JP2014101713A - Position measuring apparatus for pile driving machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position measuring apparatus for a pile driving machine capable of accurately measuring a position of a pile driving unit in simple structure.SOLUTION: A pile driving machine 1 comprises a pile driving unit 3 supported in a distal end portion of an arm unit 2 which is supported by a machine body part 4 in a rotatable manner. A position measuring apparatus 10 for the pile driving machine for measuring a position of the pile driving unit 3 comprises: a measurement wire 12 which is fed out of a measuring instrument body 11 installed in the machine body part 4, and of which the distal end is connected to the pile driving unit 3; tensioning means for maintaining the measuring wire 12 in a tensioned state; length measuring means 13 for measuring a length L of the measuring wire 12 fed out of the measuring instrument body 11; angle measuring means 14 for measuring an angle θ formed by the measuring wire 12 with a horizontal surface H; and an arithmetic unit 15 for calculating position measurement information of the pile driving unit 3 on the basis of the feed-out length L and the angle θ.

Description

  The present invention relates to a pile driving machine that uses a general-purpose construction machine such as a backhoe, and relates to a pile driving machine position measurement device that measures the position of a pile driving work unit such as an auger unit or a vibration pile driving unit.

  Conventionally, a general-purpose construction machine such as a backhoe is used for a pile driving machine used for burying a pile such as a foundation pile in the ground, and an auger unit or a vibration pile is used at the tip of the arm unit of the construction machine. A device formed by attaching a pile driving unit such as a hammering unit is known (see, for example, Patent Document 1).

  The pile driving machine includes, for example, an arm unit including a movable machine main body, a boom whose base end is pivotally supported by the machine main body, and an arm pivotally supported by the distal end of the boom, and a distal end of the arm unit. A pile driving unit such as an auger unit suspended through a universal joint, and the pile driving unit descends in the vertical direction in conjunction with the pivoting movement of the boom and arm. Excavation and driving of ready-made piles are made.

  In such a pile driving machine, it is necessary to grasp the position of the pile driving work unit and its moving distance in order to manage the excavation depth and the pile burying depth. Because it is a structure with a pile driving unit attached, it may not be equipped with a dedicated position measuring device. In such a case, it can be handled by retrofitting a position measuring device for the pile driving unit. Was.

  As such a position measuring device, there is provided an angle measuring means such as an angle sensor attached to a boom and an arm of a construction machine such as a backhoe, and a pile driving unit based on information output from the angle measuring means etc. The position is calculated (for example, see Patent Document 2), a reflection plate is installed on the pile driving unit or the ground surface, and a laser displacement meter is placed above or below the reflector at a predetermined interval. , And the movement distance of the pile driving unit based on the measurement data from the laser displacement meter (see, for example, Patent Document 3), the take-up reel installed on the ground surface A measuring wire that has been drawn out in a more vertical direction is placed along a pile driving unit such as an auger unit or a vibration pile driving unit. Based on the feed length that so as to measure the vertical position of the piling work units (e.g., see Patent Document 4), and the like are known.

JP 2002-303087 A JP 2011-043002 A JP 2005-264505 A JP 2006-097398 A

  However, in the position measuring apparatus using the conventional angle measuring means as described above, when the angle measuring means such as the angle sensor is attached to the boom and the arm, the attachment work is complicated because the position needs to be finely adjusted. There was a problem that it took time and effort.

  In addition, the calculation of the position of the pile driving unit requires complicated calculation processing based on many conditions such as arm length and boom length in addition to information from each angle measuring means. There is a problem that a high-performance arithmetic unit suitable for processing is required, and the cost of the apparatus increases accordingly.

  On the other hand, in the apparatus using the conventional laser displacement meter as described above, there is a possibility that the position of the reflecting plate may fluctuate due to discharge of excavated sediment on the ground surface when the reflecting plate is installed on the ground surface, In addition, accurate position measurement may be hindered by the influence of disturbances such as sunlight.

