JP7535908B2 - Mechanical mixing control system and mechanical mixing method - Google Patents

Description

The present invention relates to a control system and a mechanical mixing method for mixing ground by attaching a mixing device to a heavy machinery work machine.

When constructing various buildings, if the local ground is weak, ground improvement work is carried out. There are various methods for ground improvement, one of which is the mechanical mixing method, in which ground formation soil and improvement materials are mixed and stirred using rotating mixing blades to create an improved body underground. Mixing devices equipped with such mixing blades are usually attached to heavy machinery when used (see, for example, Patent Document 1).

JP 2007-277955 A

Here, we consider the case where the mixing device is inserted vertically to improve the ground. In this case, if a large-diameter drilling machine equipped with a leader is used as the heavy machinery to which the mixing device is attached, the verticality of the mixing device can be relatively easily ensured. However, when such a drilling machine cannot be used due to restrictions on the construction site, the mixing device is attached to a working machine such as a backhoe for construction. In such a case, the operator who operates the backhoe or the like operates the working machine so that the mixing device penetrates vertically, so the construction accuracy depends on the ability and experience of the operator.
The present invention has been made in consideration of the above problems, and an object of the present invention is to improve the verticality when an agitation device is inserted and to improve construction accuracy.

(Modes of the Invention)
The following aspects of the invention are illustrative of the configuration of the present invention, and are described in terms of items to facilitate understanding of the various configurations of the present invention. Each item does not limit the technical scope of the present invention, and the technical scope of the present invention may include any embodiment in which some of the components of each item are replaced or deleted, or other components are added, while taking into account the best mode for carrying out the invention.

(1) A control system for mechanical stirring that stirs ground by attaching a stirring device that penetrates the ground to the tip of a working machine having multiple joints extending from the main body of a heavy machine and whose bending angle is adjusted by multiple hydraulic cylinders, the mechanical stirring control system including: multiple inclination angle measuring means that measure the inclination angle of each of the parts of the working machine divided by the multiple joints; multiple cylinder adjustment means that adjust the extension and retraction length of each of the multiple hydraulic cylinders; and main control means that controls the multiple cylinder adjustment means based on the measurement results of the multiple inclination angle measuring means .

The mechanical mixing control system described in this section uses heavy machinery equipped with a work machine having multiple joints to control mechanical mixing, which mixes the ground with a mixing device attached to the tip of the work machine, and includes multiple inclination angle measurement means, multiple cylinder adjustment means, and main control means. The multiple inclination angle measurement means measure the inclination angle of each part of the work machine divided by multiple joints and are attached to each of these parts. The multiple cylinder adjustment means adjust the extension length of each of the multiple hydraulic cylinders equipped in the work machine, and the multiple hydraulic cylinders adjust the bending angle of each joint of the work machine.

The main control means controls the multiple cylinder adjustment means based on the inclination angles of each part of the work machine measured by the multiple inclination angle measurement means. In other words, the relative positions and attitudes of each part of the work machine and the agitator attached to the work machine from the main body of the heavy equipment are controlled only by the bending angle of the joints of the work machine. For this reason, the main control means grasps the positions and attitudes of each part of the work machine and the agitator from the inclination angles of each part of the work machine, and controls the multiple cylinder adjustment means based on this to adjust the hydraulic cylinders of the work machine. This adjusts the bending angle of each joint of the work machine so that the work machine and the agitator are in the position and attitude they should be in next, according to the setting values set according to the construction content.

Therefore, by setting the mixing device to maintain a vertical posture when penetrating the ground, the main control means controls the multiple cylinder adjustment means, and the mixing device attached to the tip of the working machine penetrates the ground in a vertical posture. This improves the verticality of the mixing device when it penetrates, and improves construction accuracy, without relying on the ability or experience of the operator who operates the heavy equipment. Moreover, not only the posture of the mixing device but also the penetration depth of the mixing device is controlled according to the settings, and further, the penetration speed and withdrawal speed of the mixing device are also adjusted by adjusting the extension and retraction speed of the hydraulic cylinder through the control of the cylinder adjustment means by the main control means. This further improves construction accuracy while following any set value according to the construction specifications.

