JP3975185B2 - Measuring device for tilt angle and excavation depth in excavator - Google Patents

Description

In the civil engineering work where ground stabilizer such as grout is injected and stirred to excavate the surface soil layer relatively thickly and improve the surface soil layer, The present invention relates to an apparatus for calculating / displaying and recording these data.
More specifically, as a front attachment, for example, a drilling / stirring blade is attached to an endless belt chain at the tip of a hydraulic drive arm in a generally known self-propelled civil engineering machine, and a vertical groove or In the ground improvement method in which grout is injected and agitated while excavating a vertical hole, and the soil is continuously moved to continuously improve the soil of the topsoil layer, the excavation, injection and agitation processes proceed, and the excavation and agitation blades as attachments The present invention relates to an apparatus for grasping the inclination angle of an attachment and the excavation depth from the ground surface when buried in the ground.

To excavate the ground in civil engineering work, the vertical axis is swung like a ground auger that constructs an underground pile to form a cylindrical hole, and excavated from the ground surface using a drilling excavator. However, a method of discharging soil is a typical method, and the former is applied when the excavation depth is deep and the latter is applied when the excavation depth is shallow.
An auger or excavator as a front attachment is often used for a civil engineering machine that is attached to the tip of a hydraulic drive arm and has a structure capable of self-propelled by a crawler (infinite track).

In addition, as a ground stabilization method applied to the top soil layer at a relatively shallow depth from the ground surface, excavate the top soil layer as a front attachment to be attached to the tip of the hydraulic drive arm of a self-propelled general-purpose civil engineering machine and drain the soil. A method of continuously improving the soil surface of the topsoil layer by using an excavator and agitator that can inject and grout the grout without using it has been put into practical use.
In this method of continuous ground improvement, the excavation and agitation blades as the front attachment are always kept vertical, and the excavation depth of the topsoil layer is maintained while maintaining a constant inclination angle at the periphery of the construction area. It is required to maintain and maintain the specified value.

Furthermore, in this construction method, when the excavation process of the topsoil layer progresses and the excavation / mixing blade as a front attachment is buried under the ground surface and reaches a depth that deviates from the view of the operator who boarded the cockpit of the civil engineering machine, However, there is a disadvantage that the inclination angle and the excavation depth of the excavation / stirring blade as the front attachment cannot be grasped or confirmed visually.
Therefore, the operator recognizes the bend and position of each hydraulic arm that can be visually observed based on the accumulation of his / her experience, and determines the inclination angle and the excavation depth of the excavation / stirring blade that cannot be visually confirmed under the ground surface. The present situation is that the machine is operated by estimating the inclination angle and the excavation depth based on the guess or based on the notification from the worker on the ground.

  In the construction method where the front attachment can be visually confirmed from the drilled hole by excavating and discharging the topsoil layer, ground workers can visually observe the front attachment even if it is not accurate. It is also possible to notify the operator of the approximate inclination angle of the attachment and the excavation depth. However, with the above-mentioned construction method where the ground improvement is performed without dumping and the front attachment buried under the ground surface cannot be seen, both operators and ground workers are based on their respective experiences, scales and markers. There was no method other than estimating the inclination angle of the front attachment and the depth of excavation.

  In civil engineering work, by replacing the front attachment with a self-propelled general-purpose machine equipped with a hydraulic arm according to the construction method, various civil engineering work can be performed without introducing a dedicated machine for each construction method. This is normal, and the above ground improvement method is no exception. Therefore, when performing the above ground improvement work, it is unreliable to grasp the inclination angle and depth of excavation of the front attachment at the operator's discretion. Since there is no means to notify and prove to a third party objectively, some measurement and recording means have been urgently required.

In view of the above-mentioned problems, a rotational position detector such as a rotary encoder is provided for each of the bending axes of the hydraulic arm of the civil engineering machine, and a method for obtaining a depth by trigonometric function calculation has been sought. There are many difficulties, so it has not been spread and implemented.
(1) Zero point correction is difficult.
(2) It is practically difficult and impractical in the current situation where there are many lease introduction machines that require easy attachment and removal of detectors.
(3) The equipment cost is expensive. Etc.

  A method of using laser light, electromagnetic waves, sound waves, etc. to capture the reflection angle from the bottom of the excavation or from the front attachment in the ground to grasp the inclination angle and excavation depth was also sought. There are inconveniences in principle, such as inability to project signal waves on the covered bottom surface, and inability to distinguish between the bottom surface of the bottom surface and the agitated soft soil unless it is a special formation.

