JP3891378B2

JP3891378B2 - Self-propelled soil improvement machine

Info

Publication number: JP3891378B2
Application number: JP32446398A
Authority: JP
Inventors: 泰弘吉田; 洋清水
Original assignee: Komatsu Ltd
Current assignee: Komatsu Ltd
Priority date: 1998-10-30
Filing date: 1998-10-30
Publication date: 2007-03-14
Anticipated expiration: 2018-10-30
Also published as: JP2000136527A

Description

【０００１】
【発明の属する技術分野】
本発明は、建設現場等から出る残土をその場で土質改良剤と混ぜて良質土に改良する自走式土質改良機に関する。
【０００２】
【従来の技術】
従来の自走式土質改良機を、図１に示す自走式土質改良機を参照して説明する。車体フレーム１ａの後方端部には原料土を蓄える原料土ホッパ２が設置され、原料土ホッパ内には出口部分に掻出しロータ３が設置される。原料土ホッパ２の前方には改良剤を蓄える改良剤ホッパ４が設置され、改良剤ホッパ４内には改良剤フィーダ５が設置される。原料土ホッパ２と改良剤ホッパ４の下方には両方に旦って原料土コンベア６が設置され、原料土コンベア６の前方には原料土と改良剤とを混合して改良土を生成する混合機７が設置される。また、混合機７の下方から前方にかけて混合機７から排出される改良土の排出コンベア１１が設置される。また、車体フレーム１ａの前部側端にはオペレータが地上から前記各機器を操作可能な位置に車載操作盤１２が設置される。車載操作盤１２には、走行モードと土質改良作業を行う作業モードとを切り換える操作モード切換スイッチ、自走式土質改良機を全面的に停止させる全停止スイッチ、各機器の連動開始スイッチ、連動停止スイッチの他、原料土コンベア正転・逆転スイッチ、掻出しロータ正転・逆転スイッチ、及び改良剤フィーダ正転・逆転スイッチ等の各機器の単独操作用のスイッチが設置される。作業機モード時には、オペレータは地上から車載操作盤１２の前記スイッチを操作して前記各機器を作動させている。
【０００３】
【発明が解決しようとする課題】
しかしながら、従来の自走式土質改良機においては、清掃や土詰まり排除等の点検、整備の際、原料土コンベア６、改良剤フィーダ５、混合機７等の各機器の動きを見ながら操作する必要がある。ところが、１人で操作するときは原料土コンベア６や改良剤フィーダ５等の稼働状態がよく確認できる位置、例えば、原料土ホッパ２や改良剤ホッパ４の上部と、車載操作盤１２との間を行き来する必要があり、このため、操作が煩わしく、作業性が悪い。また、操作性を上げるためには、機器の動きが見える位置で１人が合図し、他の１人が地上で車載操作盤を操作するといった２人作業とならざるを得ず、土質改良作業能率が低下する問題があった。
【０００４】
本発明は上記従来技術の問題点に着目して、自走式土質改良機の点検、整備を１人作業で容易にでき、土質改良作業能率を向上させる自走式土質改良機を提供することを目的とする。
【０００５】
【課題を解決するための手段、作用及び効果】
上記目的を達成するために、本願第１の発明に係る自走式土質改良機は、原料土ホッパの原料土を搬送する原料土コンベアと、改良剤ホッパの改良剤を供給する改良剤フィーダと、原料土コンベアで搬送される原料土と改良剤フィーダから供給される改良剤とを解砕、混合して改良土とする混合機とを車体上に備える自走式土質改良機において、各機器の点検、整備時に必要な箇所で各機器を単独で遠隔操作可能とする遠隔操作手段を備え、各機器の点検、整備が可能な整備モードと、各機器の土質改良作業が可能な作業モードとを切り換える操作モード切換手段を設け、前記遠隔操作手段の操作スイッチの機能は整備モード時と作業モード時とで切り換えることを特徴とする。
【０００６】
第１の発明によれば、遠隔操作手段により自走式土質改良機の各機器の点検、整備時に必要な箇所、例えば、原料土ホッパや改良剤ホッパ等の位置で単独で遠隔操作可能となるので、車載操作盤と各機器の間の往復動作が不要となり、１人作業でも容易に点検、整備が可能となる。従って、自走式土質改良機の各機器の点検、整備作業能率が大幅に向上する。また、同じ遠隔操作盤を作業モードと整備モードとで兼用することにより、回路の共通化や部品点数の低減を行い、コスト低減や小型、軽量化を図れる。また、作業モードでは、自走式土質改良機のオペレータは離れた場所、例えば車載操作盤以外の位置でも各機器を操作できると共に、積込機のオペレータでも自走式土質改良機の各機器を遠隔操作できるため自走式土質改良機のオペレータが不在でも自走式土質改良機の各機器を遠隔操作できる。このため、土質改良作業能率が向上する。また、整備モードと作業モードとの切り換えで各モード間での誤操作を防止できる。
【０００７】
本願第２の発明に係る自走式土質改良機は、第１の発明において、遠隔操作可能な操作は、原料土コンベアの正転、逆転及び改良剤フィーダの正転、逆転の内、少なくとも１つであることを特徴とする。
【０００８】
第２の発明によれば、清掃、土詰まり排除等の点検、整備を特に多く必要とする原料土コンベアの正転・逆転及び改良剤フィーダの正転・逆転の内、少なくともいずれか１つを遠隔操作することにより点検、整備が容易となる。従って、自走式土質改良機の点検、整備作業能率が非常に向上する。
【００１３】
本願第３の発明に係る自走式土質改良機は、第１又は２の発明において、遠隔操作手段はラジコンにより信号を送受信することを特徴とする。
【００１４】
第３の発明によれば、遠隔操作手段はラジコンにより信号を送受信するので、有線に比べてケーブル処理が不要になる。これにより、途中で電線が絡むことがなく、また、遠隔操作手段を持って楽に移動することができるため操作性が一層向上する。
【００１５】
【発明の実施の形態】
本発明の実施形態を図１〜７により説明する。
図１は本発明に係る自走式土質改良機１０の一実施形態を示す側面図であり、装軌式車両１の車体フレーム１ａには次のような各装置が設置されて自走式土質改良機１０が構成される。車体フレーム１ａの後方端部には土質改良される原料土を貯蔵する原料土ホッパ２が設置される。原料土ホッパ２の下部には、車両の前後方向に開口部が設けられており、開口部の内方側端部近傍には掻出しロータ３が左右方向水平軸回りに回転自在に設置される。原料土ホッパ２の前方には改良剤を蓄える改良剤ホッパ４が設置される。原料土ホッパ２と改良剤ホッパ４の下方には両方に旦って原料土ホッパ２の原料土を車両前方に搬送する原料土コンベア６が設置される。改良剤ホッパ４の底面部には、改良剤ホッパ４から原料コンベア６上の原料土に改良剤を供給する改良剤フィーダ５が設置される。原料土コンベア６の前方には、内部に回転自在な切刃やハンマーを有する混合機７が設置される。混合機７は原料土と改良剤とを解砕、混合して改良土を生成し、下部の開口部から排出する。また、混合機７の前方には搭乗床８とエンジン室９とが順に設置され、これら混合機７、搭乗床８、エンジン室９の下方には混合機７から排出される改良土を車両前方側へ搬送する排出コンベア１１が設置される。これら掻出しロータ３、改良剤フィーダ５、原料土コンベア６、混合機７、排出コンベア１１は油圧モータ（詳細は後述する）により駆動されるようになっている。
【００１６】
搭乗床８の側方で車両の左右一端（ここでは右端側）にはオペレータが地上から操作可能な位置に自走式土質改良機１０の車載操作盤１２が設置される。この車載操作盤１２には、走行モードと作業モードと整備モードとを切り換える操作モード切換スイッチ１３及びラジコンスイッチ１４（共に図３参照）の他に、図示しない、自走式土質改良機１０の作業機器を全面的に停止させる全停止スイッチ、フィーダＯＮ（原料土と改良土の流れの下流側の機器から順に起動）・ＯＦＦ（原料土と改良土の流れの上流側の機器から順に停止）・逆転スイッチ、原料土コンベア正転・逆転スイッチ、掻出しロータ正転・逆転スイッチ、改良剤フィーダ正転・逆転スイッチ等が設けられる。また、車載操作盤１２のラジコンスイッチ１４をラジコン操作に切り換えると共に、操作モード切換スイッチ１３を作業モードあるいは整備モードに切り換えると、後述するような遠隔操作盤による土質改良作業、あるいは清掃や土詰まり等の点検、整備作業が可能となる。なお、本実施形態では装軌式車両１について説明するが、これに限るものではなくローダ等の装輪式車両であっても同様である。
【００１７】
図１の作動を説明する。原料土ホッパ２には自走式土質改良機１０の後方から図示しない積込機によって原料土が積載される。車載操作盤１２の操作モード切換スイッチ１３を作業モードに切り換えて、各スイッチを作業開始時には原料土と改良土の流れの下流側の機器から順に起動し、作業停止時には原料土と改良土の流れの上流側の機器から順に停止するように操作する。すると、原料土コンベア６上に載置される原料土ホッパ２内の原料土は掻出しロータ３と協働して前方に搬送され、改良剤フィーダ５から供給される改良剤ホッパ３内の改良剤と共に混合機７内に搬送される。混合機７内に搬送された原料土と改良剤とは解砕、混合されて改良土となり、混合機７から排出される改良土は排出コンベア１１によって自走式土質改良機１０外に排出されて埋戻し材として再利用される。
