JP2006307613A - Chuck control method for pile and this device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily control a turning angle position around the z axis of a pile gripped by a chuck at a global standard, while exhibiting sufficient durability even in small capacity of a bearing for supporting the chuck, by improving a mechanism for rotating the chuck installed in an exciter for a vibrational pile driving-extracting machine. <P>SOLUTION: A brake body 6a is fixed to a rotary shaft 4b of the chuck 4, and a driven gear 7 is installed on the rotary shaft via a spline 8, and is rotatingly driven by a driving motor M. The chuck is firmly fixed to the exciter by braking the brake body 6a by a fixed shoe 6b and a movable shoe 6c. Normal-reverse rotation/stopping of the driving motor M are performed by an automatic control circuit CPU on the basis of a turning angle position detecting signal α by a gyro mechanism J. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a method and apparatus for controlling the rotation angle position around a vertical axis of a pile held by a chuck on a global basis in a vibratory pile punching machine having a structure in which a chuck is installed on a vibrator. .

FIG. 2 is a schematic plan view for explaining a state in which a large number of piles are driven side by side. In addition, although demonstrated later, the state which pulls out many piles arranged in order is the same as this FIG.
The reference numeral 1 indicates a pile. The pile of this example is provided with a pile joint 1a for connecting the piles when they are driven side by side. In the state shown in FIG. 2, the piles 1 are stacked for driving in and are laid down on the ground.
In the shovel car 2, an arm 2c is pivotally attached to the tip of a boom 2b that is pivotally supported by the vehicle body 2a so as to be able to swing up and down. A bucket (not shown) is attached to the tip of the arm, but various front attachments (crushers, breakers, etc.) are attached and detached instead of the bucket.

In the example of this figure, a vibration pile driving machine composed of a vibration generator 3 and a chuck 4 is mounted.
Since the pile 1t held by the chuck 4 is hidden behind the vibrator 3, it is drawn with a broken line.
The arm and boom to which the vibration pile driver is mounted can turn 360 degrees as indicated by an arc arrow ω together with the vehicle body 2a, and the turning radius L can be expanded and contracted. By the operation, the held pile 1t can be transported to the normal line (scheduled line) PL.
Reference numerals 1a, 1b, and 1c to 1h are attached to a number of piles that are driven sequentially.

Since the vehicle body of the excavator 2 can turn and the boom and arm can be raised and lowered to extend and retract the turning radius L, it can be suspended at any location inside the illustrated arc ω by “hanging by the chuck 4. Can be driven and driven in (as long as it does not interfere with the shovel car itself).
Since the shovel car 2 is capable of self-propelling, when staking it outside the illustrated arc ω, it is only necessary to travel to the vicinity of the planned stakeout point.

However, it may not be sufficient to transport the suspended pile 1t to the planned pile driving line (normal line PL).
For example, if it is a column-shaped pile like a normal electric pole, since it is a rotary body around the centerline of a longitudinal direction, the rotation angle position around an axis does not become a problem. However, for example, in the case of a square pile, the rotation angle position is regulated. In particular, in the case of a steel sheet pile, there are front and back surfaces (convex side and concave side), and 360 degree azimuth restriction is necessary.

For convenience of explanation, horizontal rectangular coordinates are considered. In this example, the north-south line NS and the east-west line EW were assumed.
In this state, the boom and arm are facing northwest.
Now, in order to place the pile 1t suspended by the illustrated chuck 4 at the position of the pile 1c, the vehicle body 2a is turned and the boom and arm are directed in the oq direction. The posture of the pile is almost perpendicular to the line oq and does not coincide with the normal line PL.

  If the boom and the arm are directed in the direction of the line orr in order to drive the pile 1h in order, the posture of the suspended pile becomes substantially perpendicular to the line orr. In this way, the pile 1a. 1b. The mounting angle of the chuck 4 with respect to the boom and arm must be changed as the stroke proceeds to 1c. Especially in the case of sheet piles, the front and back of the pile 1a and the pile 1b must be reversed, and the piles 1b and 1c, the pile 1c and the pile 1d, etc. must be reversed for each pile. I must.

