JP7182439B2 - Control method of pile press-in extraction machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control method for a pile press-in puller that presses a pile into the ground or pulls the pile out of the ground.

As a method of driving and burying various types of steel pipe piles and shaped steel piles (press-in piles) into the ground, the upper end of an existing pile that has been embedded in the ground in advance is clamped to take the reaction force, and a chuck that holds the pile is used. A construction technique is known in which new piles are sequentially pressed into positions adjacent to existing piles by raising and lowering them. In a similar method, a construction technique is also known in which the upper end of an existing pile is gripped with a clamp to absorb the reaction force, and a chuck that grips another existing pile is raised to pull the pile out of the ground and remove it. there is

The pile press-in extraction machine used for such construction has a saddle that is fixed to the existing pile via a plurality of clamps, and a slide frame that can move forward and backward relative to the saddle. A chuck that can be raised and lowered is attached to the mounted mast. As piles used, for example, piles such as steel sheet piles, steel pipe sheet piles, steel pipe piles, concrete piles, and the like are known. Then, the chuck is positioned at a predetermined position with respect to the saddle, the pile to be press-fitted or pulled out at the predetermined position is gripped by the chuck, and the pile is pressed-in or pulled out by moving up and down along the mast. It is configured to

In construction using such a pile press-in extraction machine, it is required to press-in and pull out piles at multiple locations. As an example of the self-propelled process, for example, Patent Literature 1 discloses an example of a procedure for press-fitting piles. Further, for example, Patent Literature 2 discloses control means for automatically press-fitting and pulling out piles.

JP-A-61-45023 JP-A-6-212634

However, the self-propelled process typified by the above Patent Document 1 is basically manually operated by an operator, and has problems in terms of time efficiency and accuracy. Further, although Patent Document 2 describes automation of pile press-in and pull-out, there is no mention of self-running of the pile press-in pull-out machine itself. In particular, Patent Document 2 discloses a configuration using various sensors such as a chuck pressure sensor, a position sensor for detecting the vertical position of the mast, and a mast angle detection sensor for detecting the tilt angle of the mast as control means. It is difficult to control the self-running process of the pile press-in extraction machine itself only with such a sensor, and it is the actual situation that realization of a suitable control method in the self-running process is desired.

In view of the above circumstances, the object of the present invention is to reduce the burden on the operator, shorten the time, improve efficiency, and prevent accidents due to operational errors in the self-propelled process of the pile press-in puller. It is to provide a method.

In order to achieve the above object, according to the present invention, there is provided a saddle that constitutes the main body of a pile press-in extractor, a clamp that holds a plurality of press-fitted existing piles, and an upper part of the clamp and the saddle that is movable. A control method for a pile press-in extractor comprising a vertically installed mast and a chuck attached to the mast so as to be able to move up and down to hold a press-in pile, wherein the chuck holds the press-in pile pressed in by the chuck. the clamp is released, and the saddle and the mast are lifted until the clamp is removed above the height of the plurality of existing piles; moving the clamp from side to side; moving the saddle back and forth until the amount of movement of the saddle in the back and forth direction reaches a predetermined value; and moving the saddle and the mast to a position where the clamp can grip the existing pile. and the amount of vertical movement in the step of raising the saddle and the mast, and the step of lowering the saddle and the mast , and the clamp in the step of laterally moving the clamp. A control method for a pile press-in extractor is provided, characterized in that the amount of lateral movement and the amount of longitudinal movement of the saddle in the process of moving the saddle longitudinally are calculated based on the dimensions of the press-in pile.

In the step of raising the saddle and the mast, the vertical positions of the saddle and the mast may be controlled based on detection of the vertical positions of the saddle and the mast by a chuck vertical sensor with the chuck fixed. .

In the step of laterally moving the clamp, the amount of lateral movement of the clamp may be controlled based on detection of the lateral position of the clamp by a clamp lateral sensor.

In the step of moving the saddle back and forth, the amount of movement of the saddle in the back and forth direction may be controlled based on detection of a relative positional relationship between the mast and the saddle by a mast front and back sensor.

A step of turning the mast to a predetermined turning angle may be further included, and the turning angle of the mast may be detected by a mast turning sensor.

