JP7224947B2 - Compaction device and compaction method - Google Patents

Description

The present invention relates to an apparatus and method for compacting a piled area.

BACKGROUND ART When building civil engineering structures such as dams, roads, embankments, etc. by piling up concrete materials or ground materials, there are cases where the work of compacting the concrete materials or ground materials is performed. Patent Literature 1 discloses a method of removing air bubbles contained in a cast unsolidified concrete material using a compaction attachment attached to the tip of an arm of a backhoe and compacting the material.

The compaction attachment disclosed in Patent Literature 1 includes a plurality of bar-shaped vibrators arranged in a line parallel to each other. When compacting concrete material, the backhoe is moved to an arbitrary location and the arm is lowered to insert a plurality of vibrators axially into the concrete material. By vibrating the vibrators in this state, air bubbles are removed and compacted from the concrete material within the vibration transmission range centering on the insertion position of each vibrator.

Further, Patent Literature 1 discloses a method for managing the compaction of concrete material using a GPS antenna mounted on the swivel base and arm of a backhoe. In this management method, observation signals from two GPS antennas are used to detect the positions and orientations of the tips of the arms, the detected positions and orientations are used to calculate the insertion positions of a plurality of vibrators, and the calculated insertion positions are calculated. The loading position is used to grasp the compaction status of the concrete material.

JP 2015-48684 A

In the compaction of an embankment area formed by embankment of concrete material or ground material, if there is an area where compaction is insufficient, the strength in that area may not reach the desired strength. In addition, when the embankment area is compacted excessively, the time required for the compaction work becomes longer, and the construction period of the civil engineering structure becomes longer. In addition, when concrete material is used to form the embankment area, if there is an excessively compacted area, aggregate separation will occur in that area, and the strength in that area will not reach the desired strength. There is a risk. Therefore, in the compaction of the embankment area, it is desirable to compact the entire embankment area as evenly as possible.

When compacting an embankment area using the compaction attachment disclosed in Patent Document 1, the movement of the compaction attachment by changing the direction of the arm without changing the position of the backhoe restricts the insertion position of the vibrator. be done. As a result, under-compacted or over-compacted areas are created in the embankment area. In order to compact the embankment area evenly, it is necessary to move the backhoe frequently, and the efficiency of the compaction work is poor. For these reasons, there is a demand for an apparatus capable of efficiently compacting the heaped area. In addition, in order to evenly compact the embankment area, it is also required to grasp the compaction status of the embankment area.

SUMMARY OF THE INVENTION It is an object of the present invention to efficiently compact an embankment area and to grasp the compaction situation.

The present invention is a compaction device for compacting a building area, comprising a running section, an arm section supported by the running section so as to be swingable, and an arm section formed so as to be able to be inserted into or pressed against the building section. A compaction part that is rotatably supported around a rotation axis along the insertion direction or the pressing direction at the tip of the part, and is inserted or pressed into the raised area by swinging the arm to compact the raised area; a position detection unit that detects the position of the tip of the part, an orientation detection unit that detects the orientation of the arm, a rotation angle detection unit that detects the rotation angle of the compaction part around the rotation axis with respect to the axis of the arm, and a position a calculation unit that calculates an area compacted by the compaction unit based on the position, orientation, and rotation angle detected by the detection unit, the orientation detection unit , and the rotation angle detection unit; a shaft member extending in a direction or a pressing direction, and a bearing for rotatably supporting the shaft member, the rotation angle detection unit being supported by the arm portion, a scale fixed to the shaft member; a detection head fixed to the bearing and measuring the amount of movement of the scale .
Further, the present invention is a compaction device for compacting a heaping area, which includes a traveling portion, an arm portion supported by the traveling portion so as to be swingable, and a member formed so as to be able to be inserted into or pressed against the heaping area. and a compaction part that is rotatably supported at the tip of the arm along a rotation axis along the insertion direction or the pressing direction, and is inserted or pressed against the raised area by swinging the arm to compact the raised area. , a position detection unit for detecting the position of the tip of the arm, an orientation detection unit for detecting the orientation of the arm, a rotation angle detection unit for detecting the rotation angle of the compaction unit with respect to the axis of the arm, and a position detection unit , a calculation unit that calculates the area compacted by the compaction unit based on the position, orientation, and rotation angle detected by the orientation detection unit and the rotation angle detection unit; and a restriction unit that limits the rotation of the compaction unit. , and the rotation angle detection unit has a reset function of resetting the rotation angle based on the limit unit.
Further, the present invention is a compaction method for compacting an embankment area using a compaction device. It is formed so as to be able to be inserted into or pressed against the area, and is supported by the tip of the arm so as to be rotatable around a rotation axis along the direction of insertion or the direction of pressing, and is inserted into or pressed against the building area by swinging of the arm. and a compacting part that compacts the embankment area with the arm part via a shaft member that extends along the insertion direction or the pressing direction and a bearing that rotatably supports the shaft member. The compaction method includes a detection step of detecting the position of the tip of the arm, the orientation of the arm, and the rotation angle of the compaction part about the rotation axis with respect to the axis of the arm; a calculation step of calculating the area compacted by the compaction unit based on the detected position, orientation, and rotation angle; Detection is performed using a fixed detection head, and the rotation angle is detected based on the measured amount of movement .