In addition, when a number of piles are sequentially driven and entered from the normal line PL to the normal line PC, the rotation angle position of the piles must be further controlled in accordance with the direction change.
The case discussed above in this paragraph is the case where a large number of piles 1a to 1h are driven. However, there is a similar problem (pile rotation angle position control) when pulling out a number of piles 1a to 1h that have already been driven.
Under such circumstances, a structure capable of arbitrarily adjusting the attachment angle of the chuck 4 to the vibrator 3 (the rotational angle position of the gripped pile around the longitudinal center line) is necessary.
For this reason, a vibration pile punching machine having a structure in which a chuck is rotatably attached to a vibrator and provided with a driving means for rotating the chuck is manufactured and widely used.
Further, a mechanism for locking the rotation of the chuck using hydraulic pressure has been devised, but no special consideration has been given to the structure for rotating the chuck.
JP 10-147933 A JP-A-10-96233 JP-A-9-158183 JP-A-8-246455

The conventional chuck rotation angle position adjusting device has the following problems (see FIG. 2).
(A) The chuck 4 is supported by the vibrator 3 so as to be rotatable around a vertical axis via a bearing (not shown), or the chuck is rotated by a gear. For this reason, the vibration generated by the vibrator vigorously vibrates the bearing and the gear mechanism.
Therefore, bearings and gear mechanisms are subjected to severe vibration for punching. For this reason, the service life of bearings and gear mechanisms is short.
Further, if a large-capacity bearing or gear mechanism is used in order to obtain a long service life, the mechanical device becomes large and heavy, and the manufacturing cost is high.
(B) As described above, when a large number of piles 1a, 1b, 1c,... Are sequentially driven (or pulled out), the suspending angle of the pile must be changed for each pile. This problem cannot be solved even if the angular position of the chuck with respect to the vibrator is stored. That is, control must be performed so that the rotation angle position of the chuck is constant with respect to the earth (because the normal line described above is set with respect to the ground).

The present invention has been made in view of the circumstances described above, and the object is as follows.
(B) A small, lightweight, inexpensive and durable chuck rotation method and apparatus are provided.
(B) To provide a method and apparatus for controlling the rotational angular position of the chuck relative to the vibrator based on the earth-based memory.

The configuration of the inventive device according to claim 1 is as follows. (See FIG. 1) In the chuck 4 attached to the vibrator 3 and gripping the pile 1
The center line of the pile gripped by the chuck is the z axis,
A rotating shaft 4b concentric with the z-axis provided on the chuck;
A brake cylinder 6a fixed concentrically to the rotating shaft;
Brake shoes 6b, 6c installed on a member fixed to the vibrator,
Means for rotationally driving the rotating shaft,
When the brake shoe is actuated, the exciter and the chuck are firmly coupled,
When the brake shoe is released, the exciter and the chuck can be rotated relative to each other so that the chuck can be rotated around the z-axis by the rotation driving means. .

The configuration of the invention device according to claim 2 includes a gyro mechanism (J) provided with a sensor capable of detecting rotation around the z-axis in addition to the components of the invention device of claim 1 (see FIG. 1). ,
And an automatic control circuit (CPU) that receives a detection signal of the gyro mechanism and outputs an operation command signal to the “brake shoe driving device and the chuck rotation driving means”. And

In addition to the constituent features of the invention device of claim 1 or claim 2 (see FIG. 1), the invention according to claim 3 is configured between the brake drum 6a and the rotation drive means.
A joint means (spline 8 in the example of FIG. 1) that transmits rotation around the z-axis and does not transmit movement in the z-axis direction is provided.

