JP2023068915A - Construction management device of pile driver - Google Patents

Abstract

To provide a construction management device of a pile driver which can continuously record a constructions status even in a sensor failure state.SOLUTION: A construction management device of a pile driver includes a control unit 33 for executing a construction management program on the basis of measurement results of a plurality of sensors, and a display for displaying the execution result of the construction management program, wherein a driving pressure sensor 35 for measuring a driving pressure of a hydraulic motor 31 for rotationally driving is provided on a base machine, and a control pressure sensor 36 for measuring a control pressure is provided on a rotationally driving device 26, a control unit determines a construction torque on the basis of the driving pressure and the control pressure, determines necessity of an emergency measure on the basis of the state of the control pressure sensor, fixes a control command for a solenoid proportional decompression valve 32 in the state where it is necessary for the emergency measure, and determines the construction torque on the basis of only the driving pressure, and the hydraulic motor for rotationally driving controls a displacement volume to the maximum, when the control command is fixed.SELECTED DRAWING: Figure 3

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction management device for a pile driver, and more particularly to an emergency response to failure of the construction management device.

A pile driver for laying piles and improving ground is equipped with a construction management device that stores a construction management program for controlling various construction methods. When press-fitting construction members such as steel pipe piles and hollow rods into the ground, the construction management device executes a construction management program by a control device installed in the operator's cab, and a plurality of Each data representing the operating state is obtained from the sensor, depth, speed, torque, number of revolutions, etc. are obtained from each data, displayed on the display, and construction is performed while recording in memory (for example, Patent Document 1 reference.).

Among pile drivers, small ones generally use a hydraulic auger equipped with a variable displacement hydraulic motor. In this case, the construction torque is required based on the driving pressure and motor capacity. . In addition, since the control pressure sensor required to grasp the volume of the motor directly receives the vibration generated in the auger, a sensor that satisfies the required performance such as durability is usually selected. Reference 2).

JP 2017-190579 A JP 2019-199760 A

In recent years, with the expansion of the application range of pile drivers such as longer pile lengths and higher output, the importance of a construction management device that operates normally has increased. Especially when using a small pile driver, if the control pressure sensor fails during construction, the excavation capacity will not be affected and the construction will be possible. You will fall into a situation where you cannot get

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a construction management apparatus for a pile driver that can continue to record construction conditions even when a sensor fails.

In order to achieve the above object, a first construction management device for a pile driver of the present invention comprises a leader installed upright on a base machine equipped with a hydraulic source, and a rotary drive device capable of moving up and down along the leader. A construction management device equipped with a pile driver equipped with a control unit that executes a construction management program based on the measurement results of a plurality of sensors, and a display that displays the execution result of the construction management program, wherein the rotation The driving device includes a variable displacement hydraulic motor whose displacement volume can be changed by control pressure, and an electromagnetic proportional pressure reducing valve that changes the control pressure based on the control command of the control unit, and the plurality of sensors are: a driving pressure sensor for measuring the driving pressure of the variable displacement hydraulic motor; and a control pressure sensor for measuring the control pressure. The control unit obtains the application torque based on the driving pressure and the control pressure, determines whether emergency measures are necessary based on the state of the control pressure sensor, and determines the state in which emergency measures are required. , the control command is fixed and the applied torque is obtained based only on the driving pressure, and the variable displacement hydraulic motor adjusts the displacement volume to the maximum when the control command is fixed. It is characterized by being

A second construction management device for a pile driver of the present invention is a pile driver comprising a leader installed upright on a base machine equipped with a hydraulic source, and a rotary drive device capable of moving up and down along the leader. and a control unit that executes a construction management program based on the measurement results of a plurality of sensors; and a construction management device that displays the execution results of the construction management program. A variable displacement hydraulic motor whose displacement volume can be changed by pressure; a driving pressure sensor for measuring the driving pressure of the motor, and a control pressure sensor for measuring the control pressure, the driving pressure sensor and the control pressure sensor being provided in the rotation driving device, respectively, and the control unit comprises , the construction torque is obtained based on the driving pressure and the control pressure, the need for emergency measures is determined based on the state of the control pressure sensor, and when emergency measures are required, the control command is issued. The variable displacement hydraulic motor is characterized in that the displacement is adjusted to the maximum when the control command is fixed, and the applied torque is obtained based only on the driving pressure.

