JP2019206857A - Pile driving device - Google Patents

Abstract

To provide a pile driving device capable of preventing a trouble and an erroneous operation of hydraulic mechanisms by stably interlocking while maintaining desired geometrical relationship in a plurality of hydraulic mechanisms used as a pair.SOLUTION: A wire fixing portion 62 is attached on a relay bracket 26 separated from a relay swing shaft 25a by a prescribed distance L1. A wire winding portion 63 is attached on a leader 32 separated from a leader swing shaft 24a by prescribed distance L3. Also, angle detection sensors 70 detecting tilt angles of the leader 32, 15° and 45°, are respectively attached to the leader swing shaft 24a. As to length L of a wire 61, for example, in a state where the leader 32 and the relay bracket 26 are inclined horizontally, a restriction L(tilt angle 45°)>L is provided. On the other hand, in a state where the leader 32 and the relay bracket 26 are standing vertically, a restriction L(tilt angle 15°)<L is provided.SELECTED DRAWING: Figure 3

Description

  More particularly, the present invention relates to a pile driving device, and more specifically, a plurality of hydraulic mechanisms used in pairs can be stably interlocked while maintaining a desired geometric relationship, thereby preventing problems and malfunctions of the hydraulic mechanism. It is related with the pile driving device which makes it possible to do.

  Steel pipe pile driving devices for rotating and penetrating piles for supporting structures (steel pipe piles) into the ground are widely used (see, for example, Patent Documents 1 and 2). Usually, the leader is used in a vertical state, and the swivel head is raised and lowered along the leader by the torque of a feed hydraulic motor engaged with a rack gear provided on the leader. Therefore, the swivel head is positioned in the vicinity of the upper end of the leader in the initial state, and descends toward the ground as the steel pipe pile penetrates into the ground, and finally moves to the vicinity of the lower end of the leader. The swivel head includes two hydraulic motors for rotating the steel pipe pile in addition to the feeding hydraulic motor.

  Therefore, when the swivel head is in operation (when pile driving), oil is supplied to these hydraulic pressures via a flexible tube (hydraulic hose). The hydraulic hose is supported at a high position by a hose support means called a relay bracket in order to reduce bending and shorten the transfer distance to reduce energy loss during transfer. Therefore, for example, when the swivel head is operating with the leader standing in the vertical direction and the relay bracket tilts horizontally, the hydraulic hose is forcibly pulled by the relay bracket, and in the worst case the hydraulic hose is broken. Malfunction can occur. For this reason, it is desirable that the reader and the relay bracket are raised or tilted in synchronization.

JP 2014-133985 A JP 2006-132118 A

  As means for synchronizing or standing or tilting the reader and the relay bracket, an angle sensor for measuring the tilt angle is attached to each of the reader and the relay bracket, and the difference between the output values of each angle sensor is within a predetermined range. It is conceivable to control the standing / falling of the reader and the relay bracket.

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

  Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and the object thereof is to stably interlock while maintaining a desired geometric relationship among a plurality of hydraulic mechanisms used in pairs. Another object of the present invention is to provide a pile driving device that can prevent a malfunction and malfunction of a hydraulic mechanism.

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

  In the above configuration, in the guiding means (32) and the flexible pipe supporting means (26) used in pairs, the distance (L) is measured to synchronize the two, or one is fixed. It becomes possible to estimate the other behavioral state (standing or tilting). Alternatively, it is possible to estimate the other tilt angle information (α, β) from one tilt angle information (α, β).

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

  In the above configuration, both can be stably synchronized and linked. As a result, it is possible to prevent a problem that the hydraulic flexible piping is pulled by one of the guiding means (32) or the flexible piping support means (26) and is broken.

  The third feature of the pile driving device according to the present invention is that the behavior of the other of the guiding means (32) and the flexible piping support means (26) with respect to the other is based on the time variation of the distance (L). It is to estimate the state.

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

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

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

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

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

  According to the pile driving device according to the present invention, it is possible to stably synchronize both the guide means and the flexible pipe support means used in pairs by maintaining the distance within a predetermined range. Thereby, for example, it is possible to prevent a problem that the hydraulic hose is pulled and broken.

