JP2000303462A - Controller for moving pile embedding machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a vehicle body from oscillating forward and backward when a guide frame of a moving pile embedding machine is raised and lowered. SOLUTION: A guide frame 4 is mounted to one end side in the forward and backward directions of a frame 3 mounted on a lower travelling body 2 in a freely raising/laying manner, and also in a slidable manner in the longitudinal direction of the guide frame 4. When the guide frame 4 is raised, the guide frame 4 is moved toward the other end side in the forward and backward directions, it is confirmed that the guide frame 4 is in a working posture by a guide frame working posture detector 24 and a guide frame working posture lock detector 26, outriggers 6a and 6b on one end side in the forward and backward directions are brought into contact with the ground, and they are raised after the contact is confirmed by an outrigger contact detector 27. When they are lowered, outriggers 6c and 6d on the other end side in the forward and backward directions are brought into contact with the ground, and they are lowered after the contact is confirmed by the outrigger contact detector 27.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a movable pile burying machine having a guide frame which can be raised and lowered and which can move in the longitudinal direction when it is laid down, for safety when each part is operated.

[0002]

2. Description of the Related Art The configuration of a conventional mobile pile burying machine is disclosed in Japanese Patent Laid-Open No. 9-151455. In this configuration, a guide frame and a container are attached to the front end of the revo frame rotatably mounted on the lower traveling body so that the guide frame and the container can be raised and lowered rearward. Outriggers that can expand and contract vertically are attached to the four corners. Then, at the time of work, the guide frame is raised, the outrigger is extended and grounded to secure stability, and the hole drilling rod and the pile stored in the container are connected to the drill head mounted on the guide frame so as to be vertically movable, A hole is drilled by rotating a drill rod with a drill head, and a pile is buried in the hole. During traveling, the guide frame is tilted substantially horizontally to secure traveling stability. In addition, a crane which can be raised and lowered and which can be swung is mounted at a position eccentric to one side in the left-right direction from the center line in the front-rear direction of the revolving frame, and the rods and piles are lifted by the crane and stored in a container. In the above configuration, since the length of the guide frame is not so long relative to the size of the lower traveling body, the length of the guide frame projecting rearward relative to the lower traveling body when the guide frame is tilted substantially horizontally. Therefore, the vehicle is stable in the longitudinal direction of the vehicle when traveling, and can be moved in a narrow place, and there is no restriction on trailer transportation.

[0003]

However, in the above configuration, since the length of the guide frame is short, the length of the pile to be stored is also short. Therefore, when a pile is buried in a deep hole, it is necessary to connect a large number of piles, and there is a problem that the operation is troublesome, time-consuming, and inefficient. In addition, if the guide frame is raised and lowered while the outrigger is not grounded during the work, the vehicle may swing back and forth due to the inertia of the guide frame at the time of the completion of the standing or the falling, and the stability of the vehicle may be impaired. Furthermore, running with the outriggers extended causes problems during running and damages the road surface. In addition,
Since the crane is mounted at a position that is eccentric in the left-right direction from the center, the distance between the mounting center of the crane and the outrigger in the vehicle width direction is small, so that the stability when a rod or pile is hung on the side of the vehicle is reduced. There is a problem that bad, heavy, long piles cannot be hung. In addition, if the guide frame is raised to use a long pile, there is a problem that the trailer transport limit is exceeded.

The present invention focuses on the above problems, improves the efficiency of pile burying work, can move in a narrow place, can secure the stability of the vehicle at the time of raising and lowering the guide frame and running, and can use a crane to load heavy loads. It is an object of the present invention to provide a control device for a mobile pile burying machine that can be suspended horizontally, can work safely, and can be transported by trailer.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, a first invention of a control device for a mobile pile burying machine according to the present invention comprises a front and rear of a frame mounted on an undercarriage. A guide frame is attached to one end of the frame so that the guide frame can be raised and lowered, and four outriggers that can expand and contract in the vertical direction are provided at the left and right ends of the front and rear ends of the frame. In a movable pile burying machine that lays down and raises the guide frame at the time of work, the guide frame can be moved in the longitudinal direction while being laid down, and the guide frame is moved by a predetermined amount toward one end in the front-rear direction of the frame. In a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame, and in the front-rear direction. Outrigger ground detection means for detecting the ground state of the end outrigger, guide frame work attitude detection means for detecting whether the guide frame is in the work attitude, and detection signals from the respective detection means when the guide frame is raised. When the outrigger at one end in the front-rear direction is grounded and the guide frame is in the working posture, a controller for outputting an operation start signal for raising the guide frame is provided.

According to the first aspect of the present invention, since the guide frame can be moved in the longitudinal direction when the guide frame is laid down, stability in the front-rear direction can be ensured even when the length of the guide frame is made longer than in the conventional case, and the guide frame is narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. Also, since the outrigger on the guide frame mounting side is grounded and the guide frame is raised when the guide frame is in the working posture, the vehicle body does not swing back and forth during the guide frame raising operation, and The guide frame raising operation can be performed smoothly and stably without fear of interference between the frame and the rear portion of the guide frame.

