JP4617471B2 - Pile punching machine centering method and centering machine - Google Patents

Description

The present invention relates to a method and an apparatus for aligning a pile punching machine with respect to a steel pipe pile when a pile punching machine is mounted on the upper end of the steel pipe pile.
There are many types of work modes for pile driving work and pile removing work, but the present invention is suitable for driving long (for example, about 100 meters) piles at night work.

When placing a long pile into the ground, using a relatively short pile material, it is driven into the ground while welding, and then a long pile is placed on the ground from the beginning. The present invention belongs to the latter method (long from the beginning).
FIG. 3 is a schematic plan view of the pile driving work started for the airport expansion work at the end of 2007. Since the construction work is publicly performed, the application of the present invention was made before the date when the present invention apparatus started to operate. This figure is a plan at the time of filing.
The steel pipe pile 8 in this example has a length of about 90 meters and a diameter of about 1.3 meters.
If the diameter of the steel pipe is several tens of centimeters or less, the steel pipe pile can be gripped and driven with one pile chuck.
Further, if the diameter of the steel pipe is several meters or more, it is usual that a plurality of pile punching machines are mounted in a ring shape on the top of the steel pipe.

The pile punching machine of this example (FIG. 3) is a new model designed and manufactured for driving a steel pipe pile having a diameter of 1.3 meters, and includes a plurality of pile chucks.
Specifically, four chucks 7 are arranged symmetrically in one pile driving machine (details will be described later).
The steel pipe pile 8 is temporarily held upright on the ground. The crane 9 lifts the pile punching machine and conveys it to the top of the steel pipe pile. The procedure is as follows.
The structure of the pile punching machine will be described in detail later with reference to FIGS.
As indicated by reference numeral 1A in FIG. 3, the pile punching machine is lifted higher than the top of the steel pipe pile 8, and is guided and moved to a position 1B almost directly above the steel pipe pile 8 as indicated by an arrow a. It is done.

The position 1C closest to the steel pipe pile 8 is suspended relatively quickly (arrow b),
After being finely moved in the horizontal direction (reciprocating arrows c and c ') at the upper position 1C immediately adjacent to the steel pipe pile, it is further lowered (arrow d),
The four chucks 7 hold the part that divides the top circle of the steel pipe pile into four equal parts.
The center alignment is automatically corrected by a chuck guide (FIG. 5), which will be described later. However, if it is greatly out of order, it will be out of the auto-correctable range. The accuracy is rough compared to, for example, machine tools. However, it will be understood that even with a high degree of skill, it is not easy considering that it takes place over 90 meters.

FIG. 4 is a front view of the pile punching machine. The outline of the structure will be described below.
The whole pile punching machine is denoted by reference numeral 1.
An exciter is indicated by reference numeral 2. In this example, it is constituted by a four-axis eccentric weight exciter.
The reference numeral 3 indicates a drive unit. In this example, it is constituted by an electric motor.
Reference numeral 4 denotes a buffer portion, which is constituted by a suspension spring so that vibration generated in the drive portion 3 is not transmitted to the crane. Reference numeral 5 denotes a hanging tool.

A chuck base 6 having high rigidity is fixed below the vibration generating unit 2, and four chucks 7 are installed below the chuck base 6. In the figure, the chuck denoted by reference numeral 7 'shows a side surface, and two chucks overlap and only one is drawn.
When these four chucks 7 are viewed from below, they are as shown in FIG.
In the present invention, “upper” and “lower” are called based on FIG. 3 depicting a normal use state.
4 and 5 similarly, the upper and lower sides in the figure coincide with the upper and lower sides of the designation, and only FIG. 1 is a bottom view, and the direction perpendicular to the paper surface of the drawing is the vertical direction (the front side of the paper is the lower side). ).
In FIG. 1 (A), the position of the steel pipe pile 8 is shown with the virtual line. The four chucks 7 are arranged so as to grip the steel pipe pile 8 symmetrically, the reference line S is a circle based on the symmetrical arrangement, and the symbol O is a symmetrical center point.
A central space E without an obstacle is formed between the four chucks.

