JPS63265014A - Controller for ground improver - Google Patents

Abstract

PURPOSE:To form improved columns having uniform strength with improved controllability by automatically controlling the penetrating drawing speeds of a stirring shaft and the discharging amount of an improving agent per unit time concurrently on the basis of each set value. CONSTITUTION:On the basis of a target penetrating and drawing speed Vs set in a penetrating and drawing speed setter 8, the penetrating and drawing speed V of a stirring shaft 3 is automatically controlled. The discharging amount Cs of improving agent per unit time is calculated and set up on the basis of each set value of speed Vs, the discharging amount F per unit volume of improving agent, and the turning diameter D of a stirring blade 4. The discharging amount C of improving agent per unit time is controlled on the basis of the set value Cs. The ground can thus be improved according to ground quality even when the ground quality is not uniform.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a ground improvement machine that increases the strength of the ground by adding a ground improvement material to soft ground and solidifying it by stirring and mixing. be.

(Prior art) Conventionally, in a ground improvement machine that employs the powder injection stirring method (DJM), for example, as shown in Japanese Patent Laid-Open No. 61-57.716, the amount of improvement material added to soft ground has been adjusted. Devices for controlling are known.

This device detects how much improvement material has been added to the soft ground by the Daiyuki machine, and also detects the axial feed rate of the stirring shaft, and compares the detected value of the added amount with the feed rate. Based on the detected value of speed, calculate the improved volume per unit time, then calculate the amount of the improved material added to the improved volume, and calculate the amount of the improved material added to the calculated amount and the fixed amount in advance The improvement material conveying machine is controlled based on the set additive suspension setting value. However, this device is controlled based on the detected value of the feed rate of the stirring shaft and the detected value of the amount of improvement material added, and the detected value of the added amount is particularly unstable, so it is difficult to control it. The accuracy was poor, and it was difficult to create improved columns with uniform strength.

(Objective of the Invention) The present invention was made to solve these problems, and it is possible to perform stable control at all times, improve controllability, and create improved columns with uniform strength. The purpose is to provide a control device for soil improvement machines.

(Structure of the Invention) The present invention includes a stirring shaft rotation drive means having a stirring blade at the lower end, a stirring shaft insertion/extraction means, and an improved material discharge stage for discharging the improved material from the tip of the stirring shaft. In the ground improvement machine, a means for setting the penetration and withdrawal speed of the stirring shaft, a means for detecting the penetration and withdrawal speed by the penetration and withdrawal means for the stirring shaft, a set value set in the penetration and withdrawal speed setting means, and a penetration and withdrawal speed detection 1. A penetrating ignition speed adjusting means for controlling the penetrating and withdrawing speed by the penetrating and withdrawing means so as to reduce the deviation between the two based on the detection value detected by the stage, a rotation diameter setting means for the stirring W, and improvements per unit volume. The rotational diameter of the stirring blade, the penetration and withdrawal speed, and the improved material per unit volume outputted from the material discharge rate setting means, the rotation diameter setting means for the above-mentioned feed and withdrawal speed setting means, and the improved material discharge amount setting means per unit volume. a calculation means for calculating the improvement material discharge amount per unit time based on each setting value of the discharge amount; a calculation means for setting the improvement material discharge amount per unit time for setting the resultant value of the calculation means; A means for detecting the amount of improvement material discharged from the discharge means, a detection value of the amount of improvement material discharged by the detection means, and an improvement material per unit time output from the improvement material discharge amount Ilj per unit time setting means. The present invention is characterized by comprising a discharge amount adjusting means for adjusting the discharge amount by the improvement material discharging means based on the discharge suspension setting value so that the deviation between the two becomes small.

With this configuration, the penetration and withdrawal speed of the stirring shaft is controlled based on the preset setting value of the penetration and withdrawal speed of the II stirring shaft, and the [+'! Based on one rotation, the setting value of the improvement material discharge amount per unit volume and the setting value of the penetration and withdrawal speed of the stirring shaft, which were determined by polling survey of the target ground, mixing of improvement material, reaction test training, etc. The improvement material discharge amount per unit time ψ is calculated, and the improvement material discharge ω per unit time is controlled based on this improvement material discharge (d setting value).In this way, based on each of the above set values, By controlling the penetration and withdrawal speed and the discharge of improving material per unit time, stable control is achieved, υ controllability is improved, and an improved column with uniform strength can be obtained.

(Example) The schematic configuration of the soil improvement machine will be explained with reference to FIG. 2. A 'W1' stirring shaft 3 is supported by a leader 2 erected on a base machine 1 so as to be rotatable and movable up and down. The stirring shaft 3 is hollow and has a reforming material feeding passage therein, and has a rectangular outer shape, for example, and is provided with radial stirring blades 4 and a improving material discharge port (not shown) at its lower end.