According to a second aspect of the present invention, a guide frame is movably attached to one end in the front-rear direction of a frame mounted on a lower traveling body, and four vertically extensible members are provided at left and right ends of the front and rear ends of the frame. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. Outrigger ground detection means for detecting the grounding state of the outrigger at the other end in the front-rear direction, and an outrigger when the guide frame is lowered. Inputs the detection signal from the ground detection means, wherein when the outrigger in the longitudinal direction other end is grounded, controller outputs an operation start signal to defeat the guide frame - has a structure in which a La.

According to the second aspect of the invention, the guide frame can be moved in the longitudinal direction when the guide frame is laid down. Therefore, even if the length of the guide frame is made longer than that of the conventional one, the stability in the front-rear direction can be ensured, and the guide frame can be narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. In addition, the guide frame is tilted when the outrigger on the side opposite to the guide frame mounting side is grounded, so that the body does not swing back and forth during the guide frame tilting work, and guides smoothly and stably. The frame can be knocked down.

According to a third aspect of the present invention, a guide frame is attached to one end in the front-rear direction of a frame mounted on a lower traveling body so as to be able to undulate, and four vertically expandable and contractible parts are provided on both left and right ends of the front and rear ends of the frame. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. The guide frame can be set to a work position that can be raised and lowered to detect whether the guide frame has fallen, and the grounding state of the outrigger at the other end in the front-rear direction can be detected. When the guide frame is moved toward the other end in the front-rear direction, a detection signal is input from each of the outriggers when the guide frame is lying down, and the outrigger is located on the other end in the front-rear direction. And a controller for outputting an operation start signal for moving the guide frame toward the other end in the front-rear direction when the is grounded.

According to the third aspect of the present invention, the guide frame can be moved in the longitudinal direction when the guide frame is laid down. Therefore, even if the length of the guide frame is made longer than that of the conventional guide frame, stability in the front-rear direction can be ensured, and the guide frame can be narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. Also, when the guide frame is lying down and the outrigger on the side opposite to the guide frame mounting side is grounded, the guide frame is moved toward the side opposite to the guide frame mounting side. The guide frame can be moved smoothly and stably without any interference or swinging back and forth of the vehicle body.

According to a fourth aspect of the present invention, a guide frame is movably mounted on one end in the front-rear direction of a frame mounted on a lower traveling body, and four vertically extensible members are provided on left and right ends of the front and rear ends of the frame. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. A guide frame tilt detection means for detecting whether the guide frame is tilted, and a guide frame pointing toward one end in the front-rear direction. A controller configured to input a detection signal from the guide frame falling detecting means when moving, and to output an operation start signal for moving the guide frame toward one end in the front-rear direction when the guide frame is lying down. Configuration.

According to the fourth aspect of the present invention, the guide frame can be moved in the longitudinal direction when the guide frame is laid down. Therefore, even if the length of the guide frame is made longer than the conventional one, the stability in the front-rear direction can be ensured, and the guide frame can be narrowed. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. Also, when the guide frame is lying down, the guide frame is moved toward the guide frame mounting side,
The guide frame does not interfere with the body frame during movement, and the guide frame can be moved smoothly and stably.

According to a fifth aspect of the present invention, a guide frame is movably mounted on one end in the front-rear direction of a frame mounted on a lower traveling body, and four vertically extensible members are provided on both left and right ends of the front-rear end of the frame. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. A guide frame upright detecting means for detecting whether the guide frame is upright, and a guide frame when the outrigger is extended or contracted. Inputs the detection signal from the beam standing detecting means, when the guide frame is erected has a configuration in which a controller for outputting an operation start signal to stretch the outriggers.

According to the fifth aspect, since the guide frame can be moved in the longitudinal direction when the guide frame is laid down, stability in the front-rear direction can be ensured even if the length of the guide frame is made longer than that of the conventional one, and the guide frame is narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. Further, since the outrigger extends and contracts when the guide frame is upright, the outrigger does not extend and contract during the up and down operation of the guide frame, and the outrigger can be stably extended and contracted without swinging the guide frame. .

According to a sixth aspect of the present invention, a guide frame is attached to one end in the front-rear direction of a frame mounted on a lower traveling body so as to be able to move up and down, and four upper and lower ends of the front and rear ends of the frame are freely expandable and contractible in the vertical direction. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. A guide frame tilt detecting means for detecting whether the guide frame is tilted, and detecting whether the guide frame is in the retracted attitude. When the guide frame storage attitude detecting means and the outrigger are expanded and contracted, a detection signal is input from each detecting means, and when the guide frame is lying down and in the storage attitude, an operation start signal for expanding and contracting the outrigger is output. And a controller that performs the operation.

