Drilling agitation machine, rotation stop method of stopping rotation of drilling agitation part, and drilling agitation system

Abstract

To provide a drilling agitation machine which solves a problem that a drilling agitation machine itself moves when receiving rotation force of a drilling agitation part.SOLUTION: A drilling agitation machine 1 includes: a main body 2 in which a revolving body 23 is provided on a traveling body 22; a drilling agitation part 3 which is provided in front of the revolving body 23 and can move vertically while rotating; and a lateral direction displacement measurement part HDS which is provided in the revolving body 23 and measures a lateral displacement of the main body 2 due to rotation force of the drilling agitation part 3.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an excavation stirrer, a method for stopping rotation for stopping the rotation of an excavation stirring unit, and an excavation stirring system.

Background Art

[0002] Patent Document 1 discloses an excavator that excavates the ground with an excavation head while applying a rotational force and a vertical vibration to a rod to which the excavation head is connected at the tip, the excavator including a clamp device that grips the rod, a clamp control unit that controls the operation of the clamp device, a lifting device that raises and lowers the rod, and a movement detection means that detects the movement of the lifting device, wherein the clamp control unit is configured to maintain the gripping state of the rod when an upward movement of the lifting device is detected based on the movement detection means while the rod is gripped by the clamp device.

[0003] And according to the excavator disclosed in Patent Document 1, it is possible to prevent the excavation head and the rod from falling into the excavation hole due to an operator's incorrect operation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in excavation work, when the excavation stirring unit hits hard ground or the like, it may become difficult for the excavation stirring unit to rotate, or the rotation may stop. And in such a case, the reaction accompanying the rotation of the excavation stirring unit is applied to the excavation stirrer.

[0006] However, even if the rotation of the excavation and agitation unit becomes impossible and all of the rotational torque is applied to the excavation and agitation machine as a reaction force, the weight design of the excavation and agitation machine is such that it has a weight that does not move the excavation and agitation machine itself. Nevertheless, there has been a case where the excavation and agitation machine itself moves due to the reaction force.

[0007] The present invention has been made in view of such circumstances, and an object thereof is to provide an excavation and agitation machine, a rotation stop method, and an excavation and agitation system that address the problem of the excavation and agitation machine itself moving when receiving the rotational force of the excavation and agitation unit.

Means for Solving the Problems

[0008] The present invention is grasped by the following configuration in order to achieve the above object. The excavation and agitation machine of the present invention includes a main body portion provided with a slewing body on a traveling body, an excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating, and a left-right direction displacement measurement unit provided on the slewing body for measuring the displacement of the main body portion in the left-right direction due to the rotational force of the excavation and agitation unit.

[0009] The rotation stop method of the present invention is a method for stopping the rotation of an excavation and agitation machine including a main body portion provided with a slewing body on a traveling body and an excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating. When the main body portion is displaced in the left-right direction, the rotation of the excavation and agitation unit is stopped.

[0010] The excavation and agitation system of the present invention includes an excavation and agitation machine and an irradiation target, and the excavation and agitation machine A main body provided with a slewing body on a traveling body, an excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating, and provided on the slewing body, for measuring the displacement of the main body in the left-right direction due to the rotational force of the excavation and agitation unit. A left-right displacement measurement unit, comprising a left displacement sensor for measuring a change in distance provided on the left side of the slewing body, and a right displacement sensor for measuring a change in distance provided on the right side of the slewing body, wherein the irradiation targets include a left irradiation target that serves as a reference for distance measurement of the left displacement sensor, and a right irradiation target that serves as a reference for distance measurement of the right displacement sensor.

Advantages of the Invention

[0011] According to the present invention, it is possible to provide an excavation and agitation machine, a rotation stop method, and an excavation and agitation system that address the problem that the excavation and agitation machine itself moves when receiving the rotational force of the excavation and agitation unit.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail with reference to the accompanying drawings. Throughout the description of the embodiments, the same elements are denoted by the same numbers or symbols.

[0014] (First Embodiment) The excavation agitator 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG. 1 is a side view of the excavation agitator 1 according to the first embodiment of the present invention, showing a state where excavation is being performed normally.

