JP4920116B1 - Shallow ground improvement method and apparatus - Google Patents

Abstract

An object of the present invention is to provide a ground improvement method and apparatus capable of high-quality ground improvement processing by controlling the excavation speed and the amount of solidified material to be linked using a simple backhoe.
A backhoe is used in which a plurality of arms are connected in a turnable manner, and a backhoe provided with a cylinder for changing the angle of the connecting portion is used, and an auger and a ground solidification material discharge pipe are suspendedly connected to the tip arm, Solenoid valve for controlling angle of each arm and / or cylinder length detector and solidification material injection detector, and connecting these detectors to a control calculation unit. The control calculation unit is connected to the control unit based on the initial setting and the data of the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the length of the cylinder that changes the angle. A memory for storing a timetable until penetration is provided.
[Selection] Figure 1

Description

  The present invention is to improve a shallow soft ground up to about 10 m by attaching an excavator to a simple civil engineering arm working machine that travels on the ground like a backhoe and has a plurality of extendable arms. The present invention relates to a method for improving a shallow ground and an apparatus therefor.

In the conventional surface treatment of soft ground, there is a method in which powder solidified material is sprayed on the ground and stirred and mixed with a backhoe or clamshell. In this method, the finished shape and quality were constructed based on experience, so the variation in strength of the improved ground was large. The main improvement layer thickness is 3 to 4 m, which is shallow.
The surface layer and middle layer improved trencher method using liquid agitation material such as mechanically stirred grout and slurry is improved from the surface layer to the improved bottom surface by stirring the ground vertically by the stirring blades attached to the outer periphery of the stirring chain. This is a method of solidifying by mixing wood and soft soil. In this method, construction can be performed from the surface layer to the middle layer of about 10 m.

  In this trencher system, an elevating body is attached to a guide mast built perpendicular to a base machine so that the elevating body can be moved up and down, and a rotating device and a multi-axis device are provided on the elevating body. The rotation axis of the book is attached vertically. A stirring blade and an excavator are attached to the lower end of the rotating shaft. Then, while injecting the liquid solidified material into the ground from the hollow portion of the rotating shaft or from the lower end of the solidified material injection pipe attached separately, the ground is excavated with an excavator and stirred with a stirrer to a predetermined depth. Solidification processing is performed (Patent Document 1).

This trencher method requires a large base machine such as a crawler crane and a guide mast attached to the base machine. Transporting heavy equipment to the site, installation on site, and movement of the base machine etc. after each treatment. -There was a problem that work efficiency was poor, such as installation and connection with the solidifying material supply device.
It is conceivable to use a civil engineering arm working machine with excellent mobility such as a backhoe instead of a large base machine. There has been proposed an arm type working machine that simply excavates a hole perpendicular to the ground using such a backhoe (Patent Document 2).
As shown in FIG. 8, this arm type working machine sequentially connects a first arm 13, a second arm 14, and a third arm 15 to a revolving body 12 on a civil engineering arm working machine 11 in a freely rotatable manner. Also, the first cylinder 16, the second cylinder 17, the second cylinder 14 and the first arm 13, the first arm 13 and the second arm 14, and the second arm 14 and the third arm 15, respectively. A three cylinder 18 is attached, and a drill 20 is vertically attached to the tip of the third arm 15 via an attachment 19. And the drill 20 is rotated with the motor installed in the attachment 19 part, and only a hole perpendicular | vertical to the ground surface 10 is excavated, Comprising: There is no example utilized for improvement of a soft ground.

Japanese Patent Publication No. 8-19678 JP 2003-147798 A

If the arm type working machine shown in Patent Document 2 is used, an auxiliary machine such as a guide mast is not required, and the ground excavation work can be performed relatively easily by moving to the site. However, ground improvement must not only excavate the ground but also link solidification material injection and excavation. When the excavation speed is too slow compared to the injection of solidification material, more solidification material than necessary is injected, the concrete pillar in the ground becomes too thick, or the solidification material flows out to the other side and has an adverse effect on the ground. On the other hand, when the excavation speed is too fast compared with the injection of the solidification material, the necessary solidification material is not injected and the underground concrete column becomes thin, and the intended ground improvement purpose cannot be achieved. The ground improvement process.
The present invention provides a ground improvement method and apparatus capable of high-quality ground improvement processing with a simple device by linking the excavation speed and the amount of solidified material injected using an arm type work machine for civil engineering. It is intended.