A step of rotating the chuck by a predetermined angle may be further provided, and the rotation angle of the chuck may be detected by a chuck rotation sensor.

The clamp left/right sensor may be a clamp left/right pressure sensor that detects the amount of movement of the clamp based on the pressure value at the clamp left/right position.

An inclinometer is attached to the mast, and in the step of lowering the mast, the mast is lowered so that the mast forms a predetermined angle with respect to the existing pile as measured by the inclinometer. can be

ADVANTAGE OF THE INVENTION According to this invention, in the self-propelled process of a pile press-in extraction|extraction machine, the operator's burden reduction, time reduction, efficiency improvement, and accident prevention by an operation mistake can be implement|achieved.

1 is a schematic side view of a pile press-in extractor according to an embodiment of the present invention; FIG. It is a schematic explanatory drawing of the self-propelled process of a pile press-in extraction machine. FIG. 10 is a schematic explanatory diagram of a gripping state of a clamp when the pile is a U-shaped steel sheet pile; It is a schematic explanatory drawing which shows sensor arrangement|positioning of a pile press-in extraction machine. It is a schematic diagram of a control flow in the case of automating a self-propelled process. FIG. 4 is an explanatory diagram of dimensions required for control when U-shaped steel sheet piles are used as piles; It is a schematic explanatory drawing which shows sensor arrangement|positioning of the pile press-in drawing machine which concerns on the modification of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present specification and drawings, constituent elements having substantially the same functional configuration are denoted by the same reference numerals, thereby omitting redundant description. In addition, the front of the pile press-in extraction machine in this specification indicates the direction in which construction progresses, and the right side in FIG. 1 below is the front of the pile press-in extraction machine. As the piles, U-shaped steel sheet piles, hat-shaped steel sheet piles, various shaped steels, etc. are conceivable, but in the present embodiment, description will be made assuming that they are U-shaped steel sheet piles.

(Schematic configuration of pile press-in extraction machine)
FIG. 1 is a schematic side view of a pile press-in extractor 1 according to an embodiment of the present invention. As shown in FIG. 1 , the pile press-in extractor 1 includes a saddle 10 forming a main body and a plurality of clamps 11 provided below the saddle 10 . The clamp 11 grips the upper end of the existing pile P that has already been press-fitted, and fixes the saddle 10 to the upper portion of the pile P. In FIG. 1, the upper ends of the three existing piles P are clamped by a clamp 11 to fix the saddle 10, and a new pile P has been press-fitted in front of the three piles P. state.

A slide frame 12 is provided on the upper portion of the saddle 10 so as to be slidable in the longitudinal direction with respect to the saddle 10 . On the slide frame 12 , a mast 20 serving as a swivel base is rotatable with respect to the slide frame 12 around the central portion of the slide frame 12 . The rotation of the mast 20 is performed by a rotation driving source (not shown) such as a motor provided on the bottom side of the mast 20 .

A chuck 25 that can be raised and lowered along an elevation guide 21 is attached to the front of the mast 20 . The chuck 25 has a configuration in which a casing chuck 27 is attached to a chuck frame 26 which is attached to a lifting guide 21 in front of the mast 20 so as to be able to move up and down. The entire chuck 25 (chuck frame 26 and casing chuck 27 ) moves up and down integrally with the expansion and contraction of the cylinder 30 .

The casing chuck 27 is rotatably mounted on the chuck frame 26 . The casing chuck 27 has a cylindrical shape as a whole, and an opening 31 that penetrates in the vertical direction and has a pile cross-sectional shape (for example, U-shape) in plan view is provided inside the casing chuck 27 . . A pile P, which is a U-shaped steel sheet pile, is passed through the opening 31 .

A fixed claw 32 and a movable claw 33 are provided facing each other in the horizontal direction at the inner lower portion of the casing chuck 27 . The movable claw 33 is moved toward and away from the fixed claw 32 by a hydraulic cylinder (not shown). A pile P to be press-fitted is gripped by a fixed claw 32 and a movable claw 33 provided on the casing chuck 27 .