[0015] As shown in FIG. 1, the excavation agitator 1 includes a main body 2 provided with a slewing body 23 on a crawler-type traveling body 22 via a rotation mechanism 21, and an excavation and agitation unit 3 provided on the front side of the slewing body 23 and capable of moving up and down while rotating. The slewing body 23 includes a driver's cab for operating the excavation agitator 1.

[0016] In addition, the excavation agitator 1 is provided with an external operation panel CP so that it can be operated outside the driver's cab for easy excavation work. However, when the operator operates the external operation panel CP to perform work, the operator stands beside the excavation agitator 1. And when the operator is beside the excavation agitator 1 in this way, it is particularly dangerous if the excavation agitator 1 rotates about the rotation center RC (see FIGS. 3 and 4) of the excavation and agitation unit 3 described later.

[0017] The excavation and agitation unit 3 includes a shaft portion 31 having a tip portion of a rod 8 described later and a base end portion connectable to the tip portion of a drive shaft 9, an excavation blade 32 provided on the tip end side of the shaft portion 31, and a stirring blade 33 provided between the excavation blade 32 and the base end portion. In FIG. 1, the expression of the tip portion is the lower side, and the expression of the base end portion is the upper side.

[0018] In addition, in order to move the excavation and agitation unit 3 up and down while rotating it, the excavation agitator 1, when in the upright state, includes a leader 4 having a guide 41 extending in the vertical direction, a lifting device 5 attached to the leader 4 and moving up and down along the guide 41, a rotating device 6 moved up and down by the lifting device 5, and a vibration device 7.

[0019] Specifically, when the leader 4 is in the upright state, the excavation agitator 1 includes a rotating device 6 attached to the lifting device 5 so as to be located on the lower side, and a vibration device 7 attached to the lifting device 5 so as to be located above the rotating device 6.

[0020] Furthermore, the excavation agitator 1 includes a drive shaft 9 to which the excavation and agitation unit 3 is connected via a rod 8 or directly. The drive shaft 9 passes through the rotating device 8 and its proximal end is connected to the vibration device 7.

[0021] The rod 8 is an added spacer according to the excavation depth so that the excavation and agitation unit 3 can be positioned at the tip of the excavation part.

[0022] The vibration device 9 generates an up-and-down vibration force by rotating an eccentric weight, and the up-and-down vibration thereby generated is transmitted to the drive shaft 9.

[0023] Note that the vibration device 9 does not necessarily have to be limited to the above-described method, and any device that can apply an up-and-down vibration to the drive shaft 9 is acceptable. The vibration can improve the excavation efficiency.

[0024] In addition, the rotating device 8 applies a rotational force to the drive shaft 9, and as the lifting device 5 moves up and down, the drive shaft 9 moves up and down while rotating.

[0025] Therefore, the excavation and agitation unit 3 connected to the drive shaft 9 via the rod 8 or directly can also move up and down while rotating.

[0026] Note that the drive shaft 9 has a hollow portion, and a swivel joint 91 is attached to the middle thereof. The rod 8 and the excavation and agitation unit 3 also have hollow portions that serve as liquid flow paths. Therefore, the liquid (for example, bentonite drilling fluid, cement-based solidifying fluid, etc.) supplied through the swivel joint 91 can be supplied from the tip of the excavation and agitation unit 3 to the tip of the excavation unit.

[0027] Furthermore, the excavation and agitation machine 1 of the present embodiment also includes an electric hoisting device 10 that can be used, for example, for the work of installing steel pipes or H-shaped steel in the excavated hole.

[0028] Next, while explaining the state in which the excavation and agitation machine 1 is performing excavation, the configuration of the more detailed excavation and agitation machine 1 will be described. FIG. 2 is a diagram showing the posture state of the excavation and agitation machine 1 when the excavation and agitation unit 3 according to the first embodiment of the present invention bites into an obstacle or hard ground, and corresponds to the side view shown in FIG. 1.

