JPH05195682A - Automatic feed control device for ground improving machine - Google Patents

Abstract

PURPOSE:To continuously feed a rod without interrupting the work. CONSTITUTION:The vertical shift quantity of an excavating rod is outputted by a rotary encoder 23, and output pulses are counted and detected by a digital counter 51. When the preset pulses are attained, a central processing section 52 outputs a signal to a relay circuit 60 via a D/A converter 58. The relay circuit 60 switches an electromagnetic selector valve via the output signal to control the feed of the excavating rod.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic feed control device for a ground improvement machine that continuously feeds pipes, bars and the like. More specifically, the present invention relates to an automatic feed control device for a ground improvement machine for continuously feeding pipes, rods, and the like used in boring machines, ground improvement machines, earth auger machines, and the like.

[0002]

2. Description of the Related Art In the case of excavating rock mass with a normal boring machine, a spindle of a boring machine gives a rotation and an advancing force to a rod having a bit at its tip to dig a hole. However, since one stroke of the spindle is only 50 cm to 1 m long, when excavating up to the stroke end of the spindle, the rotation of the spindle is stopped once, and the chuck of the spindle that clamps the rod is loosened to clamp the rod and the chuck. After the release, the spindle is raised to the uppermost position by the feeding device, the rod is gripped again by the chuck, the spindle and the rod are restrained, and the feeding device is operated to restart excavation. When excavating with an ordinary boring machine, the excavation work is inevitable.
Doing this manually is cumbersome.

On the other hand, ground improvement materials such as mortar are known for improving the ground. The ground improvement material such as mortar is pressurized and injected through a hollow rod held by the ground improvement machine. At this time, while discharging the ground improvement material from the tip of the rod, the rod is rotated and pulled up to inject mortar. In this conventional ground improvement machine, while performing the ground improvement material from the rod tip,
It is better to raise the rod automatically.

This is because when the ground improvement machine sends the rod,
This is because there is a limit to the stroke of the feeding device and it is necessary to re-grip the chuck holding the rod. Therefore, it is necessary to temporarily stop and move the chuck downward. However, this is not desirable from the standpoint of making a ground improvement column that is a uniform consolidation. Therefore, one that automatically feeds a rod is also known. For example, Japanese Patent Application Laid-Open No. 3-206289 proposed by the present applicant and the like.
However, the detection of the feed signal is performed by detecting the signal from the concave-convex scale with the proximity switch, and the accurate position cannot always be detected. Also, the feed hydraulic mechanism is unique and cannot be used in the automatic feed mechanism of the conventional type ground improvement machine.

[0005]

The present invention has been invented in the technical background as described above, and is intended to achieve the following objects.

An object of the present invention is to provide an automatic feed control device for a ground improvement machine for continuously feeding a rod without interrupting work.

Another object of the present invention is to provide an automatic feed control device for a ground improvement machine which can feed rods at a set feed interval.

Still another object of the present invention is to provide an automatic feed control device for a soil improvement machine which is capable of automatically feeding rods in the soil improvement machine of the conventional type.

[0009]

In order to solve the above-mentioned problems, the following means are adopted.

A frame constituting the body of the ground improvement machine,
First chuck means for gripping and releasing the excavating rod of the ground improvement machine, chuck feeding means for feeding and driving the first chuck means in the axial direction of the excavating rod, and the excavation fixed to the frame. A ground improvement machine comprising a second chuck means for gripping and releasing a rod, receives a rotary encoder (23) for detecting the vertical movement amount of the excavating rod, and an output pulse of the rotary encoder (23). A counter (51) for counting the number of pulses, a feed upper / lower end computing means (52) for computing a vertical movement end of the first chuck means and issuing a signal, and a feed upper / lower end computing means (5).
It comprises chuck control means (60) for gripping or releasing the first chuck, the second chuck means and the chuck feed means when the calculated value of 2) reaches the set vertical movement end. It is an automatic feed control device for the ground improvement machine.

The first and second chuck means hydraulically drive hydraulic chuck means, the chuck feed means hydraulically drive a hydraulic feed cylinder, and the hydraulic chuck means and hydraulic pressure to the hydraulic feed cylinder. It is preferable that the electromagnetic switching valves are provided to control the supply.