(Self-propelled process of pile press-in extraction machine)
The self-running process of the pile press-in extraction machine 1 configured as described above will be described with reference to FIG. Here, as an example, the case where the pile press-in extractor 1 is self-propelled and moved when the second pile P2 is press-fitted after the completion of the press-fitting of the first pile P1 will be illustrated and described as an example. FIG. 2 is a schematic explanatory diagram of the self-propelled process of the pile press-in extractor 1. (a) to (f) show the self-propelled process over time, and the state of the pile press-in extractor 1 in each situation is shown on the side. The figure shows what is seen from the

FIG. 2(a) shows a state in which a plurality (three) of existing piles P are held by a clamp 11 and a first pile P1 is press-fitted in front of the three piles P. FIG. After press-fitting the first pile P1, the mast 20 is advanced with respect to the saddle 10, and the second pile P2 is temporarily press-fitted in front of the first pile P1, as shown in FIG. 2(b). The term “temporary press-in” here means that the second pile P2 is gripped by the chuck 25, the other clamps 11 and the like are released, and the pile press-in extractor 1 is self-propelled (movable) around the pile P2. is to press-fit the second pile P2 as much as possible.

Then, as shown in FIG. 2(c), the chuck 25 is raised to a predetermined height, and the second pile P2 is gripped in that state. The height of the chuck 25 at this time may be sufficient to allow the main body (saddle 10) of the pile press-in extractor 1 to run by itself in subsequent steps. The clamp 11 is opened while the second pile P2 is gripped by the chuck 25, and the main body of the pile press-in extractor 1 is lifted as shown in FIG. 2(d). At this time, the height to be raised must be at least such that the lower end of the clamp 11 is positioned above the upper end of the existing pile P.

Next, as shown in FIG. 2(e), the existing piles P, P1 including the first pile P1 are clamped with three clamps 11 behind the second pile P2 while holding the second pile P2. The saddle 10 is advanced relative to the mast 20 to a position where it can be grasped. At this time, if the piles P, P1, P2, etc. are U-shaped steel sheet piles, it may be necessary to move the position of each clamp 11 in the left-right direction (perpendicular to the paper surface of the drawing). In this case, before and after the step of advancing the saddle 10 relative to the mast 20, a step of moving the respective clamps 11 in the lateral direction by a predetermined amount may be performed.

FIG. 3 is a schematic explanatory diagram of a gripping state of the clamp 11 when the piles P, P1, P2, etc. are U-shaped steel sheet piles. For the sake of explanation, FIG. 3 does not show the main body of the pile press-in extractor 1, etc., but shows only three clamps 11 and piles (U-shaped steel sheet piles). As shown, the clamp 11 consists of a fixed claw 11a and a movable claw 11b, which form a portion for gripping a stake or the like. When U-shaped steel sheet piles are used, when a plurality of U-shaped steel sheet piles are connected to form a wall, the direction in which the web W protrudes from the neutral line of the wall is reversed by the adjacent U-shaped steel sheet piles. There is a feature that the positions of adjacent U-shaped steel sheet piles are alternated. Therefore, it may be necessary to change the position of the clamp 11 that grips the web W according to the position of the wall. Due to such characteristics of the U-shaped steel sheet pile, it may be necessary to move the respective clamps 11 in the left-right direction (the up-down direction indicated by the arrows in FIG. 3) by a predetermined amount as described above. When symmetrical piles such as steel pipe piles, steel pipe sheet piles, and concrete piles are used as the piles P, P1, P2, etc., the step of moving the clamp 11 in the horizontal direction may not be necessary.

Then, after advancing the saddle 10 with respect to the mast 20, as shown in FIG. are held by the clamp 11, one cycle of the self-propelled process of the pile press-in extraction machine 1 is completed. By closing the clamp 11 in this state, the existing piles P and P1 are gripped. The pile press-in extraction machine 1 repeats the self-propelled process described with reference to FIGS.

Here, after the first pile P1 has been press-fitted, the pile press-in extractor 1 is driven forward and self-propelled when the next second pile P2 is press-fitted, and a plurality of piles P are continuously press-fitted. Although the self-propelled process in the case has been described, reverse self-propelled movement can also be achieved by performing the steps shown in FIG. 2 in reverse. Moreover, not only when the pile P is press-fitted, but also when the existing pile P is pulled out, the pile press-in puller 1 can be made to run by itself by going through the same steps.