In the shallow ground improvement method according to the present invention, an auger having an excavating blade and a discharge pipe for discharging ground solidification material are dropped and connected to a tip arm of a plurality of arms sequentially connected to an arm working machine. A step of initial setting to the position
Calculating the angle of the connection between each arm at the origin position of the auger at the initially set position and the penetration angle of the auger;
The angle of the connecting portion of each arm at the time of initial setting and / or the length of the cylinder that changes this angle, and the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the angle are changed. Creating a timetable until final penetration based on cylinder length data;
Detecting and outputting the angle of the connecting portion of the arm and / or the length of the cylinder during the penetration work; and
A process for detecting and outputting the discharge amount of ground solidification material during intrusion construction;
The process from the origin to the final penetration consists of controlling the penetration and the discharge based on the time table.

According to invention of Claim 1,
A step of initially setting the auger having the excavating blade and a discharge pipe for discharging the ground solidified material to a position to be improved by drooping to the tip arm of the plurality of arms sequentially connected to the arm working machine;
Calculating the angle of the connection between each arm at the origin position of the auger at the initially set position and the penetration angle of the auger;
The angle of the connecting portion of each arm at the time of initial setting and / or the length of the cylinder that changes this angle, and the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the angle are changed. Creating a timetable until final penetration based on cylinder length data;
Detecting and outputting the angle of the connecting portion of the arm and / or the length of the cylinder during the penetration work; and
A process for detecting and outputting the discharge amount of ground solidification material during intrusion construction;
Since the process from the origin to the final penetration is controlled based on the timetable based on the timetable, the excavation speed and the amount of solidified material injected are linked using a simple arm type work machine for civil engineering such as a backhoe. It is possible to perform high-quality ground improvement processing.

  According to the second aspect of the invention, based on the timetable, the origin to the final penetration are divided into a plurality of set section lengths, and the excavation blade penetration and solidification from the origin to the final penetration based on the data for each set section The discharge of the material can be accurately controlled.

  According to the invention described in claim 3, the plurality of set section lengths of the time table are set to a fixed distance, and the penetration time and the discharge amount of the ground solidifying material for each fixed distance are constant regardless of the state of the ground. Therefore, the control of the ground improvement work can be further simplified.

  According to invention of Claim 4, when the angle of the connection part of each arm under penetration construction and / or the length of the cylinder which changes this angle exceeds the allowable range of the set value set in the time table Since a step of calculating and feeding back a correction value is added, even if a sudden change occurs in the formation, the penetration speed of the excavating blade can be corrected and dealt with.

  According to the invention of claim 5, when the discharge amount of the ground solidifying material during the penetration work exceeds the allowable range of the set value, a correction value is calculated and fed back, so the ground solidified material The discharge amount can always be set to an appropriate value.

  According to a sixth aspect of the invention, there is used a civil engineering arm working machine in which a plurality of arms are connected in a turnable manner, and a cylinder for changing the angle of a connecting portion between adjacent arms is provided. An auger having excavating blades and a discharge pipe for discharging ground solidification material are suspended and connected to the tip arm of the book, and the angle of the connecting portion of each arm and / or this angle is variable to the plurality of arms. A detector that detects the length of the cylinder and a solidification material injection detector that detects the discharge amount of the ground solidification material are provided, and these detectors are connected to a control calculation unit that takes in the signals of these detectors and calculates them. The control calculation unit is connected to a solenoid valve control unit that controls expansion and contraction of the plurality of cylinders, and the control calculation unit is a cylinder that changes the angle of the connecting portion of each arm and / or the angle at the time of initial setting. With length data Since it has a memory for storing a timetable until the final penetration based on the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the data of the length of the cylinder that changes the angle, a dedicated memory is provided. The soft ground can be improved with a simple civil engineering machine without using any equipment.

  According to the seventh aspect of the present invention, the arm at the tip has an auger having an excavating blade and an attachment for dropping a discharge pipe for discharging the ground solidification material, and the auger and the discharge pipe penetrate into the attachment. Since the inclination detector for detecting the direction is provided and this inclination detector is connected to the control calculation unit, the penetration direction of the auger and the discharge pipe can always be controlled to the set direction.

  According to the invention described in claim 8, the civil engineering arm working machine uses a backhoe composed of a traveling body, a revolving body, and three arms, and one end portion of the first arm is connected to the revolving body so as to be rotatable. In addition, a first angle detector is provided at the connection position, and one end of the second arm is connected to the other end of the first arm so as to be rotatable, and a second angle detector is provided at the connection position. One end of the third arm is connected to the other end of the second arm so as to be rotatable, a third angle detector is provided at the connecting position, and a drilling blade is provided at the other end of the third arm. An auger and a discharge pipe for discharging ground solidification material are connected in a suspended manner, a first cylinder is connected between the swivel body and the first arm, and a second cylinder is connected between the first arm and the second arm. A third cylinder is connected between the second arm and the third arm. Since, it is possible to use the backhoe to function as soil improvement device only by connecting the third arm instead of the bucket.