ADVANTAGE OF THE INVENTION According to this invention, a heaping area can be compacted efficiently, and a compaction condition can be grasped|ascertained.

1 is a side view of a compaction device according to an embodiment of the invention; FIG. 2 is a front view of the compaction section shown in FIG. 1; FIG. 2 is a schematic plan view of the compaction device shown in FIG. 1; FIG. 1 is a block diagram of a compaction device; FIG. FIG. 4 is an enlarged schematic diagram of a building area divided into a plurality of sections, together with a vibrator insertion area; It is a figure which shows the example of a display of a monitor. (a) is a front view of a compaction part according to a modification, and (b) is a plan view of a compaction part according to a modification.

Hereinafter, a compaction apparatus and a compaction method according to embodiments of the present invention will be described with reference to the drawings.

Here, a compaction device and a compaction method for compacting an embankment area 1 (see Fig. 1) formed by concrete material when constructing civil engineering structures such as dams, roads, embankments, etc. by piling up concrete material will be described. explain. The concrete material is, for example, RCD (Roller Compacted Dam) concrete with a slump value of 0 (zero), but may be cemented modified soil or CSG (Cemented Sand and Gravel) material.

If the cast concrete material is insufficiently compacted and hardens with voids, the strength of the concrete material may not reach the desired strength. Compaction of the embankment area 1 is performed to remove voids from the placed concrete material to obtain the desired strength.

The compaction device 100 according to the present embodiment includes a traveling section 10 that can travel, an arm section 20 that is swingably supported by the traveling section 10, a compaction section 30 that is supported at the tip of the arm section 20, It has The compaction unit 30 includes a bar-shaped vibrator 31 that can be inserted into the heaping area 1 . When the vibrator 31 is vibrated while being inserted into the building area 1 in its axial direction, the concrete material within the vibration transmission range around the vibrator 31 vibrates, and the air forming the voids is removed from the concrete material. Filled area 1 is compacted. By moving the traveling portion 10 and the arm portion 20 to sequentially move the compacting portion 30, the entire embankment area 1 can be compacted.

In the compaction of the embankment area 1, if there is an area where the compaction is insufficient, the strength in the area may not reach the desired strength. Moreover, when the embankment area 1 is compacted excessively, the time required for the compaction work becomes longer, and the construction period of the civil engineering structure becomes longer. In addition, aggregate separation may occur in over-compacted areas and the strength in those areas may be reduced and not reach the desired strength. Therefore, in the compaction of the embankment area 1, it is desirable to compact the entire embankment area 1 sufficiently and evenly as much as possible.

In order to uniformly compact the heaped area 1 , it is effective to move the compaction unit 30 based on the compaction state of the heaped area 1 . Therefore, it is required to efficiently compact the heaped area 1 and to grasp the compaction status of the heaped area 1 .

In the compaction device 100, as shown in FIG. 2, the compaction unit 30 has four vibrators 31, and the four vibrators 31 are arranged in a line parallel to each other at intervals. Therefore, a wide range can be compacted by inserting once, compared with the case where the heaping area 1 is compacted with one vibrator 31 . Therefore, the heaping area 1 can be efficiently compacted.

