| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic penetration testing machine capable of stably achieving load control by feedback while reducing an impact load when a penetration rod penetrates into the ground.SOLUTION: An automatic penetration testing machine 1 comprises a lifting stage 3, a chuck 5 that is provided on the lifting stage 3 and holds a penetration rod 4, a lifting motor 8 for performing the lifting and lowering operation of the lifting stage 3, a load cell for detecting a load applied to the tip of the penetration rod 4, and a control unit 10 which, after the lifting stage 3 at a lifted position has been lowered at a high speed by controlling the speed of the lifting motor 8 and immediately before the tip of the penetration rod 3 penetrates into the ground, issues a deceleration command to the lifting motor 8, and when the penetration rod 4 penetrates into the ground, switches the lifting motor 8 to load control and compensates the output torque of the lifting motor 8 as necessary while feeding back the value detected by the load cell, thereby applying a target test load. |