According to the sixth aspect, since the guide frame can be moved in the longitudinal direction when the guide frame is lying down, stability in the front-rear direction can be ensured even when the length of the guide frame is longer than that of the conventional one, and the guide frame can be narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. Further, since the outrigger is extended and contracted when the guide frame is lying down and in the storage position, the stability of the vehicle in the front-rear direction during the operation of the outrigger is improved.

According to a seventh aspect of the present invention, a guide frame is movably mounted on one end in the front-rear direction of a frame mounted on a lower traveling body, and is provided with a crane eccentric to one side in the width direction from a center line in the front-rear direction of the frame. In a mobile pile burying machine having four vertically expandable and contractible outriggers at both left and right ends of a front and rear end of a frame, at least one outrigger near a crane extends to the one side in the width direction of the frame. When the crane is operated, the outrigger grounding detecting means for detecting whether the at least one outrigger near the crane is in contact with the ground, the outrigger overhanging detecting means for detecting whether or not the outrigger capable of overhanging is completed, and When the outrigger near the crane is grounded and overhangs, It has a configuration in which a controller for outputting an operation start signal for actuating the down.

According to the seventh aspect, the outrigger near the crane can be extended to one side in the width direction of the frame (the eccentric position of the crane), and the outrigger near the crane is grounded and extended. Occasionally, the crane is operated, so that the lateral hanging load of the crane can be increased, and even when the crane is operated, the vehicle body does not swing and stable crane operation can be performed.

According to an eighth aspect of the present invention, a guide frame is attached to one end in the front-rear direction of a frame mounted on a lower traveling body so as to be able to move up and down, and four vertically extensible members are provided at left and right ends of the front and rear ends of the frame. With a flexible outrigger, the guide frame can be tilted toward the other end of the frame in the front-rear direction when retracted, and the guide frame can be moved in the longitudinal direction with the movable guide pile laying machine that raises the guide frame during work In a state in which the vehicle has been moved by a predetermined amount toward the one end side in the front-rear direction of the frame, the storage posture in which the vehicle can travel can be freely set, and a state in which the vehicle has been moved by a predetermined amount toward the other end side in the front-rear direction of the frame. A guide frame storage position detecting means for detecting whether the guide frame is in the stored position, and a detecting means for allowing the vehicle to travel. Inputs a detection signal, when the guide frame is stored position is in a configuration in which a controller for outputting a running operation start signal.

According to the eighth aspect, since the guide frame can be moved in the longitudinal direction when the guide frame is laid down, stability in the front-rear direction can be ensured even when the length of the guide frame is longer than that of the conventional one, and the guide frame is narrow. It is easy to move around and transport trailers. Therefore, a long pile can be used, and the efficiency of pile burying work can be improved. In addition, since the vehicle is made to travel when the guide frame is in the stowed attitude, the stability of the vehicle in the front-rear direction is good, and the vehicle can run stably without swinging (pitching).

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a mobile pile burying machine according to the present invention will be described below in detail with reference to FIGS.

As described above, in the conventional mobile pile burying machine, since the length of the guide frame is short and therefore the length of the pile to be handled is also short, a large number of piles must be connected and buried in one hole. However, there is a problem that burying work is troublesome and inefficient. As a countermeasure, it is only necessary to lengthen the length of the guide frame by increasing the length of the guide frame, but for this reason, if the vehicle body becomes large, it becomes difficult to move in a narrow place. In order to be able to move in a narrow place and to handle a pile longer than the conventional pile, it is necessary to make the lower traveling body the same as the conventional one and to mount a long guide frame. However, when the guide frame is lengthened, the amount of protrusion of the guide frame toward the rear of the vehicle body when the guide frame falls down becomes large, so that stability in the vehicle front-rear direction is deteriorated and traveling in a narrow place becomes difficult. Therefore, as a countermeasure, the fallen guide frame can be moved in the front-rear direction of the vehicle, and when traveling, the guide frame is moved forward to equalize the amount of protrusion in the front-rear direction of the vehicle, thereby improving the stability in the front-rear direction and improving the stability in narrow spaces. There is a method that allows for traveling.

The details of the movable pile burying machine according to the present invention, in which the laid-down guide frame can be moved in the longitudinal direction of the vehicle body, will be described below with reference to FIGS. 1, 2 and 3. FIG. 1 is a side view showing a working state of a mobile pile burying machine 1 in which a lower traveling body is the same as a conventional one and a guide frame longer than the conventional one is mounted, and FIG. FIG. 3 is a side view showing a state of being tilted substantially horizontally, and FIG. 3 is a plan view of a working state.

