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

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 tilt measurement part IDS which is provided in the revolving body 23 and measures a vertical tilt of the main body 2.SELECTED DRAWING: Figure 5

Description

Technical Field

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

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. The clamp control unit is configured to maintain the gripping state of the rod when the 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 stirring unit becomes impossible and all of the rotational torque is applied to the excavation stirrer as a reaction force, the excavation stirrer is weight-designed to have a weight such that the excavation stirrer itself does not move. Nevertheless, there has been a case where the excavation stirrer 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 stirrer and a rotation stop method that address the problem of the excavation stirrer itself moving when receiving the rotational force of the excavation stirring 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 stirrer of the present invention includes a main body portion provided with a slewing body on a traveling body, an excavation stirring portion provided on the front side of the slewing body and capable of moving up and down while rotating, and an inclination measuring portion provided on the slewing body for measuring the inclination of the main body portion in the vertical direction.

[0009] The rotation stop method of the present invention is a method for stopping the rotation of an excavation stirrer including a main body portion provided with a slewing body on a traveling body and an excavation stirring portion provided on the front side of the slewing body and capable of moving up and down while rotating, wherein when the main body portion inclines in the vertical direction, the rotation of the excavation stirring portion is stopped.

Effects of the Invention

[0010] According to the present invention, it is possible to provide an excavation stirrer and a rotation stop method that address the problem of the excavation stirrer itself moving when receiving the rotational force of the excavation stirring unit.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0012] Hereinafter, with reference to the accompanying drawings, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail. Throughout the description of the embodiments, the same elements are denoted by the same numbers or symbols.

[0013] (First Embodiment) The excavation and agitation machine 1 of the first embodiment according to the present invention will be described with reference to FIGS. 1 to 5. FIG. 1 is a side view of the excavation and agitation machine 1 of the first embodiment according to the present invention, showing a state where excavation is being normally performed.

[0014] As shown in FIG. 1, the excavation and agitation machine 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 part 3 provided on the front side of the slewing body 23 and capable of moving up and down while rotating. The slewing body 23 is provided with a driver's cab for operating the excavation and agitation machine 1.

[0015] In addition, the excavation and agitation machine 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 driver operates the external operation panel CP to perform work, the driver stands beside the excavation and agitation machine 1. And when the driver is beside the excavation agitator 1 like this, in the unlikely event that the excavation agitator 1 rotates about the rotation center RC (see FIGS. 3 and 4) of the excavation stirring unit 3 described later, it is particularly dangerous.

[0016] The excavation stirring 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 end portion is the lower side, and the expression of the base end portion is the upper side.

[0017] Further, in order to move the excavation agitator 1 up and down while rotating the excavation stirring unit 3, when in the standing state, the excavation agitator 1 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 lifted and lowered by the lifting device 5, and a vibration device 7.

[0018] Specifically, when the leader 4 is in the standing 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.

[0019] Furthermore, the excavation agitator 1 includes a drive shaft 9 to which the excavation stirring unit 3 is connected via a rod 8 or directly to which the excavation stirring unit 3 is connected. And the drive shaft 9 passes through the rotating device 8 and the base end portion is connected to the vibration device 7.

[0020] Note that the rod 8 is added according to the excavation depth and is a spacer for enabling the excavation stirring unit 3 to be positioned at the tip of the excavation portion.

[0021] And the vibration device 9 generates an up-and-down vibration force by rotating an eccentric weight, and the up-and-down vibration thereby is transmitted to the drive shaft 9.

[0022] Note that the vibration generating device 9 does not necessarily have to be limited to the above-described method, and any device can be used as long as it can apply vertical vibration to the drive shaft 9, and the excavation efficiency is improved by this vibration.

[0023] Further, when the rotating device 8 applies a rotational force to the drive shaft 9 and the lifting device 5 moves up and down, the drive shaft 9 moves up and down while rotating.

[0024] Therefore, the excavation stirring unit 3 connected to the drive shaft 9 via the rod 8 or directly can also move up and down while rotating.

[0025] 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 stirring 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 via the swivel joint 91 can be supplied from the tip of the excavation stirring unit 3 to the tip of the excavation unit.