【００１８】
図２は遠隔操作手段３０を構成する遠隔操作盤（送信機）３１の一実施形態を示す図で、遠隔操作盤３１には第１スイッチＲ１〜第４スイッチＲ４のスイッチが４個配設される。各スイッチＲ１〜Ｒ４の下部には、図１に示す車載操作盤１２に配設される操作モード切換スイッチ１３（図３参照）により作業モードと整備モードとに切り換えられた場合の、各スイッチＲ１〜Ｒ４の操作に対応する自走式土質改良機１０の作動を説明する銘盤３１ａが取着される。即ち、土質改良作業中に使用頻度が高いフィーダ正転・停止・逆転、及び緊急性の高い全停止スイッチは、ラジコンスイッチ１４（図３参照）をラジコン操作に切り換えることにより遠隔操作も可能となっている。第１スイッチＲ１〜第４スイッチＲ４のいずれかを押すと、そのスイッチに対応する指令信号がラジコンにより、後述する受信器３２に送信されるようになっている。図３及び図５〜図７に示す遠隔制御回路３３Ａ，３３Ｂ，３３Ｃの各実施形態で説明するように、同一スイッチ操作でも作業モードと整備モードとによって自走式土質改良機１０の作動を異ならせて、チャンネル数を半分にして遠隔操作盤（ラジコン送信器）３１及び受信器３２の小型化及び軽量化を図っている。なお、遠隔操作盤３１と受信器３２と遠隔制御回路３３とにより構成される遠隔操作手段３０はラジコン式により説明するが、これに限るものではなく有線式であっても遠隔操作としては同様の作用効果が得られる。
【００１９】
図３，４により本発明に係る自走式土質改良機の制御回路について説明する。図３は遠隔制御回路の第１実施形態の説明図である。受信器３２は、図２に示す遠隔操作盤３１の第１スイッチＲ１〜第４スイッチＲ４のＯＮ操作に応じてオンする第１接点ＣＨ１〜第４接点ＣＨ４を備える。操作モード切換スイッチ１３の接点１３ａは作業モード接点、接点１３ｂは整備モード接点、接点１３ｃは走行モード（説明省略）接点を示す。遠隔制御回路３３Ａを構成する、並列接続されたリレーＲＹＡ〜ＲＹＤのコイルは、操作モード切換スイッチ１３の接点１３ｂを介して、車載バッテリ等の電源部に接続された電源ラインＶc に直列に接続される。リレーＲＹＡ〜ＲＹＤの各ノルマルクローズ接点（以後、ｂ接点と記す）Ａ１，Ｂ１，Ｃ１，Ｄ１と各ノルマルオープン接点（以後、ａ接点と記す）Ａ２，Ｂ２，Ｃ２，Ｄ２とは、それぞれ一端をコントローラ３４に並列に接続される。また、接点Ａ１とＡ２の他端は受信器３２の第１接点ＣＨ１の一端に接続され、接点Ｂ１とＢ２の他端は受信器３２の第２接点ＣＨ２の一端に接続され、接点Ｃ１とＣ２の他端は受信器３２の第３接点ＣＨ３の一端に接続され、接点Ｄ１とＤ２の他端は受信器３２の第４接点ＣＨ４の一端に接続される。また、受信器３２の各接点ＣＨ１〜ＣＨ４の他端は接地される。また、コントローラ３４は各機器を駆動する油圧回路部の各操作弁のソレノイド部に接続される。第１操作弁２２のソレノイド２２ａ，２２ｂと、第２操作弁２４のソレノイド２４ａ，２４ｂと、第３操作弁２６のソレノイド２６ａ，２６ｂとはコントローラに接続される。
【００２０】
図４は図１に示す自走式土質改良機１０の油圧駆動回路２０の一例を示す図である。なお、ここでは、本発明に係る改良剤フィーダ５を駆動する第１油圧モータ２３、掻出しロータ３を駆動する第２油圧モータ２５、及び原料土コンベア６を駆動する第３油圧モータ２７について説明する。その他の排出コンベアや混合機７を駆動する各油圧モータについては本発明に直接関係しないため省略する。エンジン室９内に設置されるエンジンにより駆動される油圧ポンプ２１は、第１操作弁２２を介して改良剤フィーダ５を駆動する第１油圧モータ２３に接続され、第２操作弁２４を介して掻出しロータ３を駆動する第２油圧モータ２５に接続され、第３操作弁２６を介して原料土コンベア６を駆動する第３油圧モータ２７に接続される。また、コントローラ３４は各機器を駆動するそれぞれの油圧モータの第１操作弁２２〜第３操作弁２６のソレノイド部に接続される。なお、油圧ポンプ２１の吐出管路は安全弁２８に接続されて油圧駆動回路２０を保護する。
【００２１】
図４の作動を説明する。第１操作弁２２のソレノイド２２ａを励磁するとａ位置となり改良剤フィーダ５は正転（搬送方向の回転）し、ソレノイド２２ｂを励磁するとｂ位置となり改良剤フィーダ５は逆転する。ソレノイド２２ａ，２２ｂを共に消磁するとｃ位置となり改良剤フィーダ５は停止する。同様に、第２操作弁２４のソレノイド２４ａを励磁するとａ位置となり掻出しロータ３は正転（搬送方向の回転）し、ソレノイド２４ｂを励磁するとｂ位置となり掻出しロータ３は逆転し、ソレノイド２４ａ，２４ｂを共に消磁するとｃ位置となり掻出しロータ３は停止する。また、第３操作弁２６のソレノイド２６ａを励磁するとａ位置となり原料土コンベア６は正転（搬送方向の回転）し、ソレノイド２６ｂを励磁するとｂ位置となり原料土コンベア６は逆転し、ソレノイド２６ａ，２６ｂを共に消磁するとｃ位置となり原料土コンベア６は停止する。
【００２２】
コントローラ３４は、次のように構成される。コントローラ３４に接点Ａ１及びＣＨ１を介して入力電流が流れると、第２操作弁２４のソレノイド２４ａと第３操作弁２６のソレノイド２６ａとを励磁し、接点Ｂ１及びＣＨ２を介して入力電流が流れると、第２操作弁２４の両ソレノイド２４ａ，２４ｂと第３操作弁２６の両ソレノイド２６ａ，２６ｂのいずれにも通電せず、接点Ｃ１及びＣＨ３を介して入力電流が流れると、第２操作弁２４のソレノイド２４ｂと第３操作弁２６のソレノイド２６ｂとを励磁し、接点Ｄ１及びＣＨ４を介して入力電流が流れると、走式土質改良機１０の全作業機の停止信号を出力する。また、コントローラ３４は、接点Ａ２を介して入力電流が流れると第１操作弁２２のソレノイド２２ａを励磁し、接点Ｂ２を介して入力電流が流れると第１操作弁２２のソレノイド２２ｂを励磁し、接点Ｃ２を介して入力電流が流れると第３操作弁２６のソレノイド２６ａを励磁し、接点Ｄ２を介して入力電流が流れると第３操作弁２６のソレノイド２６ｂを励磁する。
【００２３】
次に、第１実施形態による作用を説明する。ラジコンスイッチ１４をＯＮにすると、受信器３２の電源部に接続された電源ラインＶｃが入り、遠隔操作盤３１との送・受信が可能となる。土質改良作業時に操作モード切換スイッチ１３を作業モードに切り換えると、接点１３ａがオンし、遠隔制御回路３３ＡはリレーＲＹＡ〜ＲＹＤが消磁されてｂ接点Ａ１，Ｂ１，Ｃ１，Ｄ１がオンし、ａ点Ａ２，Ｂ２，Ｃ２，Ｄ２がオフする。この状態において、例えば、遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンしてコントローラ３４から接点Ａ１を介して入力電流が流れると、コントローラ３４は掻出しロータ３と原料土コンベア６とを正転制御する。また、遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンされてコントローラ３４から接点Ｂ１を介して入力電流が流れると、コントローラ３４は掻出しロータ３と原料土コンベア６とを停止制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンされてコントローラ３４から接点Ｃ１を介して入力電流が流れると、コントローラ３４は掻出しロータ３と原料土コンベア６とを逆転制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンされてコントローラ３４から接点Ｄ１を介して入力電流が流れると、コントローラ３４は自走式土質改良機１０の全作業機の駆動を停止制御する。
【００２４】
次に、点検、整備時にラジコンスイッチ１４をオンすると共に、操作モード切換スイッチ１３を整備モードに切り換えると接点１３ｂがオンし、遠隔制御回路３３ＡはリレーＲＹＡ〜ＲＹＤが励磁されてｂ接点Ａ１，Ｂ１，Ｃ１，Ｄ１がオフし、ａ接点Ａ２，Ｂ２，Ｃ２，Ｄ２がオンする。この状態において、遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンしてコントローラ３４から接点Ａ２を介して入力電流が流れ、コントローラ３４は改良剤フィーダ５を正転（改良剤供給方向の回転）制御する。遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンしてコントローラ３４から接点Ｂ２を介して入力電流が流れ、コントローラ３４は改良剤フィーダ５を逆転制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンしてコントローラ３４から接点Ｃ３を介して入力電流が流れ、コントローラ３４は原料土コンベア６を正転（原料土搬送方向の回転）制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンしてコントローラ３４から接点Ｄ２を介して入力電流が流れ、コントローラ３４は原料土コンベア６を逆転制御する。以上のように、遠隔操作盤３１の各スイッチＲ１〜Ｒ４の機能は作業モード（土質改良作業時のモード）時と整備モード（清掃や土詰まり点検時等のモード）時で、次表の通り切り換わる。
【００２５】
【表１】