In FIG. 1 and FIG. 2, a frame 3 is mounted on a crawler type lower traveling body 2 having the same size as the conventional one. The lower traveling body 2 is operated by a traveling operation device 14. A guide frame 4 is provided at the front end of the frame 3.
A bracket 4a for slidably supporting in the longitudinal direction, and a container 5 for storing and supplying a rod for drilling holes and a pile (both not shown) are attached by a pin 3a so as to be able to be raised and lowered. It is raised and lowered by the guide frame raising and lowering operation device 10. The guide frame 4 and the container 5 are longer than conventional ones for storing and burying piles longer than before. As shown in FIG. 2, the folded guide frame 4 is movable along the bracket 4a by a predetermined distance A in the vehicle front-rear direction as indicated by a solid line and a thin two-dot chain line. Is moved in the front-rear direction. The guide frame 4 moved in the front-rear direction is locked by a lock device (not shown). The position indicated by the solid line in which the guide frame 4 has been moved forward is referred to as the storage posture, and in this storage posture, the vehicle is in a runnable state. The position shown by the thin two-dot chain line where the guide frame 4 has been moved backward is referred to as a working posture,
In this working posture, the guide frame 4 can be raised and lowered. Two outriggers 6a and 6b are attached to the left and right ends of the front end of the frame 3, and two outriggers 6c and 6d are attached to the left and right ends of the rear end. The outrigger expansion / contraction device 12 is vertically expandable / contractible. As shown in FIGS. 1 and 3, a crane 8 is provided on one side of the frame 3 in the vehicle width direction at a position eccentric in the width direction from the center line XX in the front-rear direction of the frame 3. Device 13
Activated by The outrigger 6d disposed closest to the mounting position of the crane 8 can extend by a length B outward in the width direction of the frame 3 as shown by a thin two-dot chain line in FIG. A power device 7 such as an engine or a hydraulic pump is mounted on the other side of the frame 3 in the vehicle width direction.

At the time of work, the guide frame 4 in the retracted position as shown in FIG.
As a result, the outriggers 6a, 6b, 6c, and 6d are extended vertically as indicated by thin two-dot chain lines, and the outriggers 6a, 6b, 6c, and 6d are extended and grounded to stabilize the vehicle body.

When the guide frame 4 in the working posture is tilted substantially horizontally as shown in FIG. 2, when the guide frame 4 is tilted as it is, as shown by a thin two-dot chain line, the projecting amount C to the rear of the vehicle body is obtained.
Therefore, the stability before and after the vehicle is poor, so that the vehicle body is likely to swing (pitch) during traveling, and it is difficult to enter a narrow place. Therefore, the guide frame 4 is moved to the position shown by the solid line by the predetermined distance A toward the front of the frame 3 by the guide frame moving operation device 11 to be in the storage posture. As a result, the stability of the front and rear of the vehicle is improved, and the vehicle can be easily moved in a narrow place. In addition, the slope angle (proximity angle α) and the inclination angle (back angle β) at which the protrusion from the vehicle body when entering or leaving the sloping road can enter the sloping road without coming into contact with the sloping road are sufficient. Can be secured.

When a crane operation is performed, as shown in FIG. 3, the outrigger 6d extends a predetermined length B outward in the width direction of the frame 3 and is grounded. When the outrigger 6d is extended, the distance E from the installation center P of the crane 8 to a line Y-Y connecting the centers of the outriggers 6b and 6d is determined from the installation center P when the conventional outrigger 6d is not extended. It becomes larger than the distance D to the line connecting the centers of the respective parts 6b and 6d, so that the stability in the case of the hanging work on the side of the vehicle is improved, and a heavy object can be hung.

However, when the above-described units and functions are operated, it is necessary to solve the following problems. (1) As described above, when the guide frame 4 is raised and lowered, if the outriggers 6a, 6b, 6c, and 6d are not grounded, the vehicle moves in the front-rear direction due to the inertia of the guide frame 4 at the end of standing up or at the end of tilting. May swing. (2) When moving the fallen guide frame 4 toward the rear of the frame 3, the vehicle may swing back and forth unless the rear outriggers 6c and 6d are grounded. (3) When the fallen guide frame 4 is raised in the storage position shown by the solid line in FIG. 2, the base end may interfere with the ground, the frame 3 and the like. (4) When the outriggers 6a, 6b, 6c, and 6d are expanded and contracted, if they are performed in the middle of the undulating operation of the guide frame 4, the vehicle swings back and forth. (5) When performing a crane operation, stability is poor unless the outrigger 6d near the crane 8 is extended and grounded. (6) When traveling, the folded guide frame 4 is
If the vehicle does not run in the storage position shown by the solid line, stability in the front-rear direction is poor, and the vehicle easily swings back and forth during running.

In order to solve the above-mentioned problems, the mobile pile burying machine 1 according to the present invention is provided with a control device 20 for ensuring stability. Hereinafter, the control device 20 will be described in detail with reference to FIGS.

