JP6826555B2 - Pile driving device - Google Patents

Description

The present invention relates to a pile driving device, and more specifically, by stably interlocking a plurality of hydraulic mechanisms used in pairs while maintaining a desired geometric relationship, malfunctions and malfunctions of the hydraulic mechanisms can be prevented. It relates to a pile driving device that makes it possible to do so.

A steel pipe pile driving device that rotates and penetrates a pile for supporting a structure (steel pipe pile) into the ground is widely used (see, for example, Patent Documents 1 and 2). Normally, the leader is used in a vertically standing state, and the swivel head engages with a rack gear provided in the leader and moves up and down along the leader by the torque of a feed hydraulic motor. Therefore, the swivel head is initially located near the upper end of the leader, descends toward the ground as the steel pipe pile penetrates into the ground, and finally moves to the vicinity of the lower end of the leader. The swivel head is provided with two hydraulic motors for rotating the steel pipe pile in addition to the feed hydraulic motor.

Therefore, when the swivel head is in operation (during pile driving), oil is supplied to these hydraulic pressures via a flexible tube (hydraulic hose). The hydraulic hose is supported at a high position by a hose supporting means called a relay bracket in order to reduce bending, shorten the transfer distance, and reduce energy loss during transfer. Therefore, for example, when the swivel head is operating with the leader standing vertically and the relay bracket tilts horizontally, the hydraulic hose is forcibly pulled by the relay bracket, and in the worst case, the hydraulic hose breaks. Problems can occur. Therefore, it is desirable that the reader and the relay bracket stand up or tilt in synchronization.

Japanese Unexamined Patent Publication No. 2014-133985 Japanese Unexamined Patent Publication No. 2006-132118

As a means of synchronizing the reader and the relay bracket to stand up or tilt, an angle sensor that measures the tilt angle is attached to each of the reader and the relay bracket so that the difference in the output value of each angle sensor falls within a predetermined range. It is conceivable to control the standing / falling of the reader and the relay bracket.

However, in the above-mentioned synchronous control, there is a problem that control becomes impossible when either the angle sensor of the reader or the angle sensor of the relay bracket fails.

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to stably link a plurality of hydraulic mechanisms used in a pair while maintaining a desired geometric relationship. It is an object of the present invention to provide a pile driving device capable of preventing a malfunction and a malfunction of a hydraulic mechanism.

The pile driving device according to the present invention for achieving the above object includes a pile driving means (40) for penetrating the pile (1) into the ground and a swingable guide for guiding the pile driving means in a predetermined direction. A pile driving device including a means (32), a flexible pipe for transferring oil to the pile driving means (40), and a swingable flexible pipe supporting means (26) for supporting the flexible pipe at a high position. A first point (63) located at a predetermined distance from the swing fulcrum (24a) of the guiding means (32) between the guiding means (32) and the flexible pipe supporting means (26). The distance measuring means (60) for measuring the distance (L) between the swing fulcrum (25a) of the flexible pipe supporting means (26) and the second point (62) located at a predetermined distance is provided. It is a feature.

In the above configuration, the guiding means (32) and the flexible pipe supporting means (26) used in pairs are synchronized with each other by measuring the distance (L), or one of them is fixed. It is possible to estimate the other behavioral state (standing or tilting). Alternatively, it is possible to estimate the other tilt angle information (α, β) from one tilt angle information (α, β).

The second feature of the pile driving device according to the present invention is that a predetermined limit is imposed on the possible range of the distance (L).

With the above configuration, it is possible to stably synchronize the two. As a result, it is possible to prevent a problem that the hydraulic flexible pipe is pulled by one of the guiding means (32) and the flexible pipe supporting means (26) and breaks.

A third feature of the pile driving device according to the present invention is the behavior of the other of the guiding means (32) and the flexible pipe supporting means (26) based on the time variation of the distance (L). It is to estimate the state.

In the above configuration, when the time variation of the distance (L) increases, it can be seen that one is moving in the direction away from the other. On the contrary, when the time variation of the distance (L) decreases, it can be seen that one is moving in the direction approaching the other.

The fourth feature of the pile driving device according to the present invention is based on the distance (L) and the tilt angle (α) of the guiding means (32) or the tilt angle (β) of the flexible pipe supporting means (26). , The tilt angle (β) of the flexible pipe supporting means (26) or the tilt angle (α) of the guiding means (32) is estimated.

With the above configuration, it is possible to acquire accurate angle information of the tilt angle (β) of the flexible pipe supporting means (26) or the tilt angle (α) of the guiding means (32).

A fifth feature of the pile driving device according to the present invention is that the distance (L) is measured by a linear encoder (60).