  As an excavation depth measurement method in a method of forming a vertical cylindrical hole having a relatively deep depth using an earth auger, “Drilling Depth Measurement Device in Excavator (Japanese Utility Model Publication No. 56-148610)” has been proposed. However, it is only the depth of excavation, and since there is no method for measuring and grasping the inclination angle of the front attachment and the depth of excavation, it cannot be used for ground improvement work for the topsoil layer.

  At the tip of the hydraulic drive arm, attach a drilling / stirring blade, etc. as a front attachment, drill a vertical groove or vertical hole under the ground surface, stir while injecting grout, and gradually self-propelled while continuing construction work In the work to continuously improve the surface ground of a certain area, as described above, in order to grasp the inclination angle of the front attachment that is being excavated, injected and agitated and the depth of excavation from the ground surface, as described above, each rotation axis of the hydraulic drive arm There was no suitable method other than providing an angle detector for calculation and relying on the experience and guesses of the operator and ground observer.

  In the above-mentioned surface ground improvement work, an angle detector is provided to calculate the inclination angle of the front attachment and the depth of excavation. The detector is not easy to attach and detach, and it is difficult to adjust the zero point. Since the configuration system is expensive, it is practically difficult to adopt it, and practical examples have not been obtained except for the experimental stage.

  In the method that relies on the experience and guess of the operator, it is virtually impossible for the working operator to record the excavation angle and depth at any position on the ground surface where the ground improvement work was performed, and the quality of the improvement work In addition, it was difficult to report and prove the construction results numerically from the viewpoint of reliability.

  In the above-mentioned surface ground improvement work, if you are going to obtain construction results, that is, the ground improvement area, excavation angle, excavation depth, and other materials and data that guarantee the quality of the work, specify the construction ground There was no other way than to sample the core by boring in position.

  An object of the present invention is to attach a front attachment such as a drilling / stirring blade to the tip of a hydraulic drive arm, excavate a vertical groove or a vertical hole under the ground surface, and further gradually self-propelled to continuously form a surface layer of ground with a certain area. In civil engineering work to be improved, it is possible to grasp and display the inclination angle of the front attachment that is being excavated, injected, and agitated and the depth of excavation from the ground surface, and to display it appropriately without depending on the experience and skill of the civil engineering machine operator. An object of the present invention is to provide an apparatus for measuring an inclination angle of a front attachment and a depth of excavation capable of working.

  Another object of the present invention is to provide an apparatus for measuring the inclination angle and the depth of excavation of the front attachment during excavation and agitation that can be easily installed and removed at an applicable civil engineering machine in the surface ground improvement work. There is to try to provide.

  Still another object of the present invention is to continuously record the inclination angle and excavation depth of the front attachment during excavation and agitation in the above-mentioned surface ground improvement work, and to provide confirmation of construction results and proof of construction quality assurance. To provide a measuring device for excavation, agitation tilt angle, and depth that can read, display, and print data on the tilt angle and drilling depth of the front attachment at any construction position as needed. There is to do.

  The present invention provides an excavator for excavating the ground surface by a front attachment detachably provided at a tip of a hydraulic drive arm in a self-propelled civil engineering machine. The head tank provided in the civil engineering machine main body and the front At least two pressure sensors provided at different positions on the attachment are connected via a pressure guiding pipe, and calculation means for calculating the inclination angle and the excavation depth is coupled to the output side of the two pressure sensors. The inclination angle of the front attachment is calculated from the respective head values from the pressure sensor detected by the pressure sensor to the head tank and the predetermined distance between the pressure sensors, and at least one of the pressures The water head value from the pressure sensor detected by the sensor to the head tank, and the preset ground from the head tank to the construction ground A measuring device for the inclination angle and the excavation depth in excavator, characterized in distance and that from the vertical length of the front attachment so that operation of the drilling depth at.

  According to the present invention, excavation, pouring, and agitation work are performed in a ground improvement method in which a front attachment is attached to the tip of a hydraulic drive arm of a self-propelled civil engineering machine and the surface ground surface is continuously improved while moving sequentially. However, it is possible for the operator to easily grasp the inclination angle of the front attachment and the excavation depth from the ground surface, and to proceed with the work while controlling and maintaining the specified conditions.