As shown in FIGS. 1, 2 and 3, in the mobile pile burying machine 1, a guide frame upright detecting means 21 for detecting whether or not the guide frame 4 is upright, and the guide frame 4 are laid down. Guide frame tilt detecting means 22 for detecting whether or not the guide frame 4 is in the storage attitude, guide frame storage attitude detecting means 23 for detecting whether the guide frame 4 is in the storage attitude, and detecting whether the guide frame 4 is in the working attitude. Guide frame working posture detecting means 24, guide frame storing posture lock detecting means 25 for detecting whether or not guide frame 4 is locked in the stored posture, and detecting whether or not guide frame 4 is locked in the working posture. A guide frame working posture lock detecting means 26 is provided. Each of the above detection means has a detection sensor such as a limit switch or a proximity switch. Outrigger ground detection means 27 for detecting whether or not the outriggers 6a, 6b, 6c, 6d are grounded is provided in each of the outriggers 6a, 6b, 6c, 6d. The outrigger ground detection means 27 has a detection sensor such as a hydraulic pressure sensor or a load cell. Further, an outrigger overhang detecting means 28 for detecting whether or not the outrigger 6d near the crane 8 is overhanging is provided, which has a detection sensor such as a limit switch or a proximity switch.

FIG. 4 is a block diagram showing the configuration of the control device 20. Guide frame upright detecting means 21, guide frame tilt detecting means 22, guide frame storing attitude detecting means 23, guide frame working attitude detecting means 24, guide frame storing attitude lock detecting means 25, guide frame working attitude lock detecting means 26, outrigger grounding The detection means 27 and the outrigger overhang detection means 28 are connected to the control device 40, and the control device 40 inputs detection signals from each detection means. Further, the control device 40 is connected to the guide frame up / down operation device 30, the guide frame moving operation device 31, the outrigger expansion / contraction operation device 32, the crane operation device 33, and the traveling operation device 34 operated by the operator, and transmits respective operation signals. input. The control device 40 is connected to the guide frame up / down operation device 10, the guide frame movement operation device 11, the outrigger expansion / contraction operation device 12, the crane operation device 13, and the traveling operation device 14, and the results of the input operation signal and detection signal are input. Is determined based on a predetermined determination criterion, and each of the operating devices 10, 11, 12, 13,
An operation start signal is output to 14.

The operation of the control device 20 will now be described with reference to FIGS.
This will be described with reference to the flowchart of FIG.

The guide frame raising operation will be described with reference to the flowchart of FIG. (A) In step 51, the operator performs the raising operation by the guide frame up / down operation device 30. The controller 40 receives the guide frame raising operation signal from the guide frame raising / lowering operating device 30 and proceeds to step 52. (B) In step 52, the controller 40 determines whether or not the front outriggers 6a and 6b are grounded based on the detection signal input from the outrigger ground detection means 27. In the case of NO, the operation by the raising operation is not allowed,
In the case of YES, the process proceeds to step 53. (C) In step 53, the controller 40 determines whether or not the guide frame 4 is in the working posture based on the detection signal input from the guide frame working posture detecting means 24. In the case of NO, the operation by the raising operation is not allowed,
In the case of YES, the process proceeds to step 54. (D) In step 54, the controller 40 determines whether or not the guide frame 4 is locked in the working posture based on the detection signal input from the guide frame working posture lock detecting means 26. In the case of NO, the operation by the raising operation is disabled, and in the case of YES, the process proceeds to step 55. (E) In step 55, the controller 40 outputs a raising operation start signal to the guide frame raising / lowering operating device 10,
The guide frame raising operation is started. In the above flowchart, the guide frame raising operation is started when both the guide frame working posture and the guide frame working posture lock are YES. However, the present invention is not limited to this. If any one of the frame work posture locks is YES, the operation may be started. By performing the operation according to the above flowchart, the guide frame 4 is raised when the front outriggers 6a and 6b are in contact with the ground, so that the vehicle swings back and forth due to the inertia of the guide frame 4 at the end of standing. Never. Further, the guide frame 4 is in the working posture or locked in the working posture.
Therefore, the guide frame 4 can be smoothly raised without the rear portion of the guide frame 4 interfering with the frame 3 when standing up.

Next, based on the flowchart of FIG.
The guide frame lowering operation will be described. (A) In step 61, the operator performs the tilting operation using the guide frame up / down operating device 30. Controller 40
Inputs the guide frame lowering operation signal from the guide frame raising / lowering operation device 30, and proceeds to step 62. (B) In step 62, the controller 40 determines whether or not the rear outriggers 6c and 6d are grounded based on the detection signal input from the outrigger grounding detection means 27. In the case of NO, the operation by the defeat operation is not allowed, and Y
In the case of ES, the process proceeds to step 63. (C) In step 63, the controller 40 outputs a tilting operation start signal to the guide frame up / down operating device 10 to start the guide frame tilting operation. By performing the operation according to the above flow chart, the guide frame 4 falls down when the rear outriggers 6c and 6d are in contact with the ground, so that the vehicle swings back and forth due to the inertia of the guide frame 4 when the fall is completed. I will not do it. Therefore, the guide frame lowering operation can be performed smoothly.