【００２６】
表１中、フィーダとは原料土コンベア６と掻出しロータ３との連動を表す。
このように、４チャンネルのラジコンで８チャンネルに相当する機能を持たせている。すなわち、作業モード用と整備モード用のラジコン送信機をそれぞれ装備する必要がなくなり、また、ラジコンにチャンネルを追加する代わりに受信器からの信号入力回路にリレー等を用いることにより対応できるので、遠隔操作盤３１の小型化及び軽量化が図られるため、操作性が向上すると共にコストが低減する。
【００２７】
図５，６により遠隔操作手段３０を構成する遠隔制御回路３３の第２実施形態を説明する。図３に示す第１実施形態と同様の構成要素には同一符合を付してその説明を省略する。図５に示すように、遠隔制御回路３３Ｂを構成するリレーＲＹＥは操作モード切換スイッチ１３の接点１３ｂを介して電源ラインＶｃに直列に接続される。遠隔制御回路３３Ｂを構成するリレーＲＹａ〜ＲＹｄのコイルの一端は共に並列接続されると共に、リレーＲＹＥのｂ接点Ｅ１を介して接地され、他端はそれぞれ受信器３２の各接点ＣＨ１〜ＣＨ４を介して電源ラインＶｃに接続される。また、遠隔制御回路３３Ｂを構成するリレーＲＹｅ〜ＲＹｈのコイルの一端は共に並列接続されると共に、リレーＲＹＥのａ接点Ｅ２を介して接地され、他端はそれぞれ受信器３２の各接点ＣＨ１〜ＣＨ４を介して電源部に接続された電源ラインＶｃに接続される。また、図６に示すように、図５の各リレーＲＹａ〜ＲＹｈのコイルに対応するａ接の各接点Ａ３〜Ｈ３は、一端をそれぞれコントローラ３４に接続され、他端は接地される。なお、油圧駆動回路２０は、図４と同様である。
【００２８】
また、コントローラ３４は次のように構成される。コントローラ３４からリレーＲＹａのａ接点Ａ３を介して入力電流が流れると第２操作弁２４のソレノイド２４ａと第３操作弁２６のソレノイド２６ａとを励磁し、リレーＲＹｂのａ接点Ｂ３を介して入力電流が流れると第２操作弁２４の両ソレノイド２４ａ，２４ｂと第３操作弁２６の両ソレノイド２６ａ，２６ｂのいずれにも通電せず、リレーＲＹｃのａ接点Ｃ３を介して入力電流が流れると第２操作弁２４のソレノイド２４ｂと第３操作弁２６のソレノイド２６ｂを励磁し、リレーＲＹｄのａ接点Ｄ３を介して入力電流が流れると自走式土質改良機１０の全作業機の駆動を停止させる。また、ａ接点Ｅ３を介して入力電流が流れると第１操作弁２２のソレノイド２２ａを励磁し、ａ接点Ｆ３を介して入力電流が流れると第１操作弁２２のソレノイド２２ｂを励磁し、ａ接点Ｇ３を介して入力電流が流れると第３操作弁２６のソレノイド２６ａを励磁し、ａ接点Ｈ３を介して入力電流が流れると第３操作弁２６のソレノイド２６ｂを励磁する。
【００２９】
図５，６の作用を説明する。土質改良作業時に操作モード切換スイッチ１３を作業モードに切り換えて接点１３ａをオンすると共に、ラジコンスイッチ１４をオンすると、遠隔制御回路３３ＢはリレーＲＹＥが消磁されてｂ接点Ｅ１がオンし、ａ接点Ｅ２がオフする。このため、遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンするためリレーＲＹａが励磁されて接点ａがオンされ、接点ａを介して入力電流が流れると、コントローラ３４は掻出しロータ３と原料土コンベア６とを正転制御する。遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンするためリレーＲＹｂが励磁されて接点ｂがオンされ、接点ｂを介して入力電流が流れると、コントローラ３４は掻出しロータ３と原料土コンベア６とを停止制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンするためリレーＲＹｃが励磁されて接点ｃがオンされ、接点ｃを介して入力電流が流れると、コントローラ３４は原料土コンベア６と掻出しロータ３を逆転制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンするためリレーＲＹｄが励磁されて接点ｄがオンされ、接点ｄを介して入力電流が流れると、コントローラ３４は自走式土質改良機１０の全作業機の駆動を停止制御する。
【００３０】
次に、点検、整備時にモード切換スイッチ１３を整備モードに切り換えて接点１３ｂをオンすると共に、ラジコンスイッチ１４をオンすると、遠隔制御回路３３ＢはリレーＲＹＥが励磁されてｂ接点Ｅ１がオフし、ａ接点Ｅ２がオンする。このため、遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンするためリレーＲＹｅが励磁されて接点Ｅ３がオンされ、接点Ｅ３を介して入力電流が流れると、コントローラ３４は改良剤フィーダ５を正転（改良剤供給方向の回転）制御する。遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンするためリレーＲＹｆが励磁されて接点Ｆ３がオンされ、接点Ｆ３を介して入力電流が流れると、コントローラ３４は改良剤フィーダ５を逆転制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンするためＲＹｇが励磁されて接点Ｇ３がオンされ、接点Ｇ３を介して入力電流が流れると、コントローラ３４は原料土コンベア６を正転（原料土搬送方向の回転）制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンするためリレーＲＹｈが励磁されて接点Ｈ３がオンされ、接点Ｈ３を介して入力電流が流れると、コントローラ３４は原料土コンベア６を逆転制御する。
【００３１】
図７により遠隔操作手段３０を構成する遠隔制御回路３３の第３実施形態を説明する。図４に示す第１実施形態と同様な部分には同一符合を付してその説明を省略する。リレーＲＹＱのコイルの一端は操作モード切換スイッチ１３の接点１３ｂを介して電源ラインＶｃに直列に接続されると共に、コントローラ３４に入力され（整備モード信号Ｍ）、他端は接地される。遠隔制御回路３３Ｃを構成する並列接続のリレーＲＹＳ〜ＲＹＶのコイルの一端はそれぞれ、受信器３２の各接点ＣＨ１〜ＣＨ４を介して接地されると共に、コントローラ３４に接続される。リレーＲＹＳ〜ＲＹＶのコイルの他端はそれぞれ、互いに接続される共に、リレーＲＹＱのａ接の接点Ｑを介して電源ラインＶｃに接続される。また、リレーＲＹＳ〜ＲＹＶのそれぞれのａ接の接点Ｓ〜Ｖの一端はコントローラ３４に接続され、他端は接地される。なお、油圧駆動回路２０は、図４と同様である。
【００３２】
そして、コントローラ３４は次のように構成される。操作モード切換スイッチ１３の整備モードが選択され、接点１３ｂがオンすると、リレーＲＹＱのコイルが励磁されると共に、コントローラ３４に整備モード信号Ｍが入力される。コントローラ３４はこの整備モード信号Ｍを入力すると受信器３２の各接点ＣＨ１〜ＣＨ４を介して入力する信号を無視する。また、整備モード信号ＭがＯＦＦのとき、コントローラ３４は、第１接点ＣＨ１を介して入力電流が流れると、第２操作弁２４のソレノイド２４ａと第３操作弁２６のソレノイド２６ａとを励磁し、第２接点ＣＨ２を介して入力電流が流れると、第２操作弁２４の両ソレノイド２４ａ，２４ｂと第３操作弁２６の両ソレノイド２６ａ，２６ｂのいずれにも通電せず、第３接点ＣＨ３を介して入力電流が流れると、第２操作弁２４のソレノイド２４ｂと第３操作弁２６のソレノイド２６ｂとが励磁し、第４接点ＣＨ４を介して入力電流が流れると、自走式土質改良機１０の全作業機の駆動を停止させる。また、接点Ｓを介して入力電流が流れると第１操作弁２２のソレノイド２２ａを励磁し、接点Ｔを介して入力電流が流れると第１操作弁２２のソレノイド２２ｂを励磁し、接点Ｕを介して入力電流が流れると第３操作弁２６のソレノイド２６ａを励磁し、接点Ｖを介して入力電流が流れると第３操作弁２６のソレノイド２６ｂを励磁する。
【００３３】
図７の作用を説明する。土質改良作業時に操作モード切換スイッチ１３を作業モードに切り換えて作業モード接点１３ａをオンすると、遠隔制御回路３３ＣはリレーＲＹＱが消磁されて接点Ｑがオフすると共に、整備モード信号Ｍがオフする。このため、ラジコンスイッチ１４をオンして遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンしてコントローラ３４から第１接点ＣＨ１を介して入力電流が流れ、コントローラ３４は掻出しロータ３と原料土コンベア６とを正転制御する。遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンしてコントローラ３４から第２接点ＣＨ２を介して入力電流が流れ、コントローラ３４は掻出しロータ３と原料土コンベア６とを停止制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンしてコントローラ３４から第３接点ＣＨ３を介して入力電流が流れ、コントローラ３４は掻出しロータ３と原料土コンベア６とを逆転制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンしてコントローラ３４から第４接点ＣＨ４を介して入力電流が流れ、コントローラ３４は自走式土質改良機１０の全作業機の駆動を停止制御する。
【００３４】
次に、点検、整備時に操作モード切換スイッチ１３を整備モードに切り換えて接点１３ｂをオンすると、遠隔制御回路３３ＣはリレーＲＹＱが励磁されて接点Ｑがオンする。このときには、操作モード切換スイッチ１３からコントローラ３４に整備モード信号Ｍが入力され、受信器３２の第１接点ＣＨ１〜第４接点ＣＨ４を介して入力する信号は無視される。ラジコンスイッチ１４をオンして遠隔操作盤３１の第１スイッチＲ１をオンすると、受信器３２の第１接点ＣＨ１がオンするためリレーＲＹＳが励磁されて接点Ｓがオンし、コントローラ３４から接点Ｓを介して入力電流が流れ、コントローラ３４は改良剤フィーダ５を正転（改良剤供給方向の回転）制御する。遠隔操作盤３１の第２スイッチＲ２をオンすると、受信器３２の第２接点ＣＨ２がオンするためリレーＲＹＴが励磁されて接点Ｔがオンし、コントローラ３４から接点Ｔを介して入力電流が流れ、コントローラ３４は改良剤フィーダ５を逆転制御する。遠隔操作盤３１の第３スイッチＲ３をオンすると、受信器３２の第３接点ＣＨ３がオンするためリレーＲＹＵが励磁されて接点Ｕがオンし、コントローラ３４から接点Ｕを介して入力電流が流れ、コントローラ３４は原料土コンベア６を正転（原料土搬送方向の回転）制御する。遠隔操作盤３１の第４スイッチＲ４をオンすると、受信器３２の第４接点ＣＨ４がオンするためリレーＲＹＶが励磁されて接点Ｖがオンし、コントローラ３４から接点Ｖを介して入力電流が流れ、コントローラ３４は原料土コンベア６を逆転制御する。
【００３５】
以上、本発明によると、自走式土質改良機の各機器の清掃、土詰まり排除等の点検、整備時に、点検、整備を必要とする機器の側で例えば、原料土ホッパや改良剤ホッパの中が見える位置で各機器を単独で遠隔操作することにより、車載操作盤と各機器の間の往復動作が不要となり、１人作業でも容易に点検、整備が可能となる。従って、点検、整備作業能率が大幅に向上する。
【図面の簡単な説明】
【図１】本発明に係る自走式土質改良機の一実施形態を示す側面図である。
【図２】本発明に係る遠隔操作盤の一実施形態を示す図で、（Ａ）は本体、（Ｂ）操作説明図である。
【図３】本発明に係る遠隔制御回路の第１実施形態を示す図である。
【図４】本発明に係る油圧駆動回路の一例を示す図である。
【図５】本発明に係る遠隔制御回路の第２実施形態（第１部分）を示す図である。
【図６】本発明に係る遠隔制御回路の第２実施形態（第２部分）を示す図である。
【図７】本発明に係る遠隔制御回路の第３実施形態を示す図である。
【符号の説明】
１…装軌式車両、１ａ…車体フレーム、２…原料土ホッパ、３…掻出しロータ、４…改良剤ホッパ、５…改良剤フィーダ、６…原料土コンベア、７…混合機、８…搭乗床、９…エンジン室、１０…自走式土質改良機、１１…排出コンベア、１２…車載操作盤、１３…操作モード切換スイッチ、１４、ラジコンスイッチ、２０…油圧駆動回路、２１…油圧ポンプ、２２…第１操作弁、２３…第１油圧モータ、２４…第２操作弁、２５…第２油圧モータ、２６…第３操作弁、２７…第３油圧モータ、３０…遠隔操作手段、３１…遠隔操作盤、３２…受信器、３３，３３Ａ，３３Ｂ，３３Ｃ…遠隔制御回路、３４…コントローラ、Ｒ１…第１スイッチ、Ｒ２…第２スイッチ、Ｒ３…第３スイッチ、Ｒ４…第４スイッチ。[0001]
BACKGROUND OF THE INVENTION
  The present invention is a self-propelled soil that improves the quality of soil by mixing residual soil from the construction site with a soil conditioner on the spot.Improved machineAbout.
[0002]
[Prior art]
