JP2829539B2 - Automatic drilling equipment for cast-in-place pile construction - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic excavator for forming a cast-in-place pile.

(Prior art and problems to be solved by the invention) Conventionally, as an excavator using a cast-in-place pile method, a hole is previously drilled in the ground, a bag is inserted into the hole, and then the inside of the bag is inserted. There is an excavator that injects concrete or mortar into a pile to create a pile.

However, in the excavator using the above-mentioned cast-in-place pile method,
There were the following inconveniences.

Since the drilling step and the step of pushing / inserting the bag were necessary, the steps became complicated and the construction took a long time.

When the ground is sandy ground, it is often difficult to insert the bag because the hole wall is easily collapsed and the bag stays high when inserted.

When the bag is inserted, the bag is often damaged by friction with the hole wall or the like.

The shape of the pile created is also easily affected by the strength of the ground,
Poor reliability.

Therefore, in order to solve the above problems, the bag is mounted inside the hollow tube, and the hollow tube is drilled to a predetermined depth.
Then, there has been proposed an apparatus using a construction method in which only the hollow tube is pulled up and concrete or mortar or the like is pressed into the bag body (for example, JP-A-64-36821).

However, in the above-mentioned excavator, (1) from excavation, (2) through the pressing of a fixing plate (fixing plate), (3)
There is nothing that can be fully automated until the withdrawal,
The manual operation is performed independently from (1) to (3), or the automatic operation is performed from any of (1) to (3).

For this reason, the above-described excavator has a disadvantage in that it takes a long time to perform the operation and the operation cost increases.

Further, in the above conventional excavator, (1) excavation, (2) the fixing plate (fixing plate) is pushed, and (3)
Since the enforcement management until the withdrawal cannot be performed sufficiently, there has been a disadvantage that the operating time of the machine is lost, and the normal enforcement cannot be performed.

Therefore, an object of the present invention has been made in view of the above-mentioned problems, and when an abnormal operation occurs from excavation to pushing up of a fixing plate (fixing plate) and lifting, the work is stopped immediately, and An object of the present invention is to provide an automatic excavation device for cast-in-place piles that can be adjusted so that execution management and the like from excavation to unloading can be performed smoothly after confirming that work is normally performed.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a guide frame provided with a drill head for providing rotation and feed, and this drill head is provided with a double pipe comprising an outer pipe and an inner pipe. A fixing plate is detachably provided at the end of the outer tube, a bag body having the end fixed to the fixing plate is provided in the inner tube, and the double tube is excavated by rotating and feeding. After excavating to the depth, cut off the fixing plate from the outer tube by pushing down the inner tube and push it in, then pull up the double tube and inject the solidified material into the bag inside the drill hole. At the start of operation at least the standard feed speed in excavation,
Parameter setting means for setting a standard rotation speed and a maximum torque; excavation is performed after the setting of the parameter setting means is completed; The excavation optimum value judging means to judge, and after the excavation optimum value judging means judges that the excavation is the optimum value, an abnormal operation occurs between the excavation and the pushing of the fixing plate (fixing plate) to the lifting. And a pile forming means for performing work from the excavation to the pushing up of the fixing plate (fixing plate) through the excavation when the work is normally performed. Drilling rig.

The parameters set by the parameter setting means may be at least a standard feed speed in excavation, a standard rotation speed and a maximum torque. The end of excavation can be detected even at the stroke end of the excavation head, and the feed speed, the standard rotation speed, and the like can be detected. There is no substitute for torque.

However, in order to operate the device of the present invention more smoothly, it is desirable to set the set depth and the feeding force.

An example of an apparatus for setting these numerical values is shown in FIG. 7, which will be described later.

Further, in a further preferred apparatus of the present invention, the pile forming means has a pile formation determining means for determining whether an operation from excavation to pushing up of the fixing plate through lifting is abnormal, When the pile formation judging means judges that the operation from excavation to pushing up of the fixing plate and lifting is abnormal, the operator stops all the operations and then displays the abnormal stop through the display recognizing means. And so on.

It is also possible to implement the above-mentioned excavation optimum value judging means and a pile forming means (especially a pile forming judging means) for immediately stopping the operation when abnormal operation occurs or performing a normal operation with one control unit. This example is shown in FIG. 12, which will be described in detail later.

Further, a front view and a side view of an example of a mechanical whole image of the automatic excavator of the present invention are shown in FIGS. 1 and 2 which will be described in detail later.

(Operation) First, at the start of operation, the parameter setting means writes the standard feed speed, the standard rotation speed, the maximum torque, and the like in excavation into the internal storage unit using the setting switch.

Then, excavation is started after the setting of the standard feed speed, the standard rotation speed, the maximum torque, and the like are completed.

Next, the excavation optimum value judging means judges whether the standard feed speed, the standard rotation speed, the maximum torque and the like are the excavation optimum values.

If the optimum excavation value judging means judges that the excavation value is the optimum value, the pile forming means performs an operation from excavation to pushing up of the fixing plate (fixing plate) to lifting.

If the operation from the excavation to the lifting through the pushing of the fixing plate (fixing plate) by the pile forming means is normal, the automatic excavation ends.

On the other hand, from the excavation to the fixing plate (fixing plate)
If the operation from the push-in operation to the lifting operation is abnormal, all the operations are stopped and then the operator is notified of the abnormal stop through means such as display.

(Example) Next, an example of an automatic excavator for forming a cast-in-place pile according to the present invention will be described with reference to the accompanying drawings.