With the above configuration, the distance (L) can be easily measured.

According to the pile driving device according to the present invention, in the guiding means and the flexible pipe supporting means used in pairs, by keeping the above distance within a predetermined range, it is possible to stably synchronize and interlock the two. This makes it possible to prevent, for example, a problem that the hydraulic hose is pulled and broken.

Further, by checking the time change of the distance, it is possible to preferably estimate the behavior of the other while one is fixed. Further, it is possible to preferably estimate the tilt angle of the other based on the above distance and the tilt angle of one. As a result, it is possible to prevent malfunction of the guiding means and the flexible pipe supporting means.

It is explanatory drawing which shows the state which the leader of the steel pipe pile driving apparatus which concerns on one Embodiment of this invention stands upright. It is explanatory drawing which shows the state which the leader of the steel pipe pile driving apparatus which concerns on one Embodiment of this invention is tilted. It is explanatory drawing which shows the main part between a reader and a relay bracket. It is explanatory drawing which shows the geometric relation between the tilt angle of a reader, the tilt angle of a relay bracket, and the wire length of a linear encoder. It is explanatory drawing which shows the length of the wire when the tilt angle of a reader is changed within the range of 0 ° to 90 ° in the state where the tilt angle of a relay bracket is fixed to 0 ° or 90 °. It is explanatory drawing which shows the length of the wire when the tilt angle of a relay bracket is changed within the range of 0 ° to 90 ° in the state where the tilt angle of a leader is fixed to 0 ° or 90 °. It is explanatory drawing which shows the process of calculating the tilt angle of a relay bracket based on the tilt angle of a leader and the length of a wire. It is explanatory drawing which shows the process of calculating the tilt angle of a relay bracket based on the tilt angle of a leader and the length of a wire. It is explanatory drawing which shows the maximum value and the minimum value of the distance between a fixed point on a straight line and a moving point on a circumference having a center on the straight line.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 are explanatory views showing a steel pipe pile driving device 100 according to an embodiment of the present invention. FIG. 1 shows a state in which the reader 32 is upright, and FIG. 2 shows a state in which the reader 32 is tilted. Therefore, in FIG. 2, the steel pipe pile 1, the rotating rod 46, and the attachment 47 are not shown.

In this steel pipe pile driving device 100, a crawler device 10 for moving the vehicle body 20 back and forth, an operation room 22 for accommodating an operator, and a power chamber 23 for accommodating an engine, a hydraulic pump, their control devices, and the like are arranged. It is configured to include a vehicle body 20, a leader device (guidance means) 30 for raising and lowering the swivel head (pile driving device) 40, and a swivel head (pile driving means) 40 for applying rotational torque to the steel pipe pile 1. .. Hereinafter, each configuration will be described.

As shown in FIG. 2, the crawler device 10 has left and right independent traveling motors (not shown), and left and right independent starting wheels 11 and 11 directly connected to each traveling motor, and rotatable left and right independent freewheeling. The left and right independent endless tracks 13 and 13 wrapped between the wheels 12 and 12, the starter wheel 11 and the idle wheel 12, and the infinite track 13 arranged between the starter wheel 11 and the idle wheel 12 to maintain the tension of the endless track 13. The vehicle body 20 is moved forward and backward while being provided with a plurality of rotatable left and right independent wheels 14.

In addition to the operation chamber 22 and the power chamber 23, the vehicle body 20 includes a leader tilting mechanism 24 for standing or tilting the leader 32 and a relay bracket 26 for supporting a hydraulic hose (not shown) at a high position. A relay bracket tilting mechanism 25 for standing or tilting, four outriggers 27 for generating thrust that pushes the vehicle body 20 against the ground, and a counterweight for canceling the overturning moment acting on the vehicle body 20 when the steel pipe pile 1 is driven. It has 28 and. Further, although not shown, a turning motor for turning the vehicle body 20 in the vertical direction is separately provided, and the vehicle body 20 can turn in the left-right direction.

As shown in FIG. 2, the leader tilting mechanism 24 includes a leader fixing bracket 24b that rotatably (freely) supports the leader swing shaft 24a, which is a fulcrum for standing or tilting the leader 32, and a leader swing shaft 24a. A leader swing bracket 24c that swings together with the reader 32 excluding the first reader 32a, a leader hinge shaft 24d that hinges the first reader 32a and the second leader 32b, and a leader hinge shaft 24d. The leader hinge plate 24e to which the first leader 32a is attached, the first swing regulation boss 24f and the second swing regulation boss 24g that regulate the swing of the first leader 32a, the first swing regulation boss 24f and the second swing regulation It is composed of a swing control plate 24h (FIG. 1) that engages with the boss 24g, and a first cylinder 24i (FIG. 1) that causes the leader 32 to stand or tilt. The reader fixing bracket 24b is fixed to the structural frame 21 described later. Further, the leader swing bracket 24c is fixed to the second reader 32b.