A conventional self-propelled soil conditioner will be described with reference to the self-propelled soil conditioner shown in FIG. A raw material soil hopper 2 for storing raw material soil is installed at the rear end of the body frame 1a, and a scraping rotor 3 is installed at the outlet portion in the raw material soil hopper. An improver hopper 4 for storing an improver is installed in front of the raw soil hopper 2, and an improver feeder 5 is installed in the improver hopper 4. Below the raw material soil hopper 2 and the improving agent hopper 4, a raw material soil conveyor 6 is installed on both sides, and in the front of the raw material soil conveyor 6, the raw material soil and the improving agent are mixed to produce improved soil. Machine 7 is installed. In addition, a discharge conveyor 11 for improved soil discharged from the mixer 7 from below to the front of the mixer 7 is installed. An in-vehicle operation panel 12 is installed at a position where the operator can operate each device from the ground at the front side end of the body frame 1a. The in-vehicle operation panel 12 includes an operation mode changeover switch for switching between a running mode and a work mode for performing soil improvement work, a full stop switch for stopping the self-propelled soil improvement machine completely, a linked start switch for each device, a linked stop In addition to the switches, switches for independent operation of each device such as the raw material conveyor forward / reverse switch, scraping rotor forward / reverse switch, and improver feeder forward / reverse switch are installed. In the work machine mode, the operator operates the switches by operating the switches on the vehicle-mounted operation panel 12 from the ground.
[0003]
[Problems to be solved by the invention]
However, the conventional self-propelled soil improvement machine is operated while checking the movement of each device such as the raw soil conveyor 6, the improver feeder 5, the mixer 7 and the like during inspection and maintenance such as cleaning and removal of clogging. There is a need. However, when operating alone, a position where the operating state of the raw material soil conveyor 6 and the improver feeder 5 can be confirmed well, for example, between the upper portion of the raw material soil hopper 2 and the improver hopper 4 and the in-vehicle operation panel 12. Therefore, the operation is troublesome and the workability is poor. In addition, in order to improve operability, one person must signal at a position where the movement of the equipment can be seen, and the other person must operate the on-board control panel on the ground. There was a problem that efficiency decreased.
[0004]
  The present invention pays attention to the above-mentioned problems of the prior art, and the self-propelled soil improvement machine can be easily inspected and maintained by a single person to improve the soil improvement work efficiency.Improved machineThe purpose is to provide.
[0005]
[Means, actions and effects for solving the problems]
  In order to achieve the above object, the self-propelled soil according to the first invention of the present applicationImproved machineThe material soil conveyor for conveying the material soil of the material soil hopper, the improver feeder for supplying the improver for the improver hopper, the material soil conveyed by the material soil conveyor and the improver supplied from the improver feeder A self-propelled soil with a mixer that breaks down and mixes to improve soilImproved machineIn the inspection and maintenance of each deviceInRemotely control each device independently where neededAn operation mode switching means for switching between a maintenance mode in which inspection and maintenance of each device can be performed and a work mode in which soil improvement work for each device can be performed is provided, and the operation switch of the remote operation means Switch between maintenance mode and work modeIt is characterized by that.
[0006]
  According to the first invention,By remote control meansSelf-propelled soil improvement machineofDuring inspection and maintenanceNecessary placeFor example,Raw material hopper and improver hopperEtc.Remote control by itselfBecause it becomes possibleThe reciprocating operation between the in-vehicle operation panel and each device is unnecessary, and the inspection and maintenance can be easily performed even by one person work. Therefore,Self-propelled soil improvement machineInspection and maintenance work efficiency is greatly improved.In addition, by using the same remote control panel for both the work mode and the maintenance mode, the circuit can be shared and the number of parts can be reduced, thereby reducing cost, size, and weight. In the work mode, the operator of the self-propelled soil conditioner can operate each device at a remote location, for example, at a position other than the in-vehicle operation panel. Since it can be operated remotely, it is possible to remotely control each device of the self-propelled soil improvement machine even if there is no operator of the self-propelled soil improvement machine. For this reason, soil improvement work efficiency improves. In addition, switching between the maintenance mode and the work mode can prevent erroneous operation between the modes.
[0007]
  Self-propelled soil according to the second invention of the present applicationImproved machineIn the first invention,RemoteoperationPossible operationsIs characterized in that it is at least one of normal rotation and reverse rotation of the raw soil conveyor and normal rotation and reverse rotation of the improver feeder.
[0008]
  According to the second invention, normal rotation / reverse rotation of the raw material soil conveyor that requires particularly a lot of inspection and maintenance such as cleaning, clogging, etc.as well asInspection and maintenance are facilitated by remotely operating at least one of the forward and reverse rotations of the improver feeder. Therefore, the inspection and maintenance work efficiency of the self-propelled soil improvement machine is greatly improved.
[0013]
  No. of this application3Self-propelled soil according to the inventionImproved machineThe second1 or 2In the present invention, the remote control means transmits and receives signals using a radio control.