  Further, by checking the time change of the distance, it is possible to appropriately estimate the behavior of the other in a state where one is fixed. Furthermore, the other tilt angle can be suitably estimated based on the distance and the one tilt angle. Thereby, it becomes possible to prevent malfunction of the guiding means and the flexible piping support means.

It is explanatory drawing which shows the state which the leader of the steel pipe pile driving device which concerns on one Embodiment of this invention stood up. It is explanatory drawing which shows the state which the leader of the steel pipe pile driving device which concerns on one Embodiment of this invention tilted. It is explanatory drawing which shows the principal part between a reader | leader and a relay bracket. It is explanatory drawing which shows the geometric relationship between the fall angle of a leader, the fall angle of a relay bracket, and the length of the wire of a linear encoder. It is explanatory drawing which shows the length of a wire when changing the fall angle of a leader within the range of 0 degree-90 degrees in the state which fixed the fall angle of the relay bracket to 0 degree or 90 degrees. It is explanatory drawing which shows the length of a wire when changing the fall angle of a relay bracket within the range of 0 degree-90 degrees in the state which fixed the fall angle of the leader to 0 degree or 90 degrees. It is explanatory drawing which shows the process which calculates the fall angle of a relay bracket based on the fall angle of a leader, and the length of a wire. It is explanatory drawing which shows the process which calculates the fall angle of a relay bracket based on the fall angle of a leader, and the length of a wire. It is explanatory drawing which shows the maximum value and minimum value of the distance of the fixed point on a straight line, and the moving point on the circumference which has a center on the straight line.

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

  FIG.1 and FIG.2 is explanatory drawing which shows the steel pipe pile driving apparatus 100 which concerns on one Embodiment of this invention. FIG. 1 shows a state where the reader 32 stands up, and FIG. 2 shows a state where the reader 32 tilts. Therefore, the steel pipe pile 1, the rotating rod 46, and the attachment 47 are not shown in FIG.

  The steel pipe pile driving device 100 is provided with a crawler device 10 for moving the vehicle body 20 back and forth, an operation chamber 22 for accommodating an operator, and a power chamber 23 for accommodating an engine, a hydraulic pump, and control devices thereof. A vehicle body 20, a reader device (guidance means) 30 for raising and lowering a swivel head (placement device) 40, and a swivel head (pile placement means) 40 that gives rotational torque to the steel pipe pile 1 are configured. . Each configuration will be described below.

  As shown in FIG. 2, the crawler device 10 has left and right independent traveling motors (not shown), independent left and right starting wheels 11 and 11 directly connected to each traveling motor, and rotatable left and right independent idlers. The left and right independent endless crawler belts 13 and 13 wound between the wheels 12 and 12, the starter wheel 11 and the idler wheel 12, and the endless crawler belt 13 are held between the starter wheel 11 and the idler wheel 12. The vehicle body 20 is moved forward and backward while comprising a plurality of independently rotatable left and right wheels 14.

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

  As shown in FIG. 2, the reader raising / lowering mechanism 24 includes a reader fixing bracket 24b that rotatably supports a reader swing shaft 24a that serves as a fulcrum for standing or tilting the reader 32, and a reader swing shaft 24a. , A reader swing bracket 24c that swings together with the reader 32 excluding the first reader 32a, a reader hinge shaft 24d that hinges the first reader 32a and the second reader 32b, and a reader hinge shaft 24d. Is attached to the leader hinge plate 24e, the first swing restricting boss 24f and the second swing restricting boss 24g for restricting the swing of the first reader 32a, the first swing restricting boss 24f and the second swing restricting boss. The swing restricting plate 24h (FIG. 1) is engaged with the boss 24g, and the first cylinder 24i (FIG. 1) is used to erect or tilt the reader 32. The leader fixing bracket 24b is fixed to a structure frame 21 described later. The reader swing bracket 24c is fixed to the second reader 32b.

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

  Similarly, the relay bracket raising / lowering mechanism 25 that raises or tilts the relay bracket 26 has a relay swing shaft 25a that serves as a fulcrum for raising or tilting the relay bracket 26, and a relay swing shaft 25a that is rotatable (free). The relay fixing bracket 25b, the relay swing bracket 25c that is integrated with the relay bracket 26 and swings around the relay swing shaft 25a, and the second cylinder 25d that erects or tilts the relay bracket 26.