Therefore, when the flood control is supplied to the first cylinder 24i (FIG. 1), the first cylinder 24i extends in the axial direction, and the leader 32 excluding the first leader 32a stands up with the leader swing shaft 24a as a fulcrum. Join to the first reader 32a. The posture of the first reader 32a is fixed by the swing control plate 24h. On the contrary, when the oil pressure of the first cylinder 24i (FIG. 1) is reduced, the first cylinder 24i contracts in the axial direction, the leader 32 tilts with the leader swing shaft 24a as a fulcrum, and the leader 32 bends around the leader hinge shaft 24d as a fulcrum. As a result, the first leader 32a takes an upright posture, and the leaders 32a excluding the first leader 32a take a tilted posture.

Similarly, the relay bracket tilting mechanism 25 that raises or tilts the relay bracket 26 rotatably (freely) supports the relay swing shaft 25a that serves as a fulcrum for standing or tilting the relay bracket 26 and the relay swing shaft 25a. It is composed of a relay fixing bracket 25b, a relay rocking bracket 25c integrated with the relay bracket 26 and swinging around the relay swinging shaft 25a as a fulcrum, and a second cylinder 25d for standing or tilting the relay bracket 26.

Returning to FIG. 1, the leader device 30 lifts the clamp mechanism 31 for clamping the steel pipe pile 1, the leader 32 as a moving rail for the swivel head 40 to move up and down along the vertical direction, and the steel pipe pile 1. It is equipped with a winch 33 for the purpose.

The reader 32 is a split reader. The reader 32 of this embodiment is composed of eight split readers. For convenience of explanation, the divided readers are, in order from the bottom, the first reader 32a, the second reader 32b, the third reader 32c, the fourth reader 32d, the fifth reader 32e, the sixth reader 32f, the seventh reader 32g, and the like. It is distinguished as the eighth reader 32h. Each split leader is firmly fastened with bolts and nuts.

Further, each division reader is provided with guide rails 34a, 34b, 34c, 34d, 34e, 34f, 34g, 34h for guiding the swivel head 40 in the vertical direction (vertical direction) on both sides of each division reader. ing.

Further, in each split leader, rack gears 35a, 35b, 35c, 35d, 35e, 35f, 35g, 35h that engage with the feed motor 44 (FIG. 2) of the swivel head 40 are sandwiched between the guide rails on both sides at the center. It is provided in each.

In the present embodiment, in the case of the relatively long steel pipe pile 1, the tip of the rod of the first cylinder 24i is engaged with the fourth leader 32d. On the other hand, in the case of the relatively short steel pipe pile 1, the tip of the rod of the first cylinder 24i is engaged with the second leader 32b.

Returning to FIG. 2, the swivel head 40 includes a body 41, left and right independent rotary motors 42 and 42 that generate rotational torque to rotate the rotary rod 46 (FIG. 1), and a spindle that transmits the rotational torque to the steel pipe pile 1. 43, left and right feed motors 44,44 that generate bearing force (axial force) to support the swivel head 40, and left and right independent concave shapes that fit into the convex guide rails 34a, ..., 34h of the leader 32. The sliders 45 and 45 of the above and a rotary rod 46 (FIG. 1) for transmitting rotational torque to the steel pipe pile 1 are provided. The rotary rod 46 is integrated with the spindle 43 by a hydraulic chuck 43a. Further, the rotary rod 46 is connected to the steel pipe pile 1 via the attachment 47 (FIG. 1).

FIG. 3 is an explanatory view showing a main part between the reader 32 and the relay bracket 26.
A linear encoder 60 is provided between the reader 32 (second reader 32b) and the relay bracket 26. The linear encoder 60 is composed of a wire 61, a wire fixing portion 62, and a wire winding portion 63, and measures the length L of the wire 61. Therefore, by keeping the length L of the wire 61 within a predetermined range, it is possible to synchronize the reader 32 and the relay bracket 26 to stand / tilt. Alternatively, although details will be described later with reference to FIGS. 4 to 6, the behavior (standing / tilting) of the relay bracket 26 can be estimated while the reader 32 is fixed within a predetermined angle range. become. Alternatively, although details will be described later with reference to FIGS. 7 and 8, the tilt angle β of the relay bracket 26 can be estimated based on the tilt angle α of the reader 32.