It is a front view which shows one Example of the shallow ground improvement method and its apparatus by this invention. It is a block diagram of the control circuit of the shallow ground improvement method and its apparatus by this invention. BRIEF DESCRIPTION OF THE DRAWINGS The shallow ground improvement method of this invention and the apparatus for excavation, agitation, and solidification material injection | pouring used for the apparatus are shown, (a) is a front view, (b) is a top view. It is a figure which shows the example of the setting value of the time table for control of the shallow ground improvement method and its apparatus by this invention. It is a flowchart of operation | movement of the shallow ground improvement method and its apparatus by this invention. It is explanatory drawing showing the locus | trajectory of operation | movement of the shallow ground improvement method and its apparatus by this invention. It is explanatory drawing for preparation of the timetable in the shallow ground improvement method and its apparatus by this invention, (a) is whole explanatory drawing, (b) is a one part enlarged explanatory drawing. It is a front view of the conventional arm working machine.

  In the shallow ground improvement device according to the present invention, there is used a civil engineering arm working machine in which a plurality of arms are sequentially connected in a freely rotatable manner, and a cylinder for changing the angle of a connecting portion between adjacent arms is provided. An auger having excavating blades and a discharge pipe for discharging ground solidification material are suspended and connected to the tip arm of the book, and the angle of the connecting portion of each arm and / or this angle is variable to the plurality of arms. A detector that detects the length of the cylinder and a solidification material injection detector that detects the discharge amount of the ground solidification material are provided, and these detectors are connected to a control calculation unit that takes in the signals of these detectors and calculates them. The control calculation unit is connected to a solenoid valve control unit that controls expansion and contraction of the plurality of cylinders, and the control calculation unit is a cylinder that changes the angle of the connecting portion of each arm and / or the angle at the time of initial setting. The length of the day And a memory for storing a time table until the final penetration based on the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the length of the cylinder that changes the angle. To do.

  Specifically, the civil engineering arm working machine uses a backhoe composed of a traveling body, a revolving body, and three arms, and connects one end portion of the first arm to the revolving body so as to be rotatable. The first angle detector is provided in the first arm, and one end portion of the second arm is rotatably connected to the other end portion of the first arm, and the second angle detector is provided at the connecting position. An end portion of the third arm is connected to the other end portion so as to be rotatable, and a third angle detector is provided at the connecting position. An auger having excavation blades and a ground solidifying material are provided at the other end portion of the third arm. A discharge pipe for discharging gas, a first cylinder connected between the swivel body and the first arm, a second cylinder connected between the first arm and the second arm, and the second arm A third cylinder is connected between the first arm and the third arm.

Embodiment 1 of the present invention will be described below with reference to the drawings.
In FIG. 1, reference numeral 11 denotes a civil engineering arm working machine such as a backhoe, a mud vehicle, etc. that is easy to transport and operate. The civil engineering arm working machine 11 includes a traveling body 10 a that travels on the ground surface 10, and this traveling A revolving body 12 revolving on the body 10a and a plurality of sequentially connected first arm 13, second arm 14, and third arm 15 provided on the revolving body 12 are mainly configured. The third arm 15 is an extended arm connected in place of the backhoe bucket. The backhoe can excavate about 5 to 6 m with a vertical stroke when the bucket capacity is 0.7 m, and about 8 m with a vertical stroke when it is 1.2 m.

The first arm 13 is pivotally attached to the position of the approximate center of gravity of the revolving body 12, a second arm 14 is pivotally attached to the distal end of the first arm 13, and the second arm 14 The 3rd arm 15 is attached to the front-end | tip part of this so that rotation is possible. An attachment 19 is attached to the tip of the third arm 15 downward, and a four-axis auger 29 is attached to the attachment 19 vertically.
In the axial position of the first arm 13 on the revolving structure 12, an angle D (an angle connecting a predetermined reference line of the revolving structure 12 and the connection point of the second arm 14) in the drawing is detected. Similarly, a first angle detector 21 is provided. Similarly, a second angle detector 22 for detecting an angle E is provided at the axial position of the first arm 13 and the second arm 14, and the second arm 14 and the third arm are provided. 15 is provided with a third angle detector 23 for detecting the angle F, and the third arm 15 and the attachment 19 are provided with a fourth angle detector 24 for detecting the angle G. It has been.

  At the substantially intermediate position of the revolving body 12 and the first arm 13, the substantially intermediate position of the first arm 13 and the proximal end portion of the second arm 14, the substantially intermediate position of the second arm 14 and the proximal end portion of the third arm 15. Are provided with a first cylinder 16, a second cylinder 17, and a third cylinder 18, respectively. The first cylinder 16, the second cylinder 17, and the third cylinder 18 are provided with a first cylinder length detector 26, a second cylinder length detector 27, and a third cylinder length detector 28, respectively. .