[0012]

The excavating rod is gripped by the first chuck means and is fed upward or downward by the chuck feeding means. This feed amount is detected by the rotary encoder, and the number of output pulses is counted by the counter. When it reaches the set position, the upper and lower end calculating means gives an instruction, and the chuck feeding means is stopped by this instruction. When the chuck feed means stops, the second chuck means holds the excavation rod, releases the grip of the first chuck and raises it to return it to its original position. The above operation is repeated again to automate the feed of the excavating rod.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a ground improvement machine will be described below with reference to the drawings. FIG. 1 is a front view of the ground improvement machine, and FIG. 2 is a left side view of the same. Frame 1 is
It is made of structural steel and has a substantially rectangular parallelepiped structure. A swivel head body 2 is fixed to the front surface of the frame 1 with bolts. Two feed hydraulic cylinders 3a and 3b are fixed above and below both sides of the swivel head body 2.

The piston rods 4a and 4b of the feed hydraulic cylinders 3a and 3b are fixed to the upper portion of the frame 1 via a flange 5. Above the swivel head body 2, a hydraulic chuck body 6 for chucking a boring rod (hereinafter referred to as a rod) 30 is provided via a spindle (not shown). Further, in the swivel head main body 2, a hydraulic motor 7 for rotating a rod 30 such as a boring rod or a double pipe via a spindle.
Is provided.

While the rod 30 is held by the hydraulic chuck body 6, the rod 30 is fed in the axial direction by the feed hydraulic cylinders 3a, 3b and rotated by the hydraulic motor 7.
A hydraulic rod holder 8 is arranged below the swivel head body 2. The hydraulic rod holder 8 is used for temporarily fixing the rod 30 in preparation work and for automatically feeding the rod 30 as will be described later, and is used for automatic feed operation, preparation work, etc. use. The hydraulic rod holder 8 includes claws 8a and 8b driven by a hydraulic cylinder.
The rod 30 is gripped and used between.

A power control board 10 is provided on the side surface of the frame 1. A power supply circuit for controlling a motor for driving a hydraulic pump and the like is incorporated in the power control board 10. Further, the power control board 10 is provided with a drilling depth meter 18 for measuring the excavation depth, an improved depth meter 19 for measuring the position depth of ground improvement, and the like. In addition, this power control board 10
A step timer 16 is arranged in the.

The step timer 16 is the improved depth meter 1
This is for setting the stop time of the rod 30 for each constant distance interval set to 9. The preset counter 17 sets the number of necessary steps. After repeating the step a set number of times, the feed hydraulic cylinders 3a and 3b are stopped.

The operation panel 11 is an operation panel on which buttons, switches and the like are arranged to operate the ground improvement machine. The hydraulic operation panel 12 is an operation panel in which switches for operating the hydraulic system are arranged. The oil pump 13 is composed of two variable displacement piston pump type oil pumps, and pressurized oil is supplied to each part. Electric motor 1
Reference numeral 4 is a motor for rotating the oil pump 13.

Four outriggers 15 are provided on the side surface of the frame 1. The outrigger 15 is a hydraulic cylinder, and by introducing hydraulic pressure into the hydraulic cylinder, the piston is extended to stably support the entire frame 1.

Moving amount detecting mechanism FIG. 3 shows a moving amount detecting mechanism for detecting the movement of the swivel head main body 2. The top and bottom of the rack 20 are the rod 2
It is fixed to the swivel head main body 2 via 1, 21. A pinion gear 22 meshes with the rack 20. The pinion gear 22 is connected to the rotary shaft of the rotary encoder 23.

The rotary encoder 23 is housed in an encoder box 24, and the encoder box 24 is fixed to the frame 1 with bolts 25. The outside of the rack 20 is covered with bellows 26, 26,
These ends are the encoder box 24 and the bracket 2.
It is fixed at 7. Therefore, even if the rack 20 moves together with the swivel head main body 2, it is not exposed.
As can be understood from this structure, the swivel head body 2
When is moved, the rotary encoder 23 outputs an output pulse corresponding to the amount of movement.

Hydraulic Circuit FIG. 4 is a hydraulic circuit diagram of the automatic feed device of the ground improvement machine. The unclamp cylinder 31 is a hydraulic cylinder device for unclamping a grip claw (not shown) that holds the excavation rod 30, and is provided in the hydraulic chuck body 6. The gripping force of the excavating rod 30 is given by a disc spring. The unclamp cylinder 31 always holds the rod 30 when the hydraulic cylinder device does not operate. An electromagnetic switching valve 32 is connected to the hydraulic pressure supply / discharge port of the unclamp cylinder 31. Whether or not the unclamp cylinder 31 is activated is detected by a pressure sensitive switch (not shown) provided in the circuit. This solenoid switching valve 3
2 is connected to the hydraulic pump 13 described above. The hydraulic pump 13 is composed of two hydraulic pumps, another hydraulic pump 13b is provided at the same time as the hydraulic pump 13a, and they are simultaneously driven to rotate by the electric motor 14.