Angle detection sensors 70 and 71 (not shown) for detecting a specific tilt angle α of the second reader 32b (leader 32) are provided on both sides in the vicinity of the leader swing shaft 24a. The angle detection sensor 70 detects a tilt angle of 45 ° of the second reader 32b (reader 32). The angle detection sensor 71 detects the tilt angle of the reader 32 at 15 °. The angle detection sensors 70 and 71 allow the reader 32 to move from 0 ° to 15 ° (hereinafter referred to as the "first angle range"), 15 ° to 45 ° (hereinafter referred to as the "second angle range"), and 45 ° to 90 °. It can be detected that it is located in any of the angle ranges (hereinafter referred to as "third angle range").

The center-to-center distance L1 between the wire winding portion 63 and the leader swing shaft 24a, the center-to-center distance L2 between the leader swing shaft 24a and the relay swing shaft 25a, and the center between the wire fixing portion 62 and the relay swing shaft 25a. The distance L3 shows a constant value regardless of the swing of the leader 32 or the relay bracket 26. On the other hand, the length L of the wire 61, the coordinates of the wire fixing portion 62, and the coordinates of the wire winding portion 63 fluctuate according to these when the leader 32 or the relay bracket 26 swings. In particular, the leader swing shaft 24a is a fixed point, and the distance L1 between the centers of the wire winding portion 63 and the leader swing shaft 24a is a constant value. Therefore, when the leader 32 swings, the wire winding portion 63 moves on the circumference of the radius L1 centered on the leader swing shaft 24a. Similarly, the relay swing shaft 25a is a fixed point, and the distance L3 between the centers of the relay swing shaft 25a and the wire fixing portion 62 is a constant value. Therefore, when the relay bracket 26 swings, the wire fixing portion 62 moves on the circumference having a radius L3 centered on the relay swing shaft 25a. Therefore, the length L of the wire 61 is a circle having a radius L3 centered on the relay swing shaft 25a and a point A (wire winding portion 63) on the circumference of the radius L1 centered on the leader swing shaft 24a. It corresponds to the distance between two points with the point D (wire fixing portion 62) on the circumference. Therefore, the tilt angle α with respect to the vertical direction of the reader 32 corresponds to the center angle of the arc to which the point A has moved. The tilt angle β of the relay bracket 26 with respect to the vertical direction corresponds to the center angle of the arc to which the point D has moved. Hereinafter, the geometrical relationship between the length L1 of the wire 61, the tilt angle α of the reader 32, and the tilt angle β of the relay bracket 26 will be further described.

FIG. 4 is an explanatory diagram showing a geometrical relationship between the tilt angle α of the reader 32, the tilt angle β of the relay bracket 26, and the length L of the wire 61 of the linear encoder 60.
On the circumference of the radius L1 centered on the point B (leader swing shaft 24a), the point A0 represents the coordinates of the point A (wire winding portion 63) corresponding to the tilt angle α = 0 ° of the leader 32. ing. The point A90 represents the coordinates of the point A corresponding to the tilt angle α = 90 ° of the reader 32. Therefore, the solid line portion represented by the points A0 to A90 represents the movable range of the point A (wire winding portion 63). Incidentally, the length of the movable range of the point A (wire winding portion 63) is L1 × π / 2.

Similarly, on the circumference of the radius L3 centered on the point C (leader swing shaft 25a), the point D0 is the point D (wire fixing portion 62) corresponding to the tilt angle β = 0 ° of the relay bracket 26. Represents the coordinates. The point D90 represents the coordinates of the point D corresponding to the tilt angle β = 90 ° of the relay bracket 26. The solid line portion represented by the point D0 to the point D90 represents the movable range of the point D (wire fixing portion 62). Incidentally, the length of the movable range of the point D (wire fixing portion 62) is L3 × π / 2.

The line connecting the points A and D represents the length L of the wire 61, which is the output value of the linear encoder 60. In particular, for convenience of explanation, a straight line passing through points A and C (relay swing shaft 25a) is added as a straight line L5. Further, the straight line passing through the point D90 and the point C (relay swing shaft 25a) is defined as a straight line L6, and the intersection where the straight line L6 intersects the movable range of the point A (wire winding portion 63) is defined as a point Ax. The straight line L5 is added in order to make the length L of the wire 61 correspond to the distance between the "fixed point on the straight line" and the "moving point on the circumference having the center on the straight line" (FIG. 9). (A)).

As shown in FIG. 4A, with respect to the length L of the wire 61, when the point A moves from the point D0 to the point D90 while the point A is fixed between the points A0 and the point Ax. The length L of the wire 61 increases monotonically as the point D moves from the point D0 to the point D90. On the contrary, when the point D moves from the point D90 to the point D0, the length L of the wire 61 decreases monotonically as the point D moves from the point D90 to the point D0.