Also, the compaction part 30 is supported at the tip of the arm part 20 so as to be rotatable around an axis along the insertion direction. Therefore, the plurality of vibrators 31 can be inserted at desired positions in the heaping area 1 without frequently moving the traveling part 10, and the heaping area 1 can be compacted more efficiently.

Furthermore, the compaction device 100 includes a calculator 60 (see FIG. 4) that calculates the area compacted by the compactor 30 . Therefore, it is possible to grasp the compaction condition of the embankment area 1, and to compact the entire embankment area 1 sufficiently and evenly.

The configuration of the compaction device 100 and the compaction method will be described in more detail below.

As shown in FIG. 1, the traveling unit 10 includes a carriage 11 on which a crawler 11a is mounted, a swivel base 12 supported by the carriage 11 so as to be rotatable about a vertical axis, and a control room 13 fixed to the swivel base 12. and have. An operating instrument (not shown) for controlling the operation of the compaction device 100 is provided in the control room 13 , and the operator operates the operating instrument in the control room 13 to operate the compaction device 100 . A monitor 80 capable of displaying the compaction status of the embankment area 1 is provided in the cockpit 13, and the operator operates the compaction device 100 while checking the compaction status displayed on the monitor 80. can be steered.

The truck 11 is equipped with a travel motor and a swing motor (not shown). By driving the traveling motor, the crawler 11a rotates and the traveling section 10 travels. The carriage 11 can travel in the front-rear direction of the crawlers 11a, and can change direction by adjusting the number of rotations and the direction of rotation of the left and right crawlers 11a. However, there is a possibility that the surface of the raised area 1, which is the running surface, may be roughened by changing the rotation speed and the rotation direction of the crawler 11a at the time of direction change. The swivel base 12 swivels with respect to the carriage 11 by driving the swivel motor.

The arms 20 are composed of a boom 21 supported on the swivel base 12 so as to be swingable around a horizontal axis, an arm 22 supported at the tip of the boom 21 so as to be swingable around the horizontal axis, and a horizontal arm 22 at the tip of the arm 22 . and a bracket 23 that is supported so as to be swingable about an axis. The boom 21 is swung in the up-and-down direction by the expansion and contraction drive of the boom cylinder 24 , and the arm 22 is swung in the up-and-down direction by the expansion and contraction drive of the arm cylinder 25 . The bracket 23 swings in the up-and-down direction by the expansion and contraction drive of the bracket cylinder 26 . Therefore, the bracket 23 can be vertically moved and raised and lowered with respect to the swivel base 12 , and the bracket 23 can be swung with respect to the swivel base 12 .

As shown in FIG. 2, the compacting section 30 includes a connecting member 32 that connects the proximal ends of the plurality of vibrators 31 together. The connecting member 32 extends substantially orthogonally to the axial direction of the vibrator 31 (the direction of insertion of the compacting portion 30). A plurality of vibrators 31 can be inserted into the building area 1 by lowering the connecting member 32 while holding it substantially parallel to the surface of the building area 1 .

The compaction section 30 is supported by the bracket 23 via a rotation support mechanism 40 . The rotation support mechanism 40 includes a columnar shaft 41 extending along the axial direction of the vibrator 31 (the insertion direction of the compacting portion 30), and a cylindrical bearing 42 that rotatably supports the shaft 41. . The bearing 42 is fixed to the bracket 23, and when the bracket 23 swings, the bearing 42 and the shaft 41 also swing.

The shaft 41 is fixed to the connecting member 32 of the compaction section 30 . Therefore, the compaction part 30 swings due to the swinging of the shaft 41 accompanying the swinging of the bracket 23 . Further, the rotation of the shaft 41 rotates the compaction part 30 around the shaft 41 with respect to the bracket 23 . The shaft 41 and compaction unit 30 are rotated by driving a motor (not shown).

Note that the bearing 42 may be fixed to the connecting member 32 of the compaction section 30 and the shaft 41 may be fixed to the bracket 23 . In other words, the compaction part 30 only needs to be supported by the bracket 23 so as to be rotatable around the axis 41 along the insertion direction.