The four chucks 7 have the same shape and dimensions, and one of them is taken as a two-sided view as shown in FIG.
The chuck is generally configured with a fixed claw 7a and a movable claw 7b facing each other.
The movable claw 7b has a lever structure that is pivotally supported by a pivot shaft 7c, and is tilted by a cylinder 7d.
Each of the fixed claw 7a and the movable claw 7b is provided with sandwiching teeth 7e made of wear-resistant hardened steel and are opposed to each other in parallel.

In FIG. 5, a reference numeral 8 indicates a partial cross section of a steel pipe pile that is an object to be gripped by a chuck.
When the chuck gradually descends from above the stationary steel pipe pile 8, the steel pipe pile 8 rises relative to the chuck.
Since it is not easy for the pipe wall of the steel pipe pile 8 (hatched in the drawing) to rise and enter between the two clamping teeth 7e, 7e, a guide 7f is attached to the lower end of the fixed claw 7a.
The illustrated arrow g indicates a path that is guided while sliding when the steel pipe pile 8 contacts the guide 7f.
Reference line XX represents a mounting surface for the chuck base (symbol 6 in FIG. 4).
Although the difference between the distance between the two clamping teeth 7e, 7e and the thickness of the steel pipe pile 8 is slight, the guide 7f is provided for the centering work of the pile punching machine for the steel pipe pile. An error of about several centimeters is allowed.
However, if the misalignment dimension (centering error) is large and the steel pipe pile is out of the guide slope of the guide 7f, the centering operation fails.
For providing a guide to the chuck, for example, a technique described in JP 2001-317052 A is known. However, as illustrated in FIG. 3, centering over about 100 meters has not been considered. In addition, night work was not taken into account. Night work is not necessarily limited to the raising and lowering of the sun, but means that the ambient lighting is not bright.
JP 2001-317052 A

In the steel pipe pile design shown in FIG. 3, the length of the steel pipe is 90 meters, and the construction works continuously for 24 hours by changing three times a day.
The 90 meters above the ground is felt tremendously high, the pile punching machine is small, and the upper end of the steel pipe pile looks thin.
Since the clear vision distance is 30 centimeters, when viewed 90 meters away, the distance is 300 times the clear vision distance. The size necessarily appears to be 1/300 of the size at the clear vision distance.
A steel pipe with a diameter of 1.3 meters looks 4.6 mm in diameter and thinner than a pencil.
This is a scientific calculation, not a literary expression.

Conventionally, the centering operation similar to that shown in FIG. 3 has been performed depending on the skill of the worker and the action of the guide. I had to do it and finally exceeded the limits of what was possible.
If you try to do it within the scope of the prior art,
Since steel pipe piles are normally arranged, using the existing pile adjacent to the steel pipe pile that is being placed,
A field supervisor who climbs the top of the existing pile must guide the pile punching machine while attaching a lamp on the existing pile and illuminating the vicinity of the top of the new pile.
Even if the top of the steel pipe pile is illuminated with a floodlight from the ground, it does not provide effective work support because of the illumination angle.

  The present invention has been made in view of the above circumstances, and the object is to provide a pile punching machine suspended by a crane against the upper end of a long steel pipe pile standing on the ground. It is an object of the present invention to provide a method and apparatus that can be easily and quickly guided and centered.

In order to solve the problem, the present inventors created and experimented with the working conditions shown in FIG. 3 described above, and searched for the circumstances and causes of technical difficulties, and obtained the following knowledge.
a. The distance to the pile punching machine to be centered is far and small, and no matter how much the light is illuminated, the background is the night sky, so you can't get a sense of position.
b. Since the upper end part of the steel pipe pile which is the center alignment target is not illuminated well, it is impossible to grasp the relative positional relationship with the pile punching machine.
Therefore, the present inventors provided a television camera for estimating the position of the pile punching machine and provided means for illuminating the upper end portion of the steel pipe pile.