According to a fourth aspect of the present invention, there is provided a method for controlling a rotational angle position about a vertical axis (z) of a chuck attached to an exciter and gripping a pile on a global basis.
The control device according to claim 2 is used. That is,
(See FIG. 1) A member fixed in advance to the vibrator 3 while fixing the brake cylinder 6a concentrically with the z-axis in correspondence with the rotation axis 4b concentric with the z-axis provided in the chuck 4 The brake shoes 6b, 6c are installed in the motor, and means for rotationally driving the rotary shaft 4b (in this example, a drive motor M and a reduction gear group (7, 9) are provided,
Furthermore, a gyro mechanism J is installed for the vibrator,
The rotational angle position of the vibration generator 3 in a state where the pile gripped by the chuck is aligned at a desired rotational angle position is stored in the gyro mechanism J on the basis of the earth,
In the case of sequentially punching a large number of piles, the rotation angle position of the chuck is controlled based on the memory of the gyro mechanism while rotating the chuck for each pile by the rotation driving means.
A similar operation can be applied to a sampling operation of a large number of existing piles and belongs to the technical scope of claim 4.

According to the first aspect of the present invention, since the chuck can be firmly coupled to the vibrator by operating the brake, if the pile is punched in this state, the bearing that supports the chuck No vibration load is applied to the. Therefore, sufficient durability can be obtained even if a low-capacity and inexpensive bearing is used.
When the brake is released, the chuck can freely rotate with respect to the vibration generator, so that the rotation angle position of the chuck can be arbitrarily adjusted.

  According to the invention device of claim 2, since the gyro mechanism has a function of storing the earth-based rotation angle position, the earth reference angle position around the z-axis can be detected. When the detection signal is input to an automatic control circuit and a command signal is given to the chuck rotation driving means by the automatic control circuit, the rotation angle position of the chuck can be automatically controlled on the basis of the earth.

According to the third aspect of the present invention, since vibration is not transmitted to the rotation drive means, there is no possibility that the rotation drive means will accelerate wear due to vibration.
In addition, the vibration generated to vibrate the pile is not wasted by the rotational drive means. As a result, the energy efficiency of the pile punching machine is improved, which can contribute to the prevention of global warming.

According to the invention method of claim 4, the rotation angle position of the chuck that holds the pile can be controlled on the earth basis.
The normal line (pile line) in the pile punching operation is generally set on the ground. For this reason, if the earth-based angular position control can be performed as described above, regardless of the attitude of the mechanical device (for example, excavator) supporting the pile punching machine, the worker does not need special skill. A large number of piles can be accurately arranged.

FIG. 1 is a vertical sectional view schematically illustrating one embodiment of a control device according to the present invention. It is not a realistic projection because it is schematic.
The chuck 4 is installed via the rotation mechanism 5 with respect to the vibrator 3.
Although the internal structure of the chuck 4 is not shown, the pile 1 is sandwiched between a pair of gripping claws 4a. zz is the longitudinal center line of the pile 1 being gripped.
The case 5a of the rotation mechanism 5 is made of a steel plate so as to have sufficient rigidity, and is firmly coupled to the vibrator 3.
In the present invention, to firmly bond means to integrally bond without interposing a buffer member or a sliding pair.

A rotation shaft 4a is integrally connected to the chuck 4, and the rotation shaft is supported by a bearing 11 so as to be rotatable with respect to the case 5a of the rotation mechanism so as to be concentric with the z-axis.
A brake cylinder 6a is fixed concentrically with the rotating shaft 4b.
A fixed shoe 6b and a movable shoe 6c are arranged corresponding to the above-described brake drum.
The fixing shoe 6b is fixed to the case 5a of the rotating mechanism.
The movable shoe 6c is mounted on a brake lever 6d, and the brake lever is pivotally supported with respect to the case 5a. The brake cylinder 6e presses the movable shoe 6c against the brake drum 6a by tilting the brake lever.