  In applying the present invention to an actual machine, only a pressure sensor (30) (31), a head tank (32) and a monitoring panel (36) are required, and a rotary encoder system for detecting the bending angle of a hydraulic drive arm, etc. Compared with other systems, the system configuration can be made at a very low cost.

  Further, when the system component according to the present invention is mounted on an actual machine, the lead pipe (33) and the signal cables (34) (35) from the header (32) to the pressure sensors (30) (31) are routed hydraulically. It is only necessary to be along the arms (12), (13), and (14), and it is very easy and can be easily removed. Therefore, even if the actual machine is a machine with a short-term lease, it can be applied and applied. .

  Furthermore, the operation of the measuring device for the digging attachment inclination angle and digging depth according to the present invention is only to confirm the water level of the head tank (32), and even when a function for automatically setting a fixed value is added. It is very simple and easy to install the front attachment on the construction ground and press the zero setting switch, and does not require any special education and training for the operator to measure the attachment inclination angle and the digging depth.

  As is apparent from the above description, by applying the excavation attachment inclination angle and excavation depth measuring device according to the present invention to the ground improvement method for the surface ground surface, without requiring a high degree of skill from the operator. It is possible to perform construction work with high work efficiency at low cost without arranging auxiliary notification personnel.

  The present invention is a civil engineering work in which a front attachment such as an excavating stirring blade is attached to the tip of a hydraulic drive arm, a vertical groove or a vertical hole is excavated under the ground surface, and further, the surface ground of a certain area is gradually improved by self-propelled. A head tank filled with water, antifreeze or other liquid as a pressure transmission medium to obtain the head value at an appropriate high position on the applicable civil engineering machine, with the inclination angle of the front attachment being drilled and the depth from the ground surface The head tank pressure is guided from the head tank to the pressure sensor provided by changing the position to the front attachment via the pressure guiding pipe, the head value from the pressure sensor to the head tank is detected, and the front attachment during excavation is detected. Is obtained by calculating the inclination angle and the depth thereof.

In order to simplify the explanation, a plurality of pressure sensors will be described. When two sensors are used to obtain an inclination angle in the bending direction of the hydraulic drive arm, these two pressure sensors are connected to the hydraulic drive arm. Are provided at a predetermined distance at points in the vicinity of the front attachment on the bending plane and having different horizontal positions.
The mutual pressure-receiving surface distance between the two pressure sensors is fixed, and the vertical dimension between the two pressure sensors is the difference between the head values given to them, so the angle formed by the straight line connecting the horizontal plane and the two pressure sensors is , Obtained by trigonometric function calculation.
The vertical distance from the head tank to the pressure sensor can be obtained by an average value of the vertical distances to the two pressure sensors. However, the average value is not limited to two, and there is no practical problem even if the vertical distance based on the head value of one of the pressure sensors is adopted.

  Set or memorize the angle formed by the straight line connecting the horizontal plane and the two pressure sensors when the front attachment is held vertically, and calculate the angle that changes during construction every moment. If the deviation between the obtained value and the stored value is obtained, the value becomes the inclination angle of the front attachment.

  The excavation depth determines which position of the front attachment is a reference for the depth, sets or stores the reference position and the vertical dimension of the pressure sensor, and adds to the head value obtained by the pressure sensor, Drilling and agitation depth that change every moment during construction can be obtained.

  Thus, as a result of calculation based on the head value detected by the pressure sensor, the inclination angle and the excavation depth of the obtained front attachment are displayed in the cockpit of the applicable civil engineering machine, and the operator on board is informed every moment. Thus, it is possible to carry out appropriate surface ground improvement work with good work efficiency.

  Also, at the time of construction, the civil engineering machine with the front attachment attached to the tip of the hydraulic drive arm is not always on the horizontal ground surface, but rather is often not necessary. If it is necessary to determine the inclination angle formed in the direction perpendicular to the plane, not only a plurality of pressure sensors are arranged in the bending direction of the hydraulic drive arm, but a plurality of pressure sensors are additionally provided in the orthogonal direction. It is possible to grasp the inclination angle.

  The excavation, agitation inclination angle, and depth data obtained in this way can be recorded together with the work date and time, or the self-propelled distance of the applicable civil engineering machine, and the construction can be performed by reproducing the recorded data. It can be used effectively for situation analysis, reporting, and quality assurance certification.