The inventive method according to claim 1 created on the basis of the above-mentioned principle is a position higher than the upper end of the steel pipe pile (8) supported by standing a pile punching machine equipped with a plurality of chucks (7) on the ground. (1A)
Move the above pile punching machine in a substantially horizontal direction (arrow a) to guide it to a position (1B) almost directly above the steel pipe pile,
Suspend the pile punching machine and stop the descent at a short distance (1C) where there is no risk of colliding with the steel pipe pile.
Further fine adjustment in the horizontal direction (arrows c, c '), after aligning each of the plurality of chucks so as to face the upper end of the steel pipe pile,
In the pile punching machine centering method of the method of gradually lowering the pile punching machine and inserting the plurality of upper ends of the steel pipe piles into the plurality of chucks, respectively.
The plurality of chucks (7) are arranged symmetrically along the “concentric circle with respect to the center of the pile punching machine” with respect to the pile punching machine, 10) facing down,
And the light (11) for pile top lighting which projects toward the downward direction of this TV camera is installed,
When the pile punching machine is guided almost directly above the steel pipe pile (1B), the top light of the steel pipe pile is illuminated by illuminating the light for lighting the pile top (11), and the top of the steel pipe pile with the TV camera. Image the surface,
By observing the steel pipe pile image reflected on the imaged television screen, the position of the TV camera relative to the steel pipe pile, that is, the relative positional relationship of the pile punching machine with respect to the steel pipe pile,
Guide the pile punching machine almost directly above the steel pipe pile (1B) so that the steel pipe pile image comes to the center of the TV screen,
Hang the pile punching machine with the steel pipe pile image located in the center of the TV screen (arrow b),
Observe the enlarged state of the steel pipe pile image on the TV screen, determine the distance between the chuck of the pile punching machine and the steel pipe pile, and stop the suspension at the short distance position (1c) where there is no possibility of collision And
The pile punching machine is finely adjusted in the horizontal direction (arrows c and c ') so that the steel pipe pile image is at a predetermined position on the TV screen, and is centered.

In the invention method according to claim 2, in addition to the constituent features of the invention method of claim 1, each of the plurality of chucks (7) includes: “the upper end of the steel pipe pile is inserted into the chuck and the end point of the insertion stroke. Is provided with a contact sensor (12) that operates upon receiving the contact of the steel pipe pile,
When the pile punching machine is made to face the upper end of the steel pipe pile substantially straight and then descend slowly (arrow d), the completion of the steel pipe pile insertion is detected by the output signal of the contact sensor (12), and the chuck cylinder (7a ) Is operated to grip the steel pipe pile.

The configuration of the invention device according to claim 3 is that a plurality of chucks (7) are arranged symmetrically below the chuck base (6) fixed to the vibration generator (2) of the pile punching machine,
Position the symmetric center of the symmetrically arranged chuck below the chuck base,
The stake punching machine is pointed down in the suspended state, and a TV camera is attached,
And the light (11) for pile top illumination which projects toward the downward direction of the said television camera is provided in the said chuck | zipper base, It is characterized by the above-mentioned.

In the configuration of the invention device according to claim 4, in addition to the configuration requirements of the invention device of claim 3, the fixed claw (7a) and the movable claw (7b) of the chuck (7) are opposed to each other,
A U-shaped recess having two opposing claws parallel to two sides is formed,
A contact sensor (12) having a structure capable of receiving contact of a steel pipe pile inserted into the concave portion is provided in the vicinity of a dead end substantially orthogonal to two parallel sides of the U-shaped concave portion. And

When the method of the invention according to claim 1 is applied, the television camera (10) is provided at the center of the plurality of symmetrically arranged chucks, so that the steel pipe can be seen by looking at the steel pipe pile projected on the television screen. You can understand the positional relationship between the pile and the “pile punching machine equipped with a TV camera”, and even if the altitude at the top of the pile is as high as 100 meters or against the background of the night sky, its position is easy and real-time. Recognized and can be easily guided.
And since the top part of a steel pipe pile is illuminated by the pile top illumination light installed in the pile punching machine, a television image can be clearly visually recognized even at night.