(2) In the above (1), each of the plurality of cylinder adjustment means is an electromagnetic proportional valve, and the main control means is equipped with control logic for inching the electromagnetic proportional valve when the stirring device penetrates and/or is pulled out of the ground (Claim 1 ).
In the mechanical agitation control system described in this section, each of the multiple cylinder adjustment means is an electromagnetic proportional valve, so that the extension length of each hydraulic cylinder of the working machine is finely adjusted, and the position and attitude of the working machine and the agitator are flexibly controlled. The main control means is equipped with a control logic that performs inching using the electromagnetic proportional valve when the agitator penetrates and/or is pulled out of the ground, and the penetration speed and pull-out speed of the agitator are stabilized by performing fine ON/OFF switching (inching) using the electromagnetic proportional valve for well-balanced control, thereby realizing smooth penetration and pull-out of the agitator.

(3) In the above paragraph (2), the main control means controls the multiple cylinder adjustment means so that the distance from the center of rotation of the main body to the center of mixing of the mixing device is maintained constant when the mixing device penetrates the ground (Claim 2).
The mechanical agitation control system described in this section controls the multiple cylinder adjustment means by the main control means so that the distance from the rotation center position of the main body of the heavy machinery to the agitation center position of the agitator is kept constant when the agitator penetrates the ground. That is, the main control means calculates the distance between the penetration position where the agitator penetrates and the rotation center position of the main body based on the measurement results of the inclination angle measurement means and preset set values, etc., with the agitator placed above the designed penetration position. Then, while changing the bending angle of each joint of the working machine for the penetration of the agitator, the measurement results of the inclination angle measurement means are used to grasp the distance from the rotation center position of the main body to the agitation center position of the agitator, and the multiple cylinder adjustment means are controlled so that the distance is always kept at the calculated distance. As a result, the agitator is accurately penetrated into the design position located at a certain distance from the rotation center position, which further improves the construction accuracy.

(4) In the above items (2) and (3), the main control means controls the multiple cylinder adjustment means so that the penetration speed and/or extraction speed of the stirring device into the ground is constant (Claim 3).
The mechanical stirring control system described in this section is intended to stably execute the penetration and extraction processes of the stirring device by controlling multiple cylinder adjustment means using a main control means so that the penetration speed and/or extraction speed of the stirring device into the ground is constant, thereby improving construction efficiency.

(5) In the above items (2) to (4), the mixing device mixes the ground while discharging the improvement material supplied from a supply device, and the main control means controls the supply device so that the supply amount of the improvement material is adjusted according to the penetration speed of the mixing device (claim 4).
The mechanical stirring control system described in this section uses a stirring device that stirs the ground while discharging improvement material supplied from a supply device, and controls the supply device by a main control means so that the supply amount of improvement material is adjusted according to the penetration speed of the stirring device. In other words, the main control means controls and grasps the penetration speed of the stirring device, and adjusts the supply amount of improvement material from the supply device to the stirring device according to the penetration speed. This allows the improvement material to be discharged from the stirring device into the ground as designed, such as by maintaining the supply amount of improvement material per unit depth of the ground constant or by changing the supply amount of improvement material according to the depth of the ground. Therefore, the loss of improvement material is suppressed, thereby reducing construction costs.

(6) In the above ( 2 ) to (5), the working machine has four parts: a boom connected to the main body, a first arm, a second arm, and a tip part to which the stirring device is attached, and the inclination angle measuring means is attached to each of the four parts of the working machine (claim 5 ).
In the mechanical agitation control system described in this section, the working machine of the heavy machinery has four parts: a boom connected to the main body, a first arm, a second arm, and a tip part to which the agitator is attached. Therefore, joints whose bending angles are adjusted by hydraulic cylinders are provided at four locations: between the main body and the boom, between the boom and the first arm, between the first arm and the second arm, and between the second arm and the tip part. Then, by attaching a tilt angle measuring means to each of the four parts of the working machine, the tilt angle measuring means is attached to all parts of the working machine whose tilt angle changes separately depending on the change in the bending angle of each joint. Therefore, even when a two-piece backhoe or the like is used as the heavy machinery, the position and posture of the working machine and the agitator can be accurately grasped.