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

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

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

  Each split leader has a central portion in which rack gears 35a, 35b, 35c, 35d, 35e, 35f, 35g, and 35h that are engaged with the feed motor 44 (FIG. 2) of the swivel head 40 are sandwiched between guide rails on both sides. Are provided respectively.

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

  Returning to FIG. 2, the swivel head 40 includes a body 41, left and right independent rotation motors 42 and 42 that generate rotational torque for rotating the rotating rod 46 (FIG. 1), and a spindle that transmits the rotational torque to the steel pipe pile 1. 43, left and right feed motors 44, 44 that generate a supporting force (axial force) for supporting the swivel head 40, and left and right independent concave shapes that fit into the convex guide rails 34a,. Sliders 45, 45 and a rotating rod 46 (FIG. 1) that transmits rotational torque to the steel pipe pile 1. The rotating rod 46 is integrated with the spindle 43 by a hydraulic chuck 43a. The rotating rod 46 is connected to the steel pipe pile 1 via an attachment 47 (FIG. 1).

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

  In the vicinity of the reader swing shaft 24a, angle detection sensors 70 and 71 (not shown) for detecting a specific tilt angle α of the second reader 32b (reader 32) are provided on both sides. The angle detection sensor 70 detects a tilt angle of 45 ° of the second reader 32b (reader 32). The angle detection sensor 71 detects a tilt angle of 15 ° of the reader 32. By the angle detection sensors 70 and 71, the reader 32 moves from 0 ° to 15 ° (hereinafter referred to as “first angle range”), 15 ° to 45 ° (hereinafter referred to as “second angle range”), and 45 ° to 90 °. (Hereinafter, referred to as “third angle range”) can be detected to be located in any angle range.

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

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

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

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

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

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

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

  Accordingly, when the relay bracket 26 is positioned between the point D0 and the point Dx in a state where the reader 32 is fixed in the third angle range (45 ° ≦ α ≦ 90 °), the length L of the wire 61 is When increasing, it turns out that the relay bracket 26 is inclined toward the horizontal. On the other hand, when the length L of the wire 61 is reduced, it can be seen that the relay bracket 26 stands up vertically.

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

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

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

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

  Therefore, in this case, by setting a limit L, for example, L (A15) <L in the possible range of the length L of the wire 61, the reader 32 tilts horizontally while the relay bracket 26 stands vertically. Thus, it is possible to prevent a problem that the hydraulic hose is broken.

  As shown in FIG. 5B, when the reader 32 stands up vertically while the relay bracket 26 is tilted horizontally, the length L of the wire 61 decreases monotonously (linear After the point Ax (L5 intersects the movable range of the point A), it increases monotonously. Accordingly, the length L of the wire 61 is maximized when the leader 32 stands vertically, and is minimized at the tilt angle α at which the leader 32 corresponds to the point Ax. Therefore, the possible range of the length L of the wire 61 is L (Ax) ≦ L ≦ L (A0).

  Therefore, in this case, by setting a restriction that L (A45)> L, for example, in the range of the length L of the wire 61, the reader 32 stands up vertically while the relay bracket 26 is tilted horizontally. Thus, it is possible to prevent a problem that the hydraulic hose is broken.

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

  As shown in FIG. 6A, when the relay bracket 26 tilts in the horizontal direction with the reader 32 standing vertically, the length L of the wire 61 increases monotonously. Therefore, the length L of the wire 61 is minimum when the relay bracket 26 stands vertically and is maximum when the relay bracket 26 tilts horizontally. Accordingly, the possible range of the length L of the wire 61 is L (D0) ≦ L ≦ L (D90).

  Therefore, in this case, by setting a limit of L (D15)> L in the possible range of the length L of the wire 61, for example, the relay bracket 26 tilts horizontally while the reader 32 is standing upright. Thus, it is possible to prevent a problem that the hydraulic hose is broken.

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

  Therefore, in this case, by setting a limit on the range that the length L of the wire 61 can take, for example, by setting a limit L (D75)> L, the relay bracket 26 can be used in a state where the reader 32 is tilted horizontally. It is possible to prevent a problem that the hydraulic hose is erected vertically and breaks.