  When the invention method of claim 2 is applied, it can be confirmed easily and in real time whether or not the steel pipe pile has been securely inserted into the chuck. There is no fear of proceeding to the work process (clamping of the steel pipe pile by hydraulic operation).

When the invention device according to claim 3 is applied, when a pile punching machine equipped with the centering device according to this invention is lifted above a “steel pipe pile supported on the ground”, a screen imaged by a television camera The steel pipe pile is projected in
Thereby, since the positional relationship between the pile punching machine on which the TV camera is mounted and the steel pipe pile can be visually confirmed, it is possible to guide the pile punching machine to come directly above the steel pipe pile. Easily possible.

By applying the invention device according to claim 4, since it can be surely detected that the steel pipe pile has been inserted into the chuck, it can proceed to the next process with confidence and confidence,
The reliability of pile driving work can be improved and the work efficiency can be increased.
In other words, according to the device of the invention of claim 4, the method of the invention of claim 2 can be easily implemented and the effects can be sufficiently exhibited.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1A is a bottom view schematically illustrating the chuck arrangement of a pile punching machine according to a conventional example as described above.
FIG. 1 (B) shows an improvement by applying the device of the present invention (Claim 3) to this conventional example.
The four chucks 7 are arranged symmetrically in the prior art in order to grip the steel pipe pile 8. The symmetry mentioned here is not line symmetry but rotational symmetry (point symmetry), symbol S is a symmetry circle, and symbol O is a symmetry center.

In the embodiment of FIG. 1B, the television camera 10 is installed at the center of symmetry.
The television camera 10 is mounted on a chuck base (a member denoted by reference numeral 6 in FIG. 4) and is subjected to severe vibration. Therefore, the television camera 10 is preferably excellent in vibration resistance. However, as described in the next paragraph, this television camera is a member used for the chuck operation, and it is only necessary to pause during vibration pile driving.

Regarding the use example of the centering apparatus configured as described above (FIG. 1B),
This will be described below with reference to FIGS. 2 and 3 together.
The crane 9 lifts the pile punching machine higher than the top of the steel pipe pile 8 as in the position 1A shown in FIG.
In this state, the television screen by the video camera attached to the portion indicated by the symbol Tv is as shown in FIG. 2A, and the image of the steel pipe pile is not shown.
In the center of the TV screen 15, a target mark 15a depicting a steel pipe pile is represented as a still image.
When the present invention is implemented, the target mark 15a may be a mark drawn on a transparent plate or an electrical image displayed on a cathode ray tube or a liquid crystal screen.

(See FIG. 3) When the pile punching machine is moved from the position 1A to the position 1B (substantially above the steel pipe pile 8) as indicated by the arrow a, one corner of the TV screen 15 is obtained as shown in FIG. Then, a distant view image 16 of the steel pipe pile enters.
The reason for the distant view image is that the position 1B of the pile punching machine is higher than the top surface of the steel pipe pile 8.
If the distant view image 16 does not enter the TV screen, move the pile punching machine slightly in the horizontal direction near the 1B position.
In the case of night work, the television camera 10 captures an image while illuminating the top of the steel pipe pile 8 with the pile top illumination light 11 shown in FIG.

When the distant view image 16 is caught, the pile punching machine is guided so that the distant view image comes to the middle of the target mark 15a. When it comes to the middle, the screen is as shown in FIG.
In this example, the TV screen 15 was placed on the driver's seat (not shown) of the crane 8, and the driver operated the crane while viewing the image to perform the following alignment.
This operation does not require any special skill and can be easily performed.