According to the present invention, the construction management device mounted on the pile driver fixes the control command to the electromagnetic proportional pressure reducing valve when emergency measures are required due to failure of the control pressure sensor, etc. Since the displacement volume of the motor is adjusted to the maximum, it is possible to obtain the working torque based on the set displacement volume and driving pressure even if the control pressure cannot be accurately grasped, and the construction that was forced to be interrupted in the past. can be completed on an emergency basis. Moreover, even in situations where the excavation resistance suddenly increases, the maximum capacity of the rotary drive allows excavation to be carried out reliably over a long period of time. is particularly useful as

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the pile driver to which the construction management apparatus in the 1st form example of this invention is applied. It is a figure which similarly shows a control circuit. FIG. 4 is an explanatory diagram similarly showing a failure state of a control pressure sensor; It is a figure which shows the control circuit in the example of a 2nd form of this invention. FIG. 4 is an explanatory diagram similarly showing a failure state of a control pressure sensor;

1 to 3 are diagrams of a construction management device according to a first embodiment of the present invention applied to a small pile driver. As shown in FIG. 1, the pile driver 11 is a dual-purpose machine that can switch between steel pipe pile construction and ground improvement construction, and has a lower traveling body 12 equipped with a crawler and a lower traveling body 12 on the A base machine 14 composed of an upper revolving body 13 which is rotatably provided in the upper part, a leader 15 erected in front of the upper revolving body 13, and a hoisting cylinder 16 supporting the leader 15 from behind. ing. In addition, a leader support 17 that supports the leader 15 so that it can rise and fall is provided at the front of the upper rotating body 13, and a piping support member 18 that supports piping is provided above the front of the upper rotating body 13. there is Further, an operator's cab 19 is provided on the right side of the upper rotating body 13, and a power section 20 having an engine and a hydraulic pump serving as a hydraulic source are provided on the left side.

The leader 15 is formed by connecting a plurality of leader members each having a rectangular tubular cross section, and is rotatably attached to a support shaft provided in the leader support 17 in the vehicle width direction. A top sheave 21 around which a lifting rope is wound is arranged at the upper end of the leader 15, and an openable and closable anti-vibration member 23 for preventing vibration of the steel pipe pile 22 is arranged in front of the lower part. A rack gear 24 as a component of a rack and pinion lifting device is provided at the center of the front face of the leader 15, and a pair of left and right guide pipes 25, 25 are provided at the front ends of both side faces of the leader 15 continuously over the entire length of the leader 15 so as to rotate. It serves as a mounting portion for a hydraulic auger 26, which is an example of a driving device.

Each leader member is formed by abutting connecting flanges corresponding to the cross-sectional shape of the leader 15 at adjacent portions, and is stably connected using a plurality of bolts and nuts. Each flange connection part has the same structure with the shape of the connection flange, the size of the bolt hole, the arrangement pitch, etc. in common. It can be rearranged into a long specification with a large number of members and a short specification with a small number of leader members. In this case, the length of the plurality of hydraulic hoses 27 connecting between the upper rotating body 13 and the auger 26 is changed according to the leader length.

The hydraulic hose 27 is routed along the leader 15 via a pipe support member 18 rising from the upper revolving body 13, and the portion beyond the pipe support member 18 is unrestrained by the centralized connector 28 of the auger 26. It is connected. This unrestrained portion has a substantially U-shaped slack 27a and is movable in the vertical direction as the auger 26 is raised and lowered. (Fig. 1). As a result, when the auger 26 reaches the upper end (upper limit position) or the lower end (lower limit position) of the leader 15, the shape of the slack 27a is not excessively deformed.

The auger 26 is constructed around an apparatus main body 26a having a rotatable drive shaft 29, and is provided with a pair of left and right guide gibs 26b, 26b which are in sliding contact with the guide pipes 25, 25 of the leader 15, projecting rearward, and a rack gear. A pair of left and right pinions (not shown) meshing with 24 are driven to rotate by a lifting hydraulic motor 30 to move up and down along the front surface of the leader 15 .