[0014]
  First3According to this invention, since the remote control means transmits and receives signals by the radio control, cable processing becomes unnecessary as compared with the wired method. Thereby, the electric wire does not get tangled in the middle, and the operability can be further improved since it can be easily moved with the remote control means.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a side view showing an embodiment of a self-propelled soil improvement machine 10 according to the present invention, and the following devices are installed on a body frame 1a of a tracked vehicle 1 to provide a self-propelled soil quality. An improved machine 10 is configured. A material soil hopper 2 for storing material soil whose soil quality is improved is installed at the rear end of the body frame 1a. An opening is provided in the lower part of the raw soil hopper 2 in the front-rear direction of the vehicle, and a scraping rotor 3 is installed in the vicinity of the inner side end of the opening so as to be rotatable about a horizontal axis in the left-right direction. . An improver hopper 4 for storing an improver is installed in front of the raw soil hopper 2. Below both the raw material soil hopper 2 and the improver hopper 4, a raw material soil conveyor 6 is installed for conveying the raw material soil of the raw material soil hopper 2 forward of the vehicle. On the bottom surface of the improver hopper 4, an improver feeder 5 that supplies the improver from the improver hopper 4 to the raw material soil on the raw material conveyor 6 is installed. In front of the raw soil conveyor 6, a mixer 7 having a rotatable cutting blade and hammer inside is installed. The mixer 7 crushes and mixes the raw material soil and the improving agent to generate improved soil, which is discharged from the lower opening. In addition, a boarding floor 8 and an engine room 9 are installed in front of the mixer 7, and improved soil discharged from the mixer 7 is placed under the mixer 7, the boarding floor 8, and the engine room 9 in front of the vehicle. A discharge conveyor 11 for conveying to the side is installed. The scraping rotor 3, the improver feeder 5, the raw soil conveyor 6, the mixer 7, and the discharge conveyor 11 are driven by a hydraulic motor (details will be described later).
[0016]
On-board operation panel 12 of self-propelled soil conditioner 10 is installed at a position where the operator can operate from the ground at the left and right ends (here, the right end side) of the vehicle on the side of boarding floor 8. The in-vehicle operation panel 12 includes an operation mode changeover switch 13 and a radio control switch 14 (both refer to FIG. 3) for switching between a traveling mode, an operation mode, and a maintenance mode. All stop switch to stop the entire equipment, Feeder ON (starts in order from the equipment on the downstream side of the flow of raw soil and improved soil), OFF (stops in order from the equipment on the upstream side of the flow of raw material and improved soil), A reverse rotation switch, a material soil conveyor forward / reverse switch, a scraping rotor forward / reverse switch, a improver feeder forward / reverse switch, etc. are provided. Further, when the radio control switch 14 of the in-vehicle operation panel 12 is switched to the radio control operation and the operation mode switching switch 13 is switched to the work mode or the maintenance mode, soil improvement work by a remote control panel as described later, cleaning, clogging, etc. Inspection and maintenance work becomes possible. In addition, although this embodiment demonstrates the tracked vehicle 1, it is not restricted to this, It is the same also with wheeled vehicles, such as a loader.
[0017]
The operation of FIG. 1 will be described. The raw material soil hopper 2 is loaded with the raw material soil from behind the self-propelled soil improvement machine 10 by a loader (not shown). The operation mode changeover switch 13 of the vehicle-mounted operation panel 12 is switched to the work mode, and each switch is started in order from the equipment on the downstream side of the flow of the raw material soil and the improved soil at the start of the work, and the flow of the raw material soil and the improved soil when the operation is stopped. Operate to stop in order from the upstream equipment. Then, the material soil in the material soil hopper 2 placed on the material soil conveyor 6 is conveyed forward in cooperation with the scraping rotor 3, and the improvement in the improver hopper 3 supplied from the improver feeder 5. It is conveyed in the mixer 7 together with the agent. The raw material soil and the improving agent conveyed into the mixer 7 are crushed and mixed to become improved soil. The improved soil discharged from the mixer 7 is discharged out of the self-propelled soil improver 10 by the discharge conveyor 11. And reused as backfill material.
[0018]
FIG. 2 is a view showing an embodiment of a remote control panel (transmitter) 31 constituting the remote control means 30. The remote control panel 31 is provided with four switches of the first switch R1 to the fourth switch R4. The Below each switch R1 to R4, each switch R1 when it is switched between the work mode and the maintenance mode by the operation mode switching switch 13 (see FIG. 3) disposed on the vehicle-mounted operation panel 12 shown in FIG. A name plate 31a for explaining the operation of the self-propelled soil improvement machine 10 corresponding to the operation of ~ R4 is attached. That is, the feeder normal rotation / stop / reverse and urgent all stop switches that are frequently used during soil improvement work can be operated remotely by switching the radio control switch 14 (see FIG. 3) to radio control operation. ing. When one of the first switch R1 to the fourth switch R4 is pressed, a command signal corresponding to the switch is transmitted to the receiver 32 described later by the radio control. As described in each embodiment of the