In the apparatus shown in FIG. 1 and FIG.
Is a base machine and 2 is a guide frame.

An outer pipe 4 rotatably attached to the drill head 3 is provided on the guide frame 2 so as to be vertically movable.

Further, as shown in FIGS. 1 and 2, this device includes a hydraulic unit OU which is a unit composed of a hydraulic unit for feeding and a hydraulic unit for rotation, a CU which is a control unit for automatic operation, Before automatic operation, a switch box SB for manually setting parameters such as a standard feeding speed, a standard rotation speed, a maximum torque, and a drill head weight of a maximum feeding force in automatic drilling is attached.

OU is a hydraulic unit including a hydraulic unit for feeding and a hydraulic unit for rotation.

CU is a control unit for automatic operation. SB is a switch box for manually setting parameters such as the standard feeding speed, standard rotation speed, maximum torque and drill head weight of the maximum feeding force in automatic digging before automatic driving. It is.

Here, the hydraulic unit OU is configured as shown in the block A of the block diagram of FIG. 12 and the hydraulic circuit diagram of FIG. 17, which will be described later.

The switch box SB is configured as shown in FIG. 7 to be described later, and includes a control unit CU for automatic driving and the like.
Is configured as shown in FIGS. 8 to 11 described later.

FIGS. 3 to 6 and FIG. 18 show the schematic configuration of each part of the machine of the automatic excavator for forming a cast-in-place pile shown in FIGS. 1 and 2. The schematic configuration of each of these machine parts will be described.

In FIG. 3, an auger 5 is provided at the distal end of the outer tube 4 and a pair of notches 6 are provided at axially symmetric positions on the distal end surface, so that the auger 5 does not disturb the soil much. Can be excavated.

Inside the outer tube 4, there is an inner tube 8 inserted with play.

As shown in FIGS. 4 and 5, a ring body 9 having a concave portion 9a with which the cam follower 19 of the inner tube pushing device 20 engages is attached to the inner tube 8 as shown in FIGS. A guide square member 10 is attached in the axial direction.

Further, a pair of notches 7 are provided in the lower part of the inner tube 8 in the same radial direction as the guide square member 10.

FIG. 6 is a diagram showing a main part of the feeding device 11 and an oil motor.
The roller chain 15 is engaged with a sprocket 14 connected to the sprocket 14 through a speed reducer 13, and both ends of the roller chain 15
It is fixed to the drill head 3 as shown in the figure.

In this way, the outer tube 4 rotatably mounted on the drill head 3 by moving the roller chain 15
Is below and can be fed or withdrawn.

The fixing plate 21 shown in FIG. 1 and FIG.
After tightening the lower part of 40 as shown in FIG.
Are engaged with the forked notches 6 and 7 of the outer tube 4 and the inner tube 8 and set.

Incidentally, reference numeral 23 shown in FIG.
A semicircular obstruction plate provided in the horizontal direction in the inner pipe 8 prevents earth and sand from entering the inner pipe 8 during excavation.

That is, in the present embodiment, as shown in FIG.
First, the upper end of 40 is passed through a clip-like holding tool 24 having a hard build-up portion in the holding portion, and then the bag body 40 is folded downward, lifted, and the bag body 40 is pulled downward.
The clip bar 29 is pressed downward by its own weight, and the upper end of the bag body 40 is securely attached and detached between the lower surface of the clip bar 29 and the hard overlay provided on the lower surface of the upper hole of the holder 24. It is fastened freely and the bag 40 is pinched and stored.

A bag winch as shown in FIG.
As shown in FIG. 18, the wire 32 is rotatably hung from a tip of a wire 32 drawn out from the wire 31 via a sarkan 33.

The sarkan 33 has a structure in which the upper and lower metal rings freely rotate, and does not transmit, for example, rotation from above to below.

The material of the bag 40 is made of fiber, plastic film, metal film, or the like.

When using the automatic excavator for forming a cast-in-place pile shown in this drawing, first, as shown in FIG. At 21, the lower part of the bag body 40 is clamped.

Then, the wire 32 is fed out from the bag winch 31, the holder 24 is inserted into the inner tube 8, and is taken out from the lower end thereof, and the upper end of the bag 40 is locked to the holder.

Next, the bag body winch 31 is wound up, the holder 24 is raised along the guide square member 10, the bag body 40 is drawn into the inner tube 8, and the upper end of the fixing plate 21 is moved inward as shown in FIG. The notches 6 and 7 of the tube 8 and the outer tube 4 are engaged.

At this time, tension is applied to the wire 32 until the end of the excavation so that the bag 40 and the fixing plate 21 are pulled upward.

Then, the drill head 3 and the feeding device 11 are operated to rotate and feed the inner pipe 8, the outer pipe 4, and the fixing plate 21 integrally, thereby digging to a predetermined depth.

 The operation method at this time will be described later.

When operating in this manner, the holder at the upper end of the bag 40 is required.
24 is guided by the guide square of the inner tube 8, and the lower end is stopped by the fixing plate 21, so that the bag body 40 also rotates integrally and the twisting thereof is prevented.

Then, in the present automatic excavator, the rotation and the feed are stopped, and the inner pipe extruder 20 is operated to shift the fork.
16 is rotated downward to push the inner tube 8 downward.

Therefore, the fixing plate 21 is extruded into the soil and fixed, so that the bag body 40 is fixed, and the engagement between the fixing plate 1 and the notch 6 of the outer tube 4 is released.