Embodiments of an apparatus for measuring an inclination angle and excavation depth in an excavator according to the present invention will be described below with reference to the drawings.
In FIG. 1 (a), hydraulic drive arms (12), (13), and (14) are sequentially connected to a self-propelled civil engineering machine (10) that can be self-propelled by a crawler (11), and a front attachment is provided at the tip thereof. The excavation / stirring blade (16) capable of excavating a relatively thick soil layer is detachably attached to the excavation / stirring blade (16). Fig.1 (a) is the side view which showed the state in which the hole wall 19 was correctly constructed | assembled perpendicularly | vertically. The excavation / stirring blade (16) is generally connected via an oil pressure drive arm (12), (13), and (14) so that the operator can freely adjust the inclination angle from the cockpit.

The excavation / stirring blade (16) is provided with pressure sensors (30) and (31). As these pressure sensors, for example, water level sensors (30) and (31) are used, and these water level sensors (30) and (31) are provided along hydraulic drive arms (12), (13), and (14). It is connected to a head tank (32) holding an appropriate vertical height on the civil engineering machine (10) via a pressure guiding pipe (33), and water head pressure is applied.
When a water level sensor (30) (31) is used as the pressure sensor, the liquid as the pressure transmission medium filled in the head tank (32) has no environmental pollution and is generally inexpensive. Water is used.
However, it is not limited to water, and in a cold region, an antifreeze for vehicles mainly composed of ethylene glycol can be used. In addition, alcohol having a low viscosity can be used to increase the response speed, or oil having a high viscosity can be used to decrease the response speed, or can be selected according to the purpose.
The water level signals emitted from these water level sensors (30) and (31) are given to the monitoring panel (36) provided in the cockpit (15) via the signal cables (34) and (35), and excavation / It is configured to be displayed as an inclination angle of the stirring blade (16).
In FIG. 1A, the mounting position of the water level sensors (30) and (31) is exaggeratedly shown outside the excavation / stirring blade (16) for easy understanding, but actually, for example, FIG. As shown in Fig. 4, the outer shell (24) of the excavating and stirring blade (16) is detachably attached to the tip of the hydraulic drive arm (14), and is not damaged by the soft soil that is stirred and mixed. It is attached to the flat part (37) so as to be protected.

  FIG. 1 (b) is a diagram showing a state where the excavation / stirring blade (16) located at a position that cannot be seen by the operator from the cockpit (15) is inclined. As shown in Fig. 1 (a), excavation, agitation and pouring are performed while holding 16) vertically. However, it is also possible to excavate with a slope at the periphery, start and end of the construction area. In this case, the inclination angle is displayed on the monitoring panel (36), and is monitored and controlled by the operator.

  As will be described later, the excavation depth is obtained by adding or subtracting a reference value determined by the vertical mounting position of the water level sensor to the water head value obtained by one water level sensor (or the average value of the water head values obtained by a plurality of sensors). Thus, since the correct excavation depth can be obtained, the excavation depth of the excavation / mixing blade (16) can be displayed on the monitoring panel (36) in the same manner as the inclination angle.

FIG. 3 is a view showing a device for generating and supplying a grout (49) to be injected in addition to the ground improvement excavation and stirring portion described in FIG.
Grout main agent such as cement is sent from the silo (40) to the metering / mixing tank (43) via the conveyor (41), and is stirred by the stirrer (42) together with water (not shown). The stirred grout (49) is sent to the supply tank (45), stirred by the stirrer (44), further pumped by the grout pump (47) via the flow meter (46) for measuring the flow rate, and pumped. It is sent to the excavation / stirring blade (16), which is the front attachment, via the hose (48), and the grout (49) is poured into the ground from the lower end and stirred together with the soft soil.

FIG. 4 is a detailed view shown for easier understanding of the excavation / stirring blade (16) which is the front attachment shown in FIG.
The inclination angle of the excavation / stirring blade (16) can be arbitrarily adjusted within the bending range by operating the hydraulic cylinder (18) in the cockpit (15). Further, as described with reference to FIG. 2, the plurality of water level sensors (30) and (31) are protected from the soil particles to be excavated and agitated and do not interfere with the bit (17) rotating for excavation and agitation. Arranged in position.
Furthermore, the plurality of water level sensors (30), (31), when receiving the detected head value signal, to simplify the subsequent calculation process, when the excavation and stirring blade (16) is held vertically, Since it is desirable that the pressure receiving surfaces be arranged on the same horizontal plane, the pressure receiving surface is attached to the plane portion 37 of the outer shell 24, but it is not a necessary condition that it is a plane.