[0026] Furthermore, the excavation stirrer 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.

[0027] Next, while explaining the state in which the excavation is being performed by the excavation stirrer 1, the configuration of the excavation stirrer 1 in more detail will be described. FIG. 2 is a diagram showing the posture state of the excavation stirrer 1 when the excavation stirring 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.

[0028] Originally, the weight of the main body 2 of the excavation stirrer 1 and the like is designed such that even if the maximum torque of the rotating device 6 acts to move the main body 2 when the excavation stirring unit 3 cannot rotate, it has a weight that cannot be moved.

[0029] However, when bad conditions overlap, the excavation stirrer 1 may be in the posture state shown in FIG. 2.

[0030] Specifically, as shown in FIG. 2, when the excavation and agitation unit 3 is severely damaged, 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.

[0031] On the other hand, for example, for the purpose of suppressing damage to the ground surface by the crawler, the excavation agitator 1 may be installed on a laid iron plate or the like. And in such a situation, when further bad conditions such as rain fall and the surface frictional resistance drops significantly more than expected are added, it is conceivable that the main body 2 will move before the lifting phenomenon shown in FIG. 2 appears.

[0032] Therefore, regarding countermeasures when such bad conditions occur and the main body 2 that should not move originally moves, intensive studies have been conducted, and the excavation agitator 1 corresponding to the problem has been completed.

[0033] 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 shown in FIG. 2 appears, the configuration (hereinafter also referred to as Configuration 2) suitable for the case where the lifting phenomenon shown in FIG. 2 appears will be explained.

[0034] (Configuration 1) FIG. 3 is a top view for explaining the displacement of the main body 2 in the left - right direction by a rotational force according to the first embodiment of the present invention. FIG. 3(A) shows before displacement, and FIG. 3(B) shows after displacement. As shown in FIG. 3, assuming that the excavation and agitation unit 3 rotates clockwise around the rotation center RC, the reaction when the excavation and agitation unit 3 cannot rotate will be applied counterclockwise as shown by the thick arrow.

[0035] Then, in a situation where the frictional resistance of the ground surface is significantly reduced, when the excavation and agitation unit 3 bites into an obstacle or hard ground, and the rotation of the excavation and agitation unit 3 deteriorates significantly or it becomes impossible to rotate, due to the reaction, as shown in FIGS. 3(A) to 3(B), the main body 2 tends to rotate about the rotation center RC.

[0036] FIG. 4 is a diagram for explaining a configuration for detecting a phenomenon in which the main body 2 described in FIG. 3 tends to rotate due to a 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).

[0037] And in FIG. 4, a virtual left wall LW is shown on the left side of the swivel body 23, and a virtual right wall RW is shown on the right side of the swivel body 23.

[0038] Also, in FIG. 4, a case is shown where a left - right displacement measurement unit HDS is provided for the excavation and agitator 1, which includes a left displacement sensor LDS for measuring a change in distance provided on the left side of the swivel body 23 and a right displacement sensor RDS for measuring a change in distance provided on the right side of the swivel body 23.

[0039] As shown in FIG. 4, for example, when the main body 2 rotates counterclockwise and is displaced in the left - right direction, the distance from the left displacement sensor LDS to the left wall LW that it measures becomes longer (that is, distance D11 < distance D12), while the distance from the right displacement sensor RDS to the right wall RW that it measures becomes shorter (that is, distance D21 > distance D22).

[0040] In the above description, the explanation was given assuming a virtual left wall LW and a virtual right wall RW. However, for example, during underground construction at 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, those walls and columns can substitute for the above - mentioned virtual walls.

[0041] Thus, if a left-right displacement measuring unit HDS for measuring the left-right displacement of the main body 2 due to the rotational force of the excavation and agitation unit 3 is provided on the revolving body 23, the rotation of the excavation and agitation unit 3 can be stopped in accordance with the detection of the left-right displacement by the left-right displacement measuring unit HDS, and the main body 2 can be prevented from moving so greatly as to cause trouble.