The oil discharged from the electromagnetic switching valve 32 is cooled by the cooling device 3.
It is returned to the drain 34 through 3 or the like. The hydraulic rod holder 8 includes two cylinder devices for driving the claws 8a and 8b. Pressure oil is supplied to the hydraulic rod holder 8 from the hydraulic pump 13a via the electromagnetic switching valve 35 and the check valve 36.

Four feed hydraulic drive cylinders 3a, 3b
Is a drive device for feeding and driving the swivel head main body 2 in the vertical direction. Pressure oil is supplied to the feed hydraulic cylinders 3a and 3b from the hydraulic pump 13a via the electromagnetic switching valve 37. The hydraulic motor 7 is for driving a spindle (not shown) that holds the excavation rod 30 and rotationally drives it. An electromagnetic switching valve 38 is connected to a pressure oil passage communicating with the hydraulic motor 7. The electromagnetic switching valve 38 can switch the direction so that the hydraulic motor 7 can be selected for either normal rotation or reverse rotation.

The hydraulic pump 13b for supplying pressure oil to the hydraulic motor 7 is the hydraulic pump 1 for supplying to the hydraulic rod holder 8.
It is a hydraulic pump different from 3a. Therefore, the hydraulic motor 7
Provides stable rotation. The electromagnetic valve 39 is a valve for changing the rotation speed of the hydraulic motor 7. The outrigger cylinders 15a, 15b, 15c, 15d are for driving the four outriggers 15, respectively.

Outrigger cylinders 15a, 15b, 1
Supply and shutoff of hydraulic pressure to 5c and 15d is performed by solenoid valve 40a,
40b, 40c, 40d respectively. The slide cylinder 41 is used to adjust the position of the whole ground improvement machine.
This is a drive cylinder for sliding the ground improvement machine on a base that supports it from below. The hydraulic pressure is supplied to the slide cylinder 41 from the hydraulic pump 13a to the electromagnetic switching valve 42.
Through. When the ground improvement machine is moved on the base, the electromagnetic switching valve 42 is operated.

Major Counter 50 FIG. 5 is a functional block diagram of the major counter. The major counter 50 has a counter function and a calculation function. The output pulse of the rotary encoder 23 is first input to the digital counter 51. The contents of the digital counter 51 are the contents of a central processing unit (CPU) 52.
Read by The storage unit 53 stores and holds programs and data for controlling the entire major counter 50.

Further, the storage section 53 stores the upper and lower end positions of the swivel head main body 2. When the swivel head body 2 is sent to the upper and lower end positions, the sending direction is reversed by the electromagnetic switching valve 37. The display unit 54 is for displaying the drilling depth, the mode number at the time of mode switching, the set value, and the like. The latch circuit 55 is a memory circuit for temporarily holding the numerical value set in the setting switch 56.

The setting switch 56 includes OUT1, which will be described later.
This is a digital switch for manually presetting the magnitude of the output of OUT2 and the like (see FIG. 6). The mode key 57 is composed of a plurality of keys as will be described later, and is used for inputting data and the like, setting mode for setting the feed amount, and the like.
It is for switching the output mode such as the output voltage, the display mode, and the operation mode such as the measure counter.

The D / A converter 58 converts a digital signal for outputting the command from the central processing unit 52 to the relay circuit 60 into an analog signal. Relay circuit 60
For shutting off or switching the oil supply of the feed hydraulic cylinders 3a, 3b, the hydraulic rod holder 8, and the unclamp cylinder 31, the respective solenoid valves 37, 35,
The current output to the 32 coils (see FIG. 4) is turned ON and O sequentially.
FF control is performed.

The relay circuit 60 feeds the rod 30 by a fixed amount, and when the rod 30 reaches the upper end or the lower end, outputs it to the relay circuit 60,
The relay circuit 60 applies a current to the solenoid of the solenoid valve to switch the feed, that is, stop the swivel head main body 2 or switch the feed direction. Reset switch 59
Resets the major counter 50, etc., and resets all data, programs, etc., such as the latch circuit 55, the central processing unit 52, and the setting switch 56.
Or the lower end position of the swivel head body 2 is read and stored.