That is, for example, when the reader 32 is fixed in the second angle range (15 ° ≤ α ≤ 45 °) and the length L of the wire 61 is increased, the relay bracket 26 is tilted horizontally. It turns out that it is in a state of being. On the contrary, when the length L of the wire 61 is reduced, it can be seen that the relay bracket 26 is in a state of standing vertically.

As shown in FIG. 4B, the intersection where the straight line L5 connecting the points A and C intersects the movable range of the point D is defined as the point Dx. When the point A is fixed between the points Ax and A90 and the point D moves from the point D0 to the point D90, the length L of the wire 61 as the point D moves from the point D0 to the point Dx. Will increase. When the point D passes the point Dx and moves to the point D90, the length L of the wire 61 will decrease.

Therefore, when the relay bracket 26 is located between the point D0 and the point Dx in the state where the reader 32 is fixed in the third angle range (45 ° ≦ α ≦ 90 °), the length L of the wire 61 becomes When increasing, it can be seen that the relay bracket 26 is tilted horizontally. On the contrary, when the length L of the wire 61 is reduced, it can be seen that the relay bracket 26 stands upright.

Further, when the relay bracket 26 is located between the point Dx and the point D90 in a state where the reader 32 is fixed in the third angle range (45 ° ≦ α ≦ 90 °), the length L of the wire 61 is increased. When increasing, it can be seen that the relay bracket 26 stands upright. On the contrary, when the length L of the wire 61 is reduced, it can be seen that the relay bracket 26 is tilted horizontally.

As described above, the behavioral state (tilting, standing) of the relay bracket 26 can be estimated by checking the time change (increase, decrease) of the length L of the wire 61 with the reader 32 fixed. it can. A case where one of the points A and D is fixed to the start point or the end point of the movable range and the other moves on the movable range will be described below.

FIG. 5 shows the length L of the wire 61 when the tilt angle α of the reader 32 is changed within the range of 0 ° to 90 ° while the tilt angle β of the relay bracket 26 is fixed at 0 ° or 90 °. It is explanatory drawing which shows. FIG. 5A shows a case where the tilt angle β of the relay bracket 26 is fixed at 0 °, and FIG. 5B shows a case where the tilt angle β of the relay bracket 26 is fixed at 90 °. Further, similarly to FIG. 4, a straight line passing through the points D and B (leader swing shaft 24a) was added as a straight line L5. Further, the intersection where the straight line L5 intersects the movable range of the point A (wire winding portion 63) is defined as the point Ax.

As shown in FIG. 5A, when the relay bracket 26 is vertically upright and the reader 32 is tilted horizontally, the length L of the wire 61 decreases monotonically (straight line). After the point Ax (where L5 intersects the movable range of the point A), the number increases monotonically. Therefore, the length L of the wire 61 is maximized when the leader 32 stands vertically or tilts horizontally, and is minimized at the tilt angle α corresponding to the point Ax. Therefore, the possible range of the length L of the wire 61 is L (Ax) ≤ L ≤ max {L (A0), L (A90)}. Note that max {} is an operator that selects the smaller one in {}.

Therefore, in this case, by setting a limit of, for example, L (A15) <L, in the range where the length L of the wire 61 can be taken, the leader 32 is tilted horizontally while the relay bracket 26 is vertically upright. Therefore, it is possible to prevent a problem that the hydraulic hose breaks.

As shown in FIG. 5B, when the relay bracket 26 is tilted horizontally and the reader 32 stands upright, the length L of the wire 61 decreases monotonically (straight line). After the point Ax (where L5 intersects the movable range of the point A), the number increases monotonically. Therefore, the length L of the wire 61 is maximized when the leader 32 stands vertically, and is minimized at the tilt angle α corresponding to the point Ax. Therefore, the possible range of the length L of the wire 61 is L (Ax) ≦ L ≦ L (A0).

Therefore, in this case, by setting a limit of, for example, L (A45)> L, in the range where the length L of the wire 61 can be taken, the reader 32 stands upright in a state where the relay bracket 26 is tilted horizontally. Therefore, it is possible to prevent a problem that the hydraulic hose breaks.

FIG. 6 shows the length L of the wire 61 when the tilt angle β of the relay bracket 26 is changed within the range of 0 ° to 90 ° while the tilt angle α of the reader 32 is fixed at 0 ° or 90 °. It is explanatory drawing which shows. FIG. 6A shows a case where the tilt angle α of the reader 32 is fixed at 0 °, and FIG. 6B shows a case where the tilt angle α of the leader 32 is fixed at 90 °. Further, similarly to FIG. 4, a straight line passing through the points A and C (relay swing shaft 25a) was added as a straight line L5.