Then, when the outer tube 4 is raised while rotating in the reverse direction,
Since the engagement between the outer tube 4 and the fixing plate 21 is released, the inner tube 8 rises together with the outer tube 4 without rotating.

Therefore, since the bag 40 is set in the soil without being twisted, when the retreat of the inner tube 8 and the outer tube 4 is completed, the bag 40 is set.
By removing the holder 24 from the upper end of the bag, and injecting a hydraulic slurry such as mortar from the upper end opening of the bag body 40,
For example, it can be used as a foundation pile for building a house on soft ground.

On the other hand, FIG. 7 shows a switch box SB having setting means for setting parameters at the start of operation and other auxiliary devices.
FIG. 8 shows a part of the control unit CU, that is, an example of a main panel for displaying parameters during operation of the apparatus of the present invention and other information necessary for operation. FIG.

FIG. 9 is a diagram schematically showing an example of a circuit diagram for controlling parameters and the like displayed in FIG. 8 and for taking out a measurement output to the outside, that is, a control unit CU.
FIG. 10 is a diagram showing a connection example of a terminal board and each measuring instrument when an external measuring instrument is used.

FIG. 11 is a diagram showing an example for switching operating conditions when operating the device of the present invention in the control unit CU.

In the apparatus of the present invention shown in the embodiment, the switchbots SB shown in FIG. 7 exists in the door at the position indicated by SB in FIG. 2, and is shown in FIGS. 8 and 11. As for each panel of the control unit CU, the panel shown in FIG. 8 is vertically arranged, and the panel shown in FIG. 11 is arranged on a substantially horizontal plane thereof.
It exists at the position indicated as CU in FIG.

Further, in the following description of the drawings, each component of the operating device will be described with the symbols used in FIGS. 1 to 6.

 Therefore, the details will be described in order from FIG.

In FIG. 7, DPI is a display capable of displaying an 8-digit numerical value, the first digit is a column indicating which parameter is, and SW20 is a setting switch for changing the numerical value displayed in DPI. .

The parameters to be set at the start of the operation are given an input order in advance, and the parameters are sequentially set in accordance with the input order.

When setting this parameter, first, when the center button of the SW 20 is pressed, a numerical value of 1 indicating the input order is first displayed in the leftmost digit of the display DPI.

In this way, a parameter to be input is selected, and a numerical value corresponding to the parameter is input as follows.

When inputting a numerical value, pressing the leftmost button of SW20 allows the maximum number of digits of the display DPI to be changed.

Then, press the center button of SW20 to set the required value.

Then, press the leftmost button of SW20 to enable input of the next digit, and press the center button of SW20 to set the required value.

This operation is repeated to set the first parameter.
This first parameter is ready to be input with the center button of SW20.

This operation is repeated to enter all necessary parameters.

The date and time may be input as these parameters, and the date and time may be automatically input by a built-in clock.

The excavation depth is set by an adjustment switch for setting the excavation depth having a hand-operated three-digit counter indicated by SW21.

SW22 is a power switch, and SW23 is a toggle switch for selecting display DPI setting prohibition / setting permission.

SW24 is a toggle switch for selecting auto / manual of the depth reset mode.
Is set to auto, the depth is automatically reset to zero when it is detected that the excavating rod (outer cylinder) 4 has touched the ground surface.

The subsequent excavation depth is displayed on the depth gauge, and if manual is selected, it is necessary to manually reset it to zero when the excavation rod (outer cylinder) 4 touches the ground surface.

SW25 is a toggle switch for turning on / off the measurement external output.

On the other hand, SW26 is an adjustment switch for setting the hole number in order to identify the number of the hole to be excavated,
Like the above-described adjustment switch SW21 for setting the excavation depth, it has a counter that can be moved by hand.

PT is a printer that prints depth information of each excavation hole, for example, date, time, hole number and depth.

According to the switch box SB shown in FIG. 7, the depth information of each excavation hole, for example, the date, time, hole number and depth can be arbitrarily set by SW21, SW24, SW26, etc. Drill hole depth information can be recorded.

On the other hand, in the panel that displays the numerical values of various parameters during operation, which is a part of the control unit CU shown in FIG. 8, SW30 is a power switch, LP1 is a feed-back direction indicator lamp, and when the lamp is lit, the feed force goes down. LP2 is a feed forward direction indicator lamp, which indicates that the feed force is applied upward when the lamp is turned on.

MT1 is a feed force indicator that indicates the absolute value of the feed force, MT2 is a rotational speed indicator that indicates the spindle torque, and MT3 is a torque indicator that indicates the spindle torque. I do.

Further, DP2 is a liquid crystal display, which simultaneously numerically displays a feed position (ie, a tip position of the drill rod 3), a depth (ie, a depth from the ground surface), a feed speed (or a feed force), and the like. be able to.

In the control unit CU, when there is an abnormality during the automatic operation, the operation of each unit is stopped, and an abnormality message is displayed on the liquid crystal display DP2 so that the operator can recognize that there is any abnormality.

For example, during manual operation, if an automatic start switch in SW7 shown in FIG. 11 described later is used, a message of "manual operation" is displayed.In this case, manual operation is stopped. And then drive automatically.

In addition, "feed speed", "rotation speed",
If a message such as "torque" or "bit load (this is the load obtained by adding the load of the drilling rod to the feed force)" is displayed, it can be recognized that there is an abnormality in the displayed parameter. The parameters are reset on the panel of FIG.

In this case, first, the switch of the switch SW23 is permitted to be set, and the center button of the switch of the switch SW20 is pressed. Then, the set value is reproduced on the display DP2. Press the middle button on the switch, and change this number.

