JP2021181719A - Drive control method for ground improvement device and ground improvement device - Google Patents

Abstract

To solve the problem in which, in the conventional control system that automatically selects the optimum drive torque according to the nature of the ground, a drive motor is driven with a margin of about 70%, so the output is always about 30% less than it should be, which reduces the work efficiency.SOLUTION: There is provided a drive control method of a ground improvement device, in which a rotary drive unit 3 is attached to a leader 2 on a base machine 1 so as to be raised and lowered freely, an upper part of a rotary shaft 4 that drives a ground improvement device 5 that performs ground improvement and excavation work is attached to a lower part of the rotary drive unit 3, an agitation rod 10 of the ground improvement device 5 is attached to the rotating shaft 4, and a drive motor 20 of the rotary drive unit 3 is automatically controlled in relation to the lifting speed of the ground improvement device 5 by a lifting motor 17 so that the maximum output is always output.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drive control method of a ground improvement device and a ground improvement device for excavating the ground or improving the ground accompanying the excavation.

In the conventional soil improvement work, the stirring part and the auger head of the ground improvement device are driven and rotated at a rotation speed and rotation torque set in advance with a margin, and when the ground condition at the construction site is hard and the rotation load becomes large, A method for controlling the rotation speed to be lowered or the ascending / descending speed to be slowed down is known (see Patent Document 1).
In this known example, in the relationship between the drive torque of the ground improvement device and the rotation speed, the number of blade cuttings of the stirring blade of the ground improvement device is the upper limit value of the drive torque of the ground improvement device in the shift control by a plurality of set shift stages. Even if the shift control is performed stably and smoothly so that the optimum drive torque is obtained between However, there is a problem that the target value may not be reached. The solution is to control the number of blade cuttings of the stirring unit so that the torque does not fall below the target value.
Then, when the rotational load becomes too large on the hard ground, the rotation of the stirring unit is stopped. In order to avoid this, the rotation speed is lowered or the ascending / descending speed is slowed down.

Japanese Unexamined Patent Publication No. 2020-33818

In the above-mentioned known example, the control is such that the optimum drive torque is automatically selected according to the properties of the ground between the upper limit value and the lower limit value set in advance with a margin, and there is a case where the ground composition is uneven. Since the control is to change the selection of the stepwise set speed range according to the fluctuation of the rotation speed of the stirring unit, for example, in the basic work, the rotation speed is set so as to be about 70% of the capacity of the drive motor. When the rotational load of the ground improvement device is applied on hard ground, the capacity of the drive motor is increased to about 90%, but when the rotational load is still large, the ascending / descending speed is slowed down to reduce the load of the ground improvement device. Was going.
In the publicly known example, there is no description of a rotation control method for work with a small rotation load on soft ground, and there is no clear reason for setting the rotation speed at the beginning of the work to be low, but control for increasing the rotation speed according to the work state is performed. If the rotation load of the ground improvement device becomes too large by increasing the rotation speed, the rotation will stop. To avoid this, lower the rotation speed or slow down the ascending / descending speed. In order to execute control and enable this control, always allow a margin in the output of the drive motor, and when it is not possible to handle it, execute control to automatically increase the output (rotation speed / torque) of the drive motor. I was supposed to.
This means that in normal work, work is always performed with a preset output of about 70% and a preset ascending / descending speed with respect to the maximum output within the permissible range that does not break down or break even if the drive motor is continuously operated. However, the output loss, which is always lost by 30% or more, which is reserved for the output of the drive motor to have a margin, reduces the work efficiency.
In the present invention, attention is paid to the fact that the load fluctuation of the drive motor of the ground improvement device is also caused by the raising and lowering of the ground improvement device, and the drive output by the drive motor of the ground improvement device is taken into consideration in consideration of the load generated by the raising and lowering of the ground improvement device. By controlling the shift, the work efficiency of the ground improvement work is improved and the soil improvement work is facilitated.