If the distant view image 15a in the TV screen comes to the vicinity of the center of the target mark 15a as shown in FIG. 2C, the pile punching machine is at the position 1B in FIG. 3 (almost directly above the steel pipe pile 8). Judge that.
“Almost” almost directly above indicates that the alignment has not been completed yet.
Therefore, the pile punching machine is suspended as shown by the arrow b shown in FIG.
As the suspension is lowered, the television camera mounted on the pile punching machine approaches the top surface of the steel pipe pile 8, so that the image of the top surface becomes larger.
As shown in FIG. 2D, when the image of the top surface of the steel pipe pile becomes large and the foreground image 17 has the same size as the target mark 15a, it is determined that the pile punching machine has reached the 1C position in FIG. .
To be precise, the size of the target mark 15 is drawn in advance so as to be equal to the steel pipe pile image at the 1C position (close position within the range where there is no possibility of collision).
In this way, when the foreground image 17 becomes the same size as the target mark 15a, the pile punching machine is at the 1C position.
(Note) The distant view image and the close view image are names for convenience of explanation, and there is no clear boundary between them.

If it is determined that the foreground image 17 has the same size as the target mark 15a as shown in FIG. 2D and the pile punching machine has been lowered to the position 1C in FIG. 3, the arrows c and c ′ in FIG. As shown in FIG. 2E, the foreground image 17 is concentrically adjusted with respect to the target mark 15a. This completes the alignment, so that the steel pipe pile 8 is inserted into the chuck 7 by gradually suspending it as indicated by the arrow d shown in FIG.
At this time, since the guide 7f (described in paragraph 0008 with reference to FIG. 5) is provided on the chuck, the centering has an allowable error in centimeters. For this reason, centering with sufficient accuracy is possible with the television screen.

Next, as a later step of the centering operation (see FIG. 5), the cylinder 7d of the chuck is operated, and the tube wall of the steel pipe pile 8 is clamped by the two clamping teeth 7e.
What is important at this time is to check whether or not the steel pipe pile 8 is completely inserted between the clamping teeth 7e.
If an attempt is made to clamp the steel pipe pile in a state where it is not sufficiently inserted, not only the centering operation will be unsuccessful, but if the vibrator is operated as it is, there is a risk of causing damage to the chuck or the like.

Therefore, in this embodiment, as shown in FIG. 5, a contact sensor 12 for detecting the insertion of a steel pipe pile is provided.
The reason why the contact sensor is used is that a contact sensor that is simple, inexpensive, and excellent in vibration resistance is sufficient. Even if it replaces with a non-contact sensor knowing that it is expensive, it is an application of the present invention and belongs to the technical scope of the present invention.
The location where the contact sensor 12 is provided is preferably the back of a U-shaped recess having two holding teeth 7e as two parallel sides. However, even if a sensor is provided at a location other than the back of the U-shaped recess for some reason, such as the performance and shape of the sensor, it is an application mode of the present invention and belongs to the technical scope.
When it is confirmed that the upper end of the steel pipe pile has been inserted into the chuck as described above, the cylinder 7d is operated to hold the steel pipe pile, and the latter process of the centering operation is completed.

  It is the typical bottom view which drew the chuck | zipper when it looked at from the bottom, Comprising: (A) represents a prior art example, (B) represents embodiment of this invention, respectively.   It is process drawing on which the change of the television screen in one example which enforced this invention method using this invention apparatus was drawn.   It is a front view for demonstrating the process of the operation | work which mounts a pile punching machine with respect to the upper end part of a steel pipe pile.   It is a front view of the pile punching machine of a prior art example.   It is the 2nd page figure which showed the chuck for pile punching machines, Comprising: The installation location of contact sensor 12 concerning the present invention is drawn with the virtual line.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pile punching machine 1A ... The position of the pile punching machine lifted by the crane 1B ... The position of the pile punching machine moved to almost right above the steel pipe pile 1C ... The position of the pile punching machine suspended to the steel pipe pile 2 The vibration generator of the pile punching machine 3 The drive section of the pile punching machine 4 The buffering section of the pile punching machine 5 The lifting tool 6 The chuck base 7 The chuck 7a The fixed claw 7b The movable claw 7c The pivot shaft 7d Cylinder 7e ... clamping tooth 7f ... guide 8 ... steel pipe pile 9 ... crane 10 ... TV camera 11 ... pile top illumination light 12 ... contact sensor

