JP4787429B2 - Control device for crushing mixer for soil improvement equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a crushing and mixing machine for a soil improvement device.
[0002]
[Prior art]
As a conventional soil improvement device, for example, a device described in JP-A-9-195266 is known. According to the publication, as shown in FIG. 3, the self-propelled soil improvement device 1 stores raw soil (improved soil) on one end in the front-rear direction of the vehicle body 3 placed on a crawler-type lower traveling body 2. The first hopper 5 is provided, and a scraping rotor 5 a is rotatably provided at a raw material soil discharge port of the first hopper 5. Below the first hopper 5, there is provided a material soil supply device 8 such as a belt conveyor that conveys material soil discharged from the first hopper 5 at a predetermined speed. In addition, a second hopper 6 for storing an improved material is mounted on the vehicle body center side of the first hopper 5, and the improved material is discharged from a discharge port 6 a provided at a lower portion of the second hopper 6 to supply raw soil. A predetermined amount is added to the raw material soil conveyed by the device 8. Furthermore, a crusher 7 is mounted on the downstream side of the raw soil material supply device 8 at the substantially upper center of the vehicle body 3. A discharge device 9 such as a belt conveyor is placed below the crusher 7, and the improved soil crushed and mixed by the crusher 7 by the discharge device 9 is discharged to the outside as a product.
[0003]
In the crusher 7, a soil cutter 7a and a rotary striker 7b are rotatably provided. The soil cutter 7a is provided at the raw soil inlet of the crusher 7, rotates a plurality of rotary cutters provided radially from the rotating shaft portion, crushes the raw soil supplied from the raw soil supply device 8, and And improver. The soil cutter 7a is attached to the tip of the arm 4 that is swingably attached to the main body of the crusher 7. Further, the rotary impactor 7b is provided on the downstream side of the soil cutter 7a, that is, inside the crusher 7, and is further subjected to secondary crushing and mixing that is primary crushed and mixed by the soil cutter 7a. In the figure, an example in which a plurality of rotary impactors 7b are provided is shown.
[0004]
[Problems to be solved by the invention]
In the conventional soil improvement device, a crushing and mixing machine (such as the soil cutter 7a) may be clogged with large stones and the like, and an overload state may occur. This overload state is detected, for example, when the load pressure of the drive hydraulic motor of the soil cutter 7a becomes a predetermined value or more. When an overload condition occurs, the crushing and mixing machine 7a and the raw soil material supply device 8 are rotated in the normal state while the overload condition is maintained, and the operation is continued. It is determined that the load is abnormal, and the crushing and mixing machine 7a and the raw soil supply device 8 are stopped. At this time, there is a case where stones having such a size as to pass through the crushing and mixing machine 7a within the predetermined time without being crushed by the crushing and mixing machine 7a during the overload state may be mixed in the improved soil. In addition, the supply speed of the raw soil supply device 8 may be changed depending on the type of raw soil, and the size of the stone passing through the crushing mixer 7a changes within the predetermined time depending on the supply speed. However, since the maximum size of the stone mixed in the improved soil as a product is regulated by the purpose of use (ground improvement, roadbed material, etc.), it is mixed even if the supply speed of the raw soil supply device 8 changes. It is necessary to limit the size of stones to be less than the specified value according to the application.
[0005]
For this reason, for example, when the predetermined time is set so that the size of the stone passing therethrough becomes the maximum when the supply speed of the raw material supply apparatus 8 is the highest speed, the supply speed becomes low. Sometimes only small stones can pass through, and stones with a size within the standard value for that application cannot pass, so it is judged that there is an overload abnormality and work is often stopped. On the other hand, if the predetermined time is set so that the size of the stone that passes when the supply speed of the raw material supply apparatus 8 is the lowest speed is set, the above-described operation is performed in order to increase the efficiency of the improvement work. When the supply speed is increased, stones larger than the specified value may be mixed, so a process to limit the size of the mixed soil in the raw soil to a specified value or less in advance is required, and workability is reduced. To do. As a result of the above, depending on the type and application of the raw soil, there is a problem in that an appropriate abnormal stop process due to an overload of the crushing and mixing machine 7a cannot be performed, resulting in a reduction in work efficiency.