According to the first aspect of the present invention, the rotary drive unit 3 is attached to the leader 2 provided in the base machine 1 so as to be able to move up and down, and the rotary drive unit 3 has a rotary shaft for driving the ground improvement device 5 for ground improvement and excavation work at the lower part. The upper side of the body 4 is attached, the stirring rod 10 of the ground improvement device 5 is attached to the rotary shaft body 4, and the ground improvement by the elevating motor 17 so that the drive motor 20 of the rotary drive unit 3 always outputs the maximum output. This is a drive control method for a ground improvement device that is automatically controlled in relation to the ascending / descending speed at which the device 5 is raised / lowered.
According to the second aspect of the present invention, the rotary shaft body 4 and the stirring rod 10 are formed of a hollow member, and a supply hose for supplying a ground soil improving agent to the ground improving device 5 in the rotary shaft body 4 and the stirring rod 10 is provided. The soil improving agent ejected from the ground improving device 5 and the ground constituent material are stirred while rotating the stirring blade 11 of the stirring unit 6 provided in the ground improving device 5, and the drive motor 20 of the rotary drive unit 3 is The rotational speeds of the stirring blade 11 and the auger head 15 of the ground improvement device 5 can be changed steplessly, the torque or power of the drive motor 20 is detected, and the excavation load of the ground improvement device 5 is the allowable torque of the drive motor 20. In the following cases, the rotation of the drive motor 20 is automatically increased to the allowable output limit range of the drive motor 20, and the excavation descent speed or extraction is performed within a range in which the number of blade cuttings of the stirring blade 11 per unit depth can be maintained. This is a drive control method for a ground improvement device that automatically controls the speed.
According to the third aspect of the present invention, the rotary drive unit 3 is attached to the leader 2 provided in the base machine 1 so as to be able to move up and down. The upper side of the body 4 is attached, the stirring rod 10 of the ground improvement device 5 is attached to the rotary shaft body 4, the stirring blade 11 and the auger head 15 of the stirring unit 6 are attached to the stirring rod 10, and the ground improvement device 5 is attached. The soil improving agent is ejected from a protrusion provided in a predetermined portion of the ground improving device 5 via a supply hose provided in the rotary shaft 4 and the stirring rod 10, and the drive motor 20 of the rotary drive unit 3 is the ground. The rotational speeds of the stirring blade 11 and the auger head 15 of the improved device 5 can be changed steplessly, the torque or power of the drive motor 20 is detected, and the excavation load of the ground improvement device 5 is equal to or less than the allowable torque of the drive motor 20. In the case of, the rotation of the drive motor 20 is automatically increased to the allowable output limit range of the drive motor 20, and the excavation descent speed or the pull-out speed is within a range in which the number of blade cuttings of the stirring blade 11 per unit depth can be maintained. It is a ground improvement device with a configuration that automatically controls.
The invention of claim 4 is provided with a monitor of the operation unit of the base machine 1, and the monitor is recommended according to the rotation speed of the drive motor 20, the rotation speed of the ground improvement device 5, and the rotation speed of the ground improvement device 5. It is a ground improvement device configured to display the excavation (descending) speed or the pulling (ascending) speed.
According to the fifth aspect of the present invention, the drive motor 20 of the rotary drive unit 3 is a ground improvement device composed of a hydraulic pump 35 and a hydraulic motor 36, or an inverter motor 37.
According to the invention of claim 6, the soil conditioner supplied to the soil conditioner 5 is composed of cement milk produced by kneading water and cement, and the cement milk supply plant 40 and the soil conditioner 5 for producing cement milk. Is a ground improvement device configured to automatically control so as to change the discharge amount of cement milk of the supply plant 40 according to the ascending / descending speed of the ground improvement device 5.

