JP5248361B2 - Pile driver stability measuring apparatus and method - Google Patents

Description

  The present invention relates to an apparatus and method for measuring stability of a pile driver, and more particularly, to an apparatus and method for measuring the stability of a large pile driver having a high center of gravity using an actual pile driver.

  Stakeholders are required by law to have a stability of 5 degrees, but with a large pile driver with an overall height of more than 30 m, it is dangerous to actually measure the tipping angle. It is recognized that

  On the other hand, as a device for calculating the posture stability of various construction machines, for example, in the case of a hydraulic excavator, the bottom pressure of the hydraulic cylinder and the angle of the hydraulic cylinder that operate the front mechanism including the arm and bucket are detected, respectively. An apparatus that calculates posture stability from various information such as the total weight, the weight of the lower traveling body and the position of the center of gravity, the weight and center of gravity of the upper swing body, and the position of the falling fulcrum is known (for example, see Patent Document 1). .

JP-A-9-105155

  In the case of a hydraulic excavator or a hydraulic crane as described in Patent Document 1, since the entire device is used by a manufacturer, the weight and the position of the center of gravity are hardly changed. Although it is possible to calculate the stability accurately, in the case of a pile driver, the equipment to be mounted on the pile driver such as the leader length, excavator, generator frame, etc. differs depending on the construction conditions and method, Naturally, the weight and center of gravity of the pile driver will differ depending on the construction conditions.

  For this reason, it is not possible to calculate the stability easily like a hydraulic excavator or a hydraulic crane, and every time construction conditions and construction methods change, the weights of various devices to be mounted on the pile driver under the conditions at that time and It was necessary for the manufacturer to calculate the stability including the position of the center of gravity, which was a heavy burden on the manufacturer.

  Therefore, an object of the present invention is to provide a pile measuring machine stability measuring apparatus and method that can easily measure accurate stability using a pile driving machine in an actual working state.

  In order to achieve the above-mentioned object, the stability measuring device for a pile driving machine according to the present invention has an upper turning body mounted on the upper portion of the lower traveling body so as to be able to turn, and a leader is provided on the front portion of the upper turning body so as to be raised and lowered. A stability measuring device for a pile driving machine provided with a pair of front jacks in front of the upper swing body and a pair of rear jacks in the rear, and an angle meter for detecting an inclination angle of the pile driving machine, A load detecting means for detecting a load applied to each jack when the pile driver is lifted by operating the front jack and the rear jack, and an angle of the pile driver detected by the goniometer and the load detecting means. And calculating means for calculating the center of gravity position of the pile driving machine from the load applied to each jack detected in step (i), wherein the calculating means is a first applied to each jack when the pile driving machine is floated at a first inclination angle. Load Calculating the position of the center of gravity from the relationship between the second load applied to each jack when the pile driver is floated at a second inclination angle, and the first inclination angle and the second inclination angle; It has the calculating part which calculates the stability of the pile driver from the calculated gravity center position and the dimension of the lower traveling body.

  Further, in the stability measuring apparatus for a pile driving machine according to the present invention, the arithmetic means operates a control valve corresponding to each jack provided in a hydraulic circuit for expanding and contracting the front jack and the rear jack, The jack control unit to be operated, the tilt angle setting unit in which the first tilt angle and the second tilt angle are set in advance, and the first load and the second load detected by the load detecting means. A data storage unit for storing, when the pile driving machine is floated by operating each jack, the jack control unit operates each jack and detects the angle of the pile driving machine detected by the goniometer in advance. The set first tilt angle and second tilt angle are set, and the data storage unit adds to each jack when the angle of the pile driver detected by the goniometer becomes the first tilt angle. The first load is stored, and the second load applied to each jack when the angle of the pile driver detected by the goniometer becomes a second inclination angle is stored, The center of gravity position is calculated from the first load and the second load stored in the data storage unit and the first tilt angle and the second tilt angle set in the tilt angle setting unit. It is characterized by.