Next, based on the flowchart of FIG.
The guide frame rearward movement operation will be described. (A) In step 71, the operator performs a backward movement operation using the guide frame movement operation device 31. The controller 40 receives the guide frame rearward movement operation signal from the guide frame movement operation device 31, and proceeds to step 72. (B) In step 72, the controller 40 determines whether or not the guide frame 4 is lying down, based on the detection signal input from the guide frame falling down detecting means 22. NO
In the case of, the operation by the backward movement operation is not allowed, and YES
If so, the process proceeds to step 73. (C) In step 73, the controller 40 determines whether or not the rear outriggers 6c and 6d are grounded based on the detection signal input from the outrigger grounding detection means 27,
If NO, the backward movement operation is disabled, and if YES, the process proceeds to step 74. (D) In step 74, the controller 40 determines whether or not the guide frame 4 is locked off in the working posture based on the detection signal input from the guide frame working posture lock detecting means 26. In the case of NO, the operation by the backward movement operation is disabled, and in the case of YES, step 75
Proceed to. (E) In step 75, the controller 40 determines whether or not the guide frame 4 is locked off in the storage posture based on the detection signal input from the guide frame storage posture lock detecting means 25. In the case of NO, the operation by the backward movement operation is disabled, and in the case of YES, step 76
Proceed to. (F) In step 76, the controller 40 outputs a backward movement operation start signal to the guide frame movement operation device 11 to start the backward movement operation of the guide frame 4. As a result, it is confirmed that the guide frame 4 is lying down, and further, whether or not there is a pin for locking the guide frame working posture and a pin for locking the guide frame storage posture, the guide frame 4 is moved rearward of the vehicle body. Even if it is moved toward, it does not interfere with the frame or the like of the vehicle body. Further, since the guide frame 4 is moved backward when the rear outriggers 6c and 6d are in contact with the ground, the vehicle does not swing back and forth due to the inertia of the guide frame 4 when the backward movement is completed, and is smooth and stable. The guide frame rearward movement operation can be performed effectively.

Next, based on the flowchart of FIG.
The guide frame forward moving operation will be described. (A) In step 81, the operator performs a forward movement operation using the guide frame movement operation device 31. The controller 40 receives a guide frame forward movement operation signal from the guide frame movement operation device 31 and proceeds to step 82. (B) In step 82, the controller 40 determines whether or not the guide frame is lying down on the basis of the detection signal input from the guide frame falling-down detecting means 22, and in the case of NO, the operation by the forward moving operation is disabled, If YES, the process proceeds to step 82. (C) In step 83, the controller 40 determines whether or not the guide frame 4 is locked off in the working posture based on the detection signal input from the guide frame working posture lock detecting means 26. If NO, the controller 40 moves forward. The operation by the operation is not allowed, and the process proceeds to step 84 in the case of YES. (D) In step 84, the controller 40 determines whether or not the guide frame 4 is locked off in the storage posture based on the detection signal input from the guide frame storage posture lock detecting means 25. If NO, the controller 40 moves forward. The operation by the operation is not allowed, and the process proceeds to step 85 in the case of YES. (E) In step 85, the controller 40 outputs a forward moving operation start signal to the guide frame moving operating device 11 to start the forward moving operation of the guide frame 4. As a result, the guide frame 4 is confirmed to be lying down, and furthermore, the presence or absence of the guide frame working position lock pin and the guide frame storage position lock pin is checked. Even if it is moved toward, it does not interfere with the body frame or the like. Therefore, the guide frame forward moving operation can be performed smoothly.

Next, based on the flowchart of FIG.
The outrigger expansion / contraction operation will be described. (A) In step 91, the operator performs the outrigger expansion / contraction operation using the outrigger expansion / contraction operation device 32. The controller 40 receives the outrigger expansion / contraction operation signal from the outrigger expansion / contraction operation device 32, and proceeds to step 92. (B) In step 92, the controller 40 determines whether or not the guide frame 4 is upright based on the detection signal input from the guide frame upright detection means 21, and if NO, proceeds to step 94; Proceed to step 93. (C) In step 93, the controller 40 outputs an outrigger expansion / contraction operation signal to the outrigger expansion / contraction actuator 12,
The expansion / contraction operation of the outriggers 6a, 6b, 6c, 6d is started. Then, the process ends. (D) In step 94, the controller 40 determines whether or not the guide frame is lying down on the basis of the detection signal input from the guide frame falling down detecting means 22, and in the case of NO, the operation by the outrigger expansion / contraction operation is not allowed, YE
In the case of S, the process proceeds to step 95. (E) In step 95, the controller 40 determines whether or not the guide frame 4 is in the storage attitude based on the detection signal input from the guide frame storage attitude detection means 23.
In the case of, operation by outrigger extension operation is not allowed,
If YES, the process proceeds to step 96. (F) In step 96, the controller 40 outputs an outrigger expansion / contraction operation start signal to the outrigger expansion / contraction actuator 12, and starts the expansion / contraction operation of the outriggers 6a, 6b, 6c, 6d. Thereafter, the process ends. This prevents the guide frame 4 from expanding and contracting the outriggers 6a, 6b, 6c, 6d in the course of the up-and-down operation, and prevents the vehicle body from swinging in the front-rear direction due to the up-and-down movement of the guide frame 4, and is smooth and stable. The outrigger can be extended and contracted.