In the invention of claim 1, since the output of the ground improvement device 5 is controlled in relation to the ascending / descending speed of the ground improvement device 5 by the elevating motor 17, the drive motor 20 of the rotary drive unit 3 is always continuously operated. Even if the maximum output within the permissible range that does not cause failure or damage is output, the ascending / descending speed of the ground improvement device 5 is changed according to the working condition to ensure uniform soil improvement by stirring the ground improvement device 5. At the same time, it is possible to constantly output the output loss portion that always occurs as a reserved margin in the output control of the drive motor 20 that is performed with a margin, and the work efficiency can be significantly improved.
In the invention of claim 2, when the torque or power of the drive motor 20 is detected and the excavation load of the ground improvement device 5 is equal to or less than the torque allowed by the drive motor 20, the output limit range of the drive motor 20 is reached. Since the rotation of the drive motor 20 is automatically increased and the excavation descent speed or the pull-out speed is automatically controlled within the range in which the number of blade cuttings of the stirring blade 11 per unit depth can be maintained, the drive motor 20 is always continuously operated. It is possible to output the maximum output within the allowable range that does not break or break even if it is operated, and as a result, the output loss that always occurs as a reserved margin in the output control of the drive motor 20 that is performed with a conventional margin. Can be output at all times, and work efficiency can be significantly improved.
In the invention of claim 3, the drive motor 20 of the rotary drive unit 3 can change the rotational speeds of the stirring blade 11 and the auger head 15 of the ground improvement device 5 steplessly, and detects the torque or power of the drive motor 20. When the excavation load of the ground improvement device 5 is equal to or less than the allowable torque of the drive motor 20, the rotation of the drive motor 20 is automatically increased to the allowable output limit range of the drive motor 20, and the stirring blade 11 per unit depth is increased. Since the structure is such that the excavation descent speed or the pull-out speed is automatically controlled within a range in which the number of blade cuttings can be maintained, the drive motor 20 of the rotary drive unit 3 always outputs the maximum output within the permissible range. By changing the ascending / descending speed of the ground improvement device 5 according to the working condition, the output control of the drive motor 20 is performed with a conventional margin while ensuring uniform soil improvement by stirring the ground improvement device 5. It is possible to provide a ground improvement device that can constantly output the output loss that always occurs as a spare margin and can significantly improve the work efficiency.
In the invention of claim 4, the control state of the drive motor 20 and the working state of the ground improvement device 5 can be visually confirmed by the monitor provided in the operation unit of the base machine 1, and the drive motor is performed with a conventional margin. The output loss that always occurs as a margin of the output control of 20 can be constantly output, and the work efficiency can be improved, and the operability and workability can be improved to further improve the work efficiency. Can be improved.
In the invention of claim 5, since the drive motor 20 of the rotary drive unit 3 is composed of the hydraulic pump 35 and the hydraulic motor 36, the present invention in which the conventional rotation control of loss of output is always automatic control of output. The output control of the above can be easily executed, and by configuring the drive motor 20 with the inverter motor 37, more precise output control can be achieved.
In the invention of claim 6, the soil conditioner supplied to the ground improvement apparatus 5 is composed of cement milk produced by kneading water and cement, and the cement milk supply plant 40 and the ground improvement apparatus 5 for producing cement milk. Is configured to automatically control so as to change the discharge amount of cement milk of the supply plant 40 according to the ascending / descending speed of the ground improvement device 5. Therefore, by controlling the relationship between the ground improvement device and the supply plant 40, It is possible to further improve the operability and workability of the ground improvement work.

Side view of the ground improvement device. Block Diagram. (A) A chart showing the relationship between the rotation speed and torque of the drive motor and the ascending / descending speed of the ground improvement device. (B) The schematic diagram. Front view of the monitor. Front view of the enlarged head part.

An embodiment of the present invention will be described with reference to the drawings. Reference numeral 1 is a base machine, 2 is a leader provided in the base machine 1, 3 is a rotary drive unit (earth auger) attached to the leader 2 so as to be able to move up and down, and the upper portion of the rotary shaft body 4 is attached to the rotary drive unit 3 ( Figure 1). The leader 2 is for supporting the rotary drive unit 3, and the leader 2 is configured to be undulating from a state perpendicular to the ground to a horizontal state, and is configured to rotate together with the base machine 1.
The upper part of the stirring rod 10 of the stirring part 6 of the ground improvement device 5 is detachably attached to the lower part of the rotating shaft body 4 of the rotation driving part 3. The stirring rod 10 is provided with a stirring blade 11 of the stirring unit 6. The stirring blade 11 may be provided in the radial direction with respect to the stirring rod 10, and its configuration is arbitrary.