As shown in FIG. 6A, when the relay bracket 26 is tilted horizontally while the reader 32 is vertically upright, the length L of the wire 61 increases monotonically. Therefore, the length L of the wire 61 is the minimum when the relay bracket 26 stands vertically and the maximum when the relay bracket 26 is tilted horizontally. Therefore, the possible range of the length L of the wire 61 is L (D0) ≦ L ≦ L (D90).

Therefore, in this case, by setting a limit of, for example, L (D15)> L in the range where the length L of the wire 61 can be taken, the relay bracket 26 is tilted horizontally while the reader 32 is standing vertically. Therefore, it is possible to prevent a problem that the hydraulic hose breaks.

As shown in FIG. 6B, when the relay bracket 26 stands upright in a state where the reader 32 is tilted horizontally, the length L of the wire 61 increases monotonically (straight line). After the point Dx (where L5 intersects the movable range of the point D), it decreases monotonically. Therefore, the length L of the wire 61 is minimized when the relay bracket 26 stands vertically or tilts horizontally, and is maximized at the tilt angle β corresponding to the point Dx. Therefore, the possible range of the length L of the wire 61 is min {L (D0), L (D90)} ≦ L ≦ L (Dx). min {} is an operator that selects the smaller one in {}.

Therefore, in this case, by setting a limit on the possible range of the length L of the wire 61, for example, by setting a limit of L (D75)> L, the relay bracket 26 is tilted horizontally while the relay bracket 26 is tilted. It is possible to prevent a problem that the hydraulic hose is broken by standing upright.

As described above, when the leader 32 or the relay bracket 26 is tilted horizontally or vertically and the other is tilted vertically or tilted horizontally, the length L of the wire 61 is removed. By setting a limit on the range that can be obtained, it is possible to prevent a problem that the hydraulic hose is pulled to make a judgment.

Hereinafter, the process of calculating the tilt angle β of the relay bracket 26 when the tilt angle α of the reader 32 and the length L of the wire 61 are arbitrarily given will be described. In this case, an angle sensor that continuously measures the tilt angle α of the reader 32 is required separately.

FIG. 7A shows these geometric relationships when the tilt angle α = 0 ° of the reader 32 and the tilt angle β = 0 ° of the relay bracket 26, and FIG. 7B shows both points A and D at points A and D. These geometric relationships are shown when the reference line L0 is not crossed, and the same (c) shows these geometries when the point A exceeds the reference line L0 but the point D does not exceed the reference line L0. Shows a geometric relationship. The reference numerals are the same as those in FIGS. 4 to 6.

As shown in FIG. 7A, the straight line L0 passing through the points B and C is an immovable straight line and serves as a reference line. Further, the angle ∠ABC related to the tilt angle α of the reader 32 is θ, and the initial value of the angle ∠ABC when α = 0 ° is θ0. Further, the angle ∠BCD related to the fall of the relay bracket 26 is φ, and the initial value of the angle ∠BCD when β = 0 ° is φ0.

The following relational expressions are established between the tilt angle α of the reader 32 and the angle ∠ABC (= θ), and between the tilt angle β of the relay bracket 26 and the angle ∠BCD (= φ).
(Equation 1): α = θ0−θ <=> θ = θ0−α
(Equation 2): β = φ−φ0 <=> φ = β + φ0
From Equation 1, when the tilt angle α of the reader 32 exceeds the initial value θ0 of the angle ∠ABC, the angle ∠ABC becomes negative. That is, the point A (wire winding portion 63) exceeds the reference line L0. Similarly, according to Equation 2, when the tilt angle β of the relay bracket 26 exceeds π−φ0, the point D (wire fixing portion 62) exceeds the reference line L0.

Therefore, as for the relative positions of the points A and D with respect to the reference line L0, when both the points A and D do not exceed the reference line L0 (FIG. 7B), the point A exceeds the reference line L0. When the point D does not exceed the reference line L0 (FIG. 7 (c)), the point A does not exceed the reference line L0 but the point D exceeds the reference line L0 (FIG. 8 (a)). Then, it is conceivable that both the point A and the point D exceed the reference line L0 (FIG. 8B).

As shown in FIG. 7B, when both the point A and the moving point B do not exceed the reference line L0, the angle ∠ABC (= θ = θ0−α) becomes positive and the angle ∠BCD = φ. , The relational expression between the angle ∠ACB = φ1 and the angle ∠ACD = φ2 is φ = φ2 + φ1. By substituting this φ into the above equation 2, the tilt angle β of the relay bracket 26 can be calculated. First, the angle ∠ACB (= φ1) is obtained.