(7) A mechanical mixing method for mixing ground by attaching a mixing device that penetrates the ground to the tip of a working machine having multiple joints extending from the main body of a heavy machine and whose bending angle is adjusted by multiple hydraulic cylinders, wherein an inclination angle measuring means that measures the inclination angle of each part is attached to each of the parts of the working machine divided by the multiple joints, the extension and contraction lengths of the multiple hydraulic cylinders are adjusted by multiple cylinder adjustment means, and the multiple cylinder adjustment means are controlled based on the measurement results of the multiple inclination angle measuring means .

(8) In the above (7), a mechanical mixing method uses an electromagnetic proportional valve as each of the plurality of cylinder adjustment means, and inching is performed by the electromagnetic proportional valve when the mixing device penetrates and/or is pulled out of the ground (Claim 6).
( 9 ) The mechanical mixing method according to the above ( 8 ), wherein the plurality of cylinder adjustment means are controlled so as to maintain a constant distance from the rotation center position of the main body to the mixing center position of the mixing device when the mixing device penetrates the ground (Claim 7 ).
( 10 ) In the mechanical mixing method according to the above items ( 8 ) and ( 9 ), the plurality of cylinder adjustment means are controlled so as to keep constant the penetration speed and/or the extraction speed of the mixing device into the ground (Claim 8 ).

( 11 ) In the above items ( 8 ) to ( 10 ), the mixing device mixes the ground while discharging the improvement material supplied from a supply device, and the supply device is controlled so as to adjust the supply amount of the improvement material according to the penetration speed of the mixing device (Claim 9 ) .

(12) In the mechanical mixing method according to the above items ( 8 ) to (11), the working machine has four parts: a boom connected to the main body, a first arm, a second arm, and a tip part to which the mixing device is attached, and the inclination angle measuring means is attached to each of the four parts of the working machine (claim 10 ).
The mechanical mixing methods described in items (7) to (12) are each carried out using the mechanical mixing control systems described in items (1) to (6) above, and thereby achieve the same effects as those of the mechanical mixing control systems described in items (1) to (6) above.

The present invention has the above-mentioned configuration, which makes it possible to improve the verticality of the mixing device when it is inserted, thereby improving construction accuracy.

1 is a block diagram showing an example of a configuration of a mechanical stirring control system according to an embodiment of the present invention. 2 is a side view showing an example of heavy machinery to which the mechanical stirring control system of FIG. 1 is applied. FIG. 2 is an image diagram showing the penetration process of an agitation device in a mechanical agitation method using a mechanical agitation control system according to an embodiment of the present invention.

Hereinafter, the embodiments of the present invention will be described with reference to the accompanying drawings. Hereinafter, detailed explanations of the same or corresponding parts as those in the prior art will be omitted, and the same or corresponding parts are indicated by the same reference numerals throughout the drawings.
Fig. 1 is a schematic diagram showing the configuration of a mechanical stirring control system 10 according to an embodiment of the present invention for controlling mechanical stirring, and Fig. 2 shows the configuration of a heavy machine 30 used for mechanical stirring. First, the configuration of the heavy machine 30 to which the mechanical stirring control system 10 of this embodiment is applied will be described with reference to Fig. 2.

As shown in FIG. 2, the heavy equipment 30 is a two-piece backhoe in this embodiment, and includes a main body 32 equipped with an operator's cabin and a running body and capable of forward/rearward movement and turning, and a multi-jointed working machine 36 extending from the main body 32. The working machine 36 is roughly composed of four parts, a boom 38, a first arm 40, a second arm 42, and a tip 44, and a mixing device 70 (see FIG. 3) is attached to the tip 44 as described below. The above-mentioned four parts 38, 40, 42, and 44 of the working machine 36 are connected at three points via joints 50 so that they can bend. Furthermore, although not shown in FIG. 2, the main body 32 and the boom 38 are also connected via joints 50 so that the boom 38 can be bent relative to the main body 32.