The rotational drive means 5 for the stirring shaft 3 includes an electric motor 5a for driving shaft rotation and a speed reducer 5b, and the stirring shaft 3 is inserted into the speed reducer 5b so as to be slidable only in the axial direction. The rotational torque is transmitted while allowing axial sliding, that is, stomach movement.

Two winches, a penetration winch and a withdrawal winch, may be used for the penetration/extraction means 6 for the stirring shaft 3, but in this embodiment, an endless winch is used, and one winch for one wiener drum 6a is used. The middle part of the roller 16b is wound in one layer from one side to the other side in the axial direction of the drum, and the tip of the roller 76b that is unwound from the side of the drum is connected to the stirring shaft 3.
The winch drum 6a is connected to the lower part of the thrust bearing 3a connected to the upper end, and the tip of the row 16b fed out from the other side of the drum is connected to the upper part of the thrust bearing 3a. The stirring shaft 3 is driven forward and backward by a hydraulic unit 6C equipped with a hydraulic pump etc., and the stirring shaft 3 is raised and lowered via the row 76b by the forward and reverse driving.
Masato pulls out soft ground fiA.

The improvement material discharging means 7 is equipped with a feed wheel 7C driven by a variable speed electric motor 7b at the bottom of a tank 7a, and is configured to supply compressed air introduced from a pipe 7d,
As the feed wheel 7C rotates, the improvement material B stored in the tank 7a is pneumatically fed to the improvement material supply hose 7e. The tip of the hose 7e is connected to the upper end of the stirring shaft 3 via a swivel joint (not shown).
The improved material pneumatically fed to e is fed into the stirring shaft 3 and is discharged from a discharge port provided at the tip of the stirring shaft 3.

The above-mentioned soil improvement machine stirs 1i by means of a stirring shaft rotation drive means 5.
While rotating the shaft 3, by rotating the winch drum 6a of the temporary member pulling means 6, the stirring shaft 3 is lowered through the row 76b into the soft ground A, and at this time, the stirring shaft The ground soil is stirred by the stirring blade 4 at the tip. Then, the stirring shaft 3 is moved up to a predetermined depth, and the winch drum 6b is reversed while the stirring shaft 3 is rotated. It is pulled out from A, and during this handling, the improved material is discharged from the discharge port at the tip of the stirring shaft, and the stirring W
4, soil improvement is performed by stirring and mixing the improvement material and the ground soil. Note that the improving material may be discharged when the stirring shaft 3 is turned on.

The above ground improvement machine is provided with a control device shown in FIG. In FIG. 1, true person speed setting means 8
A target loading/extraction speed Vs (ryt/min) of the stirring shaft 3 is set in advance by polling the target ground, mixing improvement materials, reaction tests, etc. Further, the first speed detection stage 11 for penetration is for detecting the vertical speed of the stirring shaft 3, for example, the rotation speed of each guide sheave on the entry side and the withdrawal side of the penetration/extraction rope 6b of the penetration/extraction means 6. is detected, and the insertion and handling speed V (m/sin) of the stirring shaft 3 is calculated from the rotation speed.

Then, the n person withdrawal speed VS set in the person withdrawal speed setting means 8 and the daily withdrawal speed V detected by the penetration and withdrawal speed detection means 11 are input to the comparison and determination means 12 for comparison and determination. Then, an adjustment signal based on the determination result is manually inputted to the large handling speed adjustment means 13. This adjusting means 13 controls the amount of oil discharged from a hydraulic pump flowing into the hydraulic unit 6C of the personnel handling means 6 shown in FIG. 2, and by controlling the amount of oil discharged, the rotation of the winch drum 6a is controlled. The number υ]l2Il is adjusted to control the daily withdrawal speed (■) of the stirring shaft 3.

On the other hand, in the improvement material discharge m setting means 9, a target improvement material discharge per unit volume tjkF (K9/d) is set corresponding to the target true person withdrawal speed vS set in the penetration and withdrawal speed setting means 8. Further, the blade rotation diameter setting means 10 includes a stirring blade 4.
The rotation radius or rotation diameter D (m) is set.

Next, the target member intake and handling speed ■S of the stirring shaft 3, the target improved material discharge per unit volume ff1F, and the rotational diameter 1) of the stirring blade 4 set in each of the setting means 8, 9, and 10 are sent as a cascade signal. The improvement material discharge In m F [is inputted sequentially to the means 14, and the target improvement material discharge ff1cs (Kg/Win) per unit time is calculated by this operation means 14.

Cs-(π·D"/4) VS-F...■This target improvement material discharge amount ff1cs per unit time is sequentially input to the improvement material discharge amount setting means 15 as a cascade signal and set.

The improvement material discharge m detection means 16 is constituted by, for example, a plurality of load cells attached to the tank 7a of the improvement material discharge means 7 shown in FIG. 2, and the entire weight of the tank 7a is detected by this detection means 16. , Based on the detected value, a small amount of change 9 is detected, and the improvement material discharged hot water C per medium time is detected.