(Major processes in the self-propelled process)
Regarding the self-propelled process of the pile press-in extraction machine 1 described above with reference to FIGS. and a suitable control method based on the detection of the sensor. The following summarizes the main processes to be targeted when automating the self-propelled process.

First, major steps in the self-propelled process described with reference to FIGS. 2(a) to 2(f) are summarized in 1) to 6) below.
1) A step of advancing the mast 20 with respect to the saddle 10 and temporarily press-fitting the second pile P2 in front of the first pile P1.
2) A step of raising the chuck 25 to a predetermined height and gripping the second pile P2 in that state.
3) A step of releasing the clamp 11 while holding the second pile P2 and raising the main body (saddle 10, mast 20, etc.) until the clamp 11 is removed above the height of the plurality of existing piles.
4) A step of advancing the saddle 10 with respect to the mast 20 to a position where the three clamps 11 can grip the existing piles P and P1 at the rear of the main body while gripping the second pile P2.
5) A step of moving the clamp 11 laterally by a predetermined amount.
6) A step of lowering the main body (the saddle 10 and the mast 20) to a position where the three clamps 11 can grip the existing piles P and P1 while gripping the second pile P2.

In order to automate each process, the inventors of the present invention devised the provision of necessary sensors in the press-fitting/extracting machine 1, and also studied control methods using these various sensors.

Regarding the above step 1), a mast front/rear sensor is provided to grasp the mast front/rear position (saddle front/rear position), and based on the relative positional relationship between the mast 20 and the saddle 10, the mast 20 is moved in the front/rear direction at a predetermined position. It is configured so that it can be moved (forward or backward) by the amount of movement. In step 1, the mast 20 is advanced with respect to the saddle 10 . A stroke sensor, a proximity switch, a limit switch, etc. can be used as the mast front/rear sensor. Depending on the type of sensor, the stop positions of the mast 20 and the saddle 10 can be determined in advance.

Regarding the above step 2), a chuck vertical sensor is provided to grasp the vertical position of the chuck 25 with respect to the main body (for example, the mast 20), and based on the relative positional relationship between the main body and the chuck 25, the main body is fixed. In this state, the chuck 25 can be vertically moved (raised or lowered) by a predetermined amount.
In addition, regarding the above step 3), by using the same chuck up-down sensor, the main body (mast 20, saddle 10, etc.) can be detected with the chuck 25 fixed based on the relative positional relationship between the main body and the chuck 25. can be moved (raised or lowered) by a predetermined amount in the vertical direction.

Regarding the above step 4), the mast front and rear sensor is used to grasp the mast front and rear position (saddle front and rear position), and based on the relative positional relationship between the mast 20 and the saddle 10, the mast 20 is set in the front and rear direction. can be moved (forward or backward) by the amount of movement. In step 4, the saddle 10 is advanced relative to the mast 20. That is, the saddle 10 is advanced while the mast 20 is fixed.

Regarding the above step 5), a clamp left/right sensor is provided to grasp the left/right position of each clamp 11 with respect to the saddle 10, and each clamp 11 is moved left/right by a predetermined amount to a position where the piles P and P1 can be suitably gripped. It has a configuration that allows A stroke sensor, a proximity switch, a limit switch, a pressure sensor, etc. can be considered as the clamp left/right sensor. The sensor to be used may be determined according to the type of pile, and it is also conceivable to designate the sensor to be used according to the type of pile (type of sheet pile, etc.). Further, for example, when a pressure sensor is employed, the clamp right pressure and the clamp left pressure are compared, the positions of the fixed claw 11a and the movable claw 11b constituting the clamp 11 are detected, and the movement amount is determined based on the detected information. By moving the fixed claw 11a and the movable claw 11b of each clamp 11 to desired positions, the horizontal movement of the clamp 11 is completed.

Regarding step 6) above, the main body (mast 20, saddle 10, etc.) can be moved with the chuck 25 fixed based on the relative positional relationship between the main body and the chuck 25 by using the above chuck vertical sensor. is moved (raised or lowered) by a predetermined amount in the vertical direction, and the main body is lowered so that the clamp 11 is at a suitable position. When lowering the main body, an inclinometer attached to the mast 20 may be used to lower the mast 20 so that it forms a predetermined angle with respect to the existing piles (pile P, P1). This is because the main body including the saddle 10 may tilt backward when the saddle 10 is advanced while the second pile P2 is gripped.