  Further, the stability measuring method of the pile driving machine of the present invention includes an upper revolving unit that is turnably mounted on an upper portion of the lower traveling body, and a leader that can be raised and lowered at a front portion of the upper revolving unit. A method for detecting the stability of a pile driver comprising a pair of front jacks in front of the body and a pair of rear jacks in the rear, wherein the pile jacks are operated by operating the front jacks and the rear jacks. A first load applied to each jack when floating at an inclination angle of 2 mm and a second load applied to each jack when the pile driver is floated at a second inclination angle by operating the front jack and the rear jack. And calculating the position of the center of gravity of the pile driver from the difference between the first inclination angle and the second inclination angle and the load difference between the first load and the second load. , Calculated center of gravity position and the lower running It is characterized in that to calculate the stability of the pile driver from the dimensions of the body.

  Furthermore, the stability measuring method of the pile driving machine of the present invention is the state in which the load is detected by detecting the hydraulic pressure acting on the jack, and the first tilt angle is a state where the pile driving machine is floated horizontally. In addition, the second inclination angle is a state in which the front of the pile driving machine is highly inclined with respect to a horizontal plane.

  Moreover, the stability measuring method of the pile driver of the present invention includes a first stage of calculating the weight of the pile driver based on a first load applied to each jack in a state where the pile driver is floated horizontally, From the calculated weight, the sum of the first loads applied to both front jacks, the distance from the pile driver center to the front jack, and the distance from the pile driver center to the rear jack, A second stage of calculating the first center of gravity line position in the front-rear direction of the pile driver when it is lifted at the second stage, and a second stage applied to both front jacks in a state where the front of the pile driver is highly inclined with respect to the horizontal plane Based on the total load, the distance between the front jack and the rear jack, and the calculated weight, the position of the second center of gravity line in the longitudinal direction of the pile driver when the front of the pile driver is tilted high and floated. A third step of calculating, Calculating a position of an intersection between the first centroid line position calculated in the stage and the second centroid line position calculated in the third stage, and including a fourth stage in which the position of the intersection is the centroid position. It is characterized by.

  According to the present invention, it is possible to easily obtain an accurate stability of a pile driver using an actual working state pile driver equipped with various devices. Therefore, even if the construction conditions and construction methods vary depending on the work site, and the equipment to be mounted on the pile driver differs, the stability of the pile driver can be detected only by detecting the load and inclination angle of each jack at the work site. Can be requested.

It is a side view of a pile driver for explaining stability of a pile driver. It is a front view of a pile driver for explaining stability of a pile driver. It is a side view which shows the state which floated the pile driver horizontally. It is a front view which shows the state which floated the pile driver horizontally. It is a side view which shows the state which inclined the front of the pile driver high and made it float. It is explanatory drawing which calculates the gravity center position of a pile driver. It is explanatory drawing which shows an example of a stability measuring apparatus.

  The pile driving machine 11 includes a lower traveling body 13 having a crawler 12, an upper revolving body 14 that is turnable on the upper portion of the lower traveling body 13, and a front that is provided at the front of the upper revolving body 14. A leader 15 provided on the bracket 14a so as to be raised and lowered, a pair of left and right back stays 16 for supporting the leader 15 so as to be raised and lowered from the rear part of the upper turning body 14, and a pair provided on the front left and right of the upper turning body 14 The front jack 17 and a pair of rear jacks 18 provided on the left and right sides of the upper swing body 14 are provided. The reader 15 includes various working devices, for example, an auger drive device 19 for driving an auger 19a. The top sheave block 20 is provided on the top of the reader 15 so that the wire rope 20a is wound around.

  Such a pile driving machine 11 has a horizontal position of the center of gravity G of the pile driving machine 11 in front of and behind the pile driving machine because of the weight of the leader 15 and the auger drive device 19 arranged in front of the center in the longitudinal direction. There is a horizontal distance L from the direction center line O toward the front of the pile driver, and the vertical position is above the upper swing body 14. The center of gravity of the pile driver in the left-right direction is generally near the center of the pile driver in the left-right direction. Accordingly, the forward fall angle θ1 of the pile driving machine 11 is an intersection of a straight line K1 connecting the ground contact portion front end 12a of the crawler 12 and the center of gravity G serving as a forward fall fulcrum and a center of gravity line GL that is a vertical line passing through the center of gravity G. The rearward fall angle θ2 of the pile driving machine 11 is an intersection angle between the straight line K2 connecting the ground contact portion rear end 12b of the crawler 12 and the center of gravity G serving as a rearward fall fulcrum and the center of gravity line GL. Similarly, the sideward fall angle θ3 of the pile driving machine 11 is an intersection angle between the line of gravity K3 connecting the ground contact center 12c of the crawler 12 and the center of gravity G serving as a side overturning fulcrum and the center of gravity line GL.