[0042] Specifically, 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 left-right displacement measuring unit HDS detects a left-right displacement, the drive of the rotating device 8 may be stopped so that the control unit stops the rotation of the excavation and agitation unit 3.

[0043] Regarding the presence or absence of a left-right displacement, when both the left displacement sensor LDS and the right displacement sensor RDS detect a displacement, the left-right displacement is detected as a displaced one, which is preferable because it is easy to avoid the influence of malfunction of the sensors.

[0044] However, since a left-right displacement can be detected if either the left displacement sensor LDS or the right displacement sensor RDS is provided, the left-right displacement measuring unit HDS does not necessarily have to be provided with both the left displacement sensor LDS and the right displacement sensor RDS, and either one may be provided.

[0045] For example, at the start of work, the distance from the left displacement sensor LDS to the left wall LW is measured, and similarly, the distance from the right displacement sensor RDS to the right wall RW is measured, and the distances thus obtained are used as reference distances.

[0046] Then, when the distance measured after the start of work becomes shorter than the reference distance by a set distance or longer than the reference distance by a set distance, it is determined that a left-right displacement has occurred, and the left-right displacement may be detected.

[0047] For example, in the example described with reference to FIG. 4, when the distance measured by the left displacement sensor LDS becomes longer than the reference distance by the set distance and the distance measured by the right displacement sensor RDS becomes shorter than the reference distance by the set distance, it may be determined that a displacement in the left-right direction has occurred, and the displacement in the left-right direction may be detected.

[0048] That is, the distance D11 measured by the left displacement sensor LDS shown on the left side of FIG. 4 is used as the reference distance measured before the start of the operation. Similarly, the distance D21 measured by the right displacement sensor RDS shown on the left side of FIG. 4 is used as the reference distance measured before the start of the operation.

[0049] Then, after the start of the operation, 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 may be determined that a displacement in the left-right direction has occurred, and the displacement in the left-right direction may be detected.

[0050] 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 determining whether or not "|distance measured during operation - reference distance| > set distance" is satisfied.

[0051] 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.

[0052] Regarding this set distance, considering that the measurement results may vary 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 variation greater than the set distance does not occur simply because the distance measured is changed due to the influence of vibration, etc.

[0053] However, in order to avoid such misjudgments, if the set distance is set to be too long, the main body 2 will be allowed to move significantly.

[0054] And when the main body 2 moves significantly, 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.

[0055] For this reason, for example, regarding the set distance, from the viewpoint of not allowing the main body 2 to move too much, it is preferably set within 5 cm, more preferably within 3 cm.

[0056] On the other hand, as described above, excavation and the vibration of the vibration device 9 affect the measurement, but it has been confirmed that a displacement sensor can perform quite stable measurement, and the influence is within the range of fluctuations of several millimeters. From this, if the set distance is set to be at least 5 mm or more, more preferably 10 mm or more, the influence on the measurement due to vibration or the like can be avoided.

[0057] Therefore, it is preferable that the set distance is selected within the range of 5 mm or more and 5 cm or less.

[0058] On the other hand, in a site where there is no object replacing the virtual wall, such as the underground construction of a station described above, an irradiation object provided with a left irradiation object that is a reference for distance measurement of the left displacement sensor LDS and a right irradiation object that is a reference for distance measurement of the right displacement sensor RDS may be used. That is, a excavation and agitation system including the excavation agitator 1 and the irradiation object may also be used.

[0059] According to this excavation and agitation system, after stopping the excavation agitator 1 at the position for the excavation work, a left irradiation target is installed at a position suitable for the left displacement sensor LDS to measure the distance, and a right irradiation target is installed at a position suitable for the right displacement sensor RDS to measure the distance. By doing so, in order to provide an object that serves as a substitute for the virtual wall described above, even if there are no structures such as walls or pillars around, the same operations as described so far can be performed.

[0060] Note that for the left - right direction displacement measurement unit HDS, it is also possible to use a three - axis acceleration sensor or the like instead of the displacement sensor.

[0061] However, as mentioned above, since the displacement sensor is less affected by vibrations during excavation work and can perform relatively stable measurements, it is preferable to use a displacement sensor for the left - right direction displacement measurement unit HDS.