In FIG. 4, HS is the height from the head water surface of the head tank (32) provided on the civil engineering machine (10) to be applied to the construction ground (20), and L0 is the water level serving as a reference for the excavation depth. Since the dimensions from the pressure receiving surface of the sensor (30) to the excavation tip of the excavation / stirring blade (16) are all fixed values, if the water head value of the variable obtained by the water level sensor (30) is H1, excavation Depth DP is DP = H1-HS + L0
Given in.

FIGS. 5A and 5B are diagrams for explaining an arithmetic expression for obtaining the inclination angle of the excavation / stirring blade (16) from the head signal obtained by the two water level sensors (30) and (31).
FIG. 5 (a) shows the relationship between the two water level sensors (30) and (31) when the excavation / stirring blade (16) is vertically arranged. Since the dimension L1 between the pressure receiving surfaces L1 and the vertical dimension difference ΔH0 is a fixed value, the angle θ0 formed by the straight line connecting the pressure receiving surfaces of the water level sensors (30) and (31) and the horizontal plane is
θ0 = sin ⁻¹ (ΔH0 / L1)
It is a fixed value given by.
At this time, if the two water level sensors (30) and (31) are arranged on the same horizontal plane,
θ0 = 0
It is.

FIG. 5B is a diagram showing a case where the excavation / stirring blade (16) changes its angle from the vertical position and is inclined at a certain angle.
The height dimension in the vertical direction of the two water level sensors (30) (31) is the difference ΔH1 between the water head signal values generated by both water level sensors (30) (31).
ΔH1 = H1a-H1b
The angle θ1 formed by the straight line connecting the pressure receiving surfaces of the water level sensors (30) and (31) and the horizontal plane at this time is
θ1 = sin ⁻¹ (ΔH1 / L1)
It is obtained by.
Therefore, the inclination angle θ compared to when the excavation / stirring blade (16) is on the vertical plane at this θ1 is
θ = θ0−θ1
(The angle is positive when counterclockwise is positive.) If this θ value is positive, the drilling tip at the lower end of the drilling / stirring blade (16) is negative in the direction away from the cockpit (15). If so, it is an inclination in the approaching direction.

FIG. 6 shows a specific calculation method according to the equations for obtaining the excavation depth and the inclination angle of the excavation / stirring blade (16) described with reference to FIG. 4 and FIG. 5, for ease of explanation and understanding. It is a block diagram shown in FIG.
As a calculation method, it is possible to arbitrarily select a publicly-known technique such as wired logic or software logic, and a flowchart showing a flow of software for performing a target calculation operation, etc. The explanation is also possible.
The analog signals from the water level sensor (30) and the water level sensor (31) that transmit the water head pressure of the head tank (32) are digitally converted by the A / D converters (50) and (51), and the subtraction calculator (52 ) And a head value difference ΔH1 between the two sensors is obtained as an output.
The output of the dimension setter (53) that generates the head value difference ΔH1 of the water level sensors (30) (31) and the pressure receiving surface dimension L1 of both sensors (30) (31) is given to the division calculator (54). Further, an angle θ1 formed by a horizontal line between the pressure-receiving surfaces of the water level sensors (30) and (31) is obtained via the inverse trigonometric function calculator (55).
If the difference θ between the obtained angle θ1 and the initial angle θ0 of the straight line between the pressure receiving surfaces from the angle transmitter (56) is obtained by the subtraction calculator (57), the inclination angle of the excavation / stirring blade (16) is It is obtained.

  The tilt angle signal of the excavation / stirring blade (16) obtained by the subtraction calculator (57) is branched, and the conversion amplifier (58) is connected to the recorder (62) via the D / A converter (59). To the tilt angle indicator (60), and further output as a tilt angle recording signal to a recording medium (M) (not shown) to be recorded, displayed and stored.

  Similarly, in FIG. 6, digital signals H1a and H1b digitally converted by the A / D converters (50) and (51) have an average value H1 obtained by an average value calculator (63), and this average value calculator (63). The water head value signal H1 is added to the output value -HS + L0 of the reference water head setter (66) by the addition computing unit (67) to obtain the excavation depth DP (= H1-HS + L0), and each D / A converter (69 ) To the recorder (62), to the depth indicator (70) to the recording amplifier (68) via the conversion amplifier (68), and further to the recording medium (M) (not shown) as a recording signal for recording, displaying and storing Is done.