The auger 26 also includes a rotary drive hydraulic motor 31 connected to a speed reduction mechanism in the device main body 26a, and an electromagnetic proportional pressure reducing valve 32 attached thereto. The rotary drive hydraulic motor 31 is a swash plate type variable displacement hydraulic motor whose displacement can be changed by changing the tilt angle of the swash plate. The tilt angle of the swash plate, that is, the displacement volume (the amount of displacement per motor revolution) is adjusted by a regulator. This regulator is controlled by the control pressure output from the electromagnetic proportional pressure reducing valve 32 .

As shown in FIG. 2, the electromagnetic proportional pressure reducing valve 32 changes its control pressure based on a control command from a control unit 33 of a construction management device, which will be described later. Specifically, the degree of pressure reduction is changed as the control current input to the solenoid increases or decreases, and when a control command is input, the generated command pilot pressure (secondary pressure) increases, Operation of the regulator causes the motor to operate with progressively reduced displacement. On the other hand, fixing the control command to a minimum (eg turning off the control current) will adjust the displacement to the maximum and run the motor. That is, the control current and the control pressure of the electromagnetic proportional pressure reducing valve 32 are in a proportional relationship, but the control pressure and the displacement volume are in an inversely proportional relationship. As a result, if the flow rate is constant, the rotation driving hydraulic motor 31 rotates at a higher speed as the displacement volume decreases. produces a large amount of torque.

Here, when the pile driver 11 is used for the purpose of embedding a steel pipe pile, a steel pipe pile 22 is used as a construction member. The steel pipe pile 22 is connected via an adapter 34 provided at the lower end of the drive shaft 29 and is pressed into the ground by lowering the auger 26 while rotating the drive shaft 29 . Moreover, when using the pile driver 11 for the purpose of ground improvement, a hollow rod (not shown) is used as a construction member. The hollow rod is connected at its upper end to the swivel above the auger 26 and to the drilling head at its lower end. While rotating the hollow rod, a soil improvement agent such as cement milk is injected into the ground through the hollow rod from the tip of the drilling head.

In order to carry out various construction methods such as burying piles and improving the ground, the operator's cab 19 is equipped with operating levers, operating pedals, push-button switches, and touch panel-type devices for driving, turning, lifting and rotating the auger 26, and the like. Devices such as a display are collectively arranged near the driver's seat in consideration of operability, and a construction management device electrically connected to these devices and the operation sensor of the pile driver 11 is installed. It is

The construction management device executes a construction management program for controlling various construction methods, and is mainly composed of a control unit (CPU) 33 that performs arithmetic processing such as data processing and judgment, and FLASH that stores the construction management program. ROM, RAM that temporarily stores various data during processing, and construction plan data that sets the planned position of piles at the construction site, target depth, etc., and execution of the construction management program. It is equipped with a storage unit that stores various data, a display that allows the driver to check the execution results of the construction management program on the display screen, and a touch panel to input data.

A torque sensor, a depth sensor, a rotation sensor, and the like can be cited as the plurality of sensors that constitute the motion sensor of the auger 26 . For example, the torque sensor is a sensor that measures the torque of the work member gripped by the auger 26, and as shown in FIG. It consists of a sensor 35 and a control pressure sensor 36 for measuring the control pressure. The drive pressure sensor 35 is provided on the upper revolving body 13 and measures the pressure at the outlet of the main hydraulic pump 37 . On the other hand, the control pressure sensor 36 is provided in the auger 26 and measures the pressure obtained by reducing pressure oil from the pilot hydraulic pump 38 with the electromagnetic proportional pressure reducing valve 32 .

A signal measured by each sensor is transmitted to the control unit 33, and, for example, a construction torque is calculated as the construction load based on the driving pressure of the rotation driving hydraulic motor 31 and the displacement corresponding to the control pressure. The depth, the cumulative number of rotations, and the rotation speed are also calculated based on signals measured by encoders and proximity sensors provided in each part.