[0006]
The present invention has been made paying attention to the above-mentioned problems, and is for a soil improvement device that can efficiently perform soil improvement work by reducing the frequency of overload abnormal stop due to clogging of stones and the like in a crushing and mixing machine. It aims at providing the control apparatus of a crushing mixer.
[0007]
[Means, actions and effects for solving the problems]
In order to achieve the above object, according to a first aspect of the present invention, there is provided a control device for a crushing mixer for a soil quality improvement device, wherein a raw material soil supply device for supplying raw material soil and a raw material soil supplied from the raw material soil supply device are crushed. A rotary crushing and mixing machine that mixes and mixes, a first rotary actuator that drives the rotary crushing and mixing machine, a second rotary actuator that drives the raw soil material supply device, and a load of the first or second rotary actuator A load sensor that detects the load, an overload determination unit that determines an overload state when the load detected by the load sensor is equal to or greater than a predetermined value, and a setting unit that sets a maximum allowable length of the stone that can pass through the crushing mixer If, previously set by the raw soil material supplying speed and the setting means for representing a feed rate by the raw soil material feeder, Starring overload permissible time based on the maximum allowable length of the stone can pass through a rotary crushing mixer And when the duration of the overload state determined by the overload determination unit exceeds the overload allowable time calculated by the calculation unit, it is determined that there is an overload abnormality and the first rotary actuator and the second Control means for performing overload control on at least one of the rotary actuators, and the computing means is based on the stone maximum allowable length set by the setting means and the supply speed of the raw soil supply device The overload allowable time is calculated .
[0008]
According to the first invention, based on the supply speed of the raw material soil supply device and the predetermined maximum length of the stone that can pass through the crushing and mixing machine, the overload allowable time corresponding to the raw material soil supply speed is calculated and crushed. When the duration of the overload state in which the load of the mixer exceeds a predetermined value exceeds the calculated overload allowable time, it is determined that an overload abnormality has occurred. For this reason, until the overload abnormality occurs, the raw soil supply device and the crushing and mixing machine are driven in the normal direction, and the possibility that stones and the like pass through the crushing and mixing machine is increased, so the occurrence frequency of the overload abnormality is reduced. And efficient soil quality improvement work. Moreover, the maximum length of stones that can be passed at this time is determined by the allowable overload time, and the allowable overload time is set so that the maximum length of the stone that can pass is equal to or less than a predetermined length. Since it is calculated according to the supply speed, the size of the stone that can be passed can be accurately controlled, and the productivity of improved soil suitable for the application is improved.
In addition, the maximum length of stone that can pass through the crushing and mixing machine, the type of soil to be improved (raw soil) (type of soft rock and hard rock) and the purpose of use of improved soil (type of ground improvement and roadbed material, etc.) ) Etc., it is possible to perform overload judgment and overload abnormality processing suitable for the soil to be improved, and to always perform efficient soil quality improvement work.
[0009]
According to a second invention, in the first invention, the control means reversely rotates the crushing mixer when it is determined that the overload is abnormal.
[0010]
In addition, according to a third aspect, in the first aspect, the control means reversely rotates the raw soil material supply device when it is determined that the overload is abnormal.
[0011]
According to the second or third invention, when the overload abnormality is judged, the crushing mixer or the raw soil supply device is reversed. And change the state of the raw soil. This increases the possibility that the overload state can be canceled.
[0012]
According to a fourth invention, in the second or third invention, the control means performs reverse rotation of the crushing mixer or the raw soil material supply device for a predetermined time and then returns to normal rotation.
[0013]
According to the fourth aspect of the present invention, the overload state can be released and automatically returned to the normal raw material soil transport state by rotating again forward after the reverse rotation of the crushing mixer or the raw material soil supply device. Efficient soil quality improvement work can be done avoiding interruption of work due to stoppage.
[0014]
According to a fifth invention, in the fourth invention, when the control means determines that the crushing mixer or the raw soil supply device is overloaded even if the normal rotation is returned to the normal state, at least one of the crushing mixer and the raw soil supply device Either one is stopped.