In this manner, the compacting section 30 is rotatably supported by the bracket 23 about an axis along the insertion direction. Therefore, as shown in FIG. 3, it is possible to change the arrangement direction of the plurality of vibrators 31 with respect to the arm portion 20 . Therefore, a plurality of vibrators 31 can be inserted into the building area 1 along the shape of the building area 1 without changing the position of the traveling part 10 . As a result, the number of times of direction change of the carriage 11 can be reduced, and the entire heaping area 1 can be efficiently compacted.

In FIG. 3, the dotted line shows an example of the posture of the compaction device 100, and shows the posture in which the swivel base 12 is swiveled and the compaction unit 30 is rotated from the posture indicated by the solid line.

FIG. 3 also shows a state in which the embankment area 1 surrounded by the wall surfaces W1 and W2 is compacted. The compaction device 100 is used not only in the embankment area 1 surrounded by the wall surfaces W1 and W2, but also in the compaction of the embankment area such as the riverbed and the abutment, which has a complex topography and is formed adjacent to the protuberance. is also valid.

As shown in FIG. 2, the rotation support mechanism 40 includes a first protrusion 43 protruding radially outward from the outer periphery of the shaft 41 and a second protrusion 44 protruding from the bearing 42 along the shaft 41. . The second projection 44 can abut against the first projection 43 in the rotational direction of the shaft 41 , and restricts the rotation of the shaft 41 , that is, the rotation of the compacting section 30 , while in contact with the first projection 43 . In other words, the second protrusion 44 functions as a restricting portion that restricts the rotation of the compacting portion 30 .

The compaction device 100 indicated by solid lines in FIG. In this state, the plurality of vibrators 31 are arranged in a direction substantially perpendicular to the longitudinal direction of the cockpit 13 . Therefore, the positions of the plurality of vibrators 31 can be confirmed from inside the cockpit 13 . Therefore, displacement of the plurality of vibrators 31 due to swinging of the boom 21, the arm 22 and the bracket 23 can be easily grasped, and the plurality of vibrators 31 can be easily positioned at desired positions.

As shown in FIG. 4, the compaction device 100 includes a position detection unit 51 for detecting the position of the tip of the arm 20, an orientation detection unit 52 for detecting the orientation of the arm 20, and a rotation angle detection portion 53 for detecting the rotation angle of the hardening portion 30 . The detection steps by the position detection section 51, the orientation detection section 52, and the rotation angle detection section 53 are repeatedly executed at a predetermined cycle.

Hereinafter, it is assumed that the compaction part 30 is held so that the insertion direction of the compaction part 30 is aligned with the vertical direction, and "position" and "orientation" are the position and direction in the horizontal direction, respectively. The tip of the arm 20 is a bracket 23, and the axis of the arm 20 is the centerline of the arm 20 when the compaction device 100 is viewed vertically from above.

The position detector 51 is a GPS (Global Positioning System) receiver 51 a provided on the bracket 23 . The GPS receiver 51a detects its own position (latitude and longitude) based on the received GPS satellite signals. Since the GPS receiver 51a is provided on the bracket 23, the position of the bracket 23 can be detected by detecting the position of the GPS receiver 51a.

The azimuth detection unit 52 includes a GPS receiver 51a, a GPS receiver 52a provided at the proximal end of the arm 22, and a processing unit 52b that processes signals output from the GPS receivers 51a and 52a. The GPS receiver 52a detects its own position based on the received GPS satellite signals. The processing unit 52b detects the azimuth of the GPS receiver 51a with respect to the GPS receiver 52a based on the positions detected by the GPS receivers 51a and 52a. Since the GPS receiver 51a is provided on the bracket 23 and the GPS receiver 52a is provided at the proximal end of the arm 22, the azimuth of the GPS receiver 51a with respect to the GPS receiver 52a can be detected using the processing unit 52b. , the orientation of the arm 20 can be obtained.

The rotation angle detection unit 53 is a so-called linear encoder, and as shown in FIG. I have. The detection head 53b measures the amount of movement of the scale 53a, and detects the rotation angle of the shaft 41, that is, the rotation angle of the compacting section 30, based on the measured amount of movement.