  Moreover, in the position measuring apparatus using the conventional measuring wire as described above, the apparatus must be installed and removed every time it moves, and when a plurality of piles are buried, the work is complicated and troublesome. Furthermore, in order to accurately measure the position, there has been a problem that the position of the measuring wire needs to be finely adjusted and the installation work is troublesome.

  Furthermore, since this position measuring device has a structure in which the measuring wire is arranged along the pile driving unit, the ready-made pile and the excavating screw whose measuring wire constitutes the pile driving unit during the operation. On the other hand, if the distance between the measuring wire and the excavating screw or ready-made pile is taken to avoid the entrainment, there is a problem that an error is likely to occur in the measured value. there were.

  Then, in view of such a conventional problem, the present invention has been made for the purpose of providing a position measuring device for a pile driving machine capable of accurately measuring the position of a pile driving work unit with a simple structure. .

  The feature of the invention according to claim 1 for solving the conventional problem as described above is that a machine body having a moving means, an arm unit rotatably supported by the machine body, and the arm unit A pile driving machine comprising a pile driving work unit supported by the tip of the head and moving up and down in conjunction with the arm unit, and measuring the position of the pile driving work unit for measuring the position of the pile driving work unit In the apparatus, for the measurement, the leading end is connected to either one of the machine main unit or the pile driving unit, and the tip is connected to the other one of the machine main unit or the pile driving unit. A wire, a tension means for maintaining the measurement wire in a tensioned state, a length measurement means for measuring a length of the measurement wire drawn from the measuring instrument body, and the measurement wire The position measurement information of the pile driving unit is calculated based on the angle measuring means for measuring the angle formed by the horizontal plane, the feeding length measured by the length measuring means and the angle measured by the angle measuring means And a position measuring device for a pile driving machine provided with a calculation unit.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect, the arithmetic unit is a polar coordinate system based on a feeding length measured by the length measuring unit and an angle measured by the angle measuring unit. Coordinate conversion means for converting position information into Cartesian coordinate system position information for output

  According to a third aspect of the present invention, in addition to the configuration of the second aspect, the arithmetic unit includes a storage unit that stores the orthogonal coordinate system position information at a measurement reference position that can be arbitrarily set, and the storage unit. The vertical direction component of the orthogonal coordinate system position information at the stored measurement reference position is compared with the vertical direction component of the orthogonal coordinate system position information at a desired position, and based on the difference, the vertical direction of the pile driving unit A distance measuring means for calculating the moving distance.

  According to a fourth aspect of the present invention, in addition to the configuration of the second or third aspect, the arithmetic unit stores the orthogonal coordinate system position information at any arbitrary position, and the storage means stores the information. Further, there is provided an abnormality detecting means for comparing horizontal components of the orthogonal coordinate system position information between arbitrary positions and detecting an abnormality of the vertical trajectory of the pile driving unit based on the difference.

  As described above, the position measuring device for a pile driving machine according to the present invention includes a machine main body having a moving means, an arm unit rotatably supported by the machine main body, and a tip of the arm unit. In a pile driving machine comprising a pile driving work unit supported and moved up and down in conjunction with the arm unit, in the pile driving machine position measurement device for measuring the position of the pile driving work unit, A measuring wire which is fed out from a measuring instrument main body installed in either the machine main body or the pile driving unit, and whose tip is connected to either the machine main body or the pile driving unit; Tensioning means for maintaining the measuring wire in a tensioned state, length measuring means for measuring the length of the measuring wire fed from the measuring instrument body, and the measuring wire being a horizontal plane An angle measuring means for measuring the angle, and an arithmetic unit for calculating position measurement information of the pile driving unit based on the feeding length measured by the length measuring means and the angle measured by the angle measuring means The position of the pile driving unit can be accurately measured with a simple structure, and can be easily attached even when retrofitting to an existing construction machine.