  In the embodiment shown in FIG. 6, the output of the dimension setting device (53), the angle transmitter (56) and the reference head setting device (66) is fixed in advance for the sake of simplicity. did. However, the digital conversion output of the water level sensors (30) and (31) emitted when the excavation / stirring blade (16) carrying the water level sensors (30) and (31) is held vertically and placed at a position of zero depth. A value is automatically set by fetching a value through a latch gate by a signal from a zero setting switch (83) of the monitoring panel (36) shown in FIGS. 7A and 7B and storing it in a memory register. Is possible.

7 (a) and 7 (b) are a side view and a front view showing an embodiment of a monitoring panel (36) provided in the cockpit (15), with a display display (81) and a power switch on the front. (82) A zero setting switch (83) is provided.
The display display (81) not only has a display function but also can adopt a programmable display having a panel touch switch function. It is also possible to selectively notify the operator of construction progress status, construction deviation, and the like.

As an example of the present invention, a demonstration test was performed in the case where two water level sensors having a water head range of 6000 mmH ₂ O and an accuracy of 0.1% were used and the dimension between the pressure receiving surfaces was set to 1000 mm. According to this, even when including the priming of the head tank by vibration, it can be confirmed that the detection resolution of the inclination angle is 0.5 degrees or less and the detection resolution of the excavation depth is 10 mm or less, which is sufficiently practical. It was proved.

  In the embodiment shown in FIG. 1, the head tank 32 is attached to a position as high as possible by placing a post or the like on the civil engineering machine 10. This is because the pressure sensors 30 and 31 obtain a positive pressure as much as possible even when the excavation / stirring blade 16 is lifted to a high position. However, the head tank 32 may be mounted at a low position, for example, so as to be housed inside the civil engineering machine 10. When mounted at a low position, as shown in FIG. 8, the position of the pressure sensors 30, 31 on the excavation / stirring blade 16 may be higher than the liquid level of the head tank 32. 85 and 86 only detect negative pressure, and there is no difference from the above operation example in the case of positive pressure. For example, the pressure sensors 30 and 31 are provided with pressure receiving surfaces 85 and 86 made of a diaphragm or the like in communication with the pressure guiding pipe 33 in a sealed container, and the upper part receives the pressure to convert the detected pressure into an electric signal. A total of 87 and 88 is built-in. The electrical signals from the receivers 87 and 88 are output as 12 mA at zero pressure, 20 mA at 1 at positive pressure, and 4 mA at 0.1 at negative pressure.

As shown in FIG. 8, when the head tank 32 is installed at a low position, if the pressure guide tube top portion 84 in the middle of the pressure guide tube 33 exceeds a predetermined height, a problem of malfunction may occur. This will be described with reference to FIG. 9. When the liquid of the pressure transmission medium filled in the head tank 32 is pure water, the height h from the liquid level of the head tank 32 to the pressure guiding tube top portion 84 of the pressure guiding tube 33 is 10. When it exceeds 3 m, the pressure guide tube top portion 84 becomes a vacuum (Trichelli vacuum).
However, since the pressure guiding tube 33 is attached along the hydraulic drive arms 12, 13, and 14 of the civil engineering machine 10, if the pressure guiding tube top portion 84 exceeds 10.3 m, the portion of the pressure guiding tube top portion 84 becomes vacuum. There is a risk that accurate pressure may not be transmitted to the pressure receiving surfaces 85 and 86 of the pressure sensors 30 and 31. Therefore, when the head tank 32 is attached, it is necessary to set the height h of the pressure guiding tube top portion 84 and the head tank 32 so as not to exceed 10.3 m. In particular, since water contains impurities, air, etc., the height h is preferably 7 to 8 m in view of safety.
When the pressure transmission medium is a liquid other than water and the liquid density is ρ, the atmospheric pressure is p, and the gravitational acceleration is g, the height h is
h <p / (ρg)
It is desirable to set to.