remote control circuits

33A, 33B, and 33C shown in FIGS. 3 and 5 to 7, even if the same switch is operated, the operation of the self-propelled soil conditioner 10 differs depending on the work mode and the maintenance mode. Thus, the number of channels is halved to reduce the size and weight of the remote control panel (radio control transmitter) 31 and the receiver 32. The remote operation means 30 constituted by the remote operation panel 31, the receiver 32, and the remote control circuit 33 will be described using a radio control type, but the present invention is not limited to this. The effect is obtained.
[0019]
The control circuit of the self-propelled soil improvement machine according to the present invention will be described with reference to FIGS. FIG. 3 is an explanatory diagram of the first embodiment of the remote control circuit. The receiver 32 includes a first contact CH1 to a fourth contact CH4 that are turned on in response to an ON operation of the first switch R1 to the fourth switch R4 of the remote control panel 31 shown in FIG. The contact 13a of the operation mode changeover switch 13 is a work mode contact, the contact 13b is a maintenance mode contact, and the contact 13c is a travel mode (not shown) contact. The coils of the relays RYA to RYD connected in parallel and constituting the remote control circuit 33A are connected in series to a power supply line Vc connected to a power supply unit such as an in-vehicle battery via the contact point 13b of the operation mode changeover switch 13. The Each normally closed contact (hereinafter referred to as b contact) A1, B1, C1, D1 and each normally open contact (hereinafter referred to as a contact) A2, B2, C2, D2 of relays RYA to RYD has one end respectively. The controller 34 is connected in parallel. The other ends of the contacts A1 and A2 are connected to one end of the first contact CH1 of the receiver 32, the other ends of the contacts B1 and B2 are connected to one end of the second contact CH2 of the receiver 32, and the contacts C1 and C2 Is connected to one end of the third contact CH3 of the receiver 32, and the other ends of the contacts D1 and D2 are connected to one end of the fourth contact CH4 of the receiver 32. The other ends of the contacts CH1 to CH4 of the receiver 32 are grounded. Moreover, the controller 34 is connected to the solenoid part of each operation valve of the hydraulic circuit part which drives each apparatus. The

solenoids

22a and 22b of the first operation valve 22, the

solenoids

24a and 24b of the second operation valve 24, and the

solenoids

26a and 26b of the third operation valve 26 are connected to a controller.
[0020]
FIG. 4 is a diagram showing an example of the hydraulic drive circuit 20 of the self-propelled soil improvement machine 10 shown in FIG. Here, the first hydraulic motor 23 that drives the improver feeder 5 according to the present invention, the second hydraulic motor 25 that drives the scraping rotor 3, and the third hydraulic motor 27 that drives the raw soil conveyor 6 will be described. To do. The other discharge conveyors and the hydraulic motors that drive the mixer 7 are not directly related to the present invention, and are therefore omitted. A hydraulic pump 21 driven by an engine installed in the engine chamber 9 is connected to a first hydraulic motor 23 that drives the improver feeder 5 via a first operation valve 22, and via a second operation valve 24. It is connected to a second hydraulic motor 25 that drives the scraping rotor 3, and is connected to a third hydraulic motor 27 that drives the raw soil conveyor 6 via a third operation valve 26. Moreover, the controller 34 is connected to the solenoid part of the 1st operation valve 22-the 3rd operation valve 26 of each hydraulic motor which drives each apparatus. The discharge line of the hydraulic pump 21 is connected to a safety valve 28 to protect the hydraulic drive circuit 20.
[0021]
The operation of FIG. 4 will be described. When the solenoid 22a of the first operating valve 22 is energized, the position of the improving agent feeder 5 is rotated forward (rotation in the conveying direction), and when the solenoid 22b is excited, the position of the improving agent feeder 5 is reversed. When both

solenoids

22a and 22b are demagnetized, the position of the improver feeder 5 is stopped. Similarly, when the solenoid 24a of the second operation valve 24 is energized, the position of the scraping rotor 3 is rotated forward (rotation in the conveying direction), and when the solenoid 24b is excited, the position of the scraping rotor 3 is reversed and the scraping rotor 3 is rotated reversely. , 24b are demagnetized, the position c is reached, and the scraping rotor 3 stops. When the solenoid 26a of the third operation valve 26 is energized, the position of the material soil conveyor 6 is rotated forward (rotation in the conveying direction), and when the solenoid 26b is excited, the position of the material soil conveyor 6 is reversed and the material soil conveyor 6 is rotated in reverse. If both 26b are demagnetized, it will be in position c and the raw soil conveyor 6 will stop.
[0022]
The controller 34 is configured as follows. When the input current flows to the controller 34 via the contacts A1 and CH1, the solenoid 24a of the second operation valve 24 and the solenoid 26a of the third operation valve 26 are excited, and the input current flows via the contacts B1 and CH2. When the