  In the present invention, the arithmetic unit converts polar coordinate system position information based on the feed length measured by the length measuring unit and the angle measured by the angle measuring unit into orthogonal coordinate system position information and outputs the converted information. By providing the coordinate conversion means, it is possible to easily grasp the vertical position and horizontal position of the pile driving unit.

  Furthermore, in the present invention, the arithmetic unit includes a storage unit that stores the orthogonal coordinate system position information at a measurement reference position that can be arbitrarily set, and an orthogonal coordinate system position information at the measurement reference position stored in the storage unit. A distance measuring means for comparing a vertical direction component and a vertical direction component of the position information of the Cartesian coordinate system with a desired position, and calculating a vertical direction moving distance of the pile driving unit based on the difference; Thus, vertical distances such as excavation depth and pile burying depth can be easily measured by simple arithmetic processing.

  Further, in the present invention, the arithmetic unit compares the horizontal direction component of the orthogonal coordinate system position information between arbitrary positions with storage means for storing the orthogonal coordinate system position information at each arbitrary position, and the difference Accordingly, the abnormality of the working unit can be detected by a simple calculation process by providing the abnormality detecting means for detecting the abnormality of the vertical trajectory of the pile driving unit.

It is a side view which shows the outline of an example of the pile driving machine for demonstrating the use condition of the position measuring device for pile driving machines which concerns on this invention. It is a partial expanded side view for demonstrating the measurement principle of the position measuring device for pile driving machines which concerns on this invention.

  Next, an embodiment of the position measuring device for a pile driving machine according to the present invention will be described based on the embodiment shown in FIGS. In the figure, reference numeral 1 denotes a pile driving machine.

  The pile driving machine 1 uses a general-purpose construction machine such as a backhoe, and a pile driving unit 3 such as an auger unit or a vibration pile driving unit is attached to the tip of an arm unit 2 of the construction machine.

  This construction machine includes a movable machine body 4 and an arm unit 2 whose base end is pivotally supported by the machine body 4 and can be rotated in the vertical direction. The work unit 3 can move in the vertical direction.

  The machine body 4 includes a turning portion 4b that is turnably supported on the moving body 4a, and the arm unit 2 is rotatably supported by the turning portion 4b.

  The arm unit 2 has an articulated arm structure including a boom 2a that is supported by the machine body 4 so as to be rotatable in the vertical direction, and an arm 2b that is supported at the tip of the boom 2a so as to be rotatable in the vertical direction. The boom 2a and the arm 2b are each rotated within a predetermined rotation range by a hydraulic actuator (not shown), and the tip of the arm 2b draws a straight track in the vertical direction by a combination of the rotation operations of the boom 2a and the arm 2b. Can be done.

  The pile driving unit 3 in the figure is an auger unit, and includes a driving means 3a composed of a hydraulic motor or an electric motor, and a drilling screw (or steel pipe pile) 3b connected to the rotating shaft of the driving means 3a. And the upper end of the drive means 3a is swingably attached to the tip of the arm 2b via a universal joint, and the rotary shaft of the excavating screw (or steel pipe pile) 3b is vertically attached to the tip of the arm unit 2 It is drooping towards.

  The auger unit 3 operates the driving means 3a to rotate the excavating screw (or steel pipe pile) 3b while lowering it in the vertical direction in conjunction with the operation of the arm 2b and the boom 2a. (Or a steel pipe pile) 3b excavates the ground A, and forms the vertical hole Aa toward the vertical direction.

  Moreover, this pile driver 1 is provided with the position measuring device 10 for pile drivers, and the penetration depth (pile) of the position of the auger unit which is the pile driving unit 3 and the ground of the excavating screw (or steel pipe pile) 3b. Position information such as embedment depth) can be grasped.

  This pile driving machine position measuring device 10 is fed from a measuring instrument main body 11 installed on the turning section 4b of the machine main body 4, and has a measuring wire 12 whose tip is connected to the pile driving work unit 3, and measurement. The tensioning means for maintaining the wire 12 in a constantly tensioned state, the length measuring means 13 for measuring the length of the measuring wire 12 fed out from the measuring instrument body 11, and the measuring wire 12 form a horizontal plane. Angle measuring means 14 for measuring the angle.