  As described above, when the reader 32 or the relay bracket 26 tilts horizontally or stands vertically, when the other stands upright or tilts horizontally, the length L of the wire 61 is adjusted. By providing a restriction on the range to be obtained, it is possible to prevent a problem that the hydraulic hose is pulled and judged.

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

  FIG. 7A shows these geometrical relationships when the tilt angle α = 0 ° of the reader 32 and the tilt angle β = 0 ° of the relay bracket 26, and FIG. 7B shows both the point A and the point D. These geometrical relationships are shown when the reference line L0 is not exceeded, and (c) shows these geometries when the point A exceeds the reference line L0 but the point D does not exceed the reference line L0. The relationship. In addition, about a code | symbol, it is common in FIGS.

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

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

  Accordingly, as the relative positions of the point A and the point D with respect to the reference line L0, when both the point A and the point D do not exceed the reference line L0 (FIG. 7B), the point A exceeds the reference line L0. When the point D does not exceed the reference line L0 (FIG. 7C), the point A does not exceed the reference line L0, but the point D exceeds the reference line L0 (FIG. 8A), And the case where the point A and the point D both exceed the reference line L0 (FIG. 8B) can be considered.

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

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

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

Next, the angle ∠ACD (= φ2) is obtained. Apply the cosine theorem for the triangle ΔACD. That is, the following relational expression is established.
(Expression 6): L ² = L3 ² + L4 ² −2 · L3 · L4 · cosφ2 <=> cosφ2 = (L3 ² + L4 ² −L ² ) / (2 · L3 · L4)
Taking the inverse function of cos on both sides of Equation 6, the following relational expression is established.
(Expression 7): φ2 = cos ⁻¹ {(L3 ² + L4 ² −L ² ) / (2 · L3 · L4)}
From Equation 5 and Equation 7, the angle ∠BCD = φ1 + φ2 = φ is obtained. Substituting into Equation 2, the tilt angle β of the relay bracket 26 is calculated as follows.
(Expression 8): β = φ−φ0 = φ1 + φ2-φ0 = sin ⁻¹ {(L1 / L4) · sin (θ0−α)} + cos ⁻¹ {(L3 ² + L4 ² −L ² ) / (2 · L3 L4)} − φ0, where L4 = {L1 ² + L2 ² −2 · L1 · L2 · cos (θ0−α)} ^1/2

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

Therefore, by replacing the angle ∠ABC = θ0−α → α−θ0 in Equation 5 above, the angle ∠ACB = φ1 is calculated as follows.
(Formula 5 ′): φ1 = sin ⁻¹ {(L1 / L4) · sin (θ0−α)} Note that the angle ∠ACD = φ2 is calculated by the above formula 7.

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

  FIG. 8A shows these geometrical relationships when point A does not exceed the reference line L0 but point D exceeds the reference line L0, and FIG. These geometrical relationships are shown when the reference line L0 is exceeded.

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

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

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

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

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

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

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

  As described above, according to the steel pipe pile driving apparatus 100 of the present invention, in the leader 32 and the relay bracket 26 used in a pair, the length L of the wire 61 is maintained within a predetermined range, and the two are synchronously interlocked. It becomes possible. In addition, by checking the time change of the length L of the wire 61, it is possible to appropriately estimate the behavior of the other in a state where one is fixed. Further, the other tilt angle can be suitably estimated based on the length L of the wire 61 and the one tilt angle.

1 Steel pipe pile (pile)
DESCRIPTION OF SYMBOLS 10 Crawler apparatus 11 Starting wheel 12 Idle wheel 13 Infinite crawler belt 14 Rolling wheel 20 Car body 21 Structure frame 22 Operation room 23 Power room 24 Leader raising mechanism 25 Relay bracket raising mechanism 26 Relay bracket 27 Outrigger 28 Counterweight 30 Leader apparatus (guidance) means)
31 Clamp mechanism 32 Leader 33 Winch 34 Convex guide rail 40 Swivel head (pile driving means)
41 Body 42 Rotating motor 43 Spindle 44 Feeding motor 45 Slider 46 Rotating rod 47 Attachment 60 Linear encoder 100 Steel pipe pile driving device (pile driving device)

Claims (5)

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