In this way, the parameters recognized as abnormal by the device are reset.

On the other hand, when the message of "Torque abnormal" is displayed, the torque becomes higher than the set value during automatic excavation, and the torque does not decrease even if the bit load and the rotation speed are reduced. Press the automatic operation start switch of SW7 in FIG. 11 described later to retry.

When the message “Unable to excavate” is displayed, the ground is hard and the feeding speed of automatic excavation becomes 5 cm / min or more even if the bit load is increased to the set value. Press the start switch and try again.

Further, the message of "pushing abnormality" is displayed when the ground is hard and cannot be pushed in. When the boring rod 4 is pulled up by about 50 mm and pushed again, the boring rod 4 cannot be pushed in even further.

In this case as well, first press the automatic operation start switch of the above SW7 and try again.If this does not work, press the stop switch of SW7 to stop, manually pull up by about several tens of mm,
Push in.

FIG. 9 is a schematic circuit diagram around the control unit CU of FIG. 8 described above and FIG. 11, which will be described later. FIG. FIG. 10 is a diagram showing a connection example between the terminal board TB and each measuring instrument in FIG. 9 when an input measuring instrument is used.

With these outputs, the feed speed, feed force, rotation speed, torque, and the like during excavation can be simultaneously displayed in a graph over time.

In FIG. 9 and FIG. 10 thereof, TB is a terminal board for taking out the external output, SV _+, SV _- the KyuSusumu speed terminals, B
LM is the maximum bit load, BL _- is the bit load terminal, RSM, R
S _- the rotational speed terminals, and TQM, TQ _- is torque pin.

In FIG. 10, SVT is a feeding speed measuring device, BLT is a feeding force measuring device, RST is a rotation speed measuring device, and TQT is a torque measuring device.

Further, the feed force indicator, the torque indicator and the like shown in FIG. 9 are provided on the panel shown in FIG.

When changing the feed speed, the feed force, the rotation speed and the torque, the switch SW shown in FIG. 9 and FIG.
Or by a voltage converter.

FIG. 11 shows the control unit CU shown in FIG.
FIG. 3 is a diagram showing a switch panel of FIG.

In FIG. 11, only the push button switch for starting automatic operation of SW7 is used for automatic operation, but the switch of the manual device will also be described.

In FIG. 11, SW1 is a feed lever switch. When the lever is in the neutral position, the drill head 3 stops, and when the lever is tilted down from this position until it is held forward, the drill head 3 moves forward and is held behind. Retreat when defeated.

SW2 is a feed force adjustment lever switch, and the feed force can be continuously adjusted by moving the lever of this volume back and forth.

SW3 is a rotary lever switch, the spindle stops when the lever is neutral, and when the lever is tilted down until it is held before that position, the spindle rotates clockwise (forward rotation),
Rotate counterclockwise when tilted until held behind (reverse rotation)
I do.

SW4 is a rotation speed adjustment lever volume, and by rotating the lever of this volume back and forth, the rotation speed of the spindle can be continuously adjusted.

SW5 is a switch for sliding the guide frame back and forth and left and right.

SW6 is a winch lever switch. When the lever is in the neutral position, the bag winch 31 is stopped. When the lever is moved forward from this position, the bag winch 31 is wound up, and when the lever is moved backward, the bag winch 31 is unwound.

When the hand is released from the lever, it automatically returns to the neutral position and stops.

SW7 is an automatic operation start push button switch, which can be used to select automatic operation start, automatic operation start from temporary stop, automatic operation from automatic stop state, automatic operation stop, automatic operation excavation end, and the like.

SW10 is a button switch for pushing, "Push"
When the switch is pressed, the inner tube 8 is pushed forward, and when it is pushed to the final position, the lamp in the switch is turned on.

Then, when the "release" switch is pressed, the inner tube 8 retreats and returns to the position before the push, and the lamp in the "push" switch is turned off.

The switch described as winch / auto tension on the left side of SW10 is a bag winch / auto tension push button switch SW15.When the “ON” switch is pressed, the lamp in the switch is turned on and the bag winch 31 is pressed. The wire 32 pulling the bag body 40 whose upper end is lifted by the fixing plate 21 and locked by the notch 6 of the outer tube 4 from the upper end thereof keeps a constant tension.

When the "OFF" switch is pressed, tension is not applied to the bag winch 31.

 At this time, the lamp in the "ON" switch is also turned off.

Then, when the "release" switch is pressed, the "inner tube 8 retreats and returns to the position before the push-in operation, and the lamp in the" push-in "switch turns off.

On the other hand, these operations are performed only while any one of the switches is pressed, and the operations are stopped when the switch is released.

SW8, 9 and SW11 described below are switches that are not used when the apparatus shown in FIG. 3 is used. The combination of the outer pipe 4 and the inner pipe 8 shown in FIG.
This switch is used when using an apparatus in which only the inner pipe 8 having the inside is mounted on the guide frame 2 so that the bag body 40 is settled in the excavated hole.

The difference between the attached device and the device shown in FIG. 3 is that there is no auger, and there is no inner tube pushing device 20 and no parts attached to the inner tube pushing device 20.

Further, a device for feeding the inner tube 8 having the bag mounted therein downward is defined as a bag feeding device.

On the other hand, SW8 is a push button switch for the bag winch 31.Pressing the "winding up" switch allows you to wind up the bag winch 31, and pressing the "unwinding" switch allows you to unwind the bag uninch 31. ing.