The working machine 36 of the heavy equipment 30 also has a number of hydraulic cylinders 60, 62, 64, 66 for adjusting the bending angle of each of the joints 50. That is, the hydraulic cylinder 60 adjusts the bending angle of the joint 50 between the main body 32 and the boom 38 by its extension and contraction, and the hydraulic cylinder 62 adjusts the bending angle of the joint 50 between the boom 38 and the first arm 40 by its extension and contraction. Furthermore, the hydraulic cylinder 64 adjusts the bending angle of the joint 50 between the first arm 40 and the second arm 42 by its extension and contraction, and the hydraulic cylinder 66 adjusts the bending angle of the joint 50 between the second arm 42 and the tip 44 by its extension and contraction. Note that FIG. 2 shows the hydraulic cylinders 60, 62, 66 in their fully extended state and the hydraulic cylinder 64 in their fully retracted state.

Returning to FIG. 1, the mechanical stirring control system 10 according to the embodiment of the present invention includes a plurality of inclination angle measuring means 14, a plurality of cylinder adjustment means 18, and a main control means 22. In this embodiment, the plurality of inclination angle measuring means 14 are four, and as shown in FIG. 2, they are attached to the four parts constituting the working machine 36 of the heavy equipment 30, namely, the boom 38, the first arm 40, the second arm 42, and the tip 44. The inclination angle measuring means 14 measures the inclination angle of the attachment, and any inclinometer capable of such measurement is used. The inclination angles of each part 38, 40, 42, and 44 of the working machine 36 measured by the inclination angle measuring means 14 are transmitted to the main control means 22. For this reason, the plurality of inclination angle measuring means 14 and the main control means 22 are in a connection environment in which, at least during operation, data is constantly transmitted from the inclination angle measuring means 14 to the main control means 22, and the main control means 22 constantly receives the data, and the connection means may be wired or wireless.

The multiple cylinder adjustment means 18 adjust the extension and retraction lengths of the multiple hydraulic cylinders 60, 62, 64, and 66 equipped to the work machine 36, and in this embodiment, four cylinder adjustment means 18 are included for adjusting them. For this reason, these four cylinder adjustment means 18 are included in the hydraulic system of the heavy equipment 30, and are installed on the path that supplies hydraulic pressure to each of the hydraulic cylinders 60, 62, 64, and 66. Each of the cylinder adjustment means 18 in this embodiment is composed of an electromagnetic proportional valve, and is controlled by the main control means 22 as described below. Note that the multiple cylinder adjustment means 18 are not shown in FIG. 2.

The main control means 22 is responsible for controlling the entire mechanical agitation control system 10, and in particular controls the multiple cylinder adjustment means 18. When controlling the multiple cylinder adjustment means 18, the main control means 22 obtains the inclination angles of the respective parts 38, 40, 42, 44 of the working machine 36 from the multiple inclination angle measurement means 14, as described above. In addition, the main control means 22 is preset with the size of the main parts of the heavy equipment 30, including the size of the respective parts 38, 40, 42, 44 of the working machine 36, the range of bending angles possible at each joint 50, the relationship between the bending angle of each joint 50 and the extension length of the hydraulic cylinders 60, 62, 64, 66, the size of the agitation device 70 attached to the tip 44 of the working machine 36, various design values according to the construction specifications, and the like.

For this reason, the main control means 22 uses the results obtained from the multiple tilt angle measurement means 14 and the preset contents to calculate the positions and attitudes of the four parts of the working machine 36 (boom 38, first arm 40, second arm 42, tip 44) and the position and attitude of the agitator 70 attached to the tip 44. The main control means 22 then controls the multiple cylinder adjustment means 18 to adjust the extension and contraction lengths of the hydraulic cylinders 60, 62, 64, 66, i.e., the bending angles of each joint 50 of the working machine 36, so that the four parts 38, 40, 42, 44 of the working machine 36 and the agitator 70 change to positions and attitudes suitable for the currently performed operation. At this time, the extension and contraction speed of the hydraulic cylinders 60, 62, 64, 66 is adjusted to adjust the speed of movement and change in attitude of each part 38, 40, 42, 44 of the working machine 36 and the agitator 70. In addition to the multiple cylinder adjustment means 18, the main control means 22 may also control other hydraulic control devices included in the hydraulic system of the heavy equipment 30.