When the brake mechanism 6 is actuated by the above-described structural mechanism, the case 5a of the rotating mechanism is firmly coupled to the rotating shaft 4b of the chuck.
That is, the chuck 4 is firmly coupled to the vibrator 3 by the operation of the brake mechanism.
For this reason, the vibration generated by the vibrator 3 is transmitted to the chuck 4 through the rotating mechanism case 5a and the brake mechanism 6, and the bearing 11 is not loaded with a vibration load. Therefore, even if the bearing 11 does not have a particularly large capacity, there is no problem of opening to durability.

A driven gear 7 is attached to the rotary shaft 4b via a spline 8.
The drive gear 9 meshes with the driven gear 7 and is rotationally driven by the drive motor M.
When the brake mechanism 6 is released (the brake shoe is separated from the brake drum) and the drive motor M is rotated, the chuck 4 rotates about the z axis.
In the prior art, it has been considered that the chuck does not rotate when the drive motor is stopped, for example, by locking it. However, in the present invention, the brake mechanism 6 is operated to stop the rotation of the chuck. The reason is that the brake mechanism in the present invention has a role of not only braking rotation but also transmitting vibration.

A gyro mechanism J is installed with respect to the case 5a of the rotating mechanism. When carrying out the present invention, the gyro mechanism does not necessarily have to be attached to the rotating mechanism, but it is desirable to arrange the gyro mechanism on a member fixed to the vibrator. Fixing in this case is intended to prevent relative rotation around the z-axis.
The gyro mechanism J of this example is installed via a spring 10 with its rotation axis orthogonal to the z-axis. As will be described later, this gyro mechanism serves to detect the rotational angle position around the z-axis, so that the gyro mechanism is mounted on the vibrator 2 while restricting relative rotation around the z-axis.
If possible, it is mounted so that vibration in the z-axis direction can be buffered.

The gyro mechanism J has its horizontal axis oriented in a certain direction. And the sensor (commercial item) which detects rotation around the z axis of the vibrator 3 is provided on the basis of this axial direction.
A rotation detection signal α around the z-axis of the vibrator 3 is input to the automatic control circuit CPU.
Based on the input detection signal α, the automatic control circuit CPU outputs control command signals β and γ according to a program given in advance.
The brake cylinder 6e of the brake mechanism 6 is connected to a hydraulic pressure source via a hydraulic control valve V, and is expanded and contracted by the hydraulic control valve. In this example, the brake function is exhibited when the brake cylinder 6e contracts, and the brake is released when the brake cylinder 6e extends.

The automatic control circuit CPU causes the drive motor M to forward, reverse, and stop in response to the command signal β. In addition, the brake cylinder 6e is expanded and contracted via the hydraulic control valve V by the command signal γ, and the brake mechanism 6 is operated and released.
Next, an embodiment in which the rotation angles of a large number of piles are controlled using the control device of the present invention will be described. (See also Fig. 1 and Fig. 2)
The pile 1t is suspended by the chuck 4 attached to the vibrator 3, and conveyed to the position of the first pile 1a. The conveyance is performed by turning the shovel car 2 and raising / lowering / bending / extending / extending of the boom / arm.

The first stake (1a) is adjusted to the normal PL by taking time and effort according to the work supervisor's command and the guidance of the field team leader. This first step may be performed in the same manner as in the prior art.
If the first pile (1a) is aligned with the normal line PL, the "rotational angle position of the chuck 4 with respect to the vibrator 3" at that time is stored in the automatic control unit PCU.
Although not shown, it is convenient to use an angle sensor that is installed in the case 5a and detects the rotation angle position (relative value with respect to the case 5a) of the rotating shaft 4b.

Once the direction of the normal PL is remembered in the automatic control circuit CPU, the second pile 1b and thereafter control the drive motor M so that the rotation angle position signal α becomes a predetermined value, and the chuck By rotating 4 with respect to the vibrator 3, the azimuth of the pile held by the chuck 4 is controlled on the basis of the earth and adjusted to the normal line PL.
In this case, for each pile, as described above,
An operation of releasing the brake mechanism 6 and freeing the rotation of the chuck 4 about the z-axis;
An operation of rotating the drive motor M to adjust the rotation angle position of the chuck 4 to a desired value (aligning the direction of the pile with the normal PL);
The operation of operating the brake mechanism 6 to firmly connect the chuck 4 and the vibration generator 3 is repeated.