  If all of the falling angles θ1, θ2, and θ3 are 5 degrees or more, the stability defined by the law is satisfied. Usually, since the forward fall angle θ1 of the pile driver 11 is the smallest angle, if the forward fall angle θ1 is less than 5 degrees, it can be determined that the stability is insufficient.

  When calculating the stability by calculation, it is necessary to determine the position (front-rear direction and height) of the center of gravity G in the pile driving machine 11 with various devices such as the auger drive device 19 mounted. Hereinafter, an example of a procedure for calculating the position of the center of gravity G will be described with reference to FIGS. 3 to 7.

  First, as shown in FIG. 7, the stability measuring device provided in the pile driving machine 11 shown in this embodiment includes an angle meter 21 for detecting the inclination angle of the pile driving machine 11, and the jacks 17 and 18. The stability of the pile driver 11 is calculated by calculating the center of gravity of the pile driver 11 from the load detecting means for detecting the applied load, the angle of the pile driver detected by the goniometer 21 and each load detected by the load detector means. Calculation means 22 for measuring is provided.

  As the load detection means, when the front jack 17 and the rear jack 18 are operated and the pile driving machine 11 is lifted, the loads applied to the jacks 17 and 18 are detected. On the extending side, a front left pressure sensor 17L, a front right pressure sensor 17R, a rear left pressure sensor 18L, and a rear right pressure sensor 18R are provided.

  The calculation means 22 includes a calculation unit, a jack control unit, an inclination angle setting unit, and a storage unit, and the jack control unit is provided with each control valve (solenoid) provided in a hydraulic circuit for extending and contracting each jack 17, 18. Valve) 23FL, 23FR, 23RL, and 23RR are respectively controlled via the signal circuit 24, and the pile driving machine 11 is set to an angle set in advance in the tilt angle setting unit or an angle set and input each time in the tilt angle setting unit. Hold.

  Further, the storage unit is provided with a data storage unit for storing the detected load data and various data necessary for measuring the stability. As various data, for example, the dimension of the lower traveling body 13 (position of each overturning fulcrum), the center position on the dimension of the pile driver 11 (pile driver center O), and the jacks 17 and 18 in the pile driver 11 As the position, a distance D from the pile driver center O to the front jack, a distance E from the pile driver center O to the rear jack, and the like are stored.

  And a calculating part performs a calculation process based on the set angle and the detected load, and the various data read from the said data memory | storage part, and measures the stability of the pile driver 11 used as the measuring object. Hereinafter, the procedure for calculating the stability in the pile driver will be described.

  First, as shown in FIG. 3 and FIG. 4, the pile driving machine 11 with various devices attached thereto is installed on a horizontal and solid installation surface J according to the construction conditions, etc. In a state where the jack is raised to the highest position, a signal for extending the jacks 17 and 18 is output from the calculation means 22 to the signal circuit 24, and the solenoid valves 23FL, 23FR, 23RL, and 23RR are switched to the extension side to switch the jacks. 17 and 18 are extended, and the pile driving machine 11 is in a state of being lifted by a preset floating distance F. At this time, by controlling the solenoid valves 23FL, 23FR, 23RL, and 23RR in accordance with a signal from the goniometer 21, the pile driving machine 11 is held at the first inclination angle level (inclination angle = 0 degree). To do.

  Signals from the pressure sensors 17L, 17R, 18L, and 18R at this time are converted into loads (reaction forces), and the obtained loads R1 (front left load), R2 (front right load), R3 (rear left side) Load), R4 (rear right side load), the weight of the pile driver 11 as the first load, that is, the weight W of the entire pile driver equipped with various devices according to construction conditions, etc. (First stage).