In the present embodiment, a plurality of stirring blades 11 are arranged side by side in the axial direction (vertical direction) and the rotation direction of the stirring rod 10.
The rotary shaft body 4 and the stirring rod 10 are formed of a hollow tubular member, a supply pipe 12 for supplying a soil conditioner is provided inside the rotary shaft body 4 and the stirring rod 10, and the lower end of the supply pipe 12 is a ground improvement device. The soil conditioner, which is opened at the discharge port 13 provided at a predetermined position of 5 and supplied through the supply pipe 12, is injected into the ground from the discharge port 13, and the injected ground conditioner and the earth and sand are mixed with the stirring unit 6. (Fig. 5). Reference numeral 14 is a steady rest portion that supports the rotating shaft body 4 and the stirring rod 10 (FIG. 1).

The ground improvement device 5 is configured by providing an auger head 15 for excavating the ground below the stirring rod 10.
The ground improvement device 5 moves up and down by moving the wire 16 in and out of the standing leader 2. Reference numeral 17 denotes an elevating motor (winch) for raising and lowering the stirring unit 6 and the auger head 15, which are ground improvement devices 5. When the stirring unit 6 and the auger head 15 move up and down, the stirring rod 10 moves up and down by the same amount together with the rotation drive unit 3. Then, the stirring rod 10 is lowered while being rotationally driven to excavate, and at the same time, the ground improving agent is ejected from the ground improving device 5 and injected into the ground structure, and the ground structure is stirred to improve the ground. .. The ground improving agent is formed of cement milk or the like and is supplied to the ground improving device 5 through the hollow portion of the rotating shaft body 4 and the stirring rod 10.

Then, the drive motor 20 of the rotary drive unit 3 that drives the ground improvement device 5 is automatically controlled in relation to the ascending / descending speed of the ground improving device 5 by the elevating motor 17 so as to always output the maximum output. It shall be configured.
In the soil improvement work, the rotational load of the drive motor 20 is small in the soft ground, and if the rotation speed of the drive motor 20 is increased even though the rotational load is small, the liquid soil improver such as cement milk will be improved by centrifugal force. Since it is biased to the outer part of the work, it is not possible to expect uniform soil improvement, so the conventional rotation control sets the rotation speed of the drive motor 20 at the beginning of the work low, and the rotation speed is set according to the work condition. It is controlled to increase the rotation speed, and if the rotation load of the ground improvement device becomes too large by increasing the rotation speed, the rotation will stop. To avoid this, lower the rotation speed or slow down the ascending / descending speed. Was executing control.

In other words, the stirring unit 6 and the auger head 15 of the ground improvement device 5 are driven and rotated at a rotation speed and a rotation torque set in advance with a margin, and when the ground condition at the construction site is hard and the rotation load becomes large, the rotation is performed. Control was performed to reduce the number or slow down the ascending / descending speed, but this did not fully demonstrate the ability of the drive motor 20.
That is, the output of the drive motor 20 is always provided with a margin, and when the output of the drive motor 20 cannot be dealt with, the control for automatically increasing the output (rotation speed / torque) of the drive motor 20 is executed.
This means that in normal work, the drive motor 20 is constantly operated at a preset output and a preset ascending / descending speed of about 70% of the maximum output within the permissible range that does not break or break even if the drive motor 20 is continuously operated. As a result, the work efficiency is reduced by the output loss, which is always lost for 30%, which is reserved to allow the output of the drive motor 20 to have a margin.