Let L4 be the distance between points A and C, and apply the cosine theorem for the triangle ΔABC. That is, the following relational expression holds.
(Equation ^{3): L4 2 = L1 2} + L2 2 -2 · L1 · L2 · cos (θ0-α) <=> L4 = {L1 2 + L2 2 -2 · L1 · L2 · cos (θ0-α)} 1 ^{/ 2}

Next, the law of sines is applied to the triangle ΔABC. That is, the following relational expression holds.
(Equation 4): L1 / sinφ1 = L4 / sin (θ0-α) <=> sinφ1 = (L1 / L4) · sin (θ0-α)
Taking the inverse function of sin on both sides of Equation 4, the following relational expression holds.
(Equation 5): φ1 = sin ⁻¹ {(L1 / L4) · sin (θ0−α)}

Next, the angle ∠ACD (= φ2) is obtained. Apply the cosine theorem for the triangle ΔACD. That is, the following relational expression holds.
(Equation 6): L ² = L3 ² + L4 ² -2, L3, L4, cos φ2 <=> cos φ2 = (L3 ² + L4 ^2- L ² ) / (2, L3, L4)
Taking the inverse function of cos on both sides of Equation 6, the following relational expression holds.
(Equation 7): φ2 = cos ⁻¹ {(L3 ² + L4 ^2- L ² ) / (2 ・ L3 ・ L4)}
From Equations 5 and 7, the angle ∠BCD = φ1 + φ2 = φ can be obtained. Substituting into Equation 2, the tilt angle β of the relay bracket 26 is calculated as follows.
(Equation 8): β = φ−φ0 = φ1 + φ2-φ0 = sin ⁻¹ {(L1 / L4) · sin (θ0−α)} + cos ⁻¹ {(L3 ² + L4 ² −L ² ) / (2 · L3) · L4)} - φ0, ^{however, L4 = {L1 2 + L2} 2 -2 · L1 · L2 · cos (θ0-α)} 1/2

As shown in FIG. 7C, when the point A exceeds the reference line L0, the angle ∠ABC (= θ = θ0−α) becomes negative, the angle ∠BCD = φ, and the angle ∠ACB = φ1. And the relational expression between the angle ∠ACD = φ2 is φ = φ2-φ1.

Therefore, in the above equation 5, the angle ∠ACB = φ1 is calculated as follows by substituting the angle ∠ABC = θ0−α → α−θ0.
(Equation 5'): φ1 = sin ⁻¹ {(L1 / L4) · sin (θ0−α)}, and the angle ∠ACD = φ2 is calculated by the above equation 7.

From the angle ∠BCD = φ = φ2-φ1, the tilt angle β of the relay bracket 26 is calculated as follows.
(Equation 9): β = φ−φ0 = cos ⁻¹ {(L3 ² + L4 ² −L ² ) / (2 · L3 · L4)} − sin ⁻¹ {(L1 / L4) · sin (α − θ0) } -φ0, ^{however, L4 = {L1 2 + L2} 2 -2 · L1 · L2 · cos (θ0-α)} 1/2

FIG. 8A shows these geometric relationships when the point A does not exceed the reference line L0 but the point D exceeds the reference line L0, and FIG. 8B shows both the points A and D at the same point D. These geometric relationships are shown when the reference line L0 is crossed.

As shown in FIG. 8A, the relational expression between the angle ∠BCD = φ, the angle ∠ACB = φ1 and the angle ∠ACD = φ2 is φ = φ1 + φ2. Further, since the angle ∠ABC = θ0−α is positive, the angle ∠ACB = φ1 is calculated by the above equation 5. Further, the angle ∠ACD = φ2 is calculated by the above equation 7.

Therefore, the tilt angle β of the relay bracket 26 when the point A does not exceed the reference line L0 but the point D exceeds the reference line L0 is calculated as follows.
(Equation 10): β = φ−φ0 = φ1 + φ2-φ0 = sin ⁻¹ {(L1 / L4) · sin (α − θ0)} + cos ⁻¹ {(L3 ² + L4 ² −L ² ) / (2 · L3) · L4)} - φ0, ^{however, L4 = {L1 2 + L2} 2 -2 · L1 · L2 · cos (θ0-α)} 1/2

As shown in FIG. 8B, when both the point A and the moving point B exceed the reference line L0, between the angle ∠BCD = φ, the angle ∠ACB = φ1, and the angle ∠ACD = φ2. The relational expression of is φ = 2π− (φ1 + φ2). Also, the angle ∠ABC = θ0−α is negative. Therefore, the angle ∠ACB = φ1 is calculated by the above equation 5'. The angle ∠ACD = φ2 is calculated by Equation 7.