  W = R1 + R2 + R3 + R4

  Further, from the weight W obtained, the sum of the loads R1 and R2 of the jacks 17 positioned in the front, and the distances D and E from the pile driver center O to the front and rear jacks 17 and 18, respectively, Thus, the position of the center of gravity line GL1 in the horizontal state, in this case, the horizontal distance L from the vertical line passing through the pile driver center O to the center of gravity line GL1 can be obtained (second stage). As long as the vertical line serving as the reference can specify the position of the center of gravity line GL1 in the front-rear direction, any vertical line other than the vertical line passing through the pile driver center O can be used as a reference.

  L = (R1 + R2) × (D + E) / WE

  Next, as shown in FIG. 5, by extending both jacks 17 positioned forward, the front of the pile driving machine 11 is highly inclined with respect to the installation surface J, which is different from the first inclination angle. It is assumed that the inclination angle is 2 (inclination angle = θ). The second inclination angle θ can be arbitrarily set within a range in which the pile driving machine 11 does not fall backward. The larger the inclination angle θ, the higher the accuracy of calculating the stability, but the risk of unexpected falling Therefore, it is preferable to set an angle smaller than the expected angle of the backward fall angle θ2, for example, 2 to 7 degrees, usually about 5 degrees. The inclination state of the pile driver 11 is easily and reliably set and held at the set inclination angle θ by controlling the solenoid valves 23FL, 23FR, 23RL, and 23RR in accordance with the signal from the angle meter 21. be able to.

  Of the loads (second loads) applied to the jacks 17 and 18 in this inclined state, the sum of the loads R1a and R2a applied to both front jacks, the weight W of the pile driver 11 described above, and the pile driver center From the distances D and E from O to the front and rear jacks 17 and 18, the position of the center of gravity line GL2 at the time of tilting, in this case, the rear tilt fulcrum of the pile driver 11 (the grounding point of the rear jack 18) The horizontal distance S from the vertical line passing through to the center of gravity line GL2 can be obtained (third stage). The horizontal distance S can be obtained by using the load applied to the rear jack instead of the loads R1a and R2a applied to the front jack, and the vertical line serving as the reference is the longitudinal direction of the center of gravity line GL2 as described above. Any vertical line can be used as a reference if the position can be specified.

  S = (R1a + R2a) × (D + E) / W

  Since the two center-of-gravity lines GL1 and GL2 thus obtained are both straight lines passing through the center of gravity G of the pile driving machine 11, as shown in FIG. The intersection of the horizontal center of gravity line GL1 located at a horizontal distance L from the line and the inclined center of gravity line GL2 located at a horizontal distance S from the vertical line passing through the rear tilt fulcrum of the pile driver 11 when inclined. It becomes the position of the center of gravity G of the pile driver 11. The height H of the center of gravity G is a value obtained by subtracting the floating distance F from the center of gravity height T at the time of lifting obtained by the following equation.

T = (L + ES−cos θ) / tan θ
H = TF

  Since the position of the center of gravity G in the horizontal direction is a point on the center of gravity line GL1 when horizontal, the position of the center of gravity W in the pile driver 11 can be accurately obtained by calculating the height H as described above. it can. Then, the position of the determined center of gravity W, the above-described grounding portion front end 12a of the crawler 12 serving as the forward falling fulcrum, the grounding portion rear end 12b of the crawler 12 serving as the backward falling fulcrum, and the grounding portion of the crawler 12 serving as the side falling supporting point The straight lines K1, K2, and K3 connecting the respective centers 12c are obtained, and the intersection angles between the obtained straight lines K1, K2, and K3 and the centroid line GL that is a vertical line passing through the centroid W are respectively calculated by the following equations. Thus, the falling angles θ1, θ2, and θ3 are respectively obtained, and if all of the falling angles θ1, θ2, and θ3 are 5 degrees or more, the stability defined by the law is satisfied.