On the other hand, it has been found that the load fluctuation of the drive motor 20 fluctuates due to the excavation resistance and the pull-out resistance when the ground improvement device 5 moves up and down. When the ground improvement device 5 is automatically controlled to be constant, the automatic rotation control is performed by utilizing the load fluctuation of the rotation drive unit 3 for the drive motor 20 when the ground improvement device 5 is raised and lowered, and the rotation drive unit 3 is driven. The motor 20 makes it possible to change the rotational speeds of the stirring blade 11 and the auger head 15 of the ground improvement device 5 steplessly, detects the torque or power of the drive motor 20, and the excavation load of the ground improvement device 5 allows the drive motor 20. When the torque (load) is less than or equal to the torque (load) to be applied, for example, the drive motor 20 of the rotary drive unit 3 and the rotary drive unit 3 are moved up and down while driving the drive motor 20 of the rotary drive unit 3 at the maximum output at all times. The motor 17 is configured to automatically control the drive motor 20 of the rotary drive unit 3 with respect to the ground so as to always output the maximum optimum output, and the drive motor 20 always outputs the maximum output to cause excessive rotation with respect to the ground. When this happens, the excavation descent speed or the pull-out speed is automatically controlled within the range in which the number of blade cuttings of the stirring blade 11 per unit depth can be maintained, and a work load (stirring resistance) is applied to the ground improvement device 5. As a result, while suppressing the bias of the soil improving agent due to the centrifugal force when the excavation / rotational load is small, the driving force of the ground improving device 5 suitable for the properties of the ground can be exerted, and then the driving motor 20 can exert the driving force. It maximizes the capacity at all times and improves the work efficiency of excavation and stirring work.

That is, in the past, the rotational output of the drive motor 20 and the ascending / descending speed of the ground improvement device 5 were only to slow down the ascending / descending speed of the ground improving device 5 only when the excavation load became excessive. In the present invention, it is natural that the drive motor 20 is always in the maximum output state and the ascending / descending speed of the ground improvement device 5 is slowed down when the excavation load becomes excessive, and the ascending / descending speed is increased even when the excavation load is small. By shifting the speed according to the excavation load, the number of blade cuttings of the stirring blade 11 per unit depth is maintained in the optimum state, and the work efficiency of the excavation and stirring work is improved.

FIG. 3A is a table showing the relationship between the rotation speed and torque of the drive motor 20 and the ascending / descending speed of the ground improvement device 5. When the torque is large, the rotation speed is low and the ascending / descending speed is slow. However, as the torque decreases, the rotation speed increases, so the ascending / descending speed is increased.
Similarly, FIG. 3B shows the relationship between the rotation speed and torque of the drive motor 20 at a constant output (allowable maximum output), the ascending / descending speed of the ground improvement device 5, and the ascending / descending speed of the ground improvement device 5. In a schematic diagram, the inverse proportional curve A of the chain wire shows the change in the rotation speed and torque at the maximum allowable output of the drive motor 20, and the solid inverse proportional curve B shows the change in the ascending / descending speed when raising / lowering the ground improvement device 5. It shows that when the excavation load is small and the rotation speed increases, the ascending / descending speed is increased to increase the excavation load.

Specifically, a tachometer 25 that detects the number of revolutions in the drive motor 20, a torque meter 26 that detects the rotational torque of the drive motor 20, and an elevating speed meter that detects the elevating speed of the ground improvement device 5 by the elevating motor 17 ( A depth meter) 27 is provided, and the control unit 28 automatically controls based on these data. Reference numeral 29 is a manual lift switch.
The configuration of the variometer (depthometer) 27 for detecting the ascending / descending speed of the ground improvement device 5 is arbitrary. For example, a wire 27A is provided separately from the wire 16 to be pulled by the ground improvement device 5. It is configured to detect by multiplying the moving speed of the wire 27A by time.

However, as described above, in the case of soft ground, the rotation speed of the drive motor 20 is reduced, the number of blade cuttings of the stirring blade 11 is maintained, and the earth and sand of the ground and the soil improving agent are agitated. Even so, the excavation descent speed can be maintained within the range where the number of blade cuttings of the stirring blade 11 per unit depth can be maintained while the rotation of the drive motor 20 is automatically increased to the allowable output limit range for the excavation load of the drive motor 20. Alternatively, by automatically controlling the withdrawal speed to increase the ascending / descending speed of the ground improvement device 5, the stirring resistance of the stirring blade 11 is increased, and the number of blade cuttings of the stirring blade 11 per unit depth is maintained in the optimum state. , The drive motor 20 always exerts the maximum output without waste, and improves the work efficiency of the excavation agitation work.