In addition, the main control means 22 of this embodiment controls the mixing device 70. Here, as shown in FIG. 3, the mixing device 70 is a long-shaped device with a pair of mixing blades 72 that rotate at the tip, and is attached to the tip 44 of the working machine 36 and penetrates the ground G to mix the ground G. Although detailed explanations are omitted here, the mixing device 70 may be equipped with, in addition to the rotating mixing blades 72, a pipe or discharge port for supplying improvement material for ground improvement near the mixing blades 72, a spiral pipe for releasing the internal pressure of the ground G that increases due to the supply of improvement material toward the ground surface, a bending mechanism for bending the mixing device 70 in the middle, an axial rotation mechanism for rotating the mixing device 70, a sampling device for collecting samples of the ground G, and the like. At least some of the operations of these may be controlled by the main control means 22.

Furthermore, the main control means 22 of this embodiment also controls the supply device 90. This supply device 90 is for supplying improvement material to the vicinity of the mixing blade 72 of the mixing device 70 through the piping and discharge port as described above when the mixing device 70 penetrates into the ground G, and is composed of a pump connected to the end of the piping opposite the discharge port. In particular, the main control means 22 controls the supply device 90 so as to adjust the supply amount of improvement material according to the penetration speed of the mixing device 70 into the ground G. In other words, the main control means 22 controls and grasps the movement speed of the mixing device 70 connected to the work machine 36, and adjusts the supply amount of improvement material according to the penetration speed in the ground G. Such a main control means 22 is composed of any computer installed in the operator's room of the heavy equipment 30, for example. Note that the main control means 22 and the supply device 90 are omitted from FIG. 2.

Next, referring to Fig. 3, a penetration process of the stirring device 70, which is a part of the mechanical stirring method using the mechanical stirring control system 10 according to the embodiment of the present invention, will be described. For the configuration of the mechanical stirring control system 10 and the detailed configuration of the heavy equipment 30, please refer to Figs. 1 and 2 as appropriate.
First, as shown in FIG. 3(a), the operator operates the heavy machine 30 to move the heavy machine 30 to the vicinity of the position where the agitator 70 is to be inserted, and then adjusts the attitude of the working machine 36 to place the agitator 70 vertically above the position where the agitator 70 is to be inserted. At this time, the position and attitude of the agitator 70 may be adjusted using the main control means 22. Then, the main control means 22 calculates the distance D between the rotation center position T of the main body 32 of the heavy machine 30 and the agitation center position S of the agitator 70 using the measurement results of the multiple inclination angle measuring means 14. Here, the agitation center position S is, for example, the axial center position of the agitator 70 or the center position of a pair of agitator blades 72. In addition, the distance D may be a horizontal distance or may not be a horizontal distance as long as it substantially represents the distance between the rotation center position T and the agitation center position S.

Next, the main control means 22 changes the bending angle of each joint 50 of the working machine 36 to gradually lower the mixing device 70 toward the ground G. At this time, the multiple cylinder adjustment means 18 are controlled so that the calculated distance D is kept constant and the mixing device 70 moves vertically downward while maintaining its posture. Then, as shown in FIG. 3(b), the mixing device 70 penetrates the ground G while rotating the mixing blade 72 at the tip of the mixing device 70. During the penetration of the mixing device 70, the main control means 22 controls the multiple cylinder adjustment means 18 so that the mixing device 70 penetrates at a constant speed in this embodiment, taking into account the penetration resistance of the ground G, etc. Furthermore, the main control means 22 controls the improvement material supply device 90 so that an amount of improvement material according to the penetration speed of the mixing device 70 is discharged from the vicinity of the mixing blade 72 of the mixing device 70.