The central processing unit 52 uses the digital counter 5
1 is read, and when the set pulse amount, that is, the feed of the swivel head main body 2 by the feed hydraulic cylinders 3a and 3b reaches the upper end or the lower end, the output terminal OUT1 or OUT2 of the D / A converter 58 transfers to the relay circuit 60. Emits an output signal. FIG. 6 is a time chart showing the output signal of the major counter 50. FIG. 6A shows D /
The outputs of OUT1 and OUT2 of the A converter are shown. Figure 6
(B) shows the output pulse of the pulse encoder 23.
FIG. 6C shows the set pulse amount, OUT1, OUT
The pulses between the two are counted by the digital counter 51. The feed interval is determined by the set pulse amount. O
When UT1 or OUT2 is output, the relay circuit 60 switches the electromagnetic switching valves 32, 35 and 37 to switch the feeding direction and grip and release the hydraulic chuck.

Front Panel of Measure Counter 50 FIG. 7 is a front view showing the front portion of the measure counter 50. The display unit 54 is composed of 6 digits of numeral display characters. At the time of measurement, the number of measured pulses and the like are displayed on the numerical display character. Also, when switching between modes, a mode number (number) or the like is displayed.

The output mode changeover switch 57a is a changeover switch for selecting the type of output operation of OUT1 and OUT2 when relay output is performed. The input changeover switch 57b processes the input mode, that is, the pulse from the pulse encoder 23, and is for selecting only addition or subtraction. Conversion switch 5
7c is for setting the number of additions or subtractions per pulse, and is set by a magnification.

When the reset switch 59 is pressed, resetting is performed and the display is returned to "0". When relay output is being performed, the relay output of OUT1 and OUT2 is also canceled at the same time. The setting switch 56a is a switch for setting a preset value such as the magnitude of the output of OUT1. The setting switch 56b is a digital switch that sets a preset value such as the magnitude of the output of OUT2.

Operation Next, an outline of the feeding operation of the ground improvement machine during drilling will be described.
8A to 8C are outlines of the feeding operation. First, the power of the hydraulic unit, the measure counter 50, etc. is turned on. When the hydraulic motor switch of the power control board 10 is pressed, the electromagnetic switching valve 38 is switched and the hydraulic motor 7 starts to rotate. When it is desired to automatically feed the rod 30, the selection switch of the power control panel 10 is also automatically switched. When this selection switch is pressed, the hydraulic chuck body 6 clamps the rod 30.

If the hydraulic chuck body 6 is in the unclamped state of the rod 30, the rod 30 is clamped. Next, it is determined whether the hydraulic rod holder 8 is unclamped. When the hydraulic rod holder 8 is unclamped, the feed hydraulic cylinders 3a and 3b are operated and the rod 30 is operated. When the feed hydraulic cylinders 3a and 3b start operating, the pulse encoder 23 outputs a pulse. If no pulse is output from the pulse encoder 23 even if the feed hydraulic cylinders 3a and 3b are operated, an alarm is displayed because of a failure or the like.

When pulses are output from the pulse encoder 23, the digital counter 51 counts the number of pulses. In this state, the unclamp cylinder 31 grips the rod 30 and sends it downward (FIG. 8).
(State of (a)).

When the hydraulic chuck main body 6, that is, the swivel head main body 2 moves downward and the count value of the digital counter 51 reaches the set value, the D / A converter 58 turns O.
Output from the UT1 to the relay circuit 60.

The relay circuit 60 outputs this output signal (see FIG. 6).
Upon receiving (a)), the electromagnetic switching valve 37 is immediately switched to stop the feeding. Next, the claws 8a and 8b of the hydraulic rod holder 8 are operated to grip the rod 30. The unclamp cylinder 31 is operated to release the rod 30.
The relay circuit 60 operates the electromagnetic switching valve 37 to raise the hydraulic chuck body 6, that is, the swivel head body 2, by the feed cylinders 3a and 3b, and feeds the hydraulic chuck body 6 toward the upper end.