In this case, the allowable output limit range of the drive motor 20 is assumed to be within the allowable range (for example, about 90%) in which failure or damage does not occur even if the drive motor 20 is continuously operated, but the setting is arbitrary and the failure or damage occurs. It is preferable to select the maximum value within the range not to be used because the work efficiency can be improved.
Further, within the permissible range of failure or damage, the output of the constant drive motor 20 is set to the maximum output, and the ascending / descending speed of the ground improving device 5 is adjusted to the rotation of the ground improving device 5 at the maximum output according to the properties of the ground. The ascending / descending speed is automatically controlled so as to maintain the number of blade cuttings of the stirring blade 11 per unit depth in the optimum state.

Further, on the monitor 30 of the operation unit of the base machine 1, the stirring blade rotation speed display unit 32 that displays the rotation speed of the ground improvement device 5 (stirring blade 17) when the operator manually performs the excavation and stirring work. And the ascending / descending speed display unit 33 that displays the recommended excavation (descending) speed or the withdrawal (rising) speed according to the rotation speed of the ground improvement device (stirring blade 5), and the excavation stirring state display that displays the excavation stirring state. A unit 34 is provided, and the monitor 30 is configured to guide and display the work of the operator.
Since the display rotation speed of the stirring blade rotation speed display unit 32 is linked to the rotation speed of the drive motor 20, the rotation speed of the drive motor 20 can also be confirmed by the rotation speed displayed by the stirring blade rotation speed display unit 32. Is.

The configuration of the drive motor 20 is arbitrary, and may be configured by a hydraulic pump 35 and a hydraulic motor 36, or may be configured by an inverter motor 37. In any case, the rotation speed can be changed steplessly. , Automatic rotation control can be done easily and accurately.
Further, the soil conditioner supply plant 40 such as cement milk and the soil conditioner 5 are used in the soil conditioner 5, and the discharge amount of the soil conditioner in the supply plant 40 is changed according to the ascending / descending speed of the soil conditioner 5. Automatically control. Therefore, the quality of soil improvement can be improved.
Reference numeral 41 denotes a transport hose that sends a soil conditioner such as cement milk from the supply plant 40 to the rotary drive unit 3 of the ground improvement device 5.

(Action of Embodiment)
The present invention has the above configuration, and in a state where the base machine 1 is transported or traveled to a construction site and the leader 2 is erected, the rotary drive unit 3, the rotary shaft body 4, and the ground improvement device 5 are provided to the leader 2. The wire 16 is drawn out by the elevating motor 17 and lowered into the vertical pile hole excavated in advance, or the auger head 15 of the ground improvement device 5 is lowered to the upper surface of the ground and the ground is lowered by the auger head 15 of the ground improvement device 5. Excavate to form a vertical pile hole.

When the ground improvement device 5 is lowered to a predetermined depth of the vertical pile hole, the ground improvement agent is ejected from the ground improvement device 5 into the ground composition such as earth and sand excavated by the auger head 15 and injected into the ground composition. The soil conditioner is stirred by the stirring blade 11 of the stirring unit 6 of the ground improving device 5 to improve the ground.
When excavating, conventionally, the drive torque and rotation speed of the ground improvement device 5 are simply set to appropriate values according to the condition of the ground (soft, hard, etc.). For example, in hard ground, The driving torque of the stirring tool 11 had to be increased (rotational speed was slowed down), while the excavation work was performed by increasing the rotational speed (decreasing the driving torque) on soft ground.