3(c), the mixing device 70 is penetrated to a preset design depth under the control of the main control means 22. Thereafter, the mixing device 70 is continuously pulled out from the ground G under the control of the main control means 22, and the multiple cylinder adjustment means 18 are controlled so that the pulling speed of the mixing device 70 is constant, the distance D is kept constant, and the mixing device 70 is pulled out along the vertical direction. For this reason, a series of operations from the penetration to the pulling out of the mixing device 70 may be performed by sending commands from the operator's room to the main control means 22 using switches such as "start", "interrupt", and "stop". Furthermore, various data grasped, calculated, and controlled by the main control means 22, such as the measurement results of the multiple inclination angle measurement means 14, the penetration/pulling speed of the mixing device 70, the distance D from the rotation center position T of the heavy equipment 30 to the mixing center position S of the mixing device 70, and the supply amount of improvement material, may be displayed on a monitor installed in the operator's room of the heavy equipment 30. In addition, in Figures 3(b) and (c), the rotating agitator blades 72 are simply illustrated as circles.

Here, the mechanical agitation control system 10 according to the embodiment of the present invention is not limited to the configuration described above, and may have other configurations. For example, the working machine 36 of the heavy equipment 30 to which the mechanical agitation control system 10 is applied may have a greater or lesser number of joints 50 than in the example of FIG. 2, and the number of tilt angle measuring means 14 and cylinder adjustment means 18 may be increased or decreased accordingly. In addition, the cylinder adjustment means 18 may be configured with a hydraulic control device other than an electromagnetic proportional valve. Furthermore, the main control means 22 may control only the operation of the working machine 36 of the heavy equipment 30 through the control of multiple cylinder adjustment means 18.

Now, according to the embodiment of the present invention having the above configuration, it is possible to obtain the following effects. That is, the mechanical stirring control system 10 according to the embodiment of the present invention controls mechanical stirring by using a heavy machine 30 equipped with a working machine 36 having multiple joints 50 to stir the ground G with a stirring device 70 attached to the tip of the working machine 36, as shown in FIG. 3, and includes multiple inclination angle measuring means 14, multiple cylinder adjustment means 18, and main control means 22, as shown in FIGS. 1 and 2. The multiple inclination angle measuring means 14 measure the inclination angles of each part 38, 40, 42, 44 of the working machine 36 divided by the multiple joints 50, and are attached to each of these parts 38, 40, 42, 44. The multiple cylinder adjustment means 18 adjust the extension length of each of the multiple hydraulic cylinders 60, 62, 64, 66 equipped on the working machine 36, and the multiple hydraulic cylinders 60, 62, 64, 66 adjust the bending angle of each joint 50 of the working machine 36.

The main control means 22 controls the multiple cylinder adjustment means 18 based on the inclination angles of the parts 38, 40, 42, 44 of the working machine 36 measured by the multiple inclination angle measurement means 14. That is, the relative positions and postures of the parts 38, 40, 42, 44 of the working machine 36 and the agitator 70 attached to the working machine 36 from the main body 32 of the heavy equipment 30 are controlled only by the bending angle of the joints 50 of the working machine 36. Therefore, the main control means 22 grasps the positions and postures of the parts 38, 40, 42, 44 and the agitator 70 from the inclination angles of the parts 38, 40, 42, 44 of the working machine 36, and controls the multiple cylinder adjustment means 18 based on the inclination angles to adjust the hydraulic cylinders 60, 62, 64, 66 of the working machine 36. As a result, the bending angles of the joints 50 of the working machine 36 are adjusted so that the working machine 36 and the agitator 70 are in the positions and postures they should be in next according to the set values set according to the construction content.

Therefore, as shown in FIG. 3, by setting the mixing device 70 to maintain a vertical posture when penetrating the ground G, the main control means 22 controls the multiple cylinder adjustment means 18, and the mixing device 70 attached to the tip of the working machine 36 penetrates the ground G in a vertical posture. Therefore, it is possible to improve the verticality of the mixing device 70 when penetrating, and improve the construction accuracy, without relying on the ability or experience of the operator who operates the heavy equipment 30. Moreover, not only the posture of the mixing device 70 but also the penetration depth of the mixing device 70 can be controlled according to the settings, and further, the penetration speed and extraction speed of the mixing device 70 can be adjusted by adjusting the extension and retraction speed of the hydraulic cylinders 60, 62, 64, and 66 through the control of the cylinder adjustment means 18 by the main control means 22. This makes it possible to further improve the construction accuracy while following any set value according to the construction specifications.