[0062] As described above, according to Configuration 1, when the main body 2 is displaced in the left - right direction, the 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 to cause problems.

[0063] (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 described in FIG. 2 tries to lift off the ground is observed. The left side of FIG. 5 is a diagram before the main body 3 corresponding to FIG. 1 lifts off, and the right side of FIG. 5 is a diagram showing the state where the main body 3 corresponding to FIG. 2 has lifted off.

[0064] 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.

[0065] In this way, if the lower displacement sensor UDS is provided, the distance D32 measured in the right state is longer than the distance D31 measured in the left state shown in FIG. 5 by the amount that the main body 2 floats up (that is, distance D31 < distance D32). And as described above, since the state in which the measured distance becomes longer is a state in which the contact area decreases because the main body 2 floats up, the main body 2 will move even with a small rotational force.

[0066] Therefore, similar to Configuration 1, assuming that the excavation agitator 1 includes a control unit that controls the rotation of the excavation agitation unit 3, when the inclination measurement unit IDS detects the inclination in the vertical direction, the control unit may stop the drive of the rotation device 8 so as to stop the rotation of the excavation agitation unit 3.

[0067] Specifically, using 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 the set distance, it may be determined that an inclination in the vertical direction has occurred, and the inclination in the vertical direction may be detected.

[0068] That is, when the distance D31 measured by 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, when the distance measured by the lower displacement sensor UDS after the start of work becomes longer than "distance D31 + set distance", it may be determined that an inclination in the vertical direction has occurred, and the inclination in the vertical direction may be detected.

[0069] Note that 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 inclination in the vertical direction. Therefore, for example, the set distance is preferably selected within the range of 5 mm or more and 20 cm or less.

[0070] On the other hand, for the inclination measurement unit IDS that detects the inclination in the vertical direction, 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 measurements, it is preferable to use a displacement sensor for the inclination measurement unit IDS.

[0071] As described above, according to Configuration 2, when the main body 2 tilts in the vertical direction, a rotation stop method for stopping the rotation of the excavation and agitation unit 3 is practiced, and when the situation where the main body 2 is likely to move occurs, a countermeasure for suppressing the movement of the main body 2 is taken. Therefore, the problem of the main body 2 moving can be effectively suppressed.

[0072] By the way, in the above description, for the sake of easy understanding of the mechanism corresponding to the configuration, Configuration 1 and Configuration 2 have been separately described in order. However, it is not necessary for Configuration 1 and Configuration 2 to be provided separately, and the excavation agitator 1 may be provided with both a configuration of an inclination measurement unit IDS for measuring the inclination in the vertical direction and a left - right direction displacement measurement unit HDS for measuring the displacement in the left - right direction.

[0073] In this case, when the control unit for controlling the rotation of the excavation and agitation unit 3 detects both the displacement in the left - right direction by the left - right direction displacement measurement unit HDS and the inclination by the inclination measurement unit IDS, the drive of the rotating device 8 may be stopped so as to stop the rotation of the excavation and agitation unit 3.

[0074] In this way, in the case where both the displacement in the left - right direction and the inclination in the vertical direction are detected, it is considered that the main body 3 has reached a state where it is very likely to move. Therefore, as described above, it is desirable to stop the rotation of the excavation and agitation unit 3.

[0075] (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 the parts that are the same as those in the first embodiment, the description may be omitted, and hereinafter, only the parts that are mainly different from the first embodiment will be described. In the first embodiment, in either case of Configuration 1 and Configuration 2, the rotation of the excavation and agitation unit 3 was stopped.

[0076] On the other hand, in the excavation stirrer 1, the rotational torque of the excavation stirring unit 3 is allowed up to the maximum torque of the rotating device 8.

[0077] Therefore, instead of stopping the rotation of the excavation stirring unit 3, the torque of the rotating device 8 is restricted so that the rotational torque of the excavation stirring unit 3 becomes equal to or less than the set value.

[0078] In this way, the reaction force applied to the main body unit 2 is reduced by the amount by which the rotational torque is restricted, the movement of the main body unit 2 can be suppressed, and if excavation can proceed even with the restricted torque, the excavation work can be carried out without interruption.