SW9 is a push button switch for bag feeding.When the "Forward" switch is pressed, the bag feeding device moves forward, and when "Reverse" is pressed, the bag feeding device moves backward. It works only while pressing.

FIG. 12 is a block diagram showing an outline of control of the switch box SB and the hydraulic unit OU for automatic operation.

The CPU 30 is an excavation optimum value judging means and a pile formation judging means described above.
B is a means for judging pile formation.

The excavation optimum value judging means 30A of the CPU 30 and the pile formation judging means 30
Based on the command from B, it is determined whether or not the work is smoothly performed up to the excavation optimum value and the pile formation.

Then, firstly, the optimum drilling condition is satisfied by the excavation optimum value judging means 30A, and it is judged by the pile formation judging means 30B whether or not the work necessary for the pile formation is performed smoothly.

The RAM 31 and the ROM 32 are memories to which the setting data and the like are written and erased or pre-written as necessary.

These memories are also used at the time of parameter setting by the parameter setting means.

The rotary encoder 33 measures the number of revolutions and the excavation stroke of the boring rod (outer tube 4).

The proportional valve amplifiers 34 and 35 are designated by PV1 and PV2.

Reference numeral 36 denotes a hydraulic control unit including a solenoid valve relay box, a solenoid valve, a solenoid proportional valve, and the like, which controls the driving of the in-place pile forming device.

The switch box SB is provided with a depth reset mode changeover switch for resetting the depth and a measurement external output switch.

If the depth reset mode changeover switch is set to the “automatic” side, when the automatic operation starts and the fixing plate touches the ground surface, the depth is automatically reset to zero.

Also, set the depth reset mode switch to “manual”
If you switch to the side, the depth is not reset even if you touch the ground.

For example, in the case of soft ground, the ground may not be detected on the actual ground, but it may be detected that the ground touches a little below the ground surface. It is desirable that the depth reset mode changeover switch be set to the “manual” side, and that the depth reset switch of the control unit CU be depressed at the moment it touches the ground surface to set the depth to zero.

When the measurement external output switch is set to the “ON” side, the measurement signals of the feeding speed, feeding force, rotation speed, and torque are output to the terminal board TB shown in FIG. 10 as electric signals of, for example, 4 to 20 mA. Is done.

And when no load is connected to the terminal board TB,
Set this switch to the “OFF” side.

 Next, the operation of the embodiment of the present invention will be described.

FIG. 13 to FIG. 16 are flowcharts showing the specific operation procedure of the automatic excavator for forming a cast-in-place pile according to the present invention.

In describing these flowcharts,
Reference is made to the description of the configuration from FIG. 1 to FIG. 12, and these reference numerals are used here.

Here, in explaining these drawings, before entering step 1 which is the first operation, the lower end as shown in FIG. 18 is placed in the outer tube 4 of the apparatus shown in FIGS. The bag 40, which is locked by the fixing plate 21 and whose upper end is fixed by the holder 24, is mounted as shown in FIG.

The procedure from Step 1 to Step 15 shown in FIG. 11 is an operation performed before excavation of the ground surface. If the operations from Step 2 to Step 15 are performed, the apparatus of the present invention can be used. Automatic operation becomes smooth.

When the automatic operation is performed for the first time in step 1, it is preferable that the rotation speed and the feeding speed are slowed down so that the vehicle descends slowly to the ground surface.

After such preparation, an operation procedure for automatic operation shown in FIG. 13 is first started (step 1).

Then, whether or not the set parameter is a numerical value within an allowable range of the apparatus, and whether or not the input parameter is the same as the set parameter, that is, whether or not the set parameter is within a specified range The CP in Figure 12 above
The judgment is made by the excavation optimum value judgment means 30A of U30 (step 2).

If it is determined by the excavation optimum value determining means 30A that the set parameters are normal, the bag winch 3 shown in FIG.
The tension of 1 is set to auto tension (step 3), and the normal rotation and excavation (that is, lowering) of the drill head 3 are started (step 4).

Then, similarly, it is determined by the excavation optimum value determining means 30A whether or not the boring rod (outer pipe) 4 is in contact with the ground surface (step 5), and it is determined that the boring rod (outer pipe) 4 is not in contact with the ground. (For example, when the ground contact on the ground surface is not detected in the case of an extremely soft ground, or when the ground contact on the ground surface is not detected at the ground surface position where there is a drilling operator), the normal rotation of the boring head 3 is performed. It is determined whether the digging depth has reached the set depth by continuing the digging (that is, descending) (step 6). If it is determined that the digging depth has reached the set depth, the digging is terminated (step 7). ).

The determination as to whether or not the vehicle has touched the ground is made based on a decrease in the feed speed, an increase in the torque, and a decrease in the feed force due to the touch on the ground.

On the other hand, when it is determined in Step 6 that the excavation optimum value determining means 30A has not reached the set depth, it is determined in Step 8 whether or not the excavation end switch has been pressed.
If it is determined that the excavation end switch has been pressed, the excavation is ended and the end depth is stored in the RAM 31 of FIG. 12 (step 7).

If it is determined in step 8 that the drilling has not been completed, it is determined in step 9 whether or not the position of the boring drill rod (outer tube) 4 in FIG. If it is determined that the position 3 is at the end of the stroke, the excavation is finished and the end depth is stored in the RAM 31 (step 7).

If it is determined in step 9 that the position of the boring drill rod (outer tube) 4 in FIG. 1 is not the end of the stroke, the process returns to step 5.