[0029] Originally, the weight of the main body 2 of the excavation and agitation machine 1 and the like is designed such that even if the maximum torque of the rotation device 6 acts to move the main body 2 when the excavation and agitation unit 3 cannot rotate, it has a weight that is just enough not to move.

[0030] However, when bad conditions overlap, the excavation and agitation machine 1 may be in the posture state as shown in FIG. 2.

[0031] Specifically, as shown in FIG. 2, when the excavation and agitation unit 3 is severely bitten, starting from the side of the excavation and agitation unit 3 of the traveling body 22, the opposite side tends to lift off the ground surface. When such a situation occurs, the ground contact area decreases, so the main body 2 will move even with a small rotational force.

[0032] On the other hand, for example, for the purpose of suppressing damage to the ground surface by the crawler, the excavation and agitation machine 1 may be installed on a laid iron plate or the like. And under such circumstances, if furthermore, bad conditions such as rain fall and the frictional resistance on the surface drops significantly more than expected are added, it is conceivable that the main body 2 may move before the lifting phenomenon as shown in Fig. 2 is observed.

[0033] Therefore, regarding countermeasures when such bad conditions occur and the main body 2 that should not originally move moves, we have earnestly studied and finally completed the excavation and agitation machine 1 that addresses such problems.

[0034] Hereinafter, after explaining the configuration (hereinafter also referred to as Configuration 1) suitable for the case where the main body 2 moves before the lifting phenomenon as shown in Fig. 2 is observed, the configuration (hereinafter also referred to as Configuration 2) suitable for the case where the lifting phenomenon as shown in Fig. 2 is observed will be explained.

[0035] (Configuration 1) Fig. 3 is a top view for explaining the displacement of the main body 2 in the left - right direction by the rotational force according to the first embodiment of the present invention. Fig. 3(A) shows the state before displacement, and Fig. 3(B) shows the state after displacement. As shown in Fig. 3, assuming that the excavation and agitation part 3 rotates clockwise around the rotation center RC, the reaction force when the excavation and agitation part 3 cannot rotate will be applied counter - clockwise as shown by the thick arrow.

[0036] And in a situation where the frictional resistance on the ground contact surface significantly decreases, when the excavation and agitation part 3 bites into an obstacle or hard ground, and the rotation of the excavation and agitation part 3 becomes extremely poor or cannot rotate, due to the reaction force, as shown in Figs. 3(A) to 3(B), the main body 2 will try to rotate around the rotation center RC.

[0037] Fig. 4 is a diagram for explaining the configuration for detecting the phenomenon that the main body 2 described in Fig. 3 tries to rotate by the rotational force and is displaced in the left - right direction. The left side corresponds to Fig. 3(A), and the right side corresponds to Fig. 3(B).

[0038] In FIG. 4, a virtual left wall LW is shown on the left side of the revolving body 23, and a virtual right wall RW is shown on the right side of the revolving body 23.

[0039] Also, in FIG. 4, the case where a left-right displacement measurement unit HDS is provided in the excavation agitator 1, the left displacement sensor LDS for measuring the change in distance provided on the left side of the revolving body 23, and the right displacement sensor RDS for measuring the change in distance provided on the right side of the revolving body 23, is shown.

[0040] As shown in FIG. 4, for example, when the main body 2 rotates counterclockwise and is displaced in the left-right direction, the distance to the virtual left wall LW measured by the left displacement sensor LDS increases (that is, distance D11 < distance D12), while the distance to the virtual right wall RW measured by the right displacement sensor RDS decreases (that is, distance D21 > distance D22).

[0041] In the above description, the virtual left wall LW and the virtual right wall RW are assumed for the explanation. However, for example, in the case of underground construction of a station, etc., when working in an environment where there are objects such as walls and columns around that can be used as a reference for measuring distances, the walls and columns may serve as substitutes for the above-mentioned virtual walls.

[0042] In this way, if the left-right displacement measurement unit HDS for measuring the left-right displacement of the main body 2 due to the rotational force of the excavation agitation unit 3 is provided on the revolving body 23, the left-right displacement measurement unit HDS can stop the rotation of the excavation agitation unit 3 in accordance with detecting the left-right displacement, and suppress the main body 2 from moving so greatly as to cause trouble.