solenoids

24a and 24b of the second operating valve 24 and the

solenoids

26a and 26b of the third operating valve 26 are not energized and an input current flows through the contacts C1 and CH3, the second operating valve 24 When the solenoid 24b and the solenoid 26b of the third operation valve 26 are excited and an input current flows through the contacts D1 and CH4, a stop signal for all the work machines of the traveling soil conditioner 10 is output. The controller 34 excites the solenoid 22a of the first operating valve 22 when an input current flows through the contact A2, and excites the solenoid 22b of the first operating valve 22 when an input current flows through the contact B2. When an input current flows through the contact C2, the solenoid 26a of the third operation valve 26 is excited, and when an input current flows through the contact D2, the solenoid 26b of the third operation valve 26 is excited.
[0023]
Next, the operation according to the first embodiment will be described. When the radio control switch 14 is turned ON, the power supply line Vc connected to the power supply unit of the receiver 32 enters, and transmission / reception with the remote control panel 31 becomes possible. When the operation mode change-over switch 13 is switched to the work mode during soil improvement work, the contact 13a is turned on, the remote control circuit 33A is demagnetized by the relays RYA to RYD, and the b contacts A1, B1, C1, and D1 are turned on. A2, B2, C2, and D2 are turned off. In this state, for example, when the first switch R1 of the remote operation panel 31 is turned on, when the first contact CH1 of the receiver 32 is turned on and an input current flows from the controller 34 via the contact A1, the controller 34 scrapes. The rotor 3 and the raw soil conveyor 6 are controlled to rotate forward. When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on, and when the input current flows from the controller 34 via the contact B1, the controller 34 detects the scraping rotor 3 and the raw material. The earth conveyor 6 is stopped and controlled. When the third switch R3 of the remote control panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on and when an input current flows from the controller 34 via the contact C1, the controller 34 detects the scraping rotor 3 and the raw soil conveyor. 6 and reverse control. When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on, and when the input current flows from the controller 34 via the contact D1, the controller 34 is connected to the self-propelled soil conditioner 10. Stops driving of all work machines.
[0024]
Next, when the radio control switch 14 is turned on at the time of inspection and maintenance and the operation mode changeover switch 13 is switched to the maintenance mode, the contact 13b is turned on, and the remote control circuit 33A activates the relays RYA to RYD and the b contacts A1, B1. , C1, D1 are turned off, and the a contacts A2, B2, C2, D2 are turned on. In this state, when the first switch R1 of the remote control panel 31 is turned on, the first contact CH1 of the receiver 32 is turned on, and the input current flows from the controller 34 via the contact A2, and the controller 34 turns the improver feeder 5 on. Controls forward rotation (rotation in the direction in which the improving agent is supplied). When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on and an input current flows from the controller 34 via the contact B2, and the controller 34 controls the improving agent feeder 5 in reverse. When the third switch R3 of the remote control panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on, and an input current flows from the controller 34 via the contact C3. Rotation in the soil transport direction). When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on and an input current flows from the controller 34 via the contact D2, and the controller 34 controls the raw soil conveyor 6 in reverse. As described above, the functions of the switches R1 to R4 of the remote operation panel 31 are as follows in the work mode (mode during soil improvement work) and maintenance mode (mode during cleaning and clogging inspection). Switch.
[0025]
[Table 1]

[0026]
In Table 1, the feeder represents the interlocking between the raw soil conveyor 6 and the scraping rotor 3.
Thus, a 4-channel radio control is provided with a function corresponding to 8 channels. In other words, it is not necessary to equip the radio control transmitters for the work mode and the maintenance mode, respectively, and it is possible to cope by using a relay or the like in the signal input circuit from the receiver instead of adding a channel to the radio control. Since the operation panel 31 can be reduced in size and weight, the operability is improved and the cost is reduced.
[0027]
A second embodiment of the remote control circuit 33 constituting the remote control means 30 will be described with reference to FIGS. Constituent elements similar to those in the first embodiment shown in FIG. As shown in FIG. 5, the relay RYE constituting the remote control circuit 33 </ b> B is connected in series to the power supply line Vc via the contact point 13 b of the operation mode changeover switch 13. One ends of the coils of the relays RYa to RYd constituting the remote control circuit 33B are connected in parallel and grounded via the b contact E1 of the relay RYE, and the other ends are connected to the contacts CH1 to CH4 of the receiver 32, respectively. To the power line Vc. One end of the coils of the relays RYe to RYh constituting the remote control circuit 33B is connected in parallel and grounded via the a contact E2 of the relay RYE, and the other end is connected to each contact CH1 to CH4 of the receiver 32, respectively. To the power supply line Vc connected to the power supply unit. Further, as shown in FIG. 6, each of the a-contacts A3 to H3 corresponding to the coils of the relays RYa to RYh in FIG. 5 has one end connected to the controller 34 and the other end grounded. The hydraulic drive circuit 20 is the same as that shown in FIG.
[0028]
The controller 34 is configured as follows. When an input current flows from the controller 34 via the a contact A3 of the relay RYa, the solenoid 24a of the second operation valve 24 and the solenoid 26a of the third operation valve 26 are excited, and the input current passes through the a contact B3 of the relay RYb. Current flows, neither the

solenoids

24a, 24b of the second operating valve 24 nor the

solenoids

26a, 26b of the third operating valve 26 are energized, and the second current flows when the input current flows through the a contact C3 of the relay RYc. When the solenoid 24b of the operation valve 24 and the solenoid 26b of the third operation valve 26 are excited and an input current flows through the a contact D3 of the relay RYd, the drive of all the work machines of the self-propelled soil improvement machine 10 is stopped. Further, when an input current flows through the a contact E3, the solenoid 22a of the first operation valve 22 is excited, and when an input current flows through the a contact F3, the solenoid 22b of the first operation valve 22 is excited, and the a contact When an input current flows through G3, the solenoid 26a of the third operation valve 26 is excited, and when an input current flows through the a contact H3, the solenoid 26b of the third operation valve 26 is excited.
[0029]
The operation of FIGS. 5 and 6 will be described. When the operation mode changeover switch 13 is switched to the work mode during the soil improvement work and the contact 13a is turned on, and the radio control switch 14 is turned on, the remote control circuit 33B turns off the relay RYE, turns on the b contact E1, and turns on the a contact E2. Turns off. Therefore, when the first switch R1 of the remote operation panel 31 is turned on, the first contact CH1 of the receiver 32 is turned on, so that the relay RYa is excited and the contact a is turned on, and an input current flows through the contact a. The controller 34 controls forward rotation of the scraping rotor 3 and the raw soil conveyor 6. When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on, so that the relay RYb is excited and the contact b is turned on. When an input current flows through the contact b, the controller 34 Stops and controls the scraping rotor 3 and the raw soil conveyor 6. When the third switch R3 of the remote control panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on, so that the relay RYc is excited and the contact c is turned on. When an input current flows through the contact c, the controller 34 Controls reverse rotation of the raw soil conveyor 6 and the scraping rotor 3. When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on, so that the relay RYd is excited and the contact d is turned on. When an input current flows through the contact d, the controller 34 Controls stop of all the working machines of the self-propelled soil improvement machine 10.
[0030]
Next, at the time of inspection and maintenance, the mode changeover switch 13 is switched to the maintenance mode to turn on the contact 13b, and when the radio control switch 14 is turned on, the remote control circuit 33B turns on the relay RYE and turns off the b contact E1. The contact E2 is turned on. Therefore, when the first switch R1 of the remote operation panel 31 is turned on, the first contact CH1 of the receiver 32 is turned on, so that the relay RYe is excited and the contact E3 is turned on, and an input current flows through the contact E3. The controller 34 controls the forward rotation of the improving agent feeder 5 (rotation in the improving agent supply direction). When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on, so that the relay RYf is excited and the contact F3 is turned on, and when an input current flows through the contact F3, the controller 34 Controls reverse of the improver feeder 5. When the third switch R3 of the remote control panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on so that RYg is excited and the contact G3 is turned on. When an input current flows through the contact G3, the controller 34 The material soil conveyor 6 is controlled to rotate forward (rotation in the material soil conveyance direction). When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on, so that the relay RYh is excited and the contact H3 is turned on. When an input current flows through the contact H3, the controller 34 Controls reverse rotation of the raw soil conveyor 6.
[0031]
A third embodiment of the remote control circuit 33 constituting the remote control means 30 will be described with reference to FIG. The same parts as those in the first embodiment shown in FIG. One end of the coil of the relay RYQ is connected in series to the power supply line Vc via the contact 13b of the operation mode changeover switch 13, and is input to the controller 34 (maintenance mode signal M), and the other end is grounded. One end of each of the coils of the parallel-connected relays RYS to RYV constituting the remote control circuit 33C is grounded via each contact CH1 to CH4 of the receiver 32 and is connected to the controller 34. The other ends of the coils of relays RYS to RYV are connected to each other and are connected to power supply line Vc via contact Q of relay RYQ. Further, one end of each of the contacts a to V of the relays RYS to RYV is connected to the controller 34, and the other end is grounded. The hydraulic drive circuit 20 is the same as that shown in FIG.
[0032]
The controller 34 is configured as follows. When the maintenance mode of the operation mode switch 13 is selected and the contact 13b is turned on, the coil of the relay RYQ is excited and the maintenance mode signal M is input to the controller 34. When the maintenance mode signal M is input, the controller 34 ignores signals input via the contacts CH1 to CH4 of the receiver 32. When the maintenance mode signal M is OFF, the controller 34 excites the solenoid 24a of the second operation valve 24 and the solenoid 26a of the third operation valve 26 when an input current flows through the first contact CH1. When an input current flows through the second contact CH2, neither the