(Arrangement of sensor and control unit)
Here, the arrangement of each of the above sensors and its control section in the pile press-in extractor 1 according to the present embodiment will be described. FIG. 4 is a schematic explanatory diagram showing sensor arrangement of the pile press-in extractor 1 according to the present embodiment. In addition, in FIG. 4, components having substantially the same functional configuration as in FIG. 1 are denoted by the same reference numerals, and redundant description may be omitted.

As shown in FIG. 4 , the mast front-rear sensor 50 is arranged near the boundary between the saddle 10 and the slide frame 12 and detects the relative positional relationship between the saddle 10 and the mast 20 . In addition, according to the slide on the slide frame 12, the amount of movement in the longitudinal direction and the direction of movement of the mast 20 are detected.
The chuck vertical sensor 52 is arranged near the vertical guide 21 in front of the mast 20 and detects the relative positional relationship (vertical positional relationship) between the mast 20 and the chuck 25 . It also detects the vertical movement amount (movement amount) and the vertical movement direction of the chuck 25 .
The clamp left/right sensor 54 is arranged near the boundary between the saddle 10 and the clamp 11 to detect the left/right position of the clamp 11 . It also detects the lateral movement of the clamp 11 and the grippable position associated therewith.

The main body (mast 20, saddle 10, etc.) is provided with a controller 60 for controlling the mast front/rear sensor 50, the chuck up/down sensor 52, and the clamp left/right sensor . The control of each sensor by the control unit 60 will be described later with reference to block diagrams and the like.

(Control method by control unit)
A control method using each sensor (mast front/rear sensor 50, chuck up/down sensor 52, clamp left/right sensor 54) by the control unit 60 will be described. FIG. 5 is a schematic diagram of a control flow when automating the self-propelled process (advance self-propelled) described with reference to FIG. 2 in the pile press-in extractor 1 according to the present embodiment. 6A and 6B are explanatory diagrams related to each dimension required for control when a U-shaped steel sheet pile is used as the press-in pile P. FIG. 6A is a schematic side view of the clamp 11, and FIG. 1 is a schematic plan view of a U-shaped steel sheet pile as P; FIG.

As shown in FIG. 6, in the height direction (longitudinal direction) of the pile P, A is the depth at which the clamp 11 grips the pile P, and B is the wall thickness of the wall formed by the pile P. , the width of each pile P is C, and the control method for controlling the self-propelled process using these dimensions A, B, and C is the control flow shown in FIG. These dimensions A, B, and C are appropriately determined according to the type of pile (pile P) to be press-fitted, and are preferably input and calculated in advance in the control section 60 .

Calculation of the amount of movement based on the dimensional information of the press-fit pile in the control unit 60 may be performed, for example, as follows. That is, the type of pile to be press-fitted may be set in advance in the control unit 60, and the amount of movement (back and forth, left and right, etc.) during each control may be calculated based on the set information. Alternatively, a plurality of movement amounts (forward/backward, left/right, etc.) for each control may be input in advance to the control unit 60, and a selection may be made from these input values at the time of control. Further, the type of pile to be press-fitted may be determined by sensing, and the amount of movement (back and forth, left and right, etc.) during each control may be calculated based on the determination result. An example of the flow of control will be described below with reference to FIG.

At the start of control, it is assumed that the clamp 11 is released from gripping the existing pile P, and the chuck 25 is closed while gripping the second pile P2. First, in S1, the main body (saddle 10, clamp 11, mast 20, etc.) is raised while the chuck 25 grips the second pile P2 (that is, the chuck 25 is fixed). The moving amount at this time is detected by the chuck up/down sensor 52, and it is determined in S2 whether or not the moving amount (chuck downward moving amount) is equal to or larger than the dimension A. When it is determined that the body upward movement amount is equal to or greater than the dimension A, the process proceeds to the next step.