  A four-axis auger 29 is vertically attached to the attachment 19, and an inclination detector 25 for detecting the inclination angle of the attachment 19 is attached. From the auger 29, four rods 30 hang down so as to be located at the corners of a regular quadrangle, and a solidified material discharge pipe 31 is provided at the center of the four rods 30. A stirring blade 33 and an excavation blade 32 are attached to the lower ends of the four rods 30 via a coupling 34. As shown in FIGS. 3 (a) and 3 (b), these four excavating blades 32 are attached by sequentially changing the angle by 90 degrees so that excavation of the excavating blade 32 and agitation of the stirring blade 33 are performed as shown in FIG. As shown in (), a part of the rotating part overlaps to minimize the part where the excavation and stirring of the central part are not performed. Further, liquid solidified material such as grout and slurry is discharged into the ground excavated from the lower end of the solidified material discharge pipe 31 at the center. When the rod 30 is hollow, the solidifying material may be discharged from the lower end through the rod 30.

In the driver's seat of the civil engineering arm working machine 11, an input unit 35 having an operation panel and a display panel is installed, and a manual operation unit 45 and an operation lever 46 that are operated manually are provided.
A hydraulic unit 36, a solenoid valve control unit 37, and a control calculation unit 38 are attached to the rear part of the revolving body 12 as a weight balancer. A hydraulic hose from the electromagnetic valve control unit 37 to the first cylinder 16, the second cylinder 17, and the third cylinder 18 is connected.
Further, the grout storage tank (not shown) is connected to the upper end portion of the solidified material discharge pipe 31 through a grout hose extending along the first arm 13, the second arm 14, and the third arm 15. A solidified material injection detector 39 for measuring the flow rate and torque pressure of the grout and the rotation speed of the auger 29 is provided at the upper end of the attachment 19 together with the inclination detector 25.

FIG. 2 shows a control circuit for inputting signals from the various detectors and controlling the control calculation unit 38, the solenoid valve control unit 37, and the like.
In FIG. 2, the first angle detector 21, the first cylinder length detector 26, the second angle detector 22, the second cylinder length detector 27, the third angle detector 23, and the third cylinder length detector 28. The fourth angle detector 24, the inclination detector 25, and the solidified material injection detector 39 are connected to the signal input unit 41 of the control calculation unit 38, and the input unit 35 is connected to the CPU 42 of the control calculation unit 38. . The control calculation unit 38 further includes a memory 43 and a signal output unit 44, and the signal output unit 44 is connected to the recording unit 40 and the electromagnetic valve control unit 37. In the electromagnetic valve control unit 37, the hydraulic unit 36 controls the flow of oil to the first arm 13, the second arm 14, and the third arm 15.
In the present invention, all are automatically controlled, but the revolving body 12 is provided with a manual operation unit 45 including an operation lever 46 and a control valve 47 for manual operation as necessary.

The improvement work of the shallow soft ground having the above configuration will be described in the order of each process based on FIG.
Step a1: The civil engineering arm working machine 11 is transported to the site, and a four-axis auger 29 and a solidified material discharge pipe 31 are attached to the tip of the third arm 15 via the attachment 19. Further, the traveling body 11a travels to a position where the distance x from the center of gravity of the civil engineering arm working machine 11 to the excavation position becomes a set value (for example, 5500 mm), and the civil engineering arm working machine 11 is fixed. Further, the angle δ of the fourth angle detector 24 is adjusted to 180 degrees, that is, adjusted so that the line connecting the third angle detector 23, the fourth angle detector 24, and the center of the auger 29 is vertical.

  Step a2: Detection of the angle α of the first angle detector 21, the angle β of the second angle detector 22, the angle γ of the third angle detector 23, and the fourth angle detection with the civil engineering arm working machine 11 being initialized. If the angle δ of the container 24 is detected, is the angle detected? Becomes YES and the data is sent.

Step b1: Is the angle detected in step a2? Is NO, the first cylinder length detector 26 uses the first cylinder 16 length c, the second cylinder length detector 27 uses the second cylinder 17 length g, and the third cylinder length detector 28 uses the third cylinder length detector 28. The length i of the cylinder 18 is detected and the data is sent.
Both the angle detection signal and the cylinder length detection signal may be sent.

  Step a3: Each signal of the angle and / or the cylinder length is taken into the signal input unit 41 of the control calculation unit 38.

  Step a4: The origin position P1 in the fourth angle detector 24 is calculated by the CPU 42 based on each signal taken into the signal input unit 41. The data at this time is the numerical value of the P1 row in the time table of FIG. 4, that is, c = 3251.4 mm, g = 2364.6 mm, i = 2670.7 mm, α = 155.9 degrees, β = first angle Assume that the detector is 21.8 degrees, γ = 82.3 degrees, and δ = 180.0 degrees.