In the first embodiment, it is assumed that the civil engineering machine (10) is constructed on a horizontal ground surface during construction, and the two water level sensors (30) and (31) are arranged in the direction of the bending surface of the hydraulic drive arm. The inclination angle which is arranged and made horizontal, that is, the inclination angle in the direction in which the excavation tip at the lower end of the excavation / stirring blade (16) moves away from or closer to the cockpit (15) is obtained.
However, at the time of construction, the civil engineering machine (10) is not always located on the ground surface which is horizontal, but is often not necessary. Therefore, if it is necessary to obtain the horizontal inclination angle in the direction orthogonal to the bending surface of the hydraulic drive arm, the water level sensor of the two water level sensors (30) (31) arranged in the bending direction of the hydraulic drive arm. As shown in FIG. 10, by arranging two water level sensors (31a) and (31b) in a direction orthogonal to the bending surface of the hydraulic drive arm, as shown in FIG. The inclination angle can be grasped. Of course, as shown in FIG. 10, by arranging the three water level sensors (30) (31a) (31b), the data of the bending surface direction of the hydraulic drive arm obtained by calculation by the water level sensors (31a) (31b). And the angle of the hydraulic drive arm in the direction of the bent surface can be obtained from the data of the water level sensor (30).

  In the above embodiment, the front attachment is illustrated with an endless chain attached with a drilling / stirring blade, but is not limited thereto, and as shown in FIG. 11, at the tip of the hydraulic drive arm (14), The outer shell (24) is detachably attached, and a stirring pick (39) that rotates horizontally is attached to both sides of the support (38) at the lower end of the outer shell (24), and is inclined. Therefore, it can be used for things that affect the depth of excavation.

  In the above embodiment, the excavator improves the surface ground by excavating and stirring the ground surface while injecting grout.

  The pressure sensor can measure the tilt angle and excavation depth by detecting negative pressure, so if the hydraulic drive arm is long enough, the front attachment provided at the tip of the hydraulic drive arm is attached to the civil engineering machinery It can also be used for excavators that excavate the ground that is higher than the head tank.

  In the above embodiment, the case where the ground surface is excavated and stirred as the excavator is used for an excavator that improves the surface ground by agitating and agitating the ground surface, but the front attachment is not necessarily accompanied by grout injection. It may be used for an excavator that simply excavates the ground surface.

FIG. 1 shows an embodiment in which a device for measuring an inclination angle and excavation depth in an excavator according to the present invention is applied to a surface layer ground improvement method using a self-propelled civil engineering machine, (a) is an explanatory diagram during vertical excavation, (B) is explanatory drawing at the time of excavation inclined. It is a perspective view of the outer shell (24) of the upper end of a digging and stirring blade (16). It is explanatory drawing which also added the apparatus which produces | generates and supplies the grout to inject | pour into the ground improvement excavation and the stirring part. It is the detailed explanatory drawing shown in order to make an understanding easier further about the excavation and stirring blade (16) which is a front attachment shown in FIG. (A) (b) is explanatory drawing explaining the computing equation which calculates | requires the inclination-angle of a digging and stirring blade (16) from the head signal obtained by two water level sensors (30) (31). It is a block diagram which shows a specific calculation method according to the type | formula which calculates | requires a digging depth and the inclination-angle of a digging | mixing and stirring blade (16). An example of the monitoring board provided in a cockpit is shown, (a) is a side view, (b) is a front view. It is operation | movement explanatory drawing when the head tank 32 is installed in the low position. It is operation | movement explanatory drawing when the height h of the head tank 32 and the impulse guide top part 84 exceeds 10.3 m. It is explanatory drawing when three front attachments are arrange | positioned. It is a perspective view which shows the other Example of a front attachment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Civil engineering machine, 11 ... Crawler, 12 ... Hydraulic drive arm, 13 ... Hydraulic drive arm, 14 ... Hydraulic drive arm, 15 ... Cockpit, 16 ... Excavation and stirring blade, 17 ... Bit, 18 ... Hydraulic cylinder, 19 DESCRIPTION OF SYMBOLS ... Hole wall, 20 ... Construction ground, 21 ... Excavation hole, 22 ... Bottom of excavation, 23 ... Soil grain after ground stabilization construction, 24 ... Outer shell, 30 ... Pressure sensor, 31 ... Pressure sensor, 32 ... Head tank, 33 ... Pressure guiding pipe, 34 ... Signal cable, 35 ... Signal cable, 36 ... Monitoring panel, 37 ... Flat part, 38 ... Strut, 39 ... Stir pick, 40 ... Silo, 41 ... Conveyor, 42 ... Stirrer, 43 ... Weighing Mixing tank, 44 ... stirrer, 45 ... supply tank, 46 ... flow meter, 47 ... grout pump, 48 ... pressure feeding hose, 49 ... grout, 50 ... A / D converter, 51 ... A / D converter, 52 ... subtraction 53 ... dimension setting unit 54 ... division calculator 55 ... inverse trigonometric function calculator 56 ... angle transmitter 57 ... subtraction calculator 58 ... conversion amplifier 59 ... D / A converter 60 ... tilt angle Indicator: 61 ... Inclination angle signal for recording medium, 62 ... Recorder, 63 ... Average value calculator, 66 ... Reference head setting device, 67 ... Addition calculator, 68 ... Conversion amplifier, 69 ... D / A converter, 70 Excavation depth indicator, 71 depth signal for recording medium, 81 ... display, 82 ... power switch, 83 ... zero setting switch, 84 ... top of pressure guiding tube, 85 ... pressure receiving surface, 86 ... pressure receiving surface, 87 ... receiver, 88: Receiver.