Furthermore, in the mechanical stirring control system 10 according to the embodiment of the present invention, as shown in FIG. 2, the working machine 36 of the heavy machinery 30 has four parts: a boom 38 connected to the main body 32, a first arm 40, a second arm 42, and a tip 44 to which the stirring device 70 is attached. For this reason, joints 50 whose bending angles are adjusted by hydraulic cylinders 60, 62, 64, and 66 are provided at four locations: between the main body 32 and the boom 38, between the boom 38 and the first arm 40, between the first arm 40 and the second arm 42, and between the second arm 42 and the tip 44. Then, by attaching the inclination angle measuring means 14 to each of the four parts 38, 40, 42, and 44 of the working machine 36, the inclination angle measuring means 14 is attached to all parts of the working machine 36 where the inclination angle changes separately due to the change in the bending angle of each joint 50. Therefore, even when using a two-piece backhoe as the heavy equipment 30, the position and posture of the work machine 36 and the mixing device 70 can be grasped with high accuracy.

As shown in FIG. 3, the mechanical stirring control system 10 according to the embodiment of the present invention controls the multiple cylinder adjustment means 18 by the main control means 22 so that the distance D from the rotation center position T of the main body 32 of the heavy equipment 30 to the stirring center position S of the stirring device 70 is kept constant when the stirring device 70 penetrates the ground G. That is, with the stirring device 70 positioned above the designed penetration position, the main control means 22 calculates the distance D between the penetration position at which the stirring device 70 penetrates and the rotation center position T of the main body 32 based on the measurement results of the inclination angle measurement means 14 and preset settings.

Then, while changing the bending angle of each joint 50 of the working machine 36 for the penetration of the agitator 70, the measurement result of the tilt angle measuring means 14 is used to grasp the distance D from the rotation center position T of the main body 32 to the agitator center position S of the agitator 70, and the multiple cylinder adjustment means 18 are controlled so that the distance D is always kept at the calculated distance D. This allows the agitator 70 to be accurately penetrated into the design position located at a certain distance D from the rotation center position T, making it possible to further improve construction accuracy. Furthermore, if the multiple cylinder adjustment means 18 are controlled by the main control means 22 so that the penetration speed and/or extraction speed of the agitator 70 into the ground G is constant, the penetration process and extraction process of the agitator 70 can be stably executed, and construction efficiency can be improved.

As shown in FIG. 1, the mechanical stirring control system 10 according to the embodiment of the present invention uses a stirring device 70 that stirs the ground G while discharging the improvement material supplied from a supply device 90, and the main control means 22 controls the supply device 90 so that the supply amount of the improvement material is adjusted according to the penetration speed of the stirring device 70. That is, the main control means 22 controls and grasps the penetration speed of the stirring device 70, and adjusts the supply amount of the improvement material from the supply device 90 to the stirring device 70 according to the penetration speed. This allows the improvement material to be discharged and mixed into the ground G as designed from the stirring device 70, such as maintaining a constant supply amount of the improvement material per unit depth of the ground G or changing the supply amount of the improvement material according to the depth of the ground G. Therefore, it is possible to suppress the loss of the improvement material, thereby reducing construction costs.

Furthermore, in the mechanical stirring control system 10 according to the embodiment of the present invention, each of the multiple cylinder adjustment means 18 is an electromagnetic proportional valve, so that the extension length of each hydraulic cylinder 60, 62, 64, 66 of the working machine 36 can be finely adjusted, and the position and attitude of the working machine 36 and the stirring device 70 can be flexibly controlled. In particular, when multiple hydraulic cylinders 60, 62, 64, 66 are controlled simultaneously, the penetration speed and withdrawal speed of the stirring device 70 can be stabilized by performing fine ON/OFF switching (inching) with the electromagnetic proportional valve to achieve well-balanced control, thereby realizing smooth penetration and withdrawal of the stirring device 70.
On the other hand, the mechanical stirring method according to the embodiment of the present invention can achieve the same effects as those of the mechanical stirring control system 10 by being carried out using the mechanical stirring control system 10 according to the embodiment of the present invention as described above.