For example, in the basic work, the rotation speed is set so as to be about 70% of the capacity of the drive motor 20, and when the rotational load of the ground improvement device 5 is applied on hard ground, the capacity of the drive motor 20 is increased. The work was carried out by raising the load to about 90%, and even then, when the rotational load was large, the ascending / descending speed was slowed down to reduce the load on the ground improvement device 5.
That is, since the control to automatically increase the output (rotation speed / torque) of the drive motor 20 when the output of the drive motor 20 cannot be dealt with is always provided with a margin, the drive motor 20 is continuously operated. In order to provide a margin for the output of the drive motor 20 by constantly working at a preset output of about 70% and a preset ascending / descending speed with respect to the maximum output within the permissible range that does not break down or be damaged even when operated. The work efficiency was supposed to decrease due to the output loss, which is always lost for 30%.

In the present invention, the drive motor 20 of the rotary drive unit 3 can change the rotational speeds of the stirring blade 11 and the auger head 15 of the ground improvement device 5 steplessly, detect the torque or power of the drive motor 20, and detect the ground improvement device. When the excavation load of 5 is equal to or less than the allowable torque of the drive motor 20, the rotation of the drive motor 20 is automatically increased to the allowable output limit range of the drive motor 20 to cut the blades of the stirring blade 11 per unit depth. Since the excavation descent speed or the withdrawal speed is automatically controlled within the range where the number of times can be maintained, the drive motor 20 is driven within the allowable output limit range from the beginning, and when the excavation load is small, the ground is used. By automatically increasing the ascending / descending speed of the improved device 5, maintaining the number of blade cuttings of the stirring blade 11 per unit depth, and increasing the ascending / descending speed, the work efficiency of the excavation stirring work can be improved.

That is, in the past, the rotational output of the drive motor 20 and the ascending / descending speed of the ground improvement device 5 were only to slow down the ascending / descending speed of the ground improving device 5 only when the excavation load became excessive. In the present invention, it is natural to slow down the ascending / descending speed of the ground improvement device 5 when the excavation load becomes excessive, and even when the excavation load is small, the ascending / descending speed is changed (fastened) according to the excavation load. As a result, the excavation and stirring resistance is increased, the number of blade cuttings of the stirring blade 11 per unit depth is maintained in an optimum state, and the work efficiency of the excavation and stirring work is improved.

The monitor 30 of the operation unit of the base machine 1 includes a stirring blade rotation speed display unit 32 that displays the rotation speed of the ground improvement device 5 (stirring blade 17) when the operator manually performs excavation and stirring work. An ascending / descending speed display unit 33 that displays the recommended excavation (descending) speed or extraction (rising) speed according to the rotation speed of the ground improvement device (stirring blade 5), and an excavation stirring state display unit 34 that displays the excavation stirring state. Since the above is provided, the operator can visually check the automatic control state by the monitor 30, and can guide and display the work operation even when the ground is improved by manual operation, so that the operability can be improved. can.

The configuration of the drive motor 20 is arbitrary, and since it is composed of the hydraulic pump 35 and the hydraulic motor 36, the drive source of the ground improvement device 5 capable of steplessly controlling the speed change can be configured simply and inexpensively. Can be done.
Further, when the drive motor 20 is configured by the inverter motor 37, if the rotation speed can be changed steplessly, the automatic rotation control can be easily and accurately performed.
Further, the soil conditioner supply plant 40 such as cement milk and the soil conditioner 5 are used in the soil conditioner 5, and the discharge amount of the soil conditioner in the supply plant 40 is changed according to the ascending / descending speed of the soil conditioner 5. Since it is configured to be automatically controlled, the quality of soil improvement can be improved.

1 ... base machine, 2 ... leader, 3 ... rotary drive unit, 4 ... rotary shaft, 5 ... device, 10 ... stirring rod, 11 ... stirring blade, 12 ... supply pipe, 13 ... discharge port, 14 ... steady rest , 15 ... Auger head, 16 ... Wire, 17 ... Elevating motor, 20 ... Drive motor, 25 ... Rotation meter, 26 ... Torque meter, 27 ... Elevating speed meter, 28 ... Control unit, 29 ... Manual elevating switch, 30 ... Monitor , 32 ... Stirring blade rotation speed display unit, 33 ... Ascending / descending speed display unit, 34 ... Excavation stirring status display unit, 35 ... Hydraulic pump, 36 ... Hydraulic motor, 37 ... Inverter motor, 40 ... Supply plant.