When the piles are driven sequentially along the normal line PL and the direction change point P is reached, the illustrated angle θ is given in the construction plan, so the automatic control circuit CPU calculates and corrects the command signal β, Continue the pile driving work according to the normal PC.
Even if the normal line (not shown) is a curved line, the curved line is specified in the construction plan. Therefore, the automatic control circuit CPU appropriately controls the rotation angle position of the chuck along the curved normal line. Arrange the piles.

The above describes the case where a large number of piles 1a, 1b... 1h are driven sequentially.
Even when a number of existing piles 1a, 1b,... 1h arranged in sequence along the normal line PL are pulled out sequentially, the opening of the chuck (a pair of gripping claws 4a, 4a) must be matched.
The adjustment of the rotation angle position of the chuck in such an operation may be performed in the same manner as in the driving operation described above.

  Sectional drawing which showed one Embodiment of the control apparatus of the chuck | zipper for piles concerning this invention, and was drawn typically   Schematic plan view of a state where a number of piles are driven side by side by a vibration pile driver mounted on an excavator

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pile 1a-1h ... Many piles arranged in a line 1s ... Pile joint 1t ... Suspended pile 2 ... Excavator 2a ... Vehicle body 2b ... Boom 2c ... Arm 3 ... Exciter 4 ... Chuck 4a ... Grip Claw 4b ... Rotating shaft 5 ... Rotating mechanism 5a ... Case 6 ... Brake mechanism 6a ... Brake drum 6b ... Fixed shoe 6c ... Movable shoe 6d ... Brake lever 6e ... Brake cylinder 7 ... Driven gear 8 ... Spline 9 ... Drive gear 10 ... Spring 11 ... Bearing

Claims (4)

In the chuck (4) attached to the vibrator (3) and gripping the pile (1),
The center line of the pile gripped by the chuck is the z axis,
A rotation axis (4b) provided on the chuck and concentric with the z-axis;
A brake cylinder (6a) fixed concentrically to the rotating shaft;
Brake shoes (6b, 6c) installed on a member fixed to the vibrator,
Means for rotationally driving the rotating shaft,
When the brake shoe is operated, the exciter and the chuck are firmly coupled,
When the brake shoe is released, the exciter and the chuck can be rotated relative to each other so that the chuck can be rotated around the z-axis by the rotation driving means. , Pile chuck control device. a gyro mechanism (J) having a sensor capable of detecting rotation around the z-axis;
An automatic control circuit (CPU) that receives an input of a detection signal of the gyro mechanism and outputs an operation command signal to the “brake shoe driving device and the chuck rotation driving means”; The pile chuck control device according to claim 1. Between the brake drum (6a) and the rotation drive means,
The pile chuck control device according to claim 1 or 2, wherein joint means for transmitting rotation around the z-axis and not transmitting movement in the z-axis direction is provided. In a method of controlling the rotational angle position around the vertical axis (z) of the chuck (4) attached to the vibrator (3) and gripping the pile (1) on a global basis,
The brake drum (6a) is fixed to the z-axis concentrically in advance with respect to the rotating shaft (4b) concentric with the z-axis provided on the chuck, and the brake shoe ( 6b, 6c) and a means for rotationally driving the rotating shaft (4b),
Furthermore, a gyro mechanism (J) is installed for the vibrator,
The earth reference rotation angle position of the exciter in a state in which the pile gripped by the chuck is in a desired rotation angle position is stored in the gyro mechanism,
A method for controlling a chuck for piles, wherein when a plurality of piles are punched sequentially, the rotation angle position is controlled based on the memory of the gyro mechanism while rotating the chuck by the rotation driving means for each pile.

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