、第1ひずみゲージ25からの計測値に基づいた板ばね23の弾性変形度合いを補正する補正手段31を備えている。この補正手段31は、振動板22の振動による打撃により貫入体24が上下方向(内外方向)に進退移動する際の進退移動平均値に基づいて板ばね23の弾性変形度合いを補正している。   The determination unit 26 includes a correction unit 31 that corrects the degree of elastic deformation of the leaf spring 23 based on the measurement value from the first strain gauge 25. The correction means 31 corrects the degree of elastic deformation of the leaf spring 23 based on the advancing / retreating moving average value when the penetrating body 24 moves back and forth in the vertical direction (inside / outside direction) due to the impact of vibration of the diaphragm 22.

具体的には、図7の打撃による締固め開始後10秒間での板ばね23の弾性変形度合いを測定する際に貫入体24の進退移動量(ひずみ量)からノイズを除去する手法を説明する説明図を用いて説明する。この図7において、(a)は打撃による貫入体24の時間単位毎の内外方向への進退量の特性を連続的に示す説明図、(b)は貫入体24の時間単位毎の前後10個の内外方向への進退平均値の特性を連続的に示す説明図、(c)は貫入体24の時間単位毎の前後50個の内外方向への進退平均値の特性を連続的に示す説明図、(d)は貫入体24の時間単位毎の前後100個の内外方向への進退平均値の特性を連続的に示す説明図をそれぞれ示している。   Specifically, a method for removing noise from the amount of advancement / retraction movement (strain amount) of the penetrating body 24 when measuring the degree of elastic deformation of the leaf spring 23 in 10 seconds after the start of compaction by striking in FIG. 7 will be described. This will be described using an explanatory diagram. In FIG. 7, (a) is an explanatory view continuously showing the characteristic of the amount of advancement / retraction of the penetrating body 24 in the inner and outer direction for each time unit due to impact, and (b) is the front and rear ten pieces per time unit of the penetrating body 24. Explanatory drawing which shows continuously the characteristic of the advancing / retreating average value to the inside / outside direction of FIG. 10, (c) is explanatory drawing which shows continuously the characteristic of the advancing / retreating average value of the front and back 50 pieces for every time unit of the penetration body 24 (D) has each shown the explanatory drawing which shows continuously the characteristic of the advancing / retreating average value of 100 in the front and back for every time unit of the penetration body 24. FIG.