[0079] For example, it is preferable to restrict the torque of the rotating device 8 so that the rotational torque of the excavation stirring unit 3 is restricted to about 80% of the maximum torque, and more preferably, it may be set to about 50% in consideration of safety.

[0080] As described above, the description has been made through specific embodiments, but in the process of arriving at the above configuration, other methods for suppressing the movement of the main body unit 2 when the excavation stirring unit 3 hits an obstacle or hard ground have also been considered. For example, it is also possible to suppress the movement of the main body unit 2 by anchoring the main body unit 2 to the ground surface with a wire rope so that the main body unit 2 does not move.

[0081] In addition, it is also possible to suppress the movement of the main body unit 2 by providing a weight of several tens of tons so as to sandwich both the left and right sides of the main body unit 2. However, these methods are very laborious in terms of pre - preparation before starting the work and post - processing after the work.

[0082] On the other hand, in the case of the corresponding embodiment described above, it is possible to suppress the movement of the main body unit 2 when the excavation stirring unit 3 hits an obstacle or hard ground without taking much time for pre - preparation or post - processing.

[0083] The present invention has been described based on the specific embodiments above, but the present invention is not limited to the above embodiments.

[0084] 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 swivel body 23 has been shown, but they may be provided on the rear side of the intermediate position.

[0085] Considering that the main body 3 is displaced around the rotation center RC of the excavation and agitation unit 3, when provided on the rear side, 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, so it is possible to detect the movement of the main body 3 earlier.

[0086] Also, the left displacement sensor LDS and the right displacement sensor RDS do not need to be completely fixed. As described above, in the case of underground construction of a station, etc., there may already exist structures such as walls and columns that can be used by the left displacement sensor LDS and the right displacement sensor RDS to measure the distance.

[0087] However, since the stop position of the excavation agitator 1 is determined by the installation position of the excavation and agitation unit 3 for 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 columns.

[0088] Therefore, it is preferable that the installation positions of the left displacement sensor LDS and the right displacement sensor RDS can be 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, and 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.

[0089] Thus, the present invention includes those that have been modified or improved in embodiments within the technical scope of the invention, which is obvious to those skilled in the art from the description of the claims.

Explanation of Reference Numerals

[0090] 1... Excavation agitator, 2... Main body, 21... Rotation mechanism, 22... Traveling body, 23... Slewing body, 3... Excavation stirring section, 31... Shaft section, 32... Excavation blade, 33... Stirring blade, 4... Leader, 41... Guide, 5... Lifting device, 6... Rotating 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... Distance, HDS... Lateral displacement measurement section, IDS... Inclination measurement section, 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 revolving body on a traveling body, An excavation and agitation unit provided on the front side of the revolving body and capable of moving up and down while rotating, An inclination measurement unit provided on the revolving body for measuring the inclination of the main body portion in the vertical direction, and an excavation and agitation machine characterized by comprising the same.

2. The excavation and agitation machine according to claim 1, wherein the inclination measurement unit is a lower displacement sensor provided on the lower side of the revolving body for measuring a change in distance.

3. The excavation and agitation machine includes a control unit for controlling the rotation of the excavation and agitation unit, When the inclination measurement unit detects an inclination in the vertical direction, 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. The excavation and agitation machine according to claim 1 or claim 2.

4. The excavation and agitation machine, A left-right displacement measurement unit provided on the revolving body for measuring the left-right displacement of the main body portion due to the rotational force of the excavation and agitation unit, A control unit for controlling the rotation of the excavation and agitation unit, and When the control unit detects both the left-right displacement by the left-right displacement measurement unit and the vertical inclination by the inclination measurement unit, the control unit stops the rotation of the excavation and agitation unit. The excavation and agitation machine according to claim 1.

5. A method for stopping the rotation of an excavation and agitation machine including a main body portion provided with a revolving body on a traveling body and an excavation and agitation unit provided on the front side of the revolving body and capable of moving up and down while rotating, When the main body portion inclines in the vertical direction, the rotation of the excavation and agitation unit is stopped. A method for stopping rotation characterized by this.

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