When performing pile construction (steel pipe burying) using the construction management device configured in this way, the display of the construction management device is switched to the construction screen while the pile driver 11 is moved to the construction point, and the construction data is displayed. Pile driving work proceeds as planned until the target depth is reached while creating it. For example, the operator tilts the lever to rotate the auger 26 to the right and lower it, and while maintaining the operation, operates the volume for adjusting the torque according to the excavation resistance. do. Here, at the start of excavation, the torque is reduced and the number of revolutions is increased to proceed with construction with an emphasis on efficiency. Then, when the target depth is approached and the ground becomes hard, the excavation resistance increases and the rotational speed of the auger 26 decreases, so the volume is increased to gradually increase the torque.

At this time, the control unit 33 calculates the construction torque based on the driving pressure of the rotation driving hydraulic motor 31 and the displacement volume corresponding to the control pressure, and displays it on the screen along with the "pile number" and "target depth". Display "Installation Torque". This display, for example, is represented by a two-dimensional coordinate line graph in which the vertical axis is the depth and the horizontal axis is the magnitude of the construction torque. displayed. Simultaneously with such real-time display, the construction torque for each depth and the target pile number are associated and sequentially stored in the storage unit of the construction management device.

By the way, in recent years, along with the expansion of the application range of the pile driver 11 such as increase in pile length and increase in output, the importance of a construction management device that operates normally is increasing. Particularly when using a small pile driver, if the control pressure sensor 36, which is necessary for determining the motor volume, breaks down, the construction torque cannot be recorded correctly, and the construction work must be interrupted. end up Therefore, the construction management device of the pile driver 11 has a function of performing an emergency response when the control pressure sensor 36 fails by executing an additionally incorporated control program. Specific operations for emergency response will be described below with reference to FIGS. 2 and 3. FIG.

As shown in FIG. 2, the control unit 33 determines the work torque according to the driving operation of the pile driver 11, and determines whether the signal from the control pressure sensor 36 is within the normal range. status monitoring is performed to determine whether or not it is necessary to For example, if the control pressure sensor 36 fails due to aged deterioration, the controller 33 detects the abnormal signal and determines that emergency measures are required. In this case, as shown in FIG. 3, the control unit 33 ignores the signal from the control pressure sensor 36 and switches to a state in which reception is not required, and also fixes the control command to the electromagnetic proportional pressure reducing valve 32 to a minimum. In other words, the control current is turned off and control is performed to obtain the applied torque based only on the drive pressure of the rotary drive hydraulic motor 31 . As a result, the rotary driving hydraulic motor 31 adjusts the displacement to the maximum to operate the motor, outputting the maximum torque and continuing the construction of the pile driver 11 at a low speed.

Thus, according to the first configuration of the present invention, when the construction management device mounted on the pile driver 11 is in a state requiring emergency measures due to a failure of the control pressure sensor 36 or the like, the electromagnetic proportional pressure reducing valve Since the control command for 32 is fixed and the displacement volume of the variable displacement hydraulic motor 31 is adjusted to the maximum, the working torque can be obtained based on the set displacement volume and the driving pressure even if the control pressure cannot be accurately grasped. As a result, construction can be completed as an emergency, even in situations where conventional work would have to be interrupted. Moreover, even if the excavation resistance is suddenly increased due to the condition of the ground, excavation can be reliably carried out with the maximum capacity of the rotary drive device 26 over an excavation time. It is particularly useful as an emergency measure specific to construction.

Also, while the control pressure sensor 36 is provided in the rotary drive device 26, the drive pressure sensor 35 is provided in the base machine 14 (for example, under the floor of the driver's seat), which is not directly affected by vibrations or rainwater. , it is possible to reduce the risk of failure of the drive pressure sensor 35, which contributes to ensuring the quality of construction management.

4 and 5 show a second embodiment of the construction management device for the pile driver 11 of the present invention. In the following description, the same reference numerals are assigned to the same components as those of the construction management apparatus shown in the first embodiment, and detailed description thereof will be omitted.

In the construction management device shown in the second embodiment, only the mounting position of the drive pressure sensor is changed with respect to the configuration of the first embodiment. Like 36, it is provided in the auger 26, and measures the differential pressure (the pressure difference between the primary pressure and the secondary pressure) at the inlet and outlet of the rotary drive hydraulic motor 31 in pairs. The control unit 33 determines the drive pressure of the rotary drive hydraulic motor 31 based on the measured differential pressure, and calculates the applied torque based on the drive pressure and the displacement corresponding to the control pressure. Further, the control unit 33 determines whether or not emergency measures are necessary based on the state of the control pressure sensor 36. As shown in FIG. is ignored and reception is not required, the control command to the electromagnetic proportional pressure reducing valve 32 is fixed at a minimum, and control is performed to obtain the applied torque based only on the driving pressure of the rotary drive hydraulic motor 31.