[0043] Specifically, assuming that the excavation agitator 1 includes a control unit for controlling the rotation of the excavation agitation unit 3, when the left-right displacement measurement unit HDS detects the left-right displacement, the control unit may stop the drive of the rotation device 8 so as to stop the rotation of the excavation agitation unit 3.

[0044] Regarding the presence or absence of displacement in the left - right direction, when both the left - hand displacement sensor LDS and the right - hand displacement sensor RDS detect displacement, it is preferable to detect the left - right direction displacement as a displaced one, because it is easy to avoid the influence of malfunction of the sensors.

[0045] However, if either one of the left - hand displacement sensor LDS or the right - hand displacement sensor RDS is provided, since the left - right direction displacement can be detected, the left - right direction displacement measurement unit HDS does not necessarily have to be limited to having both the left - hand displacement sensor LDS and the right - hand displacement sensor RDS, and it may have either one of them.

[0046] For example, at the start of work, measure the distance from the left - hand displacement sensor LDS to the left - hand wall LW, and similarly, measure the distance from the right - hand displacement sensor RDS to the right - hand wall RW, and use the distances thus obtained as reference distances.

[0047] Then, when the measured distance after the start of work becomes shorter than the reference distance by the set distance, or becomes longer than the reference distance by the set distance, it may be determined that a left - right direction displacement has occurred, and the left - right direction displacement may be detected.

[0048] For example, in the example described with reference to FIG. 4, when the distance measured by the left - hand displacement sensor LDS becomes longer than the reference distance by the set distance and the distance measured by the right - hand displacement sensor RDS becomes shorter than the reference distance by the set distance, it may be determined that a left - right direction displacement has occurred, and the left - right direction displacement may be detected.

[0049] That is, take the measured distance D11 of the left - hand displacement sensor LDS shown on the left side of FIG. 4 as the reference distance measured before the start of work, and similarly, take the measured distance D21 of the right - hand displacement sensor RDS shown on the left side of FIG. 4 as the reference distance measured before the start of work.

[0050] After the operation starts, when the distance measured by the left displacement sensor LDS becomes longer than "distance D11 + set distance" and, similarly, the distance measured by the right displacement sensor RDS becomes shorter than "distance D21 - set distance", it is determined that displacement in the left - right direction has occurred, and the displacement in the left - right direction may be detected.

[0051] Note that the above example is an explanation taking the case where the rotation of the excavation and agitation unit 3 described so far is in the clockwise direction as an example. If the rotation of the excavation and agitation unit 3 is counterclockwise, the relationship of long and short will be reversed, but the actual determination itself may be made by judging whether "|distance measured during operation - reference distance| > set distance" is satisfied.

[0052] Also, here, the explanation is given for the case where the same set distance is set for the left displacement sensor LDS and the right displacement sensor RDS. However, this set distance does not necessarily have to be the same, and an appropriate distance may be set according to the work site.

[0053] Regarding this set distance, considering that the measurement results may fluctuate due to the influence of excavation and the vibration of the vibration device 9, etc., it is determined so that an incorrect determination that there is a fluctuation greater than the set distance does not occur simply because the measured distance has changed due to the influence of vibration, etc.

[0054] However, in order to avoid such incorrect determination, if the set distance is set to be too long, the main body 2 will be allowed to move largely.

[0055] And when the main body 2 moves largely, since the inertial force also becomes large, even if the drive of the rotating device 8 is stopped, there is a risk that the main body 2 will not stop immediately.

[0056] Therefore, for example, regarding the set distance, from the viewpoint of not allowing too large a movement of the main body 2, it is preferably set within 5 cm, more preferably within 3 cm.

[0057] On the one hand, as described above, excavation and vibrations of the vibration device 9 affect the measurement, but it has been confirmed that displacement sensors can perform fairly stable measurements, and the influence is limited to fluctuations of several millimeters. Therefore, if the set distance is set to at least 5 mm or more, more preferably 10 mm or more, the influence on the measurement due to vibrations and the like can be avoided.