Then, the improved material discharge per unit time C detected by the improved material discharge suspension detection means 16 indicated in F and the target improved material discharge amount C5 per unit time set in the improved material discharge amount setting means 15 are determined. It is input to the comparison and determination means 17 for comparison and determination, and the adjustment C1 based on the determination result is input to the improved H discharge amount adjustment means 18. This adjusting means 18 is, for example, the motor 7b of the improvement material dispensing means 7 shown in FIG.
The rotation speed is controlled by controlling the current value of the motor 7b by a and lJ.

In this way, while the true user speed V of the stirring shaft 3 is automatically controlled based on the target user speed VS set in the penetration and withdrawal speed setting means 8, the A person withdrawal speed VS and the improvement material discharge IMF per unit volume are Based on each set value of the rotation radius of the stirring blade 4, the improvement material 11 discharge mC5 per medium time is calculated and set, and the improvement material discharge mC5 per unit time is calculated based on the set value C6k: C is controlled. During this control, the actual penetration and withdrawal speed V of the stirring shaft 3 fluctuates by a few percent relative to the target value, but since the set value of the target penetration and withdrawal speed VS is constant, the set value signal By inputting it as a cascade signal to the calculation means 14 and performing the above calculation and control, the control of the improvement material discharge amount C is stabilized, the controllability is greatly improved, and the ground improvement is carried out according to the geology of the target ground. We have 1q of improved columns with uniform strength.
It will be done.

In the above-mentioned soil improvement machine, the means 6 for loading and unloading the stirring shaft 3 is not limited to the winch type shown in FIG. It may also be something that is used to in this case,
What is necessary is to control the supply flow rate to the hydraulic cylinder to control the expansion/contraction speed of the cylinder and control the penetration/extraction speed of the stirring shaft.

The W control device of the present invention is applicable not only to ground improvement machines for land use but also to ground improvement machines for submarine use.

(Effects of the Invention) As described above, the present invention enables the setting value of the target mass withdrawal speed of the stirring shaft, the setting value of the target improvement material discharge amount per unit volume, and the rotation of the stirring blade during soil improvement work. Based on the set value of the diameter and each set value, the penetration and withdrawal speed of the stirring shaft and the amount of improvement material discharged per unit time can be automatically controlled at the same time, making it possible to perform very stable control. Controllability can be greatly improved, and even when different geological strata overlap and the geology is not uniform, ground improvement can be performed according to the geology, and improved columns with uniform strength can be obtained.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a schematic side view showing an example of a ground improvement machine equipped with the control device of the present invention. 3... Stirring shaft, 4... Stirring blade, 5... Stirring shaft rotation drive means, 6... Stirring shaft large pull-out means, 7... Improved material IIt output means, 8... ...Penetration and withdrawal speed setting means, 9...1 stage setting of improvement material discharge amount per unit volume, 10
...Rotational diameter setting means for stirring blades, 11...Method for detecting the speed of pulling out human beings, 12...Means for comparing and determining, 13...Means for adjusting the speed of human movement for n people, 14...Unit time Improving material discharge small droplet i means per unit time, 15... Improving material discharge amount setting means per unit time, 16... Improving material discharge small droplet detecting means, 1
7... Comparison/discrimination means, 18... Improved material discharge hot water adjustment means. Patent applicant: Kobe Steel, Ltd. Agent
Patent Attorney Etsuji Kotani Patent Attorney Chief 1
) Positive amount Patent attorney Yasuo Itaya Figure 1 Figure 2

Claims (1)

[Claims] 1. A soil improvement machine equipped with a stirring shaft rotation drive means having a stirring blade at the lower end, a stirring shaft penetration/extraction means, and an improving material discharging means for discharging the improving material from the tip of the stirring shaft,
a means for setting the penetration and withdrawal speed of the stirring shaft; a means for detecting the penetration and withdrawal speed by the penetration and withdrawal means of the stirring shaft; a set value set in the penetration and withdrawal speed setting means; and a detection value detected by the penetration and withdrawal speed detection means. a penetration/withdrawal speed adjusting means for controlling the penetration/withdrawal speed by the penetration/withdrawal means so as to reduce the deviation between the two based on the above, a stirring blade rotation diameter setting means, and an improvement material discharge amount setting means per unit volume; Based on the setting values of the stirring blade rotation diameter, penetration withdrawal speed, and improvement material discharge amount per unit volume output from the above-mentioned penetration and withdrawal speed setting means, rotation diameter setting means, and improvement material discharge amount per unit volume setting means. a calculation means for calculating the amount of improvement material discharged per unit time, a means for setting the amount of improvement material discharged per unit time for setting the calculated value by the calculation means, and an amount of improvement material discharged from the improvement material discharge means. and the improvement material discharge amount detection value detected by the detection means and the improvement material discharge amount setting value per unit time output from the improvement material discharge amount setting means per unit time. 1. A control device for a soil improvement machine, comprising a discharge amount adjusting means for adjusting the discharge amount by the improving material discharging means so that the deviation is small.