  Further, the position measuring apparatus 10 includes an arithmetic unit 15, and the pile driving unit 3 based on the feeding length L measured by the length measuring means 13 and the feeding angle θ measured by the angle measuring means 14. Position measurement information is calculated, and the position measurement information is output to a display device such as a monitor or a control unit of a construction machine.

  The measuring instrument main body 11 includes, for example, a take-up reel 16 installed with its rotation axis facing a direction intersecting (orthogonal) with the wire feeding direction, and the measuring wire 12 is fed or wound in conjunction with the rotation of the reel 16. It has come to be taken.

  The measuring wire 12 is connected to a hook 17 that is fixed at a desired position of the pile driving unit 3 at the tip fed out from the measuring instrument body 11, and is always slackened by the tensioning means and without tension. Is maintained.

  In addition, although the present Example demonstrated the example which connected the front-end | tip of the measurement wire 12 to the drive means 3a, the connection position of the front-end | tip of the wire is not specifically limited, Select the position suitable for position management suitably. Is desirable. Therefore, when using a vibration-type pile driving unit, the hook 17 may be provided on the outer periphery of the pile, and the position of the pile may be directly measured.

  The tension means is constituted by, for example, a drive motor with a torque converter (not shown) that rotates the take-up reel 16, and by urging the take-up reel 16 in the take-up direction by the drive motor so that no slack occurs. The measuring wire 12 is always tensioned.

  That is, when the distance between the position P of the pile driving unit 3 and the feeding start position O increases, the measuring wire 12 is further fed out from the reel 16 in a tensioned state, and the pile driving unit 3 When the distance between the position P and the feeding start position O is narrowed, the measuring wire 12 is wound around the reel 16 and is always kept in a tensioned state without being loosened and stretched.

  As the length measuring means 13, for example, a rotary encoder installed in front of the take-up reel 16 is used, and the measuring wire 12 is interposed in the rotary pulley 18 constituting the rotary encoder so that the measuring wire 12 can be moved. The rotation pulley 18 rotates in conjunction with the rotation, and the rotation length L from the measuring instrument main body 11 by measuring the rotation, that is, the information on the wire length from the feeding start position O to the wire tip is given to the arithmetic unit 15 as needed. It is output.

  In addition, even if this length measurement means 13 is the case where the distance between the position P of the pile driving unit 3 and the feeding start position O fluctuates with the vertical movement of the pile driving unit 3. Since the measuring wire 12 is always in a tensioned state by the tensioning means, it is possible to always measure an accurate feeding length L.

  The angle measuring means 14 uses a non-contact position sensor or the like using laser light, measures the feeding angle θ of the measuring wire 12 with respect to the horizontal plane H, and the information is output to the arithmetic unit 15 as needed. Yes.

  Although not shown in particular, the arithmetic unit 15 includes a central processing unit (CPU), storage means such as a ROM, a display device such as a monitor and a printer, and the polar coordinate system position information (L, θ) is expressed in an orthogonal coordinate system. Coordinate conversion means for converting to position information P (x, y), distance measuring means for calculating the vertical movement distance (pile burying depth) D of the pile driving unit 3, and the vertical of the pile driving unit 3 The position of the pile driving unit 3 is provided on the basis of the measurement data of the feeding length L and the feeding angle θ input from the length measuring means 13 and the angle measuring means 14. Measurement information can be calculated and output to a display device such as a monitor or a control device for a construction machine.

  The coordinate conversion means converts the polar coordinate system position information (L, θ) based on the feed length L and the feed angle θ into orthogonal coordinate system position information (x, y) with the feed start position O as the origin, and the conversion data Is output to a display device such as a monitor and is also output to and stored in a storage means.