[0058] Therefore, it is preferable that the set distance is selected within the range of 5 mm or more and 5 cm or less.

[0059] On the other hand, at a site where there is no object substituting for the virtual wall, such as the underground construction of the station described above, an irradiation object provided with a left irradiation object serving as a reference for distance measurement of the left displacement sensor LDS and a right irradiation object serving as a reference for distance measurement of the right displacement sensor RDS may be used. That is, a excavation and agitation system provided with the excavation agitator 1 and the irradiation object may be used.

[0060] According to this excavation and agitation system, after stopping the excavation agitator 1 at the position for the excavation work, the left irradiation object is installed at a position suitable for the left displacement sensor LDS to measure the distance, and the right irradiation object is installed at a position suitable for the right displacement sensor RDS to measure the distance, thereby providing an object substituting for the virtual wall described above. Therefore, even if there are no structures such as walls and columns around, the same operations as those described above can be performed.

[0061] It should be noted that a three-axis acceleration sensor or the like can also be used for the left-right direction displacement measurement unit HDS instead of the displacement sensor.

[0062] However, as mentioned above, since displacement sensors are hardly affected by vibrations during excavation work and can perform relatively stable measurements, it is preferable to use displacement sensors for the left-right direction displacement measurement unit HDS.

[0063] As described above, according to Configuration 1, when the main body 2 is displaced in the left - right direction, a rotation stop method for stopping the rotation of the excavation and agitation unit 3 is practiced, and it is possible to avoid the main body 2 from moving significantly enough to cause problems.

[0064] (Configuration 2) Next, Configuration 2 will be described. FIG. 5 is a diagram for explaining a configuration corresponding to the case where the phenomenon that the main body 2 tries to lift off the ground surface as described in FIG. 2 is observed. The left side of FIG. 5 is a diagram before the main body 3 corresponding to FIG. 1 lifts, and the right side of FIG. 5 is a diagram showing the state where the main body 3 corresponding to FIG. 2 has lifted.

[0065] As shown in FIG. 5, in Configuration 2, as an inclination measurement unit IDS provided on the revolving body 23 for measuring the vertical inclination of the main body, a lower displacement sensor UDS for measuring the change in distance provided on the lower side behind the revolving unit 32 is provided.

[0066] In this way, if the lower displacement sensor UDS is provided, the distance D32 measured in the right - hand state is longer than the distance D31 measured in the left - hand state shown in FIG. 5 by the amount that the main body 2 has lifted (that is, distance D31 < distance D32). And as described above, the state where this measured distance becomes longer is a state where the contact area with the ground surface decreases because the main body 2 has lifted, so the main body 2 will move even with a small rotational force.

[0067] Therefore, similar to Configuration 1, assuming that the excavation and agitation machine 1 is provided with a control unit for controlling the rotation of the excavation and agitation unit 3, when the inclination measurement unit IDS detects the vertical inclination, the drive of the rotation device 8 may be stopped so that the control unit stops the rotation of the excavation and agitation unit 3.

[0068] Specifically, taking the distance to the ground surface measured by the lower displacement sensor UDS at the start of work as the reference distance, when the distance measured after the start of work becomes longer than the reference distance by a set distance, it may be determined that a vertical inclination has occurred, and the vertical inclination may be detected.

[0069] That is, when the measured distance D31 of the lower displacement sensor UDS shown on the left side of FIG. 5 is used as the reference distance measured before the start of work, if the distance measured by the lower displacement sensor UDS after the start of work becomes longer than "distance D31 + set distance", it is determined that a vertical inclination has occurred, and the vertical inclination may be detected.

[0070] In addition, in Configuration 2, paying attention to the floating phenomenon of the main body 2, it is not good in terms of attitude stability to allow a large vertical inclination. Therefore, for example, the set distance is preferably selected within the range of 5 mm or more and 20 cm or less.