本実施の形態において、振動付与軸21に作用する軸力の振動と板ばね23の振動とは周波数が約13Hzで一致しており、第1ひずみゲージ25によるサンプリングレートは0.5ms(2000個/秒)である。図7の(a)に示すように、生データでは、板ばね23の振幅が大き過ぎるために法面Nの締固め具合を評価できない。また、図7の(b)に示すように、±10個の移動平均値では、10/2000=0.005秒間での板ばね23の移動平均値を示している。また、図7の(c)に示すように、±50個の移動平均値では、50/2000=0.025秒間での板ばね23の移動平均値を示している。図7の(d)に示すように、±100個の移動平均値では、100/2000=0.05秒間での板ばね23の移動平均値を示している。この図7の(d)に示すように、0.05秒間での板ばね23の移動平均値では、板ばね23の振幅が外乱を抑えた最適なものとなる。このことから、振動板22の振動による打撃により貫入体24が上下方向に進退移動する際の時間毎の進退移動平均値としては、補正手段31により補正された0.05秒間での板ばね23の移動平均値を適用し、本実施の形態の補正手段31では、これに基づいて板ばね23の弾性変形度合いを補正するものとする。なお、補正手段31による板ばね23の移動平均値を適用した弾性変形度合いの補正はあくまでも一例であり、地盤の硬度に応じた最適な弾性係数の板ばねを用いて当該板ばねの共振を押さえた上で、板ばねの移動平均値を適用した弾性変形度合いを補正するようにしてもよい。   In the present embodiment, the vibration of the axial force acting on the vibration applying shaft 21 and the vibration of the leaf spring 23 coincide with each other at a frequency of about 13 Hz, and the sampling rate by the first strain gauge 25 is 0.5 ms (2000 pieces). / Second). As shown in FIG. 7A, the raw data cannot evaluate the degree of compaction of the slope N because the amplitude of the leaf spring 23 is too large. Further, as shown in FIG. 7B, the moving average value of ± 10 indicates the moving average value of the leaf spring 23 at 10/2000 = 0.005 seconds. Further, as shown in FIG. 7C, the moving average value of ± 50 indicates the moving average value of the leaf spring 23 at 50/2000 = 0.025 seconds. As shown in FIG. 7D, the moving average value of ± 100 indicates the moving average value of the leaf spring 23 at 100/2000 = 0.05 seconds. As shown in FIG. 7 (d), with the moving average value of the leaf spring 23 in 0.05 seconds, the amplitude of the leaf spring 23 is optimal with the disturbance suppressed. From this, the leaf spring 23 in 0.05 seconds corrected by the correction means 31 is used as the average value of the advance / retreat movement for each time when the penetrating body 24 moves back and forth in the vertical direction by the impact of the vibration of the diaphragm 22. The correction means 31 of this embodiment corrects the degree of elastic deformation of the leaf spring 23 based on this. The correction of the degree of elastic deformation by applying the moving average value of the leaf spring 23 by the correcting means 31 is merely an example, and a plate spring having an optimal elastic coefficient corresponding to the hardness of the ground is used to suppress the resonance of the leaf spring. In addition, the degree of elastic deformation to which the moving average value of the leaf spring is applied may be corrected.

図8は複数の領域に分割された法面Nを示す説明図、図9は法面Nの各領域での締固め作業の経過状態を表示するディスプレイ装置131の説明図をそれぞれ示している。   FIG. 8 is an explanatory view showing the slope N divided into a plurality of areas, and FIG. 9 is an explanatory view of the display device 131 that displays the progress of the compaction work in each area of the slope N.

図8に示すように、法面Nは、振動板22の本体プレート220の大きさに応じて複数の領域(図8では12の領域のみ示す)に分割されている。そして、図9に示すように、ディスプレイ装置131には、法面Nの12の各領域での締固め作業の経過状態を表示している。   As shown in FIG. 8, the slope N is divided into a plurality of regions (only 12 regions are shown in FIG. 8) according to the size of the main body plate 220 of the diaphragm 22. As shown in FIG. 9, the display device 131 displays the progress of the compaction work in each of the 12 areas of the slope N.

また、法面締固め装置2は、振動板22の本体プレート220の大きさに応じて複数の領域に分割された法面Nの各領域の位置を衛星からの電波に基づいて測定するグローバルポジショニングシステムのためのRTK−GPS受信機(図示せず)と、バックホウ1の位置及び向き(上部旋回体13の向き)を検知するGPS方位計(図示せず)とを備えている。なお、GPS方位計に替えてジャイロコンパスを備えていてもよい。   Further, the slope compaction device 2 is a global positioning device that measures the position of each area of the slope N divided into a plurality of areas according to the size of the main body plate 220 of the diaphragm 22 based on radio waves from the satellite. An RTK-GPS receiver (not shown) for the system and a GPS compass (not shown) for detecting the position and orientation of the backhoe 1 (orientation of the upper swing body 13) are provided. Note that a gyro compass may be provided instead of the GPS compass.

キャビン130には、判定手段26及びディスプレイ装置131に接続された制御装置(図示せず)が設置されている。制御装置は、判定手段26により法面Nの締固めが完了したと判定されたときに、GPS受信機によって受信される信号に基づいて、各領域の中から振動板による締固めが未だ行われていない未締固め領域をディスプレイ装置131上において表示させる。そして、作業者は、振動板22を未締固め領域に順次移動させて当該振動板22による締固めが行われるようにしている。   The cabin 130 is provided with a control device (not shown) connected to the determination means 26 and the display device 131. When the determination means 26 determines that the slope N has been compacted, the control device has not yet performed compaction by the diaphragm from each area based on the signal received by the GPS receiver. A non-consolidated region that has not been displayed is displayed on the display device 131. Then, the operator sequentially moves the diaphragm 22 to the unconsolidated region so that the diaphragm 22 is compacted.