Next, the operation will be described with reference to the flowchart of FIG. (A) In step 101, the operator operates the traveling operation device 34.
To perform a traveling operation. The controller 40 inputs a travel operation signal from the travel operation device 34 and
Proceed to. (B) In step 102, the controller 40 determines whether or not the guide frame 4 is in the storage posture based on the detection signal input from the guide frame storage posture detection means 23. N
In the case of O, the operation by the traveling operation is disabled, and in the case of YES, the process proceeds to step 103. (C) In step 103, the controller 40 determines whether or not the guide frame 4 is locked in the storage posture based on the detection signal input from the guide frame storage posture lock detecting means 25. In the case of NO, the operation by the traveling operation is disabled, and in the case of YES, the process proceeds to step 104. (D) In step 104, the controller 40 outputs a traveling operation signal to the traveling operation device 14 to start the traveling operation. In the above flowchart, both the guide frame storage attitude and the guide frame storage attitude lock are set to YE.
Although the traveling operation is enabled at S, the present invention is not limited to this, and the traveling operation may be started if any one of the guide frame storage posture and the guide frame storage posture lock is YES. As a result, the traveling is performed in the retractable guide frame storage posture state, and the traveling can be performed in a stable state without swinging in the front-rear direction of the guide frame.

The operation of the crane will be described with reference to the flowchart of FIG. (A) In step 111, the operator operates the crane using the crane operation device 33. The controller 40
A crane operation signal is input from the crane operation device 33,
Proceed to step 112. (B) In step 112, the controller 40 determines whether or not the outrigger 6d is grounded, based on the detection signal input from the outrigger grounding detection means 27 near the crane. If YES, go to step 113. (C) In step 113, the controller 40 determines whether or not the outrigger 6d is overhanging based on the detection signal input from the outrigger overhang detection means 28. In the case of NO, the operation by the crane operation is not allowed. In this case, the process proceeds to step 114. (D) In step 114, the controller 40 outputs a crane operation start signal to the crane operating device 13 to start the operation of the crane 8. By performing the crane operation according to the above flow chart, stability during the crane operation is ensured, and the crane operation can be performed stably.

As described above, the mobile pile burying machine according to the present invention mounts a long guide frame on the same lower traveling body as the conventional one so that a pile longer than the conventional mobile pile burying machine can be buried. As a result, the pile burying work efficiency can be improved. In addition, since the laid-down guide frame can be moved in the front-rear direction, traveling stability is ensured, and movement in a narrow place is easy. Further, since the outrigger near the crane can be extended to the side of the vehicle body, stability at the time of suspension on the side of the vehicle body is improved, and heavy members can be suspended. By controlling the operation of each of these moving operation devices while taking a predetermined interlock by a control device, a mobile type that can work smoothly and stably without causing interference or body swing. A control device for the pile burying machine is obtained.

[Brief description of the drawings]

FIG. 1 is a side view of a movable pile burying machine according to the present invention in a guide frame standing state.

FIG. 2 is a side view of the movable pile burying machine of the present invention in a state in which a guide frame is stored.

FIG. 3 is a plan view of the mobile pile burying machine of the present invention.

FIG. 4 is a block diagram of a control device of the mobile pile burying machine of the present invention.

FIG. 5 is a flowchart of guide frame raising operation control.

FIG. 6 is a flowchart of guide frame tilting operation control.

FIG. 7 is a flowchart of a guide frame rearward movement operation control.

FIG. 8 is a flowchart of a guide frame forward movement operation control.

FIG. 9 is a flowchart of outrigger expansion / contraction operation control.

FIG. 10 is a flowchart of traveling operation control.

FIG. 11 is a flowchart of crane operation control.

[Explanation of symbols]

1: Mobile pile burying machine, 2: Undercarriage, 3: Frame,
3a: pin, 4: guide frame, 4a: bracket,
6a, 6b, 6c, 6d: outrigger, 8: crane,
10: guide frame raising / lowering actuator, 11: guide frame moving actuator, 12: outrigger expansion / contraction differential device,
13: crane operating device, 14: traveling operating device, 20:
Control device, 21: Guide frame upright detecting means, 22:
Guide frame tilt detection means, 23: guide frame storage attitude detection means, 24: guide frame work attitude detection means, 25: guide frame storage attitude lock detection means, 2
6: Guide frame work posture lock detecting means, 27: Outrigger ground contact detecting means, 28: Outrigger extension detecting means, 30: Guide frame up / down operating device, 31: Guide frame moving operating device, 32: Outrigger extending / contracting operating device, 33: Crane operating device, 34: traveling operating device, 4
0: Controller.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kentaro Watanabe 3-20-1 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture Komatsu Ltd. Construction Robot Division (72) Inventor Yukio Moriya 3 Nakase, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture −20-1 F-term (reference) in the construction robot division of Komatsu Ltd. 2D050 AA01 CA01 EE25 EE26 FF03