solenoids

24a, 24b of the second operation valve 24 nor the

solenoids

26a, 26b of the third operation valve 26 are energized, and the third contact CH3 is used. When the input current flows, the solenoid 24b of the second operation valve 24 and the solenoid 26b of the third operation valve 26 are excited, and when the input current flows through the fourth contact CH4, the self-propelled soil improvement machine 10 Stop driving all work machines. Further, when an input current flows through the contact S, the solenoid 22a of the first operation valve 22 is excited, and when an input current flows through the contact T, the solenoid 22b of the first operation valve 22 is excited, via the contact U. When the input current flows, the solenoid 26a of the third operation valve 26 is excited, and when the input current flows through the contact V, the solenoid 26b of the third operation valve 26 is excited.
[0033]
The operation of FIG. 7 will be described. When the operation mode change-over switch 13 is switched to the work mode and the work mode contact 13a is turned on during soil improvement work, the remote control circuit 33C turns off the relay RYQ, turns off the contact Q, and turns off the maintenance mode signal M. For this reason, when the radio control switch 14 is turned on and the first switch R1 of the remote control panel 31 is turned on, the first contact CH1 of the receiver 32 is turned on, and an input current flows from the controller 34 via the first contact CH1, The controller 34 controls forward rotation of the scraping rotor 3 and the raw soil conveyor 6. When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on, and an input current flows from the controller 34 via the second contact CH2, and the controller 34 is connected to the scraping rotor 3 and the raw material soil. The conveyor 6 is controlled to stop. When the third switch R3 of the remote operation panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on and an input current flows from the controller 34 via the third contact CH3. The conveyor 6 is reversely controlled. When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on and an input current flows from the controller 34 via the fourth contact CH4. Stops the drive of all work machines.
[0034]
Next, when the operation mode selector switch 13 is switched to the maintenance mode and the contact 13b is turned on during inspection and maintenance, the remote control circuit 33C is energized by the relay RYQ and the contact Q is turned on. At this time, the maintenance mode signal M is input from the operation mode changeover switch 13 to the controller 34, and signals input via the first contact CH1 to the fourth contact CH4 of the receiver 32 are ignored. When the radio control switch 14 is turned on and the first switch R1 of the remote control panel 31 is turned on, the first contact CH1 of the receiver 32 is turned on, so that the relay RYS is excited and the contact S is turned on. An input current flows through the controller 34, and the controller 34 controls the forward rotation of the improving agent feeder 5 (rotation in the improving agent supply direction). When the second switch R2 of the remote control panel 31 is turned on, the second contact CH2 of the receiver 32 is turned on, so that the relay RYT is excited and the contact T is turned on, and an input current flows from the controller 34 via the contact T. The controller 34 reversely controls the improver feeder 5. When the third switch R3 of the remote operation panel 31 is turned on, the third contact CH3 of the receiver 32 is turned on, so that the relay RYU is excited and the contact U is turned on, and an input current flows from the controller 34 via the contact U. The controller 34 controls normal rotation (rotation in the raw soil conveyance direction) of the raw soil conveyor 6. When the fourth switch R4 of the remote control panel 31 is turned on, the fourth contact CH4 of the receiver 32 is turned on, so that the relay RYV is excited and the contact V is turned on, and an input current flows from the controller 34 via the contact V. The controller 34 reversely controls the raw soil conveyor 6.
[0035]
As described above, according to the present invention, cleaning of each device of the self-propelled soil improvement machine, inspection for removing clogging, etc., during maintenance, on the side of the device requiring inspection and maintenance, for example, the raw material soil hopper and the improver hopper By remotely operating each device independently at a position where the inside can be seen, reciprocation between the on-board operation panel and each device is not necessary, and inspection and maintenance can be easily performed even by one person. Therefore, the inspection and maintenance work efficiency is greatly improved.
[Brief description of the drawings]
FIG. 1 is a side view showing an embodiment of a self-propelled soil improvement machine according to the present invention.
FIGS. 2A and 2B are diagrams showing an embodiment of a remote control panel according to the present invention, in which FIG. 2A is a main body, and FIG.
FIG. 3 is a diagram showing a first embodiment of a remote control circuit according to the present invention.
FIG. 4 is a diagram showing an example of a hydraulic drive circuit according to the present invention.
FIG. 5 is a diagram showing a second embodiment (first portion) of a remote control circuit according to the present invention.
FIG. 6 is a diagram showing a second embodiment (second portion) of the remote control circuit according to the present invention.
FIG. 7 is a diagram showing a third embodiment of a remote control circuit according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Tracked vehicle, 1a ... Body frame, 2 ... Raw material hopper, 3 ... Scraping rotor, 4 ... Improvement agent hopper, 5 ... Improvement agent feeder, 6 ... Raw material conveyor, 7 ... Mixer, 8 ... Boarding Floor, 9 ... Engine room, 10 ... Self-propelled soil conditioner, 11 ... Discharge conveyor, 12 ... In-vehicle operation panel, 13 ... Operation mode switch, 14, Radio control switch, 20 ... Hydraulic drive circuit, 21 ... Hydraulic pump, 22 ... 1st operation valve, 23 ... 1st hydraulic motor, 24 ... 2nd operation valve, 25 ... 2nd hydraulic motor, 26 ... 3rd operation valve, 27 ... 3rd hydraulic motor, 30 ... Remote operation means, 31 ... Remote control panel, 32 ... receiver, 33, 33A, 33B, 33C ... remote control circuit, 34 ... controller, R1 ... first switch, R2 ... second switch, R3 ... third switch, R4 ... fourth switch.

Claims

Dissolve the material soil conveyor that transports the material soil of the material soil hopper, the improver feeder that supplies the improver for the improver hopper, and the material soil that is conveyed by the material soil conveyor and the improver that is supplied from the improver feeder. In a self-propelled soil improvement machine equipped with a mixer on the vehicle body that is crushed and mixed to make improved soil,
It is equipped with remote control means (30) that enables remote control of each device independently at the necessary locations for inspection and maintenance of each device ,
An operation mode switching means (13) is provided for switching between a maintenance mode in which inspection and maintenance of each device can be performed and a work mode in which soil improvement work for each device can be performed .
The self-propelled soil improvement machine, wherein the functions of the operation switches (R1 to R4) of the remote control means (30) are switched between the maintenance mode and the work mode .

In the self-propelled soil improvement machine according to claim 1,
The self-propelled soil conditioner is characterized in that at least one of the forward operation and reverse rotation of the material soil conveyor (6) and the normal rotation and reverse rotation of the improver feeder (5) can be operated remotely .

In the self-propelled soil improvement machine according to claim 1 or 2 ,
The remote control means (30) is a self-propelled soil improvement machine characterized by transmitting and receiving signals by radio control.