また、判定手段26は、第2ひずみゲージ27の計測値(アーム17からの軸力)が入力されると、取付具19を揺動させる揺動シリンダ18の伸縮動作を制御して、振動板22の振動による打撃時に適正値となるようにアーム17の載荷力(軸力)を調整している。   In addition, when the measurement value of the second strain gauge 27 (axial force from the arm 17) is input, the determination unit 26 controls the expansion / contraction operation of the swing cylinder 18 that swings the fixture 19, and the diaphragm The loading force (axial force) of the arm 17 is adjusted so as to be an appropriate value at the time of striking with the vibration 22.

したがって、本実施の形態では、振動板22に板ばね23を介して設けた貫入体24を、振動板22の開口孔225を介して先端が外方へ突出するように貫入し、振動板22による打撃毎に貫入体24を介して作用する法面Nからの反力により弾性変形する板ばね23の弾性変形度合いを第1ひずみゲージ25により連続的に計測することで、振動板22の打撃により法面Nの硬度増加に応じた板ばね23の弾性変形度合いの計測値に基づいて、法面Nの締固め具合が評価されることになる。具体的には、補正手段31により補正された0.05秒間での板ばね23の移動平均値に基づいて、法面Nの締固め具合を評価している。そして、補正手段31により補正された0.05秒間での板ばね23の移動平均値が既定値に到達したときに判定手段26によって振動板22による法面Nの締固めが完了したと判定される。このため、第1ひずみゲージ25の計測時に外乱となる振動板22の打撃によるノイズが効率よく除去され、板ばね23の弾性変形度合いの計測値が正確な値として得られ、判定手段26による法面Nの締固めの完了判定が正確に行えることになる。これにより、経験の浅い作業者であっても、法面Nの全領域が均一に締固められ、法面Nの過度の締固めが確実に防止される上、法面Nの締固め不足も確実に防止される。よって、法面Nの全領域をより均一に締固めることができる上、法面Nのむらをなくして作業時間の短縮化を図ることもできる。   Therefore, in the present embodiment, the penetrating body 24 provided on the diaphragm 22 via the leaf spring 23 is inserted through the opening hole 225 of the diaphragm 22 so that the tip protrudes outward, and the diaphragm 22 By continuously measuring the degree of elastic deformation of the leaf spring 23 that is elastically deformed by the reaction force from the slope N acting through the penetrating body 24 for each impact by the first strain gauge 25, the impact of the diaphragm 22 Thus, the degree of compaction of the slope N is evaluated based on the measured value of the degree of elastic deformation of the leaf spring 23 according to the increase in the hardness of the slope N. Specifically, the degree of compaction of the slope N is evaluated based on the moving average value of the leaf spring 23 corrected for 0.05 seconds by the correcting means 31. Then, when the moving average value of the leaf spring 23 corrected for 0.05 seconds by the correction means 31 reaches a predetermined value, the determination means 26 determines that the compaction of the slope N by the diaphragm 22 is completed. The For this reason, noise due to the impact of the diaphragm 22 that becomes a disturbance when the first strain gauge 25 is measured is efficiently removed, and a measured value of the degree of elastic deformation of the leaf spring 23 is obtained as an accurate value. The completion determination of the compaction of the surface N can be accurately performed. As a result, even an inexperienced worker can uniformly compact the entire area of the slope N, and can prevent the slope N from being excessively compacted. It is surely prevented. Therefore, the entire area of the slope N can be more uniformly compacted, and the working time can be shortened by eliminating the unevenness of the slope N.