Therefore, the tilt angle β of the relay bracket 26 is calculated as follows.
(Equation 11): β = φ−φ0 = 2π− (φ1 + φ2) −φ0 = 2π−φ1-φ2-φ0 = 2π−sin ⁻¹ {(L1 / L4) · sin (α−θ0)} −cos ⁻¹ {(L3 ² + L4 ^2- L ² ) / (2, L3, L4)}-φ0, where L4 = {L1 ² + L2 ² -2, L1, L2, cos (θ0-α)} ^1/2

Summarizing the above, the tilt angle β of the relay bracket 26 is calculated by the above equation 8 when 0 ° ≦ α ≦ θ0. On the other hand, when θ0 ≦ α ≦ 90 °, it is calculated by the above equation 9 when 0 ° ≦ β ≦ π−φ0. When π−φ0 ≦ β ≦ 90 °, it is calculated by the above equation 11. In any case, the distance between points A and C (distance between the relay swing shaft 25a and the wire winding portion 63) L4 is the distance between the reader 32 regardless of whether or not the point A exceeds the reference line L0. It is uniquely calculated as L4 = {L1 ² + L2 ² -2, L1, L2, cos (θ0-α)} ^1/2 based on the initial value θ0 of the tilt angle α and the angle ∠ABC.

As shown in FIG. 9B, contrary to the above, when calculating the tilt angle α of the reader 32 based on the tilt angle β of the relay bracket 26 and the length L of the wire 61, the point B The distance between −D is L5, the angle ∠DBC = θ1 and the angle ∠DBA = θ2, and L5 is obtained by applying the cosine theorem to the triangle ΔBCD. It is obtained by applying the theorem, and the angle ∠DBA = θ2 is obtained by applying the cosine theorem to the triangle ΔABD, and the tilt angle α of the reader 32 can be calculated in the same manner as above (FIG. 9 (b). )). In this case, an angle sensor that continuously measures the tilt angle β of the relay bracket 26 is required separately.

In this way, the tilt angle α of the reader 32 or the tilt angle β of the relay bracket 26 can be accurately calculated based on the length L of the wire 61 (the output value of the linear encoder 60).

As described above, according to the steel pipe pile driving device 100 of the present invention, in the reader 32 and the relay bracket 26 used in pairs, the length L of the wire 61 is held within a predetermined range so that the two are synchronized and interlocked. It becomes possible. Further, by checking the time change of the length L of the wire 61, it is possible to preferably estimate the behavior of the other while one is fixed. Further, it is possible to preferably estimate the tilt angle of the other based on the length L of the wire 61 and the tilt angle of one.

1 Steel pipe pile (pile)
10 Crawler device 11 Starter wheel 12 Tracking wheel 13 Track 14 Rolling wheel 20 Body 21 Structural frame 22 Operation room 23 Power room 24 Leader tilting mechanism 25 Relay bracket tilting mechanism 26 Relay bracket 27 Outrigger 28 Counterweight 30 Leader device (guidance) means)
31 Clamp mechanism 32 Leader 33 Winch 34 Convex guide rail 40 Swivel head (pile driving means)
41 Body 42 Rotating motor 43 Spindle 44 Feed motor 45 Slider 46 Rotating rod 47 Attachment 60 Linear encoder 100 Steel pipe pile driving device (pile driving device)

Claims (5)

Pile driving means (40) for penetrating the pile (1) into the ground, swingable guiding means (32) for guiding the pile driving means in a predetermined direction, and oil to the pile driving means (40). A pile driving device including a flexible pipe to be transferred and a swingable flexible pipe supporting means (26) for supporting the flexible pipe at a high position.
Between the guiding means (32) and the flexible pipe supporting means (26), a first point (63) located at a predetermined distance from the swing fulcrum (24a) of the guiding means (32) and the flexible pipe. A distance measuring means (60) for measuring the distance (L) between the swing fulcrum (25a) of the supporting means (26) and the second point (62) located at a predetermined distance is provided. Pile driving device. In the pile driving device according to claim 1,
A pile driving device characterized in that a predetermined limit is imposed on a possible range of the distance (L). In the pile driving device according to claim 1 or 2.
A pile driving device for estimating the behavioral state of the other of the guiding means (32) and the flexible pipe supporting means (26) based on the time variation of the distance (L). In the pile driving device according to any one of claims 1 to 3.
The tilt angle (β) of the flexible pipe support means (26) is based on the distance (L) and the tilt angle (α) of the guidance means (32) or the tilt angle (β) of the flexible pipe support means (26). ) Or the pile driving device for estimating the tilt angle (α) of the guiding means (32). In the pile driving device according to any one of claims 1 to 4.
A pile driving device characterized in that the distance (L) is measured by a linear encoder (60).