Step a5: The time table shown in FIG. 4 is created by the CPU 42 based on the data of the origin P1 and stored in the memory 43. Details of the calculation of the time table will be described later.
Here, as shown in FIG. 6, the work according to the present invention takes the set distance (for example, 1 m) over the set time (for example, 60 seconds), the angle of the first cylinder 16, the second cylinder 17, the third cylinder 18, or the cylinder. The length is controlled, and the ground is improved by injecting a certain amount of solidified material per set time while the excavating blade 32 automatically penetrates vertically.
A time table for each set distance is created from the above origin data and work program. Specifically, for example, this time table is shown in FIG. 6 from the origin P1 to the lowest point. Data obtained when 5 meters are penetrated every 60 seconds up to P6 point is calculated in advance and stored in the memory 43. The amount of solidified material discharged and the number of rotations of the stirring blade are also added to the timetable in advance.

Step a6: While rotating the motor of the auger 29, the solidification material is sent from the solidification material pump (not shown) to start the construction.
Here, from the time table stored in the memory 43, data such that 1 m from the origin P1 to the point P2 in FIG. 4 penetrates over 60 seconds is sent. Specifically, the first cylinder 16 is controlled to move with a length c of 3251.4 to 3249.2 mm as in Q3 and at a change rate of −2.2 mm / min as in Q4. The cylinder 17 is controlled to move at a length g of 2364.6 to 2574.3 mm, as in Q5, at a change rate of 209.7 mm / min, as in Q6, and the third cylinder 18 is controlled as in Q7. The solenoid valve is controlled from the memory 43 via the CPU 42 and the signal output unit 44 so that the movement of the length i of 2670.7 to 2564.1 mm is controlled at a change speed of −106.6 mm / min as in Q8. A signal is sent to the unit 37. Then, the first valve 16, the second cylinder 17, and the third cylinder 18 are driven by the solenoid valve control unit 37 so as to penetrate 1 m from the origin P1 to the point P2 over 60 seconds. Is done.
Note that the angles α, β, and γ also change as the cylinder lengths c, g, and i change.
Here, the change rate of the cylinder represents the extension direction of the cylinder length as +, the shrinkage direction as-, and the angle change amount represents the increase direction as + and the decrease direction as-. And

  Step a7: Each indicated value is output from the signal output unit 44 of the control calculation unit 38 to the solenoid valve control unit 37. Then, the solenoid valve controller 37 controls the opening and closing of the valves for each of the first cylinder 16, the second cylinder 17, and the third cylinder 18, and the pressure oil from the hydraulic unit 36 is sent to the first arm 13, the second arm. 14. The third arm 15 is driven.

  Step a8: As the first arm 13, the second arm 14, and the third arm 15 are driven, the first cylinder length detector 26, the second cylinder length detector 27, the third cylinder length detector 28, and the first angle detection. The signals of the detector 21, the second angle detector 22, the third angle detector 23, and the fourth angle detector 24 are taken into the signal input unit 41 of the control calculation unit 38.

Step a9: In step a9, is the angle per unit depth (for example, 100 mm) and / or the cylinder length satisfied? Is judged.
Since the auger 29 has a predetermined angle with respect to the stirring blade 32, it naturally penetrates into the ground when it is rotated. However, since there is a risk of penetration at a set speed or higher, it is necessary to control the auger 19 to penetrate at the set speed while applying a force for pulling the auger 19 upward by the arm.

Step c1: If step a9 is NO, an alarm is output with sound and light (red).
Step c2: After the alarm is output, the angle and cylinder length correction values are calculated, the time table is corrected with the data, and the process returns to step a7.

  Step a10: If step a9 is YES, the inclination detector 25 detects the angle of the attachment 19, and the solidifying material injection detector 39 detects the rotation speed of the auger 29 motor, the flow rate and torque pressure of the solidifying material. The signal is sent to the signal input unit 41 of the control calculation unit 38.

  Step a11: In this step a11, are the motor speed per unit time (for example, 6 seconds), the flow rate / torque pressure of the solidified material satisfied? Is judged.

Step d1: If step a11 is NO, an alarm is output with sound and light (red).
Step d2: After outputting the alarm, the correction value of the motor rotation number, the flow rate / torque pressure of the solidified material is calculated, the time table is corrected with the data, and the process returns to step a10.

  Step a12: If step a11 is YES, the light (green) indicates that the operation is smooth.

  Step a13: Is construction completed? Is judged.