また、振動板22の振動による打撃時に作用するアーム17からの軸力を検出する第2ひずみゲージ27の計測値に基づいて揺動シリンダ18の伸縮動作が判定手段26により制御されて、振動板22の振動による打撃時に第2ひずみゲージ27の計測値が適正値となるようにアーム17からの軸力が調整されるので、第2ひずみゲージ27の計測値に基づいて最適な載荷力をアーム17に作用させ、法面Nの締固めを効率よく行うことができる。   Further, the expansion / contraction operation of the oscillating cylinder 18 is controlled by the determination means 26 based on the measured value of the second strain gauge 27 that detects the axial force from the arm 17 that acts at the time of striking due to the vibration of the diaphragm 22, and the diaphragm Since the axial force from the arm 17 is adjusted so that the measured value of the second strain gauge 27 becomes an appropriate value at the time of impact by the vibration of the 22, the optimum loading force is adjusted based on the measured value of the second strain gauge 27. 17, the slope N can be efficiently compacted.

また、判定手段26により法面Nの締固めが完了したと判定されたときに、GPS受信機によって受信される信号に基づいて、各領域の中から未締固め領域に振動板22を移動させて当該振動板22による締固めが行われるようにしているので、法面Nの各領域をもれなく円滑に締固めることができる。   When the determination means 26 determines that the slope N has been compacted, the diaphragm 22 is moved from each region to the uncompacted region based on the signal received by the GPS receiver. Since the diaphragm 22 is compacted, each region of the slope N can be compacted smoothly without any leakage.

また、振動付与軸21の先端には装着部210が設けられ、その各突設片211の各ボルト孔215と振動板22の各縦リブ222の各ボルト孔とを一致させた状態で挿通されるボルト212とナット213との螺着によって、振動板22を振動付与軸21の先端に脱着可能に装着させているので、バックホウ1のアーム17つまり振動付与軸21の先端に対する振動板22の脱着を円滑に行うことができる。   Further, a mounting portion 210 is provided at the tip of the vibration applying shaft 21 and is inserted in a state in which each bolt hole 215 of each protruding piece 211 and each bolt hole of each vertical rib 222 of the diaphragm 22 are aligned. Since the vibration plate 22 is detachably attached to the tip of the vibration applying shaft 21 by screwing the bolt 212 and the nut 213, the vibration plate 22 is attached to and detached from the arm 17 of the backhoe 1, that is, the tip of the vibration applying shaft 21. Can be performed smoothly.

更に、振動板22に基端が片持ち支持されかつ先端側に貫入体24が設けられた板ばね23を弾性部材として適用することで、基端を片持ち支持した板ばね23の先端側に貫入体24を設けるだけの簡単な構造で弾性部材を構成することができる。   Further, by applying a leaf spring 23 having a base end cantilevered to the diaphragm 22 and having a penetrating body 24 provided on the distal end side as an elastic member, the leaf spring 23 supporting the base end in a cantilever manner is applied to the distal end side. The elastic member can be configured with a simple structure in which only the penetrating body 24 is provided.

次に、本発明の第2の実施の形態を図10及び図11に基づいて説明する。   Next, a second embodiment of the present invention will be described with reference to FIGS.

この実施の形態では、板ばねに代えてコイルスプリングを弾性部材として適用している。図10は本発明の第2の実施の形態に係る法面締固め装置の振動板22を振動付与軸21に取り付けた状態で上方から見た平面図、図11は振動板の一部切り欠き側面図をそれぞれ示している。なお、コイルスプリングを除くその他の構成は前記第1の実施の形態と同じであり、同一部分については同じ符号を付してその詳細な説明は省略する。   In this embodiment, a coil spring is applied as an elastic member instead of the leaf spring. 10 is a plan view seen from above with the diaphragm 22 of the slope compaction device according to the second embodiment of the present invention attached to the vibration applying shaft 21, and FIG. 11 is a partially cutaway view of the diaphragm. Each side view is shown. The rest of the configuration excluding the coil spring is the same as that of the first embodiment, and the same parts are denoted by the same reference numerals and detailed description thereof is omitted.