The detection head 53b detects the scale of the scale 53a and measures the amount of movement of the scale 53a based on the number of detected scales. The detection head 53b may fail to detect the graduations of the scale 53a. As the number of detection failures increases, measurement errors accumulate and the detection accuracy of the rotation angle decreases. In such a case, it is necessary to calibrate the rotation angle detector 53 .

The rotation angle detection portion 53 has a reset function of resetting the rotation angle to, for example, 0 (zero) when the first projection 43 and the second projection 44 that function as a limiting portion come into contact with each other. Therefore, by bringing the first projection 43 and the second projection 44 into contact with each other, the rotation angle detection portion 53 can be calibrated. Therefore, it is possible to prevent the detection accuracy of the rotation angle detection unit 53 from deteriorating.

The position, orientation, and rotation angle detected by the position detection section 51 , the orientation detection section 52 , and the rotation angle detection section 53 are input to the calculation section 60 . The calculation unit 60 includes a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read-Only Memory) that stores control programs and the like executed by the CPU, and a RAM (Random Access Memory) that stores the calculation results and the like of the CPU. ) and a microcomputer. The calculation unit 60 may be configured by one microcomputer, or may be configured by a plurality of microcomputers.

The calculation unit 60 calculates the area compacted by the compaction unit 30 based on the position, orientation, and rotation angle detected by the position detection unit 51 , orientation detection unit 52 , and rotation angle detection unit 53 . The calculation step of calculating the area compacted by the compaction unit 30 is repeatedly executed at a predetermined cycle.

The calculation unit 60 includes a position calculation unit 61 that calculates the positions of the plurality of vibrators 31, a division unit 62 that virtually divides the heaping area 1 into a plurality of sections, and each of the plurality of sections is divided by the compaction unit 30. and a judgment unit 63 for judging whether or not it is compacted. The position calculation unit 61, the division unit 62, and the determination unit 63 are virtual units having the functions of a microcomputer.

The position calculator 61 calculates the positions of the plurality of vibrators 31 based on the positions, orientations, and rotation angles detected by the position detector 51 , orientation detector 52 , and rotation angle detector 53 . Specifically, the position calculator 61 calculates the position, orientation, and rotation angle detected by the position detector 51, the orientation detector 52, and the rotation angle detector 53, the position of the shaft 41 with respect to the bracket 23, and the position of the shaft 41 with respect to the shaft 41. The positions (latitude and longitude) of the plurality of vibrators 31 are calculated using the positions of the plurality of vibrators 31 . Since the shaft 41 is supported by the bracket 23 via the bearings 42, the position of the shaft 41 with respect to the bracket 23 is known. Further, since the plurality of vibrators 31 are attached to the connecting member 32 and the connecting member 32 is fixed to the shaft 41, the positions of the plurality of vibrators 31 with respect to the shaft 41 are known. Therefore, the positions of the plurality of vibrators 31 can be calculated by using these known values and the detected positions, azimuths and rotation angles.

The division unit 62 acquires information of the raised area 1 input by the operator or stored in advance, forms an image of the raised area 1 based on the acquired information, and produces an image of the formed raised area 1. is divided into multiple compartments in a mesh pattern.

Based on the calculated positions of the vibrators 31 , the determination unit 63 determines whether or not each of the plurality of sections has been compacted by the vibrators 31 . Therefore, the area compacted by the vibrator 31 is calculated for each section. Therefore, it is possible to grasp the compaction status in units of a plurality of sections, and the vibrator 31 can be aligned with each of the plurality of sections, so that the embankment area 1 can be efficiently compacted.

A determination method in the determination unit 63 will be specifically described with reference to FIG.

FIG. 5 is an enlarged schematic diagram of the building area 1 divided into a plurality of sections, and dotted lines indicate boundaries (dividing lines) between adjacent sections. For convenience of explanation, the eight sections shown in FIG. , . . . , A8. In FIG. 5, four insertion areas B of the vibrator 31 are shown. The insertion area B is calculated using the calculated positions of the plurality of vibrators 31 and the outer diameters of the vibrators 31 .