When it is determined in S2 that the amount of upward movement of the main body is greater than or equal to dimension A, the next steps S3-1, S3-2 and S4-1, S4-2 are controlled in parallel. That is, the saddle 10 is advanced with respect to the mast 20 in S3-1. The amount of forward movement at this time is detected by the mast longitudinal sensor 50, and it is determined in S3-2 whether or not the amount of forward movement is greater than or equal to the dimension C. If it is determined that the amount of forward movement is not equal to or larger than the dimension C, the process returns to S3-1 and the saddle 10 is moved forward again. Further, the clamp 11 is moved in the horizontal direction in S4-1. The lateral movement amount of the clamp 11 at this time is detected by the clamp lateral sensor 54, and it is determined whether or not the lateral movement amount is equal to or greater than the dimension B. FIG. If it is determined that the lateral movement amount is not equal to or greater than the dimension B, the process returns to S4-1 and the clamp 11 is moved in the lateral direction again.

If the determinations in S3-2 and S4-2 are affirmative, the process proceeds to the next step, S5. In S5, the main body (saddle 10, clamp 11, mast 20, etc.) is lowered while the chuck 25 grips the second pile P2. The amount of movement during descent at this time is determined manually or detected by the chuck vertical sensor 52 . If the determination in S6 of whether or not the movement amount during descent is equal to or greater than the dimension A is suitable, the clamp 11 is closed and the pile P is gripped by the clamp 11 to complete a series of controls.

(Effect)
As described above, in the self-propelled process of the pile press-in extractor 1 according to the present embodiment, each process (for example, S2, S3-2, S4-2 in FIG. 5) is controlled by the control of each sensor by the control unit 60. Automation reduces the burden on operators, shortens time, and improves efficiency.

Although an example of the embodiment of the present invention has been described above, the present invention is not limited to the illustrated form. It is obvious that a person skilled in the art can conceive various modifications or modifications within the scope of the idea described in the claims, and these naturally belong to the technical scope of the present invention. understood as a thing. Modifications of the present invention will be described below.

(Modification of the present invention)
In the above-described embodiment, automation control in forward (backward) self-propelled movement was described as the self-propelled process of the pile press-in extractor 1, but for example, in construction at corners etc., the pile press-in extractor 1 is rotated. Alternatively, a process of rotating the pile to be press-fitted may also be performed. By automating such a process, it is possible to further improve construction efficiency. Therefore, as modifications of the present invention, automation of the self-running process (so-called corner self-running) when turning the pile press-in extractor 1 and automation of the process of rotating the press-in pile will be described.

FIG. 7 is a schematic explanatory diagram showing sensor arrangement of the pile press-in extractor 1a according to the modification of the present invention. In addition, in FIG. 7, constituent elements having substantially the same functional configuration as those in FIGS. 1 to 6 referred to in the above-described embodiment may be denoted by the same reference numerals, thereby omitting redundant description.

As shown in FIG. 7, in the pile press-in extractor 1a, a mast rotation sensor 70 is arranged under the mast 20 (near the boundary with the slide frame 12), and a chuck rotation sensor 80 is arranged inside the chuck 25. . The mast turning sensor 70 detects the rotation angle (turning angle) when the mast 20 rotates around the center of the slide frame 12 .

For example, in order to bend the pile press-in drawing machine 1a at a corner and make it self-propelled (so-called corner self-propelled), the mast 20 is turned and then the self-propelled process as described in the above embodiment is performed. is required. When performing the control step S7 (not shown) for determining whether or not the mast 20 has turned to a predetermined turning angle based on the detection result of the mast turning sensor 70, the process described with reference to FIG. It is preferable to carry out in parallel with S3-1, S3-2, S4-1 and S4-2.

As described as step 1) in the above embodiment, after the first pile P1 has been press-fitted, the second pile P2 is gripped by the chuck 25 and temporarily press-fitted. Grasping by the chuck 25 in sequence is required. When the press-in pile is a U-shaped steel sheet pile, the adjacent piles do not face in the same direction, the direction in which the web W protrudes from the neutral line is reversed by the adjacent U-shaped steel sheet pile, and the positions of the web W are adjacent. The U-shaped steel sheet piles are alternated with each other. In such a case, it is required to rotate the chuck 25 by a predetermined angle. When performing the control step S8 (not shown) for determining whether or not the chuck 25 has rotated by a predetermined angle based on the detection result of the chuck rotation sensor 80, the step S3- described with reference to FIG. 1, S3-2, S4-1, and S4-2.