すなわち、図10及び図11に示すように、振動板22の内面(図10では上面)には、貫入体24が下面の中心位置に取り付けられた略円板状の取付板42が載置されている。この取付板42は、その上面の中心位置より上方へ突設された支柱ボルト41を備えている。また、取付板42の上面の周縁部側に対応する振動板22の対応位置には、取付板42の上面の周縁部側における周方向所定間隔おきに本体プレート220の上面より8本のボルト材421が立設されている。そして、取付板42の周縁部側には、各ボルト材421を挿通させる挿通孔(図示せず)が設けられ、それぞれ挿通孔を介して各ボルト材421を上方へ延ばしている。この各ボルト材421には、弾性部材としての8本のコイルスプリング43がそれぞれ挿通されている。   That is, as shown in FIGS. 10 and 11, a substantially disc-shaped mounting plate 42 in which the penetrating body 24 is mounted at the center position of the lower surface is placed on the inner surface (upper surface in FIG. 10) of the diaphragm 22. ing. The mounting plate 42 includes a column bolt 41 projecting upward from the center position on the upper surface thereof. In addition, at the corresponding position of the diaphragm 22 corresponding to the peripheral edge side of the upper surface of the mounting plate 42, eight bolt members from the upper surface of the main body plate 220 at predetermined circumferential intervals on the peripheral edge side of the upper surface of the mounting plate 42. 421 is erected. Further, through holes (not shown) through which the respective bolt members 421 are inserted are provided on the peripheral edge side of the mounting plate 42, and the respective bolt members 421 are extended upward through the respective through holes. Eight coil springs 43 as elastic members are inserted into the bolt members 421, respectively.

取付板42の上方には、これとほぼ同一形状の円板44が対峙しており、この円板44にもその周縁部側において開口するボルト挿通孔(図示せず)が周方向所定間隔おきにもうけられている。また、円板44の中心位置には、支柱ボルト41を挿通させる挿通孔(図示せず)が設けられている。そして、円板44は、各コイルスプリング43の上方から各ボルト材421及び支柱ボルト41をそれぞれ挿通孔を介して挿通させ、ナット材411,422を各ボルト材421及び支柱ボルト41の先端(上端)に螺着することで、振動板22と貫入体24との間に各コイルスプリング43を縮装させるようにしている。   Above the mounting plate 42, a disk 44 having substantially the same shape as this is opposed, and bolt insertion holes (not shown) opened on the peripheral edge side of this disk 44 are also arranged at predetermined intervals in the circumferential direction. It is made in. Further, an insertion hole (not shown) through which the support bolt 41 is inserted is provided at the center position of the disc 44. Then, the disc 44 inserts the bolt members 421 and the column bolts 41 from above the coil springs 43 through the insertion holes, respectively, and the nut members 411 and 422 as the tips (upper ends of the bolt members 421 and the column bolts 41). ), The respective coil springs 43 are contracted between the diaphragm 22 and the penetrating body 24.