The determination unit 63 determines whether or not the vibrator 31 has been inserted into the sections A1 to A8, and determines whether or not the vibrator 31 has vibrated for a predetermined time or longer, thereby determining whether each of the sections A1 to A8 has been compacted. determine whether or not Whether or not the vibrator 31 has been inserted is determined based on whether or not the ratio of the area of the insertion region B to the area of each of the sections A1 to A8 is equal to or greater than a predetermined threshold.

In the example shown in FIG. 5, when the predetermined threshold is set to 10%, the ratio of the insertion area B in the sections A2, A4, A5, A6, and A7 is 10% or more. , A4, A5, A6, and A7. In this state, when the vibrator 31 vibrates for a predetermined time or more, the determination section 63 determines that the sections A2, A4, A5, A6, and A7 are compacted sections compacted by the compaction section 30. FIG. Since the ratio of the insertion area B in the sections A1, A3, and A8 is less than 10%, the determination unit 63 determines that the vibrators 31 are not inserted in the sections A1, A3, and A8. , is determined as uncompacted, which is not compacted by the compaction unit 30 .

In this manner, the determination unit 63 determines whether or not each of the multiple compartments has been compacted based on the ratio of the insertion area of the vibrator 31 in each of the multiple compartments. Therefore, the compacted area is calculated as a section in which the ratio of the insertion area is equal to or greater than the predetermined threshold. Therefore, even when the vibrator 31 is inserted across adjacent sections, the compacted area can be calculated in units of a plurality of sections.

The determination unit 63 may use the heights of the plurality of vibrators 31 with respect to the surface of the raised area 1 when performing the above determination. In this case, whether or not the vibrator 31 has been inserted into the building area 1 can be determined more accurately. The height of the plurality of vibrators 31 with respect to the surface of the building area 1 is calculated based on the swing angles of the boom 21, the arm 22 and the bracket 23, or the expansion and contraction amounts of the boom cylinder 24, the arm cylinder 25 and the bracket cylinder 26. can be done.

Further, the determination unit 63 may use the time from when the start command is input to the vibrator 31 until when the stop command is input when performing the above determination. In this case, it is possible to more accurately determine whether or not the vibrator 31 has vibrated for a predetermined time or longer.

The determination result of the determination unit 63 is displayed on the monitor 80 together with the image of the raised area 1 divided into a plurality of sections by the division unit 62 .

FIG. 6 shows an example of an image displayed on the monitor 80. As shown in FIG. As shown in FIG. 6, the monitor 80 displays the uncompacted and compacted compartments in a no-line pattern and an upward-slanting line pattern, respectively. The pattern displayed on the monitor 80 is updated as the compaction operation progresses.

By displaying the compaction status on the monitor 80, the operator can confirm the uncompacted compartment and the compacted compartment, and can grasp the compaction status. Therefore, the entire heaping area 1 can be sufficiently and evenly compacted.

Also, the monitor 80 displays the positions of the running portion 10 , the arm portion 20 and the compaction portion 30 . Therefore, the operator can confirm whether or not a plurality of vibrators 31 are positioned in an uncompacted area, and can compact the entire embankment area 1 efficiently.

According to the above embodiment, the following operational effects are obtained.

In the compaction device 100, the compaction part 30 is supported by the bracket 23 of the arm part 20 so as to be rotatable around the axis along the insertion direction. Therefore, it is possible to change the arrangement direction of the plurality of vibrators 31 of the compaction section 30 with respect to the bracket 23 . Therefore, a plurality of vibrators 31 can be inserted into the heaping area 1 along the shape of the heaping area 1 without changing the position of the traveling part 10, and the heaping area 1 can be efficiently compacted.

In addition, in the compaction device 100 and the compaction method, based on the position of the bracket 23, the orientation of the arm 20, and the rotation angle of the compaction unit 30 with respect to the axis of the arm 20, the Calculate the area. Therefore, the calculated area is updated as the compaction unit 30 moves. Therefore, it is possible to grasp the compaction condition of the heaping area 1, and the whole heaping area 1 can be sufficiently and evenly compacted.