[0015]
According to 5th invention, even if it performs reverse rotation for the overload state cancellation | release as mentioned above, when an overload is not cancelled | released by the normal rotation after that, it will be an overload abnormal stop for the first time as an overload abnormal stop. Since at least one of them is stopped, it is possible to increase the possibility of continuing the work by releasing the overload and reduce the frequency of work interruption. For this reason, efficient soil quality improvement work is possible.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. Here, the self-propelled soil improvement device shown in FIG. 3 will be described as an application machine of the present invention.
[0019]
First, the configuration of the control device of the crushing mixer for the soil improvement device of the present invention will be described with reference to the control configuration block diagram shown in FIG.
The crushing and mixing machine 7 a such as a soil cutter having a rotary cutter is rotationally driven by a rotary actuator 13 such as a hydraulic motor or an electric servo motor, and the rotary actuator 13 is driven by a driving means 12. When the rotary actuator 13 is a hydraulic motor, the drive means 12 is composed of a solenoid operated switching valve, and based on the command current input from the controller 10, the rotation direction and rotation speed of the hydraulic motor, that is, the crushing mixer 7a. Control the rotation. When the rotary actuator 13 is an electric servo motor, the drive means 12 is composed of a servo amplifier, and a speed command signal input from the controller 10 and a speed feedback signal from a rotation sensor (not shown) of the rotary actuator 13. Based on the deviation value, the current (that is, the driving torque) of the electric servo motor is controlled so that the deviation value becomes small, and the rotation direction and rotation speed, that is, the rotation of the crushing mixer 7a is controlled.
[0020]
The load sensor 14 detects the load of the crushing and mixing machine 7a or the raw soil material supply device 8, and in the drawing, the load sensor 14 shows an example of detecting the magnitude of the driving torque of the rotary actuator 13 or 19. That is, in the case of hydraulic driving, the load pressure of the hydraulic motor is detected by a pressure sensor, and in the case of electric motor driving, the motor current value of the driving means 12 (servo amplifier) is detected by a current sensor. The detected load (pressure value or motor current value) is output to the controller 10.
[0021]
Similarly to the crushing and mixing machine 7 a, the raw material soil supply device 8 including a conveyor and a feeder is driven by a rotary actuator 19 such as a hydraulic motor or an electric servo motor, and the rotary actuator 19 is driven by a driving means 18. Depending on the type of the hydraulic motor or the electric servo motor of the rotary actuator 19, the driving means 18 is composed of a solenoid operated switching valve or a servo amplifier as described above, and the motor 18 is based on the command current or speed command signal input from the controller 10. Rotation direction and rotation speed, that is, rotation of the material soil supply device 8 is controlled.
[0022]
The raw material soil speed sensor 15 detects the supply speed of the raw material soil supply device 8, and includes a rotary pickup sensor for detecting the rotational speed of a conveyor and the like, a rotation generator such as a pulse generator, a pulse encoder and a tachometer, or a raw material soil. It can be constituted by a speed sensor that detects the relative speed with the vehicle body in a non-contact manner with a laser or the like. The detected supply speed is input to the controller 10. Alternatively, the command value to be commanded in advance may be input to the calculation means as the supply speed without detecting the supply speed of the raw material supply apparatus 8 by a sensor.
[0023]
The setting means 16 is for setting various control data of the controller 10, work conditions such as the supply speed of the raw soil material supply device 8 and the rotation speed of the crushing and mixing machine 7a. It has a data setting unit with a data confirmation display, a dial type setting unit, and the like. The control data that can be set includes, for example, the maximum length of stone that can be passed in the overload state of the crushing and mixing machine 7a, the distinction between hard and soft material soil, the type code, and the use code of improved soil. These setting data are input to the controller 10 and stored.
[0024]
The controller 10 is mainly composed of a high-speed arithmetic device such as a microcomputer or a high-speed numerical arithmetic processor, and has a timer 11, a memory of a predetermined capacity, and an input / output port. The controller 10 includes an overload determination unit 10a, a calculation unit 10b, and a control unit 10c as functional configurations.