Claims (8)

[Claims] 1. A frame mounted on an undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be freely set to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). Outrigger ground detecting means (27) for detecting the grounding state of the outriggers (6a, 6b) on the side, a guide frame working posture detecting means (24) for detecting whether the guide frame (4) is in a working posture, and a guide frame. When (4) occurs, a detection signal is input from each detection means (27, 24), the outriggers (6a, 6b) at one end in the front-rear direction are grounded, and the guide frame (4) operates. In the posture, start the operation to raise the guide frame (4) Controller outputs the No. - La (40) and a control device of a mobile pile burying machine characterized by comprising a. 2. A frame mounted on an undercarriage (2).
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be freely set to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). The detection signal from the outrigger ground detection means (27) for detecting the ground state of the outriggers (6c, 6d) on the side and the detection signal from the outrigger ground detection means (27) when the guide frame (4) is lowered is input to the front and rear Outrigger at the other end in the direction
When (6c, 6d) is grounded, guide frame (4)
And a controller (40) for outputting an operation start signal for knocking down the pile. 3. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be set freely to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). ), A guide frame tilt detecting means (22) for detecting whether the guide frame is lying down, an outrigger ground detecting means (27) for detecting the grounding state of the outriggers (6c, 6d) at the other end in the front-rear direction, and a guide frame (4). ) Is moved toward the other end in the front-rear direction.
7), and when the guide frame (4) is lying down and the outriggers (6c, 6d) at the other end in the front-rear direction are grounded, move the guide frame (4) to the other end in the front-rear direction. And a controller (40) for outputting an operation start signal moving toward the side. 4. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be set freely to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). ) Is a guide frame falling detecting means (22) for detecting whether it is in a lying state, and a guide frame (4).
When moving toward the one end side in the front-rear direction, input a detection signal from the guide frame tilt detection means (22),
And a controller (40) for outputting an operation start signal for moving the guide frame (4) toward one end in the front-rear direction when the guide frame (4) is lying down. Control device for buried machine. 5. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be set freely to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). ) Is upright, a guide frame upright detecting means (21), and outriggers (6a, 6b, 6
c, 6d), a detection signal is input from the guide frame upright detecting means (21), and when the guide frame (4) is upright, the outriggers (6a, 6b, 6c, 6d) are expanded or contracted. A control device for a mobile pile burying machine, comprising: a controller (40) that outputs an operation start signal. 6. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be set freely to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). ) Is a guide frame falling detecting means (22) for detecting whether it is in a lying state, and a guide frame (4).
When the outriggers (6a, 6b, 6c, 6d) are expanded and contracted, a detection signal is input from each of the detection means (22, 23). And a controller (40) for outputting an operation start signal for expanding and contracting the outriggers (6a, 6b, 6c, 6d) when the guide frame (4) is lying down and in the retracted position. Control device of mobile pile burying machine. 7. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end of the frame (3) in the front-rear direction so as to be able to move up and down, and a crane (8) is provided eccentrically to one side in the width direction from the center line in the front-rear direction of the frame (3). ) Has four vertically extensible outriggers (6a, 6b, 6c, 6d) at the left and right ends of the front and rear ends of at least one outrigger (8) near the crane (8). 6
d) can extend over said one side in the width direction of the frame (3) and at least one outrigger near the crane (8)
Outrigger ground detection means (27) for detecting the ground state of (6d)
An outrigger overhang detecting means (28) for detecting whether the overrigged outrigger (6d) is overhanging, and a crane
When operating (8), a detection signal is input from each detection means (27, 28), and the outrigger (6) near the crane (8) is
A controller for a mobile pile burying machine, comprising: a controller (40) for outputting an operation start signal for operating the crane (8) when d) is grounded and overhangs. 8. A frame mounted on the undercarriage (2)
A guide frame (4) is attached to one end in the front-rear direction of (3) so as to be able to undulate, and four outriggers (6a, 6b, 6a, 6b, 6c, 6d), the guide frame (4) is folded down toward the other end in the front-rear direction of the frame (3) during storage, and the guide frame is
In the movable pile burying machine that raises (4), the guide frame (4) can be moved in the longitudinal direction while being tilted, and the guide frame (4) is moved by a predetermined amount toward one end in the front-rear direction of the frame (3). Of the frame (3) can be set freely to a retractable working posture in a state of being moved by a predetermined amount toward the other end in the front-rear direction of the frame (3). ) Is in the storage posture, and a detection signal is input from the detection means (23) when the vehicle is running, when the guide frame (4) is in the storage posture. A controller for a mobile pile burying machine, comprising: a controller (40) for outputting a traveling operation start signal.