Claims (6)

The rotary drive unit 3 is attached to the leader 2 provided in the base machine 1 so as to be able to move up and down, and the upper side of the rotary shaft body 4 for driving the ground improvement device 5 for ground improvement and excavation work is attached to the lower portion of the rotary drive unit 3. , The stirring rod 10 of the ground improvement device 5 is attached to the rotary shaft body 4, and the ascending / descending speed of the ground improving device 5 by the elevating motor 17 so that the drive motor 20 of the rotary drive unit 3 always outputs the maximum output. A drive control method for ground improvement equipment that is automatically controlled in relation to. In claim 1, the rotary shaft 4 and the stirring rod 10 are formed of a hollow member, and a supply hose for supplying a ground soil improving agent to the ground improving device 5 is provided in the rotary shaft 4 and the stirring rod 10. While rotating the stirring blade 11 of the stirring unit 6 provided in the ground improvement device 5, the soil improving agent ejected from the ground improving device 5 and the ground constituent material are stirred, and the drive motor 20 of the rotation driving unit 3 is the ground. The rotational speeds of the stirring blade 11 and the auger head 15 of the improved device 5 can be changed steplessly, the torque or power of the drive motor 20 is detected, and the excavation load of the ground improvement device 5 is equal to or less than the allowable torque of the drive motor 20. In the case of, the rotation of the drive motor 20 is automatically increased to the allowable output limit range of the drive motor 20, and the excavation descent speed or the pull-out speed is within a range in which the number of blade cuttings of the stirring blade 11 per unit depth can be maintained. Drive control method for ground improvement equipment that automatically controls. The rotary drive unit 3 is attached to the leader 2 provided in the base machine 1 so as to be able to move up and down, and the upper side of the rotary shaft body 4 that drives the ground improvement device 5 for ground improvement and excavation work is attached to the lower portion of the rotary drive unit 3. , The stirring rod 10 of the ground improvement device 5 is attached to the rotating shaft body 4, the stirring blade 11 and the auger head 15 of the stirring unit 6 are attached to the stirring rod 10, and the ground improvement device 5 is a predetermined portion of the ground improvement device 5. The soil improving agent is ejected from the protrusion provided in the rotary shaft 4 and the supply hose provided in the stirring rod 10, and the drive motor 20 of the rotary drive unit 3 is the stirring blade 11 of the ground improvement device 5. And, the rotation speed of the auger head 15 can be changed steplessly, the torque or power of the drive motor 20 is detected, and when the excavation load of the ground improvement device 5 is less than the allowable torque of the drive motor 20, the drive motor 20 is used. The rotation of the drive motor 20 is automatically increased to the allowable output limit range of, and the excavation descent speed or the pull-out speed is automatically controlled within the range where the number of blade cuttings of the stirring blade 11 per unit depth can be maintained. Ground improvement device. In claim 3, a monitor for the operation unit of the base machine 1 is provided, and the monitor is used for recommended excavation according to the rotation speed of the drive motor 20, the rotation speed of the ground improvement device 5, and the rotation speed of the ground improvement device 5. A ground improvement device configured to display the descent) speed or the pull-out (rise) speed. In claim 3 or 4, the drive motor 20 of the rotary drive unit 3 is a ground improvement device composed of a hydraulic pump 35 and a hydraulic motor 36, or an inverter motor 37. In any one of claims 3 to 5, the soil conditioner supplied to the ground improvement apparatus 5 is composed of cement milk produced by kneading water and cement, and is a cement milk supply plant 40 for producing cement milk. And the ground improvement device 5 are configured to automatically control so as to change the discharge amount of cement milk of the supply plant 40 according to the ascending / descending speed of the ground improvement device 5.

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