  That is, as shown in FIG. 2, the horizontal direction component x and the vertical direction component y of the Cartesian coordinate system position information P (x, y) with the feeding start position O as the origin are measured by the measuring wire 12 having the feeding length L. Since it can be grasped as the length of the other two sides constituting the right triangle as the hypotenuse, the horizontal direction component x and the vertical direction component y of the orthogonal coordinate system position information P (x, y) are the measurement wire 12. The feed length L and the feed angle θ are as follows:

  Using this relational expression, the coordinate conversion means converts the polar coordinate system position information (L, θ) into the orthogonal coordinate system position information P (x, y) having the feed start position O as the origin, and monitors the converted data. In addition, the information is output to the storage unit as needed, and the orthogonal coordinate system position information P (x, y) of the desired position is stored in the storage unit as needed.

  Further, in this calculation unit 15, an arbitrary position of the pile driving unit 3 can be set as the measurement reference position P0, and the orthogonal coordinate system position information P0 (x0, y0) at the measurement reference position P0 is used as the measurement reference. It can be stored in the storage means as position information. A plurality of measurement reference positions P0 may be set.

  The measurement reference position P0 may be set manually by an operator, or may be automatically set based on an arbitrary condition. As an automatic setting method, for example, a sensor for detecting contact between the lower end of the excavating screw 3b and the ground surface B is separately provided in the pile driving machine 1, and the position when the detection signal from the sensor is received is automatically set. For example, there is a method of setting as the measurement reference position P0.

  The distance measuring means includes the vertical direction component y0 of the orthogonal coordinate system position information P0 (x0, y0) at the measurement reference position P0 stored in the storage means and the orthogonal coordinate system position information P (x, y) of the desired position P. The vertical direction component y is compared, the vertical movement distance D from the measurement reference position P0 to the position P of the pile driving unit 3 is calculated based on the difference, and the information is displayed on a display device such as a monitor or construction machine. It outputs to the control apparatus which controls.

  That is, the distance measuring means calculates the moving distance D of the pile driving unit 3 based on the following relational expression, and outputs the information to a display device such as a monitor and a control device that controls the construction machine.

  The pile driving unit 3 is set by setting the measurement reference position P0 to the excavation start position, that is, the position where the lower end of the excavation screw (or steel pipe pile) 3b indicated by the solid line in FIG. Can be grasped as the pile driving depth (excavation depth), and the distance measuring means outputs the pile driving depth D to a display device such as a monitor or a control unit of the construction machine.

  The abnormality detection means detects an abnormality of the vertical trajectory of the pile driving unit 3 by comparing the horizontal component x of the rectangular coordinate system position information P (x, y) at any two points, and the abnormality The detection information is output to a display device such as a monitor or a control device that controls the construction machine.

  That is, if the vertical trajectory of the pile driving unit 3 is normal, the horizontal component x of the orthogonal coordinate system position information P (x, y) is theoretically always constant.

  Accordingly, the horizontal component x of the orthogonal coordinate system position information (x, y) of any two points, for example, the horizontal component x0 of the measurement reference position information P0 (x0, y0) and the orthogonality of the position P output at any time. When the horizontal component x of the coordinate system position information P (x, y) is compared and the difference shows a value deviating from the allowable range, the actual trajectory of the pile driving unit 3 and the normal vertical It is determined that a deviation (abnormality) has occurred between the direction track and the abnormality detection signal is output to a display device such as a monitor or a control device that controls the construction machine.

  The pile measuring machine position measuring apparatus 10 configured in this way has the measuring instrument main body 11 and the arithmetic unit 15 installed in the machine main body 4, and piles the tip of the measuring wire 12 fed out from the measuring instrument main body 11. Since it can be installed simply by connecting to a desired position of the unit 3 for use, it can be easily attached even when retrofitting to an existing construction machine.

  Further, in this position measuring apparatus 10, the position information P (x, y) of the pile driving unit 3 is represented only by the relationship (L, θ) with the feeding start position O of the measuring instrument main body 11, and the measuring instrument main body 11 does not depend on the installation position with respect to the machine body 4, so that it is possible to easily attach the measuring instrument main body without requiring a fine position adjustment or the like.