Moreover, in the compaction device 100 and the compaction method, the embankment area 1 is virtually divided into a plurality of sections, and it is determined whether or not each of the plurality of sections has been compacted by the compaction unit 30 . Therefore, the compacted area is calculated in units of a plurality of sections. Therefore, it is possible to grasp the compaction status in units of a plurality of sections, and the compaction section 30 can be aligned with each of the plurality of sections, so that the embankment area 1 can be efficiently compacted.

Further, in the compaction device 100 and the compaction method, the insertion areas of the plurality of vibrators 31 are calculated, and based on the ratio of the calculated insertion areas in each of the plurality of sections, each of the plurality of sections is the compaction unit 30 Determine whether or not it has been compacted by Therefore, the compacted area is calculated as a section in which the ratio of the insertion area is equal to or greater than the predetermined threshold. Therefore, even when the vibrator 31 is inserted across adjacent sections, the compacted area can be calculated in units of a plurality of sections, and the entire embankment area 1 can be sufficiently and evenly distributed. can be compacted.

In addition, in the compaction device 100, the rotation angle detection unit 53 has a reset function of resetting the rotation angle to, for example, 0 (zero) when the first projection 43 and the second projection 44 that function as a limiting unit come into contact with each other. ing. Therefore, by bringing the first projection 43 and the second projection 44 into contact with each other, the rotation angle detection portion 53 can be calibrated. Therefore, it is possible to prevent deterioration of the detection accuracy of the rotation angle detection unit 53, and it is possible to grasp the compaction state of the heaping area 1 more accurately.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have.

The present invention is also applicable to a compaction device and a compaction method for compacting an embankment area formed by embanking ground material. The ground material is, for example, locally generated soil procured from a quarry such as a natural mountain near the construction site, cement-improved soil obtained by adding cement to locally generated soil, CSG (Cemented Sand) obtained by adding cement and water to locally generated soil. and Gravel) material.

Further, in the present embodiment, the compacting section 30 including the vibrator 31 is rotatably supported by the bracket 23, but the present invention is not limited to this form. For example, as shown in FIG. 7, the compaction part 230 may be rotatably supported by the bracket 23. As shown in FIG. The compaction unit 230 includes a rectangular (quadrilateral) compaction plate 231 formed so as to be able to press against the embankment area 1, and a vibrating unit 232 that vibrates the compaction plate 231. is pressed against the embankment area 1, the embankment area 1 is compacted by driving the vibrator 232 and vibrating the compaction plate 231. - 特許庁In the form using the compaction part 230, the compaction part 230 is supported by the bracket 23 so as to be rotatable around an axis along the pressing direction (the direction perpendicular to the pressing surface 231a of the compaction plate 231).

In addition, in the form using the compaction section 230 , the position calculation section 61 calculates the position of the pressing plate 213 instead of the position of the vibrator 31 . Further, the determination unit 63 calculates the pressing area of the pressing plate 213 instead of the insertion area of the vibrator 31, and calculates a plurality of areas based on the ratio of the pressing area of the pressing plate 213 in each of the plurality of sections. Determine whether each of the compartments has been compacted. When calculating the pressing area of the pressing plate 213 , the height of the pressing plate 213 with respect to the surface of the building area 1 may be used as in the calculation of the insertion area of the vibrator 31 . When calculating the area compacted by the compaction plate 231, whether or not the vibration generator 232 is operating may be used.

In the form using the compaction part 230, the boom cylinder 24, the arm cylinder 25, or the bracket cylinder 26 is driven without vibrating the compaction plate 231 to press the compaction plate 231 against the building area 1 to form the building area. 1 may be compacted.

In this embodiment, the compaction unit 30 is rotated by being driven by a motor (not shown), but may be rotated by a force other than the motor. For example, the boom cylinder 24, the arm cylinder 25, or the bracket cylinder 26 is driven while a part of the compaction part 30 is pressed against the wall surface surrounding the building area 1 or the side surface of the raised part projecting from the building area 1. A force may be applied to the compaction section 30 to rotate the compaction section 30 .