The pulse encoder 23 outputs the pulse again. However, since this pulse has been identified as a reverse rotation signal (known and not described in detail), it is subtracted and counted by the digital counter 51 as a subtraction pulse. When the swivel head body 2 reaches the setting pulse, for example, the O pulse, that is, the first upper end (or lower end) position which is the starting point,
An output signal (FIG. 6A) is output from the D / A converter 58 to the relay circuit 60 and OUT2 is output, the electromagnetic switching valve 37 is switched to temporarily stop the feed, and the hydraulic chuck body 6 grips the rod 30 again. (FIG. 8C). After that, the above operation is repeated again.

[0042]

Other Embodiments The above-mentioned embodiment is applied to the ground improvement machine, but as apparent from the above description, it is also applicable to the rod feeding of the boring machine. The excavation efficiency is good because the rod stop time is short during excavation. The ground improvement machine used a sequence circuit using a relay to control. However, as long as the operation is based on the above principle, any known control device such as a programmable controller or a control device using a microcomputer may be used.

Further, although the vertical movement is detected by detecting the length with a pulse encoder, other scales such as a magnetic scale and an optical scale may be used. In the above embodiment, the feed speed of the rod is not related to the rotation speed of the rod, that is, the rotation of the hydraulic motor 7, but a pulse encoder may be attached to the hydraulic motor so that the feed and the rotation can be made to have a constant ratio. .. These techniques are known and will not be described in detail here.

[0044]

As described above in detail, the ground improvement machine auto-feed device of the present invention can feed the rod continuously or intermittently and automatically. Also, since the interval of automatic feeding can be set in advance, it can be used even if the existing machine is improved. Therefore, there is an effect that the ground improvement speed and the excavation efficiency are dramatically increased.

[Brief description of drawings]

FIG. 1 is a front view of a ground improvement machine.

FIG. 2 is a side view of FIG.

FIG. 3 is a front view showing meshing between a rotary encoder and a rack.

FIG. 4 is a hydraulic circuit diagram of the ground improvement machine.

FIG. 5 is a functional block diagram of a major counter.

FIG. 6A is a time chart showing an output signal to a relay of a major counter. FIG. 6B shows output pulses of the pulse encoder. FIG. 6C shows the counted pulses.

FIG. 7 is a front view showing details of the front panel of the major counter.

FIG. 8 shows an outline of an automatic feed operation of a rod.

FIG. 9 is a flowchart showing an outline of operation of a major counter.

FIG. 10 is a flowchart showing an outline of operation of a major counter.

[Explanation of symbols]

1 ... Frame, 2 ... Swivel head body, 3 ... Feed hydraulic cylinder, 4 ... Piston rod, 5 ... Flange, 6 ... Hydraulic chuck body, 7 ... Hydraulic motor, 8 ... Hydraulic rod holder, 8a, 8b ... Claw, 10 ... Power control panel, 11 ... Operation panel, 12 ... Hydraulic operation panel, 13 ... Oil pump, 14 ... Electric motor, 15 ... Outrigger, 20 ... Rack, 23
… Rotary encoder, 24… Encoder box,
30 ... Rod, 31 ... Unclamp cylinder, 58 ... Measure counter, 51 ... Digital counter, 52 ... Central processing unit, 60 ... Relay circuit

Claims (2)

[Claims] 1. A frame constituting a main body of a ground improvement machine, a first chuck means for gripping and releasing an excavation rod of the ground improvement machine, and a feed of the first chuck means in an axial direction of the excavation rod. A ground improvement machine comprising a chuck feeding means for driving and a second chuck means fixed to the frame for gripping and releasing the excavating rod, wherein a rotary encoder for detecting the vertical movement amount of the excavating rod. (23) and a counter (51) for receiving the output pulse of the rotary encoder (23) and counting the number of this pulse
And a feed upper and lower end calculation means (52) for calculating a vertical movement end of the first chuck means and issuing a signal, and the vertical movement end on which the calculated values of the feed upper and lower end calculation means (52) are set. Reaches the first chuck, the second chuck
An automatic feed control device for a ground improvement machine, comprising: a chuck means and a chuck control means (60) for gripping or releasing the chuck feed means. 2. The hydraulic chuck according to claim 1, wherein the first and second chuck means are hydraulically driven, the chuck feed means is a hydraulic feed cylinder driven by hydraulic pressure, the hydraulic chuck means and the hydraulic chuck means. An automatic feed control device for a ground improvement machine, comprising: an electromagnetic switching valve provided to control the supply of hydraulic pressure to a hydraulic feed cylinder.