The overload determination unit 10a receives a detected load signal from the load sensor 14 via a predetermined input port, and determines whether or not an overload condition is present based on the detected load. Further, the calculation means 10b inputs a detection signal or setting data of the raw soil supply speed V from the raw soil speed sensor 15 or the setting means 16 via a predetermined input port, and passes through the crushing mixer 7a from the setting means 16 The maximum allowable length L data of possible stones is input, and based on these raw soil supply speed V and maximum allowable length L, a predetermined calculation process as described later is performed to calculate the overload determination time T0. Then, the control means 10c measures the elapsed time that the overload determination means 10a determines to be in an overload state with the timer 11, and whether this elapsed time is equal to or longer than the overload determination time T0 obtained by the calculation means 10b. Based on the check result, rotation commands for the rotary actuators 13 and 19 are obtained as will be described later, and the rotation commands are output to the drive means 12 and 18 via predetermined output ports to control the rotary actuators 13 and 19, respectively. Further, when it is determined from the check result that the vehicle is overloaded, a warning command is output to the warning means 17 to notify the operator of this.
[0025]
The warning means 17 issues a warning based on the warning command, and is constituted by a monitor display such as an alarm buzzer, a patrol light, a lamp display, a message display, or a graphic display.
[0026]
Next, a control processing procedure of the controller 10 according to the present invention will be described with reference to a control flowchart shown in FIG. Here, a case where the crushing and mixing machine 7a is hydraulically driven, that is, a case where the rotary actuator 13 is a hydraulic motor and the load sensor 14 is a pressure sensor will be described as an example.
[0027]
First, in step S1, the crushing mixer speed is set to a predetermined speed corresponding to the raw soil. Next, the load P14 of the crushing mixer 7a is detected by the load sensor 14 in step S2 by the overload determination means 10a, and whether or not the load P0 is equal to or higher than the overload set load Pm (for example, 16 MPa) in step S3. If the load is smaller than the overload set load Pm, the process returns to step S2 and the above processing is repeated until the load becomes equal to or greater than the overload set load Pm. In step S3, when the load is equal to or higher than the overload set load Pm, it is determined that the load is overloaded (overload determination means 10a), and the control means 10c starts counting the overload timer T in step S4. Next, the calculation means 10b calculates the overload determination time T0 according to the supply speed V in step S6 after detecting the supply speed V of the raw soil supply apparatus 8 by the raw material speed sensor 15 in step S5. To do. However, the value of the supply speed V used for the calculation may be a supply speed determined by setting the supply speed of the raw soil material supply device 8 in advance. Here, the overload determination time T0 is calculated by the equation “T0 = L / V”, where L is the maximum allowable length of the stone that can be passed, which is preset by the setting unit 16. It should be noted that the above formula is corrected so that it is approximate to the experimentally obtained value on the actual machine, that is, the formula “T0 = (L / V) × α ”or“ T0 = (L / V) + α ”may be used.
[0028]
Then, in step S7, the control means 10c checks whether the timer value TM at this time is equal to or longer than the calculated overload determination time T0. If the timer value TM is smaller than the overload determination time T0, the overload determination means is determined in step S8. After detecting the load P0 again, 10a checks whether the load P0 is equal to or higher than the overload set load Pm in step S9. When the load is equal to or greater than the overload set load Pm (overload state), the control means 10c returns to step S5 and waits repeatedly until the timer value TM becomes equal to or greater than the overload determination time T0. If the load P0 becomes smaller than the overload setting load Pm before the timer value TM becomes equal to or greater than the overload determination time T0 in step S9, the overload timer T is stopped and cleared in step S10. Return to step S2.
[0029]
When the timer value TM becomes equal to or longer than the calculated overload determination time T0 in step S7, the control means 10c determines that an overload abnormality has occurred, and in step S11, at least one of the raw soil supply device 8 and the crushing mixer 7a. One of them is reversed for a predetermined time. Then, the raw soil material supply device 8 or the crushing / mixing device 7a reversed in step S12 is rotated forward again. Thereafter, the overload determination unit 10a detects the load P0 in step S13, and checks in step S14 whether the load P0 is greater than or equal to the overload set load Pm. And when it is more than overload setting load Pm, control means 10c judges that overload occurs again at Step S15, and stops overload abnormal processing (for example, raw material supply device 8 and crushing mixer 7a, or one of them is stopped. Do). In step S14, when the load P0 is smaller than the overload set load Pm, the process returns to step S10.