Further, in the above embodiment, in step 3), in the controls S1 and S2, the main body of the pile press-in extractor 1 is raised until the clamps 11 are removed above the height of the plurality of existing piles P. In conjunction with this step, it is also possible to temporarily stop the main body immediately before the clamp 11 comes out above the height of the existing pile P, and perform a safety confirmation step. The clamp 11 in contact with the existing pile may receive stress from the existing pile P. If the clamp 11 is raised above the height of the existing pile P while receiving such a stress, the pile press-in extractor 1 will sway or rotate due to the effect of the stress. This is because it is considered to be a cause of construction defects.

INDUSTRIAL APPLICABILITY The present invention can be applied to a control method for a pile press-in puller that presses a pile into the ground or pulls a pile out of the ground.

REFERENCE SIGNS LIST 1 Pile press-in extractor 10 Saddle 11 Clamp 12 Slide frame 20 Mast 25 Chuck 30 Cylinder 50 Mast front/rear sensor 52 Chuck up/down sensor 54 Clamp left/right sensor 60 Control unit 70 Mast rotation sensor 80 ... chuck rotation sensor P ... (press-fitting) pile P1 ... first pile P2 ... second pile

Claims (8)

A saddle that constitutes the main body of a pile press-in extraction machine, a clamp that holds a plurality of press-fitted existing piles, a mast that is movably erected above the clamp and the saddle , and a mast that is attached to the mast so that it can move up and down. , a chuck for gripping a press-in pile, and a control method for a pile press-in extractor comprising:
In a state where the press-fit pile press-fitted by the chuck is gripped by the chuck,
releasing the clamp and raising the saddle and the mast until the clamp is removed above the height of the plurality of existing piles;
a step of laterally moving the clamp until the amount of lateral movement of the clamp reaches a predetermined value;
moving the saddle back and forth until the amount of movement of the saddle in the back and forth direction reaches a predetermined value;
lowering the saddle and mast to a position where the clamp can grip an existing pile;
The amount of vertical movement in the step of raising the saddle and the mast and the step of lowering the saddle and the mast, the amount of lateral movement of the clamp in the step of laterally moving the clamp, and the amount of lateral movement of the clamp in the step of moving the saddle forward and backward. A control method for a pile press-in extractor, wherein the amount of forward and backward movement of the saddle in the moving process is calculated based on the dimensions of the press-in pile. In the step of raising the saddle and the mast, the vertical positions of the saddle and the mast are controlled based on detection of the vertical positions of the saddle and the mast by a chuck vertical sensor with the chuck fixed. The control method of the pile press-in extraction machine according to claim 1. 3. The method according to claim 1 or 2, wherein in the step of laterally moving the clamp, the amount of lateral movement of the clamp is controlled based on detection of the lateral position of the clamp by a clamp lateral sensor. A control method for the described pile press-in extraction machine. In the step of moving the saddle back and forth, the amount of movement of the saddle in the back and forth direction is controlled based on detection of a relative positional relationship between the mast and the saddle by a mast front and back sensor. A control method for a pile press-in extraction machine according to any one of claims 1 to 3. further comprising pivoting the mast to a predetermined pivot angle;
The pile press-in extractor control method according to any one of claims 1 to 4, characterized in that the turning angle of the mast is detected by a mast turning sensor. further comprising rotating the chuck by a predetermined angle;
The method for controlling a pile press-in extractor according to any one of claims 1 to 5, wherein the rotation angle of the chuck is detected by a chuck rotation sensor. 4. The pile press-in extractor control method according to claim 3, wherein the clamp left/right sensor is a clamp left/right pressure sensor that detects the movement amount of the clamp based on the pressure value at the clamp left/right position. An inclinometer is mounted on the mast,
In the step of lowering the mast, the mast is lowered so that the mast forms a predetermined angle with respect to the existing pile as measured by the inclinometer. 8. The control method of the pile press-in extraction machine according to any one of 7.

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