10: Mechanical mixing control system, 14: Tilt angle measurement means, 18: Cylinder adjustment means, 22: Main control means, 30: Heavy equipment, 32: Main body, 36: Working machine, 38: Boom, 40: First arm, 42: Second arm, 44: Tip, 50: Joint, 60, 62, 64, 66: Hydraulic cylinder, 70: Mixing device, 90: Supply device, D: Distance from rotation center position to mixing center position, G: Ground, S: Mixing center position, T: Rotation center position

Claims (10)

A control system for mechanical mixing in which a mixing device that penetrates into the ground is attached to the tip of a working machine having a plurality of joints that extend from a main body of a heavy machine and whose bending angle is adjusted by a plurality of hydraulic cylinders, and which mixes the ground,
a plurality of inclination angle measuring means for measuring the inclination angle of each of the portions of the working machine divided by the plurality of joints;
a plurality of cylinder adjustment means for adjusting the extension and retraction length of each of the plurality of hydraulic cylinders;
a main control means for controlling the plurality of cylinder adjustment means based on the measurement results of the plurality of tilt angle measurement means ,
each of the plurality of cylinder adjustment means is an electromagnetic proportional valve;
A mechanical agitation control system characterized in that the main control means is equipped with control logic that performs inching using the electromagnetic proportional valve when the agitation device penetrates and/or is pulled out of the ground. The mechanical agitation control system according to claim 1, characterized in that the main control means controls the multiple cylinder adjustment means so that the distance from the rotation center position of the main body to the agitation center position of the agitation device is kept constant when the agitation device penetrates the ground. The mechanical stirring control system according to claim 1 or 2, characterized in that the main control means controls the multiple cylinder adjustment means so that the penetration speed and/or withdrawal speed of the stirring device into the ground is constant. The mixing device mixes the ground while discharging the improvement material supplied from the supply device,
The mechanical stirring control system according to any one of claims 1 to 3, characterized in that the main control means controls the supply device so that the supply amount of the improving agent is adjusted according to the penetration speed of the stirring device. The working machine has four parts: a boom connected to the main body, a first arm, a second arm, and a tip part to which the agitating device is attached;
5. The mechanical agitation control system according to claim 1, wherein the tilt angle measuring means is attached to each of the four portions of the working machine. A mechanical mixing method in which a mixing device that penetrates the ground is attached to the tip of a working machine having a plurality of joints that extend from a main body of a heavy machine and whose bending angle is adjusted by a plurality of hydraulic cylinders, and the mixing device is inserted into the ground to mix the ground,
a tilt angle measuring means for measuring a tilt angle of each of the parts of the working machine divided by the plurality of joints is attached to each of the parts,
A plurality of cylinder adjustment means adjusts the extension and retraction lengths of the plurality of hydraulic cylinders;
controlling the plurality of cylinder adjustment means based on the measurement results of the plurality of tilt angle measurement means;
A mechanical mixing method characterized in that an electromagnetic proportional valve is used as each of the plurality of cylinder adjustment means, and inching is performed by the electromagnetic proportional valve when the mixing device penetrates and/or is pulled out of the ground. The mechanical mixing method according to claim 6, characterized in that the multiple cylinder adjustment means are controlled so as to maintain a constant distance from the center of rotation of the main body to the center of mixing of the mixing device when the mixing device is inserted into the ground . 8. The mechanical mixing method according to claim 6 or 7 , characterized in that the plurality of cylinder adjustment means are controlled so as to keep constant the penetration speed and/or the withdrawal speed of the mixing device into the ground. The mixing device mixes the ground while discharging the improvement material supplied from the supply device,
The mechanical mixing method according to any one of claims 6 to 8 , characterized in that the supply device is controlled so as to adjust the supply amount of the improving agent according to the penetration speed of the stirring device. The working machine has four parts: a boom connected to the main body, a first arm, a second arm, and a tip part to which the agitating device is attached;
10. The mechanical mixing method according to claim 6, wherein the inclination angle measuring means is attached to each of the four portions of the working machine.

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