θ1 = tan ⁻¹ ((AL) / H)
θ2 = tan ⁻¹ ((B + L) / H)
θ3 = tan ⁻¹ (C / H)

  In this way, the front and rear jacks 17 and 18 are operated in a state where all necessary devices are mounted, and the jacks 17 and 17 measured by the pressure sensors 17L, 17R, 18L and 18R, respectively, in two states having different inclination angles. From the load of 18 and the angle of the pile driving machine 11 measured by the goniometer 21, the center of gravity position of the pile driving machine 11 with each device mounted can be obtained by calculation. Since the falling angle in each direction of the pile driving machine 11, that is, the stability can be automatically calculated from the size of the ground contact portion of the crawler 12 in the body 13, the stability in the actual machine can be determined accurately and in a short time. Can do.

  Further, the stability when the upper swing body 14 is swung to an arbitrary angle and the stability when the reader 15 is tilted to an arbitrary angle can be measured in the same manner as described above. Further, as shown in the present embodiment, the calculation means 22 is provided with a signal circuit for inputting detection signals of the angle meter 21 and the pressure sensors 17L, 17R, 18L, and 18R, and the solenoid valves 23FL, 23FR, 23RL, By providing the signal circuit 24 for controlling each of the 23 RRs in advance, it is possible to automatically and continuously perform the expansion and contraction operations of the jacks 17 and 18, the reading of angles and loads, and the measurement and determination of stability. Furthermore, it is possible to measure the stability by setting the angle of the pile driver to three or more different angles, and it is also possible to perform an appropriate correction as necessary at the time of calculation.

  Therefore, it is possible to improve workability when measuring the stability of the pile driving machine 11 and shorten the measurement time, and it is easy when the user of the pile driving machine 11 attaches various devices to the pile driving machine 11. In addition, since the stability can be confirmed, and the countermeasure when the stability is insufficient can be surely performed, the safety of the pile driving work can be more reliably ensured.

  Conventionally, it has been necessary to store the weight and center of gravity of each device such as an auger drive device mounted on the pile driving machine 11 as data, and to read and calculate these data at the time of calculation. Since the actual pile driver 11 can measure the stability, it is not necessary to store and manage the data, and the work required for measuring the stability can be greatly reduced.

  The angle meter, the load detection means and the calculation means are not limited to the above-described embodiments. For example, the angle meter may be used separately from the pile driver at an appropriate position of the pile driver. it can. The load detecting means may be one in which a pressure sensor is provided on each of the expansion side and the contraction side of each jack cylinder to detect the differential pressure, and the ground contact surface of each jack, the installation surface of the pile driving machine, It may be a load cell provided between the two.

  Further, the calculation means may be incorporated in a pile driving machine, and an appropriate personal computer or the like may be connected as the calculation means at the time of measurement. Furthermore, the operator performs the expansion / contraction operation of each jack, the reading of the detected value of the angle meter and the pressure sensor, and the angle detected by the angle meter and the load detection means load when the appropriate first angle and second angle are set. It is also possible to measure the stability by manually inputting the calculation means. In addition, since the total weight of each device is measured, it is possible to check whether the allowable weight is exceeded. Also, the ground pressure at the time of use (average and local) is determined from the horizontal center of gravity and the total weight. Can also be calculated.

  DESCRIPTION OF SYMBOLS 11 ... Pile driver, 12 ... Crawler, 12a ... Grounding part front end, 12b ... Grounding part rear end, 12c ... Grounding part center, 13 ... Lower traveling body, 14 ... Upper turning body, 14a ... Front bracket, 15 ... Leader, DESCRIPTION OF SYMBOLS 16 ... Backstay, 17 ... Front jack, 17a ... Jack cylinder, 17L, 17R ... Pressure sensor, 18 ... Rear jack, 18a ... Jack cylinder, 18L, 18R ... Pressure sensor, 19 ... Auger drive device, 19a ... Auger, 20 ... Top sheave block, 20a ... Wire rope, 21 ... Angle meter, 22 ... Calculation means, 23FL, 23FR, 23RL, 23RR ... Solenoid valve, 24 ... Signal circuit, G ... Center of gravity