[0071] On the other hand, for the inclination measurement unit IDS that detects the vertical inclination, it is also possible to use an inclinometer or the like instead of the displacement sensor. However, as described in Configuration 1, since the displacement sensor is not easily affected by vibrations during excavation work and can perform relatively stable measurement, it is preferable to use a displacement sensor for the inclination measurement unit IDS.

[0072] As described above, according to Configuration 2, when the main body 2 tilts in the vertical direction, the rotation stop method for stopping the rotation of the excavation and agitation unit 3 is practiced, and when the main body 2 is in a situation where it is easy to move, a measure is taken to suppress the movement of the main body 2. Therefore, the problem of the movement of the main body 2 can be effectively suppressed.

[0073] By the way, in the above, for the sake of easy understanding of the mechanism corresponding to the configuration, Configuration 1 and Configuration 2 have been explained separately in order. However, it is not necessary to provide Configuration 1 and Configuration 2 separately, and the excavation agitator 1 may be provided with both configurations of an inclination measurement unit IDS that measures the vertical inclination and a horizontal displacement measurement unit HDS that measures the horizontal displacement.

[0074] In this case, when the control unit that controls the rotation of the excavation and agitation unit 3 detects both the displacement in the left-right direction by the left-right displacement measurement unit HDS and the inclination by the inclination measurement unit IDS, the drive of the rotation device 8 may be stopped so as to stop the rotation of the excavation and agitation unit 3.

[0075] In this way, when both the displacement in the left-right direction and the inclination in the up-down direction are detected, it is considered that the main body 3 has reached a state where it is very easy to move. Therefore, as described above, it is desirable to stop the rotation of the excavation and agitation unit 3.

[0076] (Second Embodiment) Also in the second embodiment, the configuration itself is the same as configuration 1 and configuration 2 described in the first embodiment. Therefore, for parts that are the same as those in the first embodiment, the description may be omitted, and below, only the parts that are mainly different from the first embodiment will be described. In the first embodiment, in both cases of configuration 1 and configuration 2, the rotation of the excavation and agitation unit 3 was stopped.

[0077] On the other hand, in the excavation and agitation machine 1, the rotation torque of the excavation and agitation unit 3 is allowed up to the maximum torque of the rotation device 8.

[0078] Therefore, instead of stopping the rotation of the excavation and agitation unit 3, the torque of the rotation device 8 is restricted so that the rotation torque of the excavation and agitation unit 3 becomes equal to or less than the set value.

[0079] In this way, the reaction force applied to the main body 2 is reduced by the amount by which the rotation torque is restricted, and the movement of the main body 2 can be suppressed. And if excavation can proceed even with the restricted torque, the excavation work can be advanced without interruption.

[0080] For example, it is preferable to restrict the torque of the rotation device 8 so that the rotation torque of the excavation and agitation unit 3 is restricted to about 80% of the maximum torque, and considering safety, it may be set to about 50%.

[0081] Although the above has been described through specific embodiments, in the process of reaching the above configuration, other methods for suppressing the movement of the main body 2 when the excavation and agitation unit 3 bites into an obstacle or hard ground have also been considered. For example, it is also possible to suppress the movement of the main body 2 by anchoring the main body 2 to the ground surface with a wire rope so that the main body 2 does not move.

[0082] Also, by providing a weight of several tens of tons so as to sandwich both the left and right sides of the main body 2, it is possible to suppress the movement of the main body 2. However, these methods are very time-consuming for pre-work preparation before starting work and post-treatment after work.

[0083] On the other hand, in the case of the corresponding embodiments described above, it is possible to suppress the movement of the main body 2 when the excavation and agitation unit 3 bites into an obstacle or hard ground without spending time on pre-work preparation and post-treatment.

[0084] Although the present invention has been described based on specific embodiments above, the present invention is not limited to the above embodiments.

[0085] For example, in the first embodiment, the case where the left displacement sensor LDS and the right displacement sensor RDS are provided on the front side of the intermediate position in the front-rear direction of the revolving body 23 has been shown, but they may be provided on the rear side of the intermediate position.