Also in the present embodiment configured in this way, construction can be completed in an emergency even when the control pressure sensor 36 fails, even in a situation where conventionally it would have to be interrupted. In this case, since the driving pressure sensor 39 is provided in the auger 26, it is possible to suppress the influence of pressure loss in the hydraulic circuit, and it is possible to suppress the influence of pressure loss in the hydraulic circuit. A construction management device that meets such needs is achieved.

The present invention is not limited to the above embodiments, and the emergency response based on the state of the control pressure sensor may be a simple configuration that is added on to an existing construction management device and functions. It can be changed as appropriate according to the specifications of the machine. Further, in the embodiment, the steel pipe burying was explained as an example, but the present invention is not limited to this, and can be applied to ground improvement.

DESCRIPTION OF SYMBOLS 11... Piling machine, 12... Lower traveling body, 13... Upper rotating body, 14... Base machine, 15... Leader, 16... Elevating cylinder, 17... Leader support, 18... Piping support member, 19... Driver's cab, 20... Power unit 21 Top sheave 22 Steel pipe pile 23 Anti-vibration member 24 Rack gear 25 Guide pipe 26 Auger 26a Apparatus body 26b Guide gib 27 Hydraulic hose 27a Slack, 28... Centralized connector, 29... Drive shaft, 30... Lifting hydraulic motor, 31... Rotary drive hydraulic motor, 32... Electromagnetic proportional pressure reducing valve, 33... Control unit, 34... Adapter, 35... Drive pressure sensor, 36... Control Pressure sensor 37 Main hydraulic pump 38 Pilot hydraulic pump 39 Driving pressure sensor

Claims (2)

It is mounted on a pile driver equipped with a leader installed on a base machine equipped with a hydraulic power source and a rotary drive device that can move up and down along the leader, and a construction management program is executed based on the measurement results of multiple sensors. In a construction management device comprising a control unit that executes and a display that displays execution results of the construction management program,
The rotation drive device includes a variable displacement hydraulic motor whose displacement volume can be changed by control pressure, and an electromagnetic proportional pressure reducing valve that changes the control pressure based on the control command of the control unit,
The plurality of sensors includes a driving pressure sensor for measuring the driving pressure of the variable displacement hydraulic motor and a control pressure sensor for measuring the control pressure, and the driving pressure sensor is mounted on the base machine and the control pressure sensor is mounted on the base machine. are provided in each of the rotary drive devices,
The control unit obtains the application torque based on the driving pressure and the control pressure, and determines whether or not emergency measures are necessary based on the state of the control pressure sensor. fixing the control command and obtaining the applied torque based only on the driving pressure;
The construction management apparatus, wherein the displacement volume of the variable displacement hydraulic motor is adjusted to the maximum when the control command is fixed. It is mounted on a pile driver equipped with a leader installed on a base machine equipped with a hydraulic power source and a rotary drive device that can move up and down along the leader, and a construction management program is executed based on the measurement results of multiple sensors. In a construction management device comprising a control unit that executes and a display that displays execution results of the construction management program,
The rotation drive device includes a variable displacement hydraulic motor whose displacement volume can be changed by control pressure, and an electromagnetic proportional pressure reducing valve that changes the control pressure based on the control command of the control unit,
The plurality of sensors include a driving pressure sensor that measures the driving pressure of the variable displacement hydraulic motor and a control pressure sensor that measures the control pressure, and the driving pressure sensor and the control pressure sensor are connected to the rotary drive. provided in each device,
The control unit obtains the application torque based on the driving pressure and the control pressure, and determines whether or not emergency measures are necessary based on the state of the control pressure sensor. fixing the control command and obtaining the applied torque based only on the driving pressure;
The construction management apparatus, wherein the displacement volume of the variable displacement hydraulic motor is adjusted to the maximum when the control command is fixed.

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