Claims (7)

  An upper swing body is pivotably mounted on the upper part of the lower traveling body, a leader is provided at the front of the upper swing body so that it can be raised and lowered, and a pair of front jacks are provided in front of the upper swing body, and a pair of rear jacks are disposed in the rear. A stability measuring device for a pile driving machine provided with jacks, when the pile driving machine is lifted by operating an angle meter for detecting an inclination angle of the pile driving machine, the front jack and the rear jack. Load detecting means for detecting the load applied to each jack, and calculating means for calculating the center of gravity position of the pile driver from the angle of the pile driver detected by the angle meter and the load applied to each jack detected by the load detecting means. The calculation means includes a first load applied to each jack when the pile driving machine is floated at a first inclination angle, and each when the pile driving machine is floated at a second inclination angle. To jack The gravity center position is calculated from the relationship between the second load, the first inclination angle, and the second inclination angle, and the stability of the pile driver is calculated from the calculated gravity center position and the size of the lower traveling body. A stability measuring device for a pile driving machine, comprising a calculation unit for calculating the degree.   The computing means includes a jack control unit that operates each jack by operating a control valve corresponding to each jack provided in a hydraulic circuit that expands and contracts the front jack and the rear jack, the first inclination angle, and the A tilt angle setting section in which a second tilt angle is set in advance; and a data storage section for storing the first load and the second load detected by the load detecting means; and operating each jack. When the pile driver is lifted, the jack control unit operates the jacks to detect the angle of the pile driver detected by the angle meter, and the first inclination angle and the second inclination are preset. And the data storage unit stores the first load applied to each jack when the angle of the pile driver detected by the goniometer becomes a first inclination angle, and the angle Storing the second load applied to each jack when the angle of the pile driver detected in step 2 becomes the second inclination angle, and the calculation unit stores the first load stored in the data storage unit and 2. The pile driving machine according to claim 1, wherein the position of the center of gravity is calculated from the second load and the first inclination angle and the second inclination angle set in the inclination angle setting unit. Stability measuring device.   An upper swing body is pivotably mounted on the upper part of the lower traveling body, a leader is provided at the front of the upper swing body so that it can be raised and lowered, and a pair of front jacks are provided in front of the upper swing body, and a pair of rear jacks are disposed in the rear. A method for detecting the stability of a pile driving machine provided with each jack, wherein the front jack and the rear jack are operated and the pile driving machine is floated at a first inclination angle. A load and a second load applied to each jack when the pile driver is lifted at a second inclination angle by operating the front jack and the rear jack; and the first load and the second load And the gravity center position of the pile driver from the relationship between the first inclination angle and the second inclination angle, and the stability of the pile driver from the calculated gravity center position and the size of the lower traveling body To calculate Stability Measurement method of pile driver according to symptoms.   4. The method for measuring the stability of a pile driving machine according to claim 3, wherein the load is obtained by detecting a hydraulic pressure acting on the jack.   The stability measuring method for a pile driver according to claim 3 or 4, wherein the first inclination angle is a state in which the pile driver is floated horizontally.   6. The stability measuring method for a pile driver according to claim 5, wherein the second inclination angle is a state in which the front of the pile driver is highly inclined with respect to a horizontal plane. A first stage for calculating the weight of the pile driver based on a first load applied to each jack in a state where the pile driver is floated horizontally;
From the calculated weight, the sum of the first loads applied to both front jacks, the distance from the pile driver center to the front jack, and the distance from the pile driver center to the rear jack, A second stage for calculating the first center of gravity line position in the longitudinal direction of the pile driver when floating at
From the sum of the second loads applied to both front jacks in a state where the front of the pile driver is highly inclined with respect to the horizontal plane, the distance between the front jacks and the rear jacks, and the calculated weight, A third stage for calculating a second center of gravity line position in the front-rear direction of the pile driver when the front of the machine is lifted with a high inclination;
Calculating a position of an intersection between the first centroid line position calculated in the second stage and the second centroid line position calculated in the third stage, and setting the position of the intersection as the centroid position; The stability measuring method for a pile driving machine according to claim 5, comprising:

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