また、計測手段としては、加速度センサ45が用いられ、この加速度センサ45は、取付板42の上面に取り付けられている。そして、加速度センサ45は、振動板22の打撃により貫入体24が各コイルスプリング43の付勢力に抗して進退移動する際、この進退移動に伴い上下動する取付板42の加速度を測定している。そして、加速度センサ45により計測した加速度データを時間で2階積分して取付板42(貫入体24)の上下変位量を算出し、これを板ばね23と同様に移動平均処理することで、振動板22の打撃時に取付板42の外乱が除去された進退移動量、つまり各コイルスプリング43の弾性変形度合い(浮き上がり量)による取付板42の浮き上がり量が算出される。なお、取付板42(貫入体24)の浮き上がり量が、接触式又は非接触式の変位計により計測されるようにしてもよい。   Further, as the measuring means, an acceleration sensor 45 is used, and the acceleration sensor 45 is attached to the upper surface of the attachment plate 42. The acceleration sensor 45 measures the acceleration of the mounting plate 42 that moves up and down with the forward and backward movement when the penetrating body 24 moves forward and backward against the urging force of each coil spring 43 by striking the diaphragm 22. Yes. Then, the acceleration data measured by the acceleration sensor 45 is second-order integrated with time to calculate the vertical displacement amount of the mounting plate 42 (penetrating body 24). The forward / backward movement amount from which the disturbance of the mounting plate 42 is removed when the plate 22 is hit, that is, the lifting amount of the mounting plate 42 based on the elastic deformation degree (lifting amount) of each coil spring 43 is calculated. The lifting amount of the mounting plate 42 (penetrating body 24) may be measured by a contact type or non-contact type displacement meter.

したがって、本実施の形態においても、振動板22による打撃毎に貫入体24を介して作用する法面Nからの反力により弾性変形する各コイルスプリング43の弾性変形度合いによる取付板42の浮き上がり量が、加速度センサ45より計測した加速度データを時間で2階積分して算出される取付板42の上下変位量に基づいて得られ、これによって、振動板22の打撃による法面Nの硬度増加に応じた締固め具合が評価されることになる。具体的には、補正手段31により補正された0.05秒間での取付板42の移動平均値に基づいて、法面Nの締固め具合を評価している。そして、補正手段31により補正された0.05秒間での取付板42の移動平均値が既定値に到達したときに判定手段26によって振動板22による法面Nの締固めが完了したと判定される。このため、加速度センサ45の計測時に外乱となる振動板22の打撃によるノイズが効率よく除去され、取付板42の浮き上がり量の計測値が正確な値として得られ、判定手段26による法面Nの締固めの完了判定が正確に行えることになる。   Therefore, also in the present embodiment, the amount of lifting of the mounting plate 42 due to the degree of elastic deformation of each coil spring 43 that is elastically deformed by the reaction force from the slope N acting via the penetrating body 24 every time the diaphragm 22 is struck. Is obtained on the basis of the vertical displacement amount of the mounting plate 42 calculated by integrating the acceleration data measured by the acceleration sensor 45 with respect to time, thereby increasing the hardness of the slope N by striking the diaphragm 22. Corresponding compaction will be evaluated. Specifically, the degree of compaction of the slope N is evaluated based on the moving average value of the mounting plate 42 corrected for 0.05 seconds by the correcting means 31. Then, when the moving average value of the mounting plate 42 corrected for 0.05 seconds by the correcting unit 31 reaches a predetermined value, the determining unit 26 determines that the compaction of the slope N by the diaphragm 22 is completed. The For this reason, noise due to the impact of the diaphragm 22 that becomes a disturbance at the time of measurement by the acceleration sensor 45 is efficiently removed, and the measured value of the lifting amount of the mounting plate 42 is obtained as an accurate value. Completion determination of compaction can be accurately performed.

また、振動板22と貫入体24との間に縮装された各コイルスプリング43を弾性部材として適用することで、振動板22と貫入体24との間に各コイルスプリング43を縮装するだけの簡単な構造で弾性部材を構成することができる上、各ボルト材421及び支柱ボルト41の先端に螺着したナット材411,422を緩締するだけでコイルスプリング43の弾性力を簡単に調整することもできる。   In addition, by applying each coil spring 43 that is contracted between the diaphragm 22 and the penetrating body 24 as an elastic member, the coil spring 43 is simply contracted between the diaphragm 22 and the penetrating body 24. The elastic member can be configured with a simple structure, and the elastic force of the coil spring 43 can be easily adjusted simply by loosely tightening the nut members 411 and 422 screwed to the ends of the bolt members 421 and the column bolts 41. You can also