In step 2, when it is determined in step 10 of setting the switch box SB that the parameter does not fall within the specified range by the excavation optimum value determining means 30A of the CPU 30 in FIG. The information is displayed on the display DP2 of the control unit shown in FIG. 8, and all operations are stopped in step 11, and an abnormal stop is notified in step 12 by means such as issuing a warning to an operator.

On the other hand, if it is determined in step 5 that the boring rod (outer pipe) 4 has touched the ground surface by the excavation optimum value judging means 30A in FIG. 12, excavation is stopped in step 13 (that is, rotation and power supply). Stop), as step 14, increase the number of rotations of the boring rod (outer tube) 4 and step
At 15, it is determined whether or not the rotation speed has reached the set value.

If the excavation optimum value judging means 30A determines that the rotation speed of the boring rod (outer tube) 4 is increased to the set value in step 15, the excavation is started (16). .

If it is determined in step 15 that the rotation speed of the boring rod (outer pipe) 4 is increased and the rotation speed is not at the set value by the excavation optimum value determination means 30A, the above-described step 1 is performed.
Return to 4.

As described above, in the present embodiment, the excavation optimum value determination unit 30A
Steps of judgment, ie, Step 2, Step 5,
6, Steps 8, 9 and 15 are performed, and it is determined whether or not each setting condition or the like is satisfied based on these determination steps, and the execution steps are performed by the other control areas 30C of the CPU 30 according to the determination, for example, Steps 3, 4, step 11, and steps 13 to 15 are executed.

Therefore, in the present embodiment, when a pile is formed on soft ground or the like and foundation work of a building is performed, optimal excavation can be smoothly performed according to the properties of the excavation hole.

The operation shown in FIG. 14 and subsequent figures is automatic excavation when excavating to the ground where it can be sensed that the boring rod (outer pipe) 4 has touched the excavated ground.

After the start of this excavation, it is judged by the excavation optimum value judging means 30A in FIG. 12 whether or not the torque becomes 90% or less of the maximum torque (steps 16, 20).

If it is determined by the excavation optimum value determining means 30A that the torque becomes 90% or less of the maximum torque, it is determined in step 21 whether or not the feeding speed becomes 120% or less of the standard feeding speed. If it is determined that the advance speed is equal to or lower than 120% of the standard feed speed, it is determined whether the maximum torque is equal to or lower than 70% of the set value (step 22).

Next, when the excavation optimum value judging means 30A judges that the maximum torque is 70% or less of the set value, it is judged whether or not the feeding speed becomes the standard feeding speed. If the advance speed becomes the standard advance speed, it is determined whether or not the bit load is equal to or less than the maximum bit load (that is, the load obtained by adding the load space of the rod to the advance force) (step 2).
Four).

When it is determined by the excavation optimum value determining means 30A that the bit load is equal to or less than the maximum bit load, the feeding force is increased in step 25 and the first
It is determined whether or not the rotation speed of the boring rod (outer tube) 4 shown in the figure becomes 105% or more of the standard rotation speed, and when the rotation speed of the boring rod (outer tube) 4 becomes 105% or more of the standard rotation speed. If it is determined, the number of revolutions of the boring rod (outer tube) 4 is reduced as step 26, and the next step is executed (step 28).

On the other hand, when the excavation optimum value judging means 30A judges that the feeding speed does not become larger than 120% of the standard feeding speed in step 21, the feeding force is reduced in step 29 and step 26 is performed.

If it is determined in step 26 that the rotation speed of the boring rod (outer pipe) 4 is not equal to or more than 105% of the standard rotation speed by the excavation optimum value determination means 30A, in step 30, the boring rod (outer pipe) 4 The rotation speed is 95 of the standard rotation speed
When the excavation optimum value determination means 30A determines that the rotation speed of the boring rod 4 is 95% or less of the standard rotation speed, the next step 28 is executed.

On the other hand, if it is determined in step 30 that the rotation speed of the boring rod (outer pipe) 4 is not 95% or more of the standard rotation speed by the excavation optimum value determining means 30A in FIG. 4) The rotation speed of 4 is increased, and the next step 28 is executed.

In step 20, the torque is set to 90% of the maximum torque.
%, It is determined by the excavation optimum value determining means 30A whether or not the feeding force becomes equal to or more than the minimum value in step 32, and if the feeding force becomes equal to or more than the minimum value in step 33, When making a decision, reduce the feeding power and proceed to the next step 28.
Execute

On the other hand, when it is determined by the excavation optimum value determination means 30A in FIG. 12 that the feeding force does not become equal to or more than the minimum value in step 32, the rotation speed of the boring rod (outer pipe) 4 is increased to or more than the minimum value in step 31. When it is determined whether or not the rotation speed of the boring rod 4 is equal to or more than the minimum value, the rotation speed of the boring rod 4 is reduced and the step is performed.
Execute 28.

If it is determined in step 34 that the rotation speed of the boring rod (outer pipe) 4 in FIG. 1 does not become equal to or higher than the minimum value, the pile formation determining means 30B executes step 36.

Next, it moves to FIG. After step 28, it is determined in step 40 whether the excavation speed is equal to or higher than the minimum value by the excavation optimum value determination unit 30A in FIG. 12, and if the excavation speed is equal to or higher than the minimum value, the excavation optimum value determination unit 30A is determined. When it is determined in step (4), the pile formation determining means 30B determines whether the excavation depth has reached the set depth (step 41).