Claims (6)

  In an excavator that excavates the ground surface by a front attachment that is detachably provided at the tip of a hydraulic drive arm in a self-propelled civil engineering machine, the position of the head tank and the front attachment provided in the civil engineering machine main body is set. At least two pressure sensors provided in a modified manner are connected via a pressure guiding pipe, and calculation means for calculating the inclination angle and the excavation depth is coupled to the output side of the two pressure sensors. The calculation means is a pressure sensor. The inclination angle of the front attachment is calculated from each detected head value from the pressure sensor to the head tank and a predetermined distance between the pressure sensors, and detected by at least one of the pressure sensors. The water head value from the pressure sensor to the head tank and the preset distance from the head tank to the construction ground Measuring device of the inclination angle and the excavation depth in excavator, characterized in that the vertical length of the fine front attachment and so computes the drilling depth. Two pressure sensors are arranged at a predetermined distance in the direction of the bending surface of the hydraulic drive arm in the front attachment, and the computing means includes a subtraction computing unit for obtaining a difference in height from the difference between the head values of the two pressure sensors. An angle formed by a dimension setting unit for setting a distance between pressure sensors in advance, a division calculation unit for obtaining a ratio of outputs of the subtraction calculator and the dimension setting unit, and a straight line connecting the two pressure sensors and a horizontal plane. An inverse trigonometric function calculator to be calculated, an angle transmitter for presetting an angle between a horizontal line and a straight line connecting the two pressure sensors when the front attachment is vertical, and the inverse trigonometric function calculator and the angle transmitter The apparatus for measuring an inclination angle and an excavation depth in an excavator according to claim 1, further comprising: a subtraction calculator that calculates the inclination angle of the front attachment from the difference in output. Two pressure sensors are arranged with a predetermined distance in the direction of the bending surface of the hydraulic drive arm in the front attachment, and the calculation means calculates the reference head from the preset distance from the head tank to the construction ground and the vertical length of the front attachment. And a mean value calculator for computing the vertical distance based on the reference head value of the reference head setter and the average value of the head value from the pressure sensor detected by the two pressure sensors to the head tank The apparatus for measuring an inclination angle and excavation depth in an excavator according to claim 1, further comprising: an addition computing unit for adding the vertical distance obtained by calculating the excavation depth. Three pressure sensors are arranged on the front attachment at a predetermined distance from each other, one of them is arranged in the direction of the bending surface of the hydraulic drive arm, and the other two are arranged in the direction of the bending surface of the hydraulic drive arm. Claims characterized in that the inclination angle in the direction of the bending surface of the hydraulic drive arm and the inclination angle in the direction orthogonal to the direction of the bending surface of the hydraulic drive arm are obtained by disposing them at a predetermined distance in the orthogonal direction. Item 2. An apparatus for measuring an inclination angle and excavation depth in an excavator according to item 1. The pressure sensor is an outer shell of a front attachment that is detachably attached to a tip of a hydraulic drive arm, and is attached to a position protected from agitated soft soil. A device for measuring an inclination angle and excavation depth in an excavator. The civil engineering machinery body is equipped with a monitoring panel that displays the tilt angle and excavation depth of the excavator, and this monitoring panel is equipped with a zero setting switch for automatically setting a fixed value by installing a front attachment on the construction ground. The apparatus for measuring an inclination angle and excavation depth in an excavator according to claim 1.

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