なお、本発明は、前記各実施の形態に限定されるものではなく、その他種々の変形例を包含している。例えば、前記第1の実施の形態では、振動板22の内面に取り付けた一枚の板ばね23の先端に貫入体24を取り付けたが、法面の地盤の堅さに応じて複数枚の板ばねを重ねて用いてもよい。   The present invention is not limited to the above-described embodiments, and includes other various modifications. For example, in the first embodiment, the penetrating body 24 is attached to the tip of one leaf spring 23 attached to the inner surface of the diaphragm 22, but a plurality of plates are provided according to the hardness of the slope ground. You may use a spring in piles.

また、前記各実施の形態では、GPS受信機に受信した信号に基づいて各領域の中から未締固め領域をディスプレイ装置131上に表示させ、作業者が振動板22を未締固め領域に順次移動させて当該振動板22による締固めを行うようにしたが、上部旋回体の回転角度、ブームの傾動角度、アームの揺動角度、及び取付具の揺動角度などを検出する検出センサからの信号に基づいて、上部旋回体、ブーム、アーム及び取付具の動きを制御する制御手段を設けて、GPS受信機に受信した信号に基づいて各領域の中から未締固め領域に自動的に振動板を移動させるようにしてもよい。   In each of the above embodiments, an unconsolidated area is displayed on the display device 131 from among the areas based on the signal received by the GPS receiver, and the operator sequentially places the diaphragm 22 into the unconsolidated area. Although it is moved and compacted by the diaphragm 22, the rotation angle of the upper swing body, the tilt angle of the boom, the swing angle of the arm, the swing angle of the fixture, and the like are detected from the detection sensor. Based on the signal, control means is provided to control the movement of the upper swing body, boom, arm and fixture, and automatically vibrates from each area to the unconsolidated area based on the signal received by the GPS receiver. The plate may be moved.

更に、前記各実施の形態では、バックホウ1に法面締固め装置2を用いた場合について述べたが、これに限らず、パワーショベルやトラクタなどの建設用の掘削機械に用いられていてもよい。   Further, in each of the above-described embodiments, the case where the slope compaction device 2 is used for the backhoe 1 has been described. However, the present invention is not limited to this, and the backhoe 1 may be used for a construction excavating machine such as a power shovel or a tractor. .

1 バックホウ(掘削機械)
2 法面締固め装置
20 振動発生装置
21 振動付与軸(アーム)
210 装着部
22 振動板
225 開口孔
23 板ばね(弾性部材)
24 貫入体
25 第1ひずみゲージ(計測手段)
26 判定手段
27 第2ひずみゲージ(軸力検出手段)
31 補正手段
43 コイルスプリング(弾性部材)
45 加速度センサ(計測手段)
N 法面
1 Backhoe (excavation machine)
2 Slope compaction device 20 Vibration generating device 21 Vibration applying shaft (arm)
210 Mounting part 22 Diaphragm 225 Opening hole 23 Leaf spring (elastic member)
24 Penetration body 25 1st strain gauge (measuring means)
26 determination means 27 second strain gauge (axial force detection means)
31 Correction means 43 Coil spring (elastic member)
45 Acceleration sensor (measuring means)
N slope

Claims (8)