  Step a14: If step a13 is NO, is the set section length (for example, 1 m) satisfied? If NO is determined, that is, if 1 m has not been reached, the process returns to step a7 and repeats up to step a14.

  Step a15: If step a14 is YES, since the set section length (for example, 1 m) has been reached, the next section P1 point penetrates to the point P2, returns to step a7, repeats to step a15, and repeats the set section P2. ˜P3, P3 to P4,... P5 to P6 are penetrated. If it penetrates to the lowest point P6 under 5m, is construction completed in step a13? Becomes YES.

  Process e1: Is construction completed in process a13? If YES, the end process is performed and the process is ended.

When the penetration reaches the lowest point P6, the solidification material discharge is stopped, the motor of the auger 29 is rotated in the reverse direction, and the auger 29 is pulled out in the reverse process of the penetration based on the timetable of the drawing process shown in FIG. .
When the penetration and extraction steps are completed, the civil engineering arm working machine 11 is moved to the next place, and the same steps are repeated in the same manner as described above.
Necessary construction information such as the construction depth, the number of stirrings, the penetration speed, and the solidified material discharge amount obtained in the above steps is displayed on the display panel of the input unit 35 from the control calculation unit 38. The construction data is sent to the recording unit 40 by wire or wirelessly at a site office or the like, printed as information or daily report for each pile, and automatically edited. It can also be recorded on a USB memory and taken out.

Next, a specific method for calculating the time table will be described with reference to FIGS.
1. Calculation of line P1 (origin) The angles ∠ACG = α (P1, Q9), ∠CGI = β (P1, Q11), and ∠GKM = γ (P1, Q7) are the first angle detector 21 and the second angle detection. Detected by the detector 22 and the third angle detector 23. The angle δ will be described as an example in which the angle δ is fixed at 180 degrees (vertical penetration).
The lengths c, g, i of the first cylinder 16, the second cylinder 17, and the third cylinder 18 are calculated from the detected angles α, β, γ.

(1) Calculation of the length c (P1, Q3) of the first cylinder 16 ∠ACG = α, ∠BCD = C, ∠ACB = C1, ∠DCG = C2, CB = a, CD = b, BD = c Then
Angle C = α + C1 + C2
The length is obtained by c = √ (a ² + b ² −2abcosC).
In these equations, α = 155.9 °, C1 = 39.46 °, C2 = 22.44 °, a = 828.43, b = 2581.49 (C1, C2, a and b are fixed values) Substituting
Angle C = 138.88
A length c = 3251.5 is obtained.

(2) Calculation of length g (P1, Q5) of second cylinder 17 ∠CGI = β, ∠EGF = G, ∠EGD = G1, ∠CGD = G2, ∠HGI = G3, ∠FGH = G4, EF = g, EF = f, FG = e,
Angle G = 360-β-G1-G2-G3-G4
Length g = √ (e ² + f ² −2ef cos G)
In these equations, α = 12.8 °, G1 = 9.7 °, G2 = 16.31 °, G3 = 50.1 °, G4 = first cylinder 16.44 °, f = 2811.05, e = 720.51 (G1, G2, G3, G4, f, e are fixed values)
Angle G = 45.65
A length g = 2364.2 is obtained.

(3) Calculation of the length i (P1, Q7) of the third cylinder 18 When ∠HIJ = I, ∠FIH = I1, ∠KIL = I2, ∠JIL = I3, HI = j, IJ = k1,
Angle I = 180-I1-I2-I3
Length i = √ (j ² + k1 ² −2jk1 cos I)
In obtaining I for the first time, I2 and I3 are calculated.
If ∠GKM = γ, ∠IKL = K, ∠FKG = K1, ∠LKM = K2, JK = k2, IL = k3,
Angle K = 360-γ-K1-K2
Length k3 = √ (j1 ² + j2 ² −2j1j2cosK)
The angle I2 = cos ⁻¹ {(j1 ² + k3 ² −j2 ² ) / 2j1k3}.
In these equations, γ = 82.35 °, K1 = 2.52 °, K2 = 112.35 °, j1 = 410.07, j2 = 458.13 (K1, K2, j1, and j2 are fixed values) Substituting
Angle K = 162.78
Length k3 = 858.45
Angle I2 = 9.09
Further, determined at an angle ^{I3 = cos -1 {(k1 2} + k3 2 -k2 2) / 2k1k3}.
Substituting k1 = 639.87 and k2 = 599.91 (k1 and k2 are fixed values) into these equations,
An angle I3 = 44.28 is obtained.
Therefore, if I1 = 9.92 ° (I1 is a fixed value) is substituted,
I = 116.71
i = 2666.6 is obtained.