When it is determined by the pile formation determining means 30B that the set depth has been reached, the end depth is stored in the RAM 31 of FIG. 12 in step 42, and the boring rod (outer pipe) 4 in FIG. (That is, pushing the fixing plate 21)
Is performed, and the pushing depth is sensed by a limit switch or the like, and it is determined by the pile formation determining means 30B whether or not the pushing is normally completed (step 44).

Means for judging whether or not the pushing has been completed normally
If it is determined at 30B, the boring head 3 starts reversing / retreating (ie, lifting) (step 45).

On the other hand, if the feed speed is not
In the case where the judgment is made by the pile formation judging means 30B in FIG. 12, after all the operations are stopped in step 11, the inability to excavate is displayed on the display DP2 in FIG. Is stopped, the operator is notified that an excavation abnormality has occurred (step 12).

Also, when the feed speed is equal to or higher than the minimum value, the pile creation determining means 30B determines whether or not the excavation depth has reached the set depth in step 41, and when it is determined that the set depth has been reached, The excavation is terminated, and the termination depth is stored in the RAM 31 in FIG. 12 (step 42).

If it is determined by the pile formation determining means 30B shown in FIG. 12 that the excavation depth has not been reached in step 41, it is determined in step 48 whether the excavation end switch among the automatic operation switches SW7 shown in FIG. 11 has been pressed. When it is determined that the push has been performed, the excavation is terminated and the termination depth is set to RA in FIG.
It is stored in M31 (step 42).

If it is determined in step 48 that the excavation end switch has not been pressed by the pile formation determining means 30B, it is determined whether the stroke of the boring rod (outer pipe) 4 is at the end, and the boring rod (outer pipe) is determined. If the stroke No. 4 is determined to be the end, the excavation is terminated, and the termination depth is stored in the RAM 31 of FIG. 12 (step 42).

When it is determined that the stroke of the boring rod (outer pipe) 4 is not the end by the pile formation determining means 30B in FIG. 12, the process returns to step S5.

On the other hand, if it is determined in step 44 by the pile formation determining means 30B that the pushing of the boring rod (outer pipe) 4 is not normally completed, the first step 50 is executed.
The reverse rotation / retreat of the boring rod (outer tube) 4 shown in the figure is started, and in step 51, it is determined whether or not the boring rod (outer tube) 4 has retreated by a predetermined value.

When it is determined by the pile formation determining means 30B that the boring rod (outer pipe) 4 has been retracted by a certain value, the boring rod (outer pipe) 4 is stopped in the reverse rotation / retreat and pushed again, and the next step 54 is performed. Execute

When the pile formation determining means 30B determines that the boring rod (outer pipe) 4 has not been retracted by a certain value,
The determination of step 51 is performed again.

 Next, FIG. 16 will be described.

In FIG. 14, after the step 54, when it is judged by the pile formation judging means 30B that the pushing is normally completed in the step 60, the boring rod (outer pipe) 4 performs the reverse rotation / retreat in the step 45. At step 61, it is determined whether or not the rotation speed of a motor 54 for rotating the boring rod (outer tube) 4 shown in FIG.

When the pile formation determining means 30B determines that the rotation speed of the motor 54 is equal to or higher than the predetermined rotation speed, it is determined in step 62 whether or not the feeding speed is equal to or higher than the predetermined feeding speed. If it is determined that the feed speed is equal to or higher than the predetermined feed speed, it is determined whether the feed position is 0 (that is, the feed position has returned to the ground surface) (step 63).

If it is determined by the pile formation determining means 30B that the feed position is 0, the reverse rotation / retreat of the boring rod (outer pipe) 4 is stopped in step 64, and the auto tension is turned off in step 65. , Boring rod (outer tube)
Release the push of 4.

Next, as step 66, a boring rod (outer tube) 4
Is printed on the printer PT in FIG. 7 to complete the automatic excavation (step 67).

On the other hand, if there is a torque abnormality in step 36, all the operations in step 11 are stopped. In step 68, the torque abnormality is displayed on the display DP2 in FIG. 8, and the operation is abnormally stopped (step 12 in FIG. 13). Is made to be recognized by means such as an alarm.

If it is determined in step 60 that the pushing is not completed normally by the pile formation judging means 30B, a pushing error is displayed on the DP2 in FIG. 8 as a step 69, and all operations are stopped (FIG. 13). Figure Step 1
1) The operator is notified of the abnormal stop (step 12 in FIG. 13) by means such as an alarm. Stop all operations in step 11 (steps 60 and 69, steps 11 and 1
2).

If it is determined in step 16 that the rotation speed of the motor 54 for rotating the boring rod (outer tube) 4 shown in FIG. Is displayed on the display DP2 in FIG. 8, and all operations are stopped (see FIG. 8).
Step 11 in Figure 3), Abnormal stop (Step 12 in Figure 13)
To the operator.

If it is determined in step 62 that the feeding speed is not equal to or higher than the predetermined speed by the pile formation determining means 30B, step 71
To display on the display that there is an abnormality in the lifting speed,
All the operations are stopped (step 11 in FIG. 11), and the operator is made aware of the abnormal stop (step 12 in FIG. 11).

This is the end of the description of the flowchart showing the operation procedure from FIG. 11 to FIG.