自走する掘削機械のアームの先端に装着され、法面に振動発生装置からの振動による打撃を加えて締固める振動板を備えた法面締固め装置において、
前記振動板に設けられた弾性変形自在な弾性部材と、
前記弾性部材の弾性力により前記振動板に開口する開口孔を介して貫入された先端が外方へ突出するように付勢され、前記開口孔を介して内外方向へ進退自在な貫入体と、
前記振動板の振動による打撃毎に前記貫入体を介して作用する法面からの反力により弾性変形する前記弾性部材の弾性変形度合いをリアルタイムに連続して計測する計測手段と、
を備えていることを特徴とする法面締固め装置。
In a slope compaction device equipped with a vibration plate that is attached to the tip of the arm of a self-propelled excavating machine and is compacted by striking the slope with vibration from the vibration generator,
Elastically deformable elastic member provided on the diaphragm;
A penetrating member that is biased so as to protrude outwardly through an opening hole that opens to the diaphragm by the elastic force of the elastic member, and that is movable forward and backward through the opening hole; and
Measuring means for continuously measuring in real time the degree of elastic deformation of the elastic member that is elastically deformed by a reaction force from a slope acting via the penetrating body for each impact by vibration of the diaphragm;
A slope compaction device characterized by comprising:
前記計測手段からの計測値を入力し、この計測値が既定値に到達したときに法面の締固めが完了したと判定する判定手段を備えている請求項1に記載の法面締固め装置。   2. The slope compaction apparatus according to claim 1, further comprising a judgment means for inputting a measurement value from the measurement means and determining that the slope compaction is completed when the measurement value reaches a predetermined value. . 前記判定手段は、前記振動板の振動による打撃により前記貫入体が内外方向に進退移動する際の進退移動平均値に基づいて前記弾性部材の弾性変形度合いを補正する補正手段を備えている請求項2に記載の法面締固め装置。   The said determination means is provided with the correction means which correct | amends the elastic deformation degree of the said elastic member based on the advancing / retreating movement average value at the time of the said penetration body moving forward / backward by the impact by the vibration of the said diaphragm. The slope compaction device according to 2. 前記振動板の振動による打撃時に作用する前記アームからの軸力を検出する軸力検出手段を備え、前記軸力検出手段の検出値が適正値となるように前記アームからの軸力が調整されている請求項2又は請求項3に記載の法面締固め装置。   Axial force detecting means for detecting an axial force from the arm acting at the time of striking due to vibration of the diaphragm is provided, and the axial force from the arm is adjusted so that the detected value of the axial force detecting means becomes an appropriate value. The slope compaction device according to claim 2 or claim 3, wherein 前記振動板の大きさに応じて複数の領域に分割された法面の各領域の位置を衛星からの電波に基づいて測定するグローバルポジショニングシステムのためのGPS受信機を備え、
前記判定手段により法面の締固めが完了したと判定されたときに、前記GPS受信機によって受信される信号に基づいて、前記各領域の中から前記振動板による締固めが未だ行われていない未締固め領域に前記振動板を順次移動させて当該振動板による締固めが行われるようにしている請求項2〜請求項4のいずれか1つに記載の法面締固め装置。
A GPS receiver for a global positioning system that measures the position of each area of the slope divided into a plurality of areas according to the size of the diaphragm based on radio waves from a satellite;
Based on the signal received by the GPS receiver when the determination unit determines that the slope compaction has been completed, the diaphragm has not yet been compacted from the respective areas. The slope compaction device according to any one of claims 2 to 4, wherein the diaphragm is sequentially moved to an unconsolidated region so as to perform compaction by the diaphragm.
前記掘削機械のアームの先端には、前記振動板を脱着可能に装着する装着部が設けられている請求項2〜請求項5のいずれか1つに記載の法面締固め装置。   The slope compaction device according to any one of claims 2 to 5, wherein a mounting portion for detachably mounting the diaphragm is provided at a tip of an arm of the excavating machine. 前記弾性部材としては、前記振動板に基端が片持ち支持されかつ先端側に前記貫入体が設けられた板ばねが適用されている請求項2〜請求項6のいずれか1つに記載の法面締固め装置。   The leaf spring in which the base end is cantilever-supported on the diaphragm and the penetrating body is provided on the distal end side is applied as the elastic member. Slope compaction device. 前記弾性部材としては、前記振動板と前記貫入体との間に縮装されたコイルスプリングが適用されている請求項2〜請求項6のいずれか1つに記載の法面締固め装置。   The slope compaction device according to any one of claims 2 to 6, wherein a coil spring that is compressed between the diaphragm and the penetrating body is applied as the elastic member.
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