  Furthermore, since the position information obtained by the position measuring device 10 for the pile driving machine depends only on the feeding length L and the feeding angle θ of the measuring wire 12, the influence of the fluctuation of the ground surface due to excavation, disturbance due to sunlight, etc. Without receiving, accurate position information can always be obtained.

  Moreover, in this position measuring device 10, by setting the measuring instrument main body 11 in the turning part 4b of the machine main body 4, the pile driving unit 3 and the measurement unit once set can be measured even when the machine main body 4 is moved or turned. The positional relationship with the wire 12 can be maintained, and it is not necessary to remove the measuring wire 12 every time it is moved or turned, so that it is possible to work efficiently even when a plurality of piles are constructed.

  Moreover, in this position measuring apparatus 10, since the measurement wire 12 is arrange | positioned so that it may not interfere with the arm unit 2 and the pile driving unit 3, the measurement wire 12 does not become an obstacle of a pile driving operation.

  In the above-described embodiment, an example in which a backhoe is used as a general-purpose construction machine has been described. However, the construction machine is not limited to a backhoe, and may be a construction machine having another multi-joint arm structure. The arm unit 2 is not limited to the articulated arm structure as described above, and may be an arm unit having an arm structure that can extend and contract in the arm length direction, such as an arm unit mounted on a rough terrain crane or a truck crane. Yes.

  Moreover, although the above-mentioned Example demonstrated the example which used the auger unit for the unit for a pile driving operation, it can respond to the unit used for a vibration type pile driving unit and other pile driving methods.

A Ground 1 Pile driver 2 Arm unit 3 Pile driving unit 4 Machine main body 10 Pile driver position measuring device 11 Measuring instrument main body 12 Measuring wire 13 Length measuring means 14 Angle measuring means 15 Calculation unit 16 Take-up reel 17 Hook 18 Rotating pulley

Claims (4)

A machine main body having a moving means; an arm unit rotatably supported by the machine main body; a pile driving unit supported by a tip of the arm unit and moved up and down in conjunction with the arm unit; In a pile driving machine comprising: a pile driving machine position measuring device for measuring the position of the pile driving work unit,
A measuring wire that is fed out from a measuring instrument main body installed in one of the machine main body or the pile driving unit, and whose tip is connected to either the machine main body or the pile driving unit; and Tensioning means for maintaining the measuring wire in a tensioned state, length measuring means for measuring the length of the measuring wire drawn from the measuring instrument body, and measuring an angle formed by the measuring wire with a horizontal plane Angle measuring means, and an arithmetic unit for calculating position measurement information of the pile driving unit based on the feeding length measured by the length measuring means and the angle measured by the angle measuring means. A position measuring device for a pile driving machine characterized by that.   The arithmetic unit includes coordinate conversion means for converting polar coordinate system position information based on the feed length measured by the length measurement means and the angle measured by the angle measurement means into orthogonal coordinate system position information and outputting the information. The position measuring device for a pile driving machine according to claim 1.   The arithmetic unit includes storage means for storing the orthogonal coordinate system position information at an arbitrarily set measurement reference position, and a vertical direction component of the orthogonal coordinate system position information at the measurement reference position stored in the storage means and a desired value. The pile of Claim 2 provided with the distance measurement means which compares the vertical direction component of the said orthogonal coordinate system position information of the position of the position, and calculates the vertical direction movement distance of the said pile driving | operation unit based on the difference Positioning device for hammering machines. The arithmetic unit compares the horizontal direction component of the orthogonal coordinate system position information between arbitrary positions with storage means for storing the orthogonal coordinate system position information at each arbitrary position, and based on the difference, the pile driving operation The position measuring device for a pile driving machine according to claim 2 or 3, further comprising an abnormality detecting means for detecting an abnormality in a vertical trajectory of the unit for use.

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