Next, FIG. 15 is a hydraulic circuit diagram showing the operation of the main parts of the hydraulic control units 34 to 36 in FIG. In this drawing, the output electric signal of the electromagnetic proportional relief valve 34 for feeding force adjustment
Activate the relief valve 50 for adjusting the feed force, open the solenoid valve 51, send hydraulic pressure to the feed valve, and operate the feed motor 52 of the boring rod (outer tube) 4 to operate the boring rod (outer tube). Feed 4

In addition, the output electric signal of the rotational speed adjusting electromagnetic proportional relief valve 35 activates the rotational speed adjusting relief valve 53, and the electromagnetic signal 63 is opened by the electric signal from the motor 56 of the power unit 55, and the hydraulic pressure is applied to the motor 54. Supply and motor
The boring rod (outer tube 4) is rotated by 54.

Further, hydraulic pressure is supplied from the hydraulic motors 56 and 57 of the power unit 55 to the bag feeding motor 61, the feeding motor 52 and the bag winch motor 62 via the electromagnetic valves 58 to 60, and the respective motors are started.

Therefore, according to the present embodiment, the rotation and excavation of the boring rod (outer tube) 4 can be performed while applying a constant tension by the bag winch motor by using the hydraulic circuit. Can be

Further, according to the above-described embodiment, if an abnormal operation occurs between excavation and pushing of the fixing plate (fixing plate) to lifting, the operation is immediately stopped, and the operation is performed normally. After confirming this, it is possible to make adjustments so that the enforcement management from excavation to unloading can be performed smoothly, so that the operation from excavation to pushing up of the fixing plate (fixing plate) to unloading is normal. If so,
Automatic excavation can be completed smoothly.

Further, in this embodiment, if it is determined that there is an abnormality in the operation from excavation to pushing up of the fixing plate (fixing plate) and lifting, it is determined that all operations are stopped and then abnormal stop is performed. Since the operator can be made to recognize through means such as display, loss of operating time of the machine can be eliminated and normal operation can be performed.

(Effects of the Invention) As described above, according to the present invention, if an abnormal operation occurs between excavation, pushing of the fixing plate, and lifting, the work is immediately stopped, and the work is performed normally. If the operation from excavation to unloading is determined to be normal, automatic excavation is smoothly terminated. be able to.

Further, in the present invention, when it is determined that there is an abnormality in the operation from excavation to unloading, all the operations can be stopped, so that useless operation of the machine can be eliminated.

According to the second aspect, when it is determined that the operation from the excavation to the pushing of the fixing plate to the lifting is abnormal by the pile formation determining means, all the operations are stopped and the operation is stopped abnormally. Since it is possible for the operator to recognize the fact through means such as display, it is possible not only to eliminate the loss of the operation time, but also to perform the normal operation.

[Brief description of the drawings]

1 to 6 show an embodiment of a mechanical component of an automatic excavator for forming a cast-in-place pillow according to the present invention, and FIG. 7 shows a front panel of a switch box SB according to an embodiment of the present invention. FIG. 8 shows a control unit according to an embodiment of the present invention.
FIG. 9 is a diagram showing a meter panel of a CU, FIG. 9 is a schematic circuit diagram around a measurement external output switch, and FIG. 10 shows, for example, a connection example of a terminal board and each measuring device when a current input measuring device is used. FIG. 11, FIG. 11 is a diagram showing a switch panel of a control unit CU of the embodiment of the present invention, FIG. 12 is a block diagram showing a control outline of the switch box SB and hydraulic unit OU for automatic operation, FIG. 13 to FIG. 16 are diagrams showing a flowchart showing a specific operation procedure of the automatic excavator for constructing the cast-in-place pillow of the present invention, and FIG. 17 shows an operation of a main part of the hydraulic control units 34 to 36 in FIG. FIG. 18 is a hydraulic circuit diagram showing the locked state of the bag body in the outer cylinder. In the figure, 3 is a drill head, 4 is an outer pipe, 8 is an inner pipe, OU is a hydraulic unit, CU is a control unit, and SB is a switch box.

Continuing from the front page (72) Koji Suzuki, Inventor 1-1-11-9-201, Nakaochiai, Shinjuku-ku, Tokyo Cl. ⁶ , DB name) E21B 44/00 E21B 7/00

Claims (2)

(57) [Claims] 1. A guide frame is provided with a drill head for providing rotation and feed, a double tube comprising an outer tube and an inner tube is provided on the drill head, and a fixing plate is detachably provided at a tip of the outer tube. A bag body having a tip fixed to a fixing plate is provided in the inner tube, and the double tube is excavated by rotating and feeding, and when excavating to a predetermined depth, the inner tube is pushed down to fix the plate from the outer tube. Cut and pushed in, then pull up the double pipe and inject solidified material into the bag body in the borehole.In an automatic excavation device for cast-in-place piles, at the start of operation, at least the standard feeding speed, standard rotation speed and Parameter setting means for setting the maximum torque and the like; excavation is performed after the setting of the parameter setting means is completed;
An excavation optimum value judging means for judging whether or not the standard feed speed, the standard rotation speed, the maximum torque and the like become the excavation optimum value; When an abnormal operation occurs between the pushing of the fixing plate and the lifting, the work is stopped immediately, and when the work is performed normally, the work from the excavation to the pushing of the fixing plate through the pushing is performed. An automatic excavator for cast-in-place pile formation, comprising: pile formation means; 2. The pile forming judging means for judging whether the operation from excavation to pushing up of the fixing plate and lifting up is abnormal or normal. If it is determined that the operation from the excavation to the lifting of the fixing plate through the pushing of the fixing plate is abnormal, the operator stops all the operations and then recognizes that the operation is abnormally stopped through the display recognition means. Claim (1)
Automatic drilling equipment for casting cast-in-place piles as described.