[0030]
With the above configuration, the following actions and effects can be obtained.
When the load of the crushing / mixing machine 7a exceeds a predetermined allowable value (overload set load Pm), this overload state continues for a predetermined overload determination time T0 without immediately determining that an overload has occurred. It is judged that it is overloaded. For this reason, it is possible to reduce the frequency of fluctuations in the supply amount of the raw material soil due to abnormal processing at the time of overload without erroneously determining that a temporary large load fluctuation is an overload. In the overload state, the crushing mixer 7a escapes upward by the arm 4 as shown in FIG. 3 due to the reaction force of the load, so that the overload state can be continued for a predetermined time.
At this time, the overload determination time T0 is the actual raw soil supply speed so that the maximum length of stones that can pass between the rotary cutters of the crushing mixer 7a within the overload determination time T0 is substantially constant. It is calculated based on V and the set maximum allowable length L of the stone that can be passed. Thereby, even if the supply speed V changes, the allowable time T0 during which the stone can pass through the crushing and mixing machine 7a is appropriately set. Therefore, the maximum allowable length of the stone mixed in the improved soil is limited to a substantially constant value. Can manage.
[0031]
When it is determined that an overload abnormality has occurred, the crushing and mixing machine 7a or the raw soil material supply device 8 is reversed for a predetermined time. Changes and the overload state is easily released.
After this, by returning the reversed crushing and mixing machine 7a or the raw soil material supply device 8 to the normal rotation, it can be automatically returned to the normal raw material soil conveyance state. Efficient soil quality improvement work can be done with less.
At this time, if the overload abnormality is not canceled even if the reverse crushing mixer 7a or the raw soil material supply device 8 is rotated forward, it is determined that the overload abnormality is a real overload for the first time. Since at least one of them is stopped, the frequency of work interruption can be reduced, and an efficient soil improvement work can be performed.
[0032]
Furthermore, since the maximum allowable length L of the stone that can pass through the crushing and mixing machine 7a can be set and changed by the setting means 16, the type of raw soil (type of soft rock and hard rock) and the purpose of use of improved soil The maximum allowable length L can be set according to (such as the type of ground improvement and roadbed material). For example, when the raw soil is soft rock, even if it is large, it is likely to be crushed by the rotary impactor 7b located on the downstream side in the raw soil conveying direction of the crushing and mixing machine 7a, or to be broken by falling in the crusher 7. Alternatively, the maximum allowable length L may be set so that a somewhat large (long) thing can pass through. On the other hand, in the case of hard rocks, since it is difficult to be crushed, it is preferable to set the maximum allowable length L small. In addition, there is no problem even if some large stones are mixed in the ground improvement, but when it is used for roadbed materials, it must be strictly less than the specified value. As described above, the maximum allowable length L of the stone mixed in the improved soil can be optimally set according to the type of the raw soil and the use of the improved soil, so that an appropriate overload judgment can be made, so that the soil quality is always efficient. Improvement work is possible.
[0033]
In the above-described embodiment, the load detection of the crushing and mixing machine 7a is shown based on the load pressure of the hydraulic drive source (hydraulic motor). However, the present invention is not limited to this, In the case of a motor or the like, it may be performed based on the drive current.
Further, in the embodiment, the structure for releasing the load reaction force in the overload state is realized by the configuration in which the arm 4 for supporting the crushing mixer 7a is provided so as to be swingable in the vertical direction. For example, the crushing and mixing machine 7a may be attached above the position closer to the center than the end of the conveyor, and the conveyor may be bent downward and escape in an overloaded state.
[0034]
As described above, according to the present invention, since an overload abnormality is determined only when an overload state continues for a predetermined overload allowable time or more, the frequency of work interruption due to an overload abnormality can be reduced. In addition, since the allowable overload time is determined according to the raw soil supply speed, the maximum value of the stone mixed in the improved soil through the crushing mixer is always kept constant even if the raw soil supply speed changes. The quality of the improved soil is very good. Furthermore, since the maximum allowable length of stones that pass through the crushing and mixing machine can be set arbitrarily by the setting means, the maximum allowable length of stones that can be passed is set according to the type of raw soil and the purpose of the improved soil And overload can be determined appropriately.