2. Calculation of the distance from the ground surface to the origin P1 and the distance to the auger 19 (1) The distance from the ground surface to the origin P1 is fixed at 6040 + 100 = 6140.
(2) The distance x to the auger 19 is obtained by the following equation.
Length x = √ {(y1 ² + y2 ² −2y1y2cos β) −z ² }
Substituting β = 155.9 °, y1 = 5753, y2 = 3106.92, and z = 5664.24 (y1, y2, and z are fixed values) into these equations,
A length x = 54332.25 is obtained.

3. Calculation of line P2 In FIG. 6, each value when z moves from the origin P1 to P2 is calculated.
(1) Calculation of α (P2, Q9) Length y = √ (z ² + x ² )
Angle S = tan ⁻¹ z / x
Angle T = cos ⁻¹ {(y ² + y1 ² −y2 ² ) / 2yy1}
α = 90 + T + S.
In these equations, z = 466.24, x = 54332.25, y1 = 5753, y2 = 3106.92 (x, y1, y2 are fixed values) (z is a value obtained by subtracting P2 from the origin P1) Substituting
Length y = 7159.92
Angle S = 40.65
Angle T = 24.93
The angle α = 155.58,
Further, the change amount α1 (P2, Q10) of α is a value obtained by subtracting (P1, Q9) from (P2, Q9).
α1 = −0.3 is obtained.

(2) Calculation of β (P2, Q11) Angle β = cos ⁻¹ {(y1 ² + y2 ² −y ² ) / 2y1y2}
= 103.7.
Further, the amount of change β1 (P2, Q12) of β is a value obtained by subtracting (P1, Q11) from (P2, Q11).
β1 = −18.1 is obtained.

(3) Calculation of γ (P2, Q13) Angle U = tan ⁻¹ x / z
Angle V = cos ⁻¹ {(y ² + y2 ² −y1 ² ) / 2yy2}
The angle γ = U + V = 100.7.
Further, the change amount γ1 (P2, Q14) of γ is a value obtained by subtracting (P1, Q13) from (P2, Q13).
γ1 = −18.4 is obtained.

(4) Calculation of the length c (P2, Q3) of the first cylinder 16 Following the calculation of the position of the origin P1, the calculation is performed by replacing the angle α with (P2, Q9), so that α = 155.6 and angle C = 138 .58
Length c = 3249.3
Further, the change amount c1 (P2, Q4) of c is a value obtained by subtracting (P1, Q3) from (P2, Q3).
c1 = −2.2 is obtained.

(5) Calculation of length g (P2, Q5) of second cylinder 17 Following calculation of the position of origin P1, calculation is performed by replacing angle β with (P2, Q11), so that β = 103.7 to angle G = 63 .75
Length g = 2574.8
Further, the amount of change g1 (P2, Q6) of g is a value obtained by subtracting (P1, Q5) from (P2, Q5).
g1 = 209.6 is obtained.
(6) Calculation of the length i (P2, Q7) of the third cylinder 18 Following calculation of the position of the origin P1, the calculation is performed by replacing the angle γ with (P2, Q13) and from γ = 144.43, the length k3 = 826.84
Length I2 = 18.80
Length I3 = 46.14
Length I = 105.4
i = 2559.8
Further, the change amount i1 (P2, Q8) of i is a value obtained by subtracting (P1, Q7) from (P2, Q7).
i1 = −106.8 is obtained.

The liquefied solidified material (Q16 row) and the stirring rotation speed are values to be set and input.
3. The same applies to the calculation for the P3 and subsequent rows.

  In the above embodiment, the lowest point of excavation is 7 m, the set section is 1 m, and the moving time of the set section is 60 seconds. However, the present invention is not limited to this, and it may be 7 m or more depending on the capacity of the civil engineering work machine. It may be the following. Further, the setting section, the moving time of the setting section, the unit depth for calculating the correction value, and the unit time are not limited to those in the embodiment.

In the above embodiment, a civil engineering work machine having three arms was used. However, depending on the depth of penetration into the ground to be improved and other purposes, the number of arms may be four or more. May be.
Moreover, although the example which penetrates the auger 29 vertically was shown, even if it penetrates at an angle other than the vertical direction, the present invention can be implemented.

In the above embodiment, the penetration speed of the auger 29 is constant and the discharge amount of the solidified material is also constant. However, the present invention is not limited to this, and when the penetration speed of the auger 29 changes depending on the ground, the penetration speed depends on the penetration speed. Thus, the discharge amount of the solidifying material may be changed.
In the above embodiment, the solidifying material is discharged when the auger 29 penetrates, but the present invention is not limited to this, and the solidifying material may be discharged when the auger 29 is pulled out.