[0086] Considering that the main body 3 is displaced around the rotation center RC of the excavation and agitation unit 3, providing them on the rear side makes it possible to detect the movement of the main body 3 earlier because, even if the movement of the main body 3 is small, the change in the distance measured by the left displacement sensor LDS and the right displacement sensor RDS becomes large.

[0087] Also, the left displacement sensor LDS and the right displacement sensor RDS do not necessarily have to be completely fixed. As described above, in the case of underground construction work at a station, etc., structures such as walls and pillars that can be used by the left displacement sensor LDS and the right displacement sensor RDS to measure distances may already exist.

[0088] However, since the stop position of the excavation agitator 1 is determined by the installation position of the excavation agitation unit 3 for performing excavation, there may be a case where the stop position is unfortunately not suitable for laser irradiation of the displacement sensor on structures such as walls and pillars.

[0089] Therefore, it is preferable that the left displacement sensor LDS and the right displacement sensor RDS can have their installation positions changed along the left and right side surfaces of the swivel body 23. That is, it is preferable that the position where the left displacement sensor LDS is provided along the left side surface of the swivel body 23 can be changed in the front - rear direction. Similarly, it is preferable that the position where the right displacement sensor RDS is provided along the right side surface of the swivel body 23 can be changed in the front - rear direction.

[0090] As described above, the present invention includes within the technical scope of the invention those that have been changed or improved in the embodiments, which is obvious to those skilled in the art from the description of the claims.

Explanation of Reference Numerals

[0091] 1... Excavation agitator, 2... Main body part, 21... Rotation mechanism, 22... Traveling body, 23... Swivel body, 3... Excavation agitation unit, 31... Shaft part, 32... Excavation blade, 33... Agitation blade, 4... Leader, 41... Guide, 5... Lifting device, 6... Rotation device, 7... Vibration - generating device, 8... Rod, 9... Drive shaft, 91... Swivel joint, 10... Electric hoisting device, CP... External operation panel, D11, D12, D21, D22, D31, D32... Distances, HDS... Left - right direction displacement measurement unit, IDS... Tilt measurement unit, LDS... Left displacement sensor, LW... Wall, RDS... Right displacement sensor, RW... Wall, UDS... Lower displacement sensor

Claims

1. A main body portion provided with a slewing body on a traveling body, An excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating, A left-right displacement measurement unit provided on the slewing body for measuring the left-right displacement of the main body portion due to the rotational force of the excavation and agitation unit, characterized in that the excavation and agitation machine comprises the same.

2. The left-right displacement measurement unit, A left displacement sensor provided on the left side of the slewing body for measuring a change in distance, A right displacement sensor provided on the right side of the slewing body for measuring a change in distance, characterized in that the excavation and agitation machine according to claim 1 comprises the same.

3. The excavation and agitation machine is provided with a control unit for controlling the rotation of the excavation and agitation unit, When the left-right displacement measurement unit detects a left-right displacement, the control unit stops the rotation of the excavation and agitation unit or changes the rotation torque to a value equal to or less than a set value, characterized in that the excavation and agitation machine according to claim 1 or claim 2 comprises the same.

4. A method for stopping the rotation of an excavation and agitation machine comprising a main body portion provided with a slewing body on a traveling body and an excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating, When the main body portion is displaced in the left-right direction, the rotation of the excavation and agitation unit is stopped, characterized in that the method for stopping the rotation comprises the same.

5. An excavation and agitation system, Comprising an excavation and agitation machine and an irradiation target, The excavation and agitation machine, A main body portion provided with a slewing body on a traveling body, An excavation and agitation unit provided on the front side of the slewing body and capable of moving up and down while rotating, A left-right displacement measurement unit provided on the slewing body for measuring the left-right displacement of the main body portion due to the rotational force of the excavation and agitation unit, The left-right displacement measurement unit, A left displacement sensor provided on the left side of the slewing body for measuring a change in distance, A right displacement sensor provided on the right side of the slewing body for measuring a change in distance, The irradiation target, A left irradiation target serving as a reference for distance measurement of the left displacement sensor, A right irradiation target serving as a reference for distance measurement of the right displacement sensor, characterized in that the excavation and agitation system comprises the same.

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