In addition, when it is determined that there is an overload abnormality, at least one of the raw soil supply device and the crushing and mixing machine is reversed and then returned to the normal rotation, so there is a possibility that the overload state is automatically released. Because it can be high, efficient soil improvement work can be done.
[0035]
In addition, although the above demonstrated in the example of the combination of a crushing mixer and a raw material soil supply apparatus, this invention is not limited to this, For example, the scraping rotor with which the exit part of the 1st hopper which stores raw material soil was equipped It can be applied to a combination of a rotating body and a conveyor, such as a relationship between the first and second hoppers and a raw soil supply device provided below the first hopper.
[Brief description of the drawings]
FIG. 1 is a control configuration block diagram of an embodiment of the present invention.
FIG. 2 is a control flowchart of the embodiment of the present invention.
FIG. 3 is a side view of the soil improvement device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Soil improvement apparatus, 5 ... 1st hopper, 5a ... Scraping rotor, 6 ... 2nd hopper, 7 ... Crushing machine, 7a ... Crushing mixer (soil cutter), 7b ... Rotary striker, 8 ... Raw material soil supply apparatus, DESCRIPTION OF SYMBOLS 10 ... Controller, 10a ... Overload determination means, 10b ... Calculation means, 10c ... Control means, 11 ... Timer, 12 ... Drive means, 13 ... Rotary actuator, 14 ... Load sensor, 15 ... Raw material soil speed sensor, 16 ... Setting means, 17 ... warning means, 18 ... driving means, 19 ... rotary actuator.

Claims (5)

In the control device of the crushing and mixing machine for soil improvement equipment,
A material soil supply device (8) for supplying material soil;
A rotary crushing mixer (7a) for crushing and mixing the raw soil supplied from the raw soil supply device (8);
A first rotary actuator (13) for driving the rotary crushing and mixing machine (7a);
A second rotary actuator (19) for driving the raw soil supply device (8);
A load sensor (14) for detecting a load of the first or second rotary actuator (13, 19);
Overload determination means (10a) for determining an overload state when the load detected by the load sensor (14) is a predetermined value or more;
Setting means (16) for setting the maximum allowable length of stone that can pass through the crushing and mixing machine (7a);
Based on the raw soil supply speed representing the supply speed by the raw soil supply apparatus (8) and the maximum allowable length of stones that can be passed through the rotary crushing mixer (7a) set in advance by the setting means (16). A calculation means (10b) for calculating an allowable overload time;
When the duration of the overload state determined by the overload determination means (10a) exceeds the overload allowable time calculated by the calculation means (10b), it is determined that there is an overload abnormality and the first rotary actuator (13 ) And at least one of the second rotary actuator (19) includes a control means (10c) for performing overload control ,
The calculation means (10b) calculates the allowable overload time based on the maximum allowable stone length set by the setting means (16) and the supply speed of the raw soil material supply device (8). Control device for crushing mixer for soil improvement equipment. In the control device of the crushing and mixing machine for the soil improvement device according to claim 1,
The said control means (10c) reverses a crushing mixer (7a), when it judges that it is an overload abnormality. The control apparatus of the crushing mixer for soil improvement apparatuses characterized by the above-mentioned. In the control device of the crushing and mixing machine for the soil improvement device according to claim 1,
The control means (10c) reverses the raw soil supply device (8) when it is determined that the overload is abnormal. In the control apparatus of the crushing and mixing machine for the soil improvement device according to claim 2 or 3,
The said control means (10c) is made to return to normal rotation after performing reverse rotation of the crushing mixer (7a) or raw material soil supply apparatus (8) for a predetermined time, The crushing mixer for soil improvement apparatuses characterized by the above-mentioned Control device. In the control device of the crushing and mixing machine for the soil improvement device according to claim 4,
When the control means (10c) determines that the crushing mixer (7a) or the raw soil supply device (8) is overloaded even if the normal rotation is returned to the normal rotation, the crushing mixer (7a) and the raw soil supply device ( 8) A control device for a crushing and mixing device for a soil improvement device, wherein at least one of them is stopped.

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