DESCRIPTION OF SYMBOLS 10 ... Ground surface, 11 ... Civil engineering arm working machine, 11a ... Traveling body, 12 ... Revolving body, 13 ... 1st arm, 14 ... 2nd arm, 15 ... 3rd arm, 16 ... 1st cylinder, 17 ... 2nd Cylinder, 18 ... third cylinder, 19 ... attachment, 20 ... drill, 21 ... first angle detector, 22 ... second angle detector, 23 ... third angle detector, 24 ... fourth angle detector, 25 ... Inclination detector, 26 ... first cylinder length detector, 27 ... second cylinder length detector, 28 ... third cylinder length detector, 29 ... auger, 30 ... rod, 31 ... solidified material discharge pipe, 32 ... excavation blade 33 ... Stirring blades, 34 ... Coupling, 35 ... Input unit, 36 ... Hydraulic unit, 37 ... Solenoid valve control unit, 38 ... Control calculation unit, 39 ... Solidified material injection detector, 40 ... Recording unit, 41 ... Signal Input unit, 42 ... CPU, 43 ... memory, 44 Signal output unit, 45 ... manual operating section, 46 ... operation lever, 47 ... control valve.

Claims (8)

A step of initially setting the auger having the excavating blade and a discharge pipe for discharging the ground solidified material to a position to be improved by drooping to the tip arm of the plurality of arms sequentially connected to the arm working machine;
Calculating the angle of the connection between each arm at the origin position of the auger at the initially set position and the penetration angle of the auger;
The angle of the connecting portion of each arm at the time of initial setting and / or the length of the cylinder that changes this angle, and the angle of the connecting portion of each arm corresponding to the penetration distance of the auger and / or the angle are changed. Creating a timetable until final penetration based on cylinder length data;
Detecting and outputting the angle of the connecting portion of the arm and / or the length of the cylinder during the penetration work; and
A process for detecting and outputting the discharge amount of ground solidification material during intrusion construction;
A method for improving a shallow ground, comprising a step of controlling penetration and discharge from the origin to the final penetration based on the time table.   The timetable was created by dividing the origin to the final penetration into multiple set section lengths, and the drilling blade penetration from the origin to the final penetration and the discharge of the solidified material were controlled based on the data for each set section. The method for improving a shallow ground according to claim 1.   A plurality of set section lengths of the time table are set to a fixed distance, and the penetration time and the discharge amount of the ground solidifying material for each fixed distance are set to be constant regardless of the state of the ground. The shallow ground improvement method according to claim 2.   If the angle of the connecting part of each arm during penetration work and / or the length of the cylinder that changes this angle exceeds the allowable range of the set value set in the timetable, the correction value is calculated and fed back The method for improving a shallow ground according to claim 1, 2, or 3, wherein a process is added.   The process for calculating and feeding back a correction value when the discharge amount of the ground solidifying material during the intrusion construction exceeds an allowable range of the set value is added. To improve the shallow ground.   A civil engineering arm working machine is used in which a plurality of arms are connected in a turnable manner, and a cylinder for changing the angle of the connecting portion between adjacent arms is used. An auger having wings and a discharge pipe for discharging the ground solidification material, and a detector for detecting an angle of a connecting portion of each arm and / or a length of a cylinder for changing the angle to the plurality of arms; A solidification material injection detector for detecting the discharge amount of the ground solidification material is provided, and these detectors are connected to a control calculation unit that takes in signals of these detectors and calculates them. An electromagnetic valve control unit for controlling expansion and contraction of the cylinder is connected, and the control calculation unit is configured such that the angle of the connecting portion of each arm at the time of initial setting and / or the length of the cylinder that changes the angle, and the auger Against penetration distance Shallow soil improvement device being characterized in that includes a memory for storing a time table to the final penetration based on the length of the data of the cylinder for varying the angle and / or the angle of the connecting portion of each arm was.   The arm at the tip has an auger having an excavating blade and an attachment for hanging and connecting a discharge pipe for discharging ground solidified material, and an inclination detector for detecting the penetration direction of the auger and the discharge pipe is provided on this attachment, The shallow ground improvement device according to claim 6, wherein the inclination detector is connected to a control calculation unit.   The civil engineering arm working machine uses a backhoe composed of a traveling body, a revolving body and three arms, and connects one end of the first arm to the revolving body so as to be rotatable, and a first angle is detected at this connection position. A second angle detector is provided at the connecting position, and a second angle detector is connected to the other end of the second arm. Displaceable one end of the third arm is connected freely, a third angle detector is provided at the connecting position, and an auger having excavating blades and a ground solidification material are discharged to the other end of the third arm A first cylinder connected between the swivel body and the first arm, a second cylinder connected between the first arm and the second arm, the second arm and the third arm, A third cylinder is connected between the first and second cylinders. 7 shallow soil improvement apparatus according.

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