In this embodiment, the arm portion 20 is swingably supported by the swivel base 12, and the swivel base 12 is swingably supported by the carriage 11, but the present invention is not limited to this form. The arms 20 may be supported by the carriage 11 . In this case, it is supported by the carriage 11 so as to be swingable about the horizontal axis and the vertical axis.

100... Compaction device 1... Building area 10... Running part 20... Arm part 30, 230... Compaction part 31... Vibrator 44... Limiting part (second projection )
51... Position detection unit 52... Orientation detection unit 53... Rotation angle detection unit 60... Calculation unit

Claims (6)

A compaction device for compacting an embankment area, comprising:
a running part;
an arm portion swingably supported by the running portion;
It is formed so as to be able to be inserted into or pushed against the building area, and is supported by the tip of the arm so as to be rotatable around a rotation axis along the insertion direction or the pressing direction. A compaction part that is inserted or pressed against and compacts the raised area;
a position detection unit that detects the position of the tip of the arm;
an orientation detection unit that detects the orientation of the arm;
a rotation angle detection unit that detects the rotation angle of the compaction unit about the rotation axis with respect to the axis of the arm;
a calculation unit that calculates the area compacted by the compaction unit based on the position, orientation, and rotation angle detected by the position detection unit, the orientation detection unit, and the rotation angle detection unit ;
The compaction part is supported by the arm via a shaft member extending along the insertion direction or the pressing direction and a bearing that rotatably supports the shaft member,
The rotation angle detection unit is
a scale fixed to the shaft member;
a detection head fixed to the bearing and measuring the amount of movement of the scale;
Compaction device. The calculation unit divides the building area into a plurality of partitions, and determines the plurality of partitions based on the position, orientation, and rotation angle detected by the position detection unit, the orientation detection unit, and the rotation angle detection unit. has been compacted by said compaction station. A compaction device for compacting an embankment area, comprising:
a running part;
an arm portion swingably supported by the running portion;
It is formed so as to be able to be inserted into or pushed against the building area, and is supported by the tip of the arm so as to be rotatable around a rotation axis along the insertion direction or the pressing direction. A compaction part that is inserted or pressed against and compacts the raised area;
a position detection unit that detects the position of the tip of the arm;
an orientation detection unit that detects the orientation of the arm;
a rotation angle detection unit that detects the rotation angle of the compaction unit with respect to the axis of the arm;
a calculation unit that calculates an area compacted by the compaction unit based on the position, orientation, and rotation angle detected by the position detection unit, the orientation detection unit, and the rotation angle detection unit; and the compaction unit. and a restricting portion that restricts the rotation of
The rotation angle detection unit has a reset function of resetting the rotation angle based on the limit unit. The calculation unit calculates an insertion area or a pressing area of the compaction unit based on the position, orientation, and rotation angle detected by the position detection unit, the orientation detection unit, and the rotation angle detection unit. 3. The compaction device according to claim 2 , wherein it is determined whether each of the plurality of compartments has been compacted by the compaction unit based on the calculated ratio of the insertion area or the pressing area in each of the compartments . A compaction method for compacting an embankment area using a compaction device,
The compaction device is
a running part;
an arm portion swingably supported by the running portion;
It is formed so as to be able to be inserted into or pushed against the building area, and is supported by the tip of the arm so as to be rotatable around a rotation axis along the insertion direction or the pressing direction. and a compacting part that is inserted or pressed against to compact the raised area , wherein the compacting part includes a shaft member extending along the insertion direction or the pressing direction, and the shaft member rotatably supported by the arm via a supporting bearing,
The compaction method is
a detection step of detecting the position of the tip of the arm, the orientation of the arm, and the angle of rotation of the compaction unit about the axis of rotation with respect to the axis of the arm;
a calculation step of calculating the area compacted by the compaction unit based on the position, orientation, and rotation angle detected in the detection step ;
In the detection step, the amount of movement of the scale fixed to the shaft member is detected using a detection head fixed to the bearing, and the rotation angle is detected based on the measured amount of movement.
Compaction method. In the calculating step, the heaping area is divided into a plurality of sections, and each of the plurality of sections is compacted by the compaction unit based on the position, orientation, and rotation angle detected in the detecting step. 6. The compaction method according to claim 5 , wherein it is determined whether or not the

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