Claims (4)

A pile punching machine equipped with a plurality of chucks (7) is lifted to a position (1A) higher than the upper end of the steel pipe pile (8) supported on the ground,
Move the above pile punching machine in a substantially horizontal direction (arrow a) to guide it to a position (1B) almost directly above the steel pipe pile,
Suspend the pile punching machine and stop the descent at a short distance (1C) where there is no risk of colliding with the steel pipe pile.
Further fine adjustment in the horizontal direction (arrows c, c '), after aligning each of the plurality of chucks so as to face the upper end of the steel pipe pile,
In the pile punching machine centering method of the method of lowering the pile punching machine and inserting the plurality of upper ends of the steel pipe piles into the plurality of chucks, respectively.
The plurality of chucks (7) are arranged symmetrically along the “concentric circle with respect to the center of the pile punching machine” with respect to the pile punching machine, 10) facing down,
And the light (11) for pile top lighting which projects toward the downward direction of this TV camera is installed,
When the pile punching machine is guided almost directly above the steel pipe pile (1B), the top light of the steel pipe pile is illuminated by illuminating the light for lighting the pile top (11), and the top of the steel pipe pile with the TV camera. Image the surface,
By observing the steel pipe pile image reflected on the imaged television screen, the position of the TV camera relative to the steel pipe pile, that is, the relative positional relationship of the pile punching machine with respect to the steel pipe pile,
Guide the pile punching machine almost directly above the steel pipe pile (1B) so that the steel pipe pile image comes to the center of the TV screen,
Hang the pile punching machine with the steel pipe pile image located in the center of the TV screen (arrow b),
Observe the enlarged state of the steel pipe pile image on the TV screen, determine the distance between the chuck of the pile punching machine and the steel pipe pile, and stop the suspension at the short distance position (1c) where there is no possibility of collision And
Pile punching machine centering method, wherein the pile punching machine is finely adjusted (arrows c, c ') in the horizontal direction so that the steel pipe pile image is in a predetermined position on the TV screen. . In each of the plurality of chucks (7), a "contact sensor (12) that operates upon receiving the contact of the steel pipe pile when the upper end of the steel pipe pile is inserted into the chuck and reaches the end of the insertion stroke" is provided. Set up
When the pile punching machine is made to face the upper end of the steel pipe pile substantially straight and then descend slowly (arrow d), the completion of the steel pipe pile insertion is detected by the output signal of the contact sensor (12), and the chuck cylinder (7a The pile punching machine centering method according to claim 1, wherein the steel pipe pile is gripped by actuating. A plurality of chucks (7) are arranged symmetrically below the chuck base (6) fixed to the vibration generator (2) of the pile punching machine,
Position the symmetric center of the symmetrically arranged chuck below the chuck base,
The stake punching machine is pointed down in the suspended state, and a TV camera is attached,
A pile punching machine centering device, wherein a pile top illumination light (11) for projecting light downward toward the TV camera is provided on the chuck base. The fixed claw (7a) and the movable claw (7b) of the chuck (7) are opposed to each other,
A U-shaped recess having two opposing claws parallel to two sides is formed,
A contact sensor (12) having a structure capable of receiving contact of a steel pipe pile inserted into the concave portion is provided in the vicinity of a dead end substantially orthogonal to two parallel sides of the U-shaped concave portion. A centering device for a pile punching machine according to claim 3.

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