JPH03281890A - Automatic excavator for creation of cast-in-place concrete pile - Google Patents

Abstract

PURPOSE:To make management of work execution performed smoothly by a method wherein excavation is made to start after setting of parameters is made with a setting means, and in the case where any abnormality is found during the excavation that is carried out in accordance with optimum values for excavation conditions made with a device deciding the optimum values, the operation is stopped. CONSTITUTION:The standard propulsive feed speed, the standard revolution speed, the maximum torque, etc. for excavation are written into a RAM 31 at starting of operation. As the excavation progresses, the propulsive feed speed, the revolution speed and the torque of a boring rod measured with a rotary encoder 33 are examined, with a device in a CPU 30 that decides optimum values for excavation, whether they are optimum for the excavation. In the case where the values are decided to be optimum, automatic excavation with a pile creation device is made to run, starting from excavation, and to proceed through thrusting-in of an anchorage plate and to finish by extraction of the boring rod. When any abnormality is found in any of the above- mentioned operations, the operation of the whole machine is stopped with an indication for emergency stop displayed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) The present invention relates to an automatic excavation device for constructing cast-in-place piles.

(Problems to be solved by conventional technology and the invention) Conventionally, as an excavation device using the cast-in-place pile method, after drilling a hole in the ground in advance, a bag is inserted into the hole, and then the inside of the bag is There was an excavation device that used concrete or mortar to create piles.

However, the excavation equipment using the above-mentioned cast-in-place pile construction method had the following disadvantages.

■The process was complicated and required a long time to install, as it required a hole-drilling process and a bag-pushing/insertion process.

■ When the ground is sandy, the hole wall tends to collapse, which often makes it difficult to insert the bag, such as the bag staying high during insertion.

■ When inserting the bag, the bag is often damaged due to friction with the hole wall.

■ The shape of the piles to be constructed is also easily influenced by the strength of the ground.
Less reliable.

Therefore, in order to solve the above problem, it is installed inside a hollow tube in the form of a bag, and the hollow tube is used to drill a hole to a predetermined depth.Then, only the hollow tube is pulled up and concrete or mortar is poured into the bag. A device using a press-fitting construction method has been proposed (for example, Japanese Patent Laid-Open No. 64-36821).

However, with the above-mentioned drilling equipment, etc., from (1) drilling to (2)
There is no way to completely automate the process from pushing the fixing plate (fixing plate) to (3) lifting it up, and (1)
Each of steps from (3) to (3) was performed manually, or any one of (1) to (3) was performed automatically.

Therefore, the above-mentioned excavation equipment has disadvantages in that the work takes time and the work cost increases.

In addition, in the conventional drilling equipment described above, from (1) excavation to (2)
Since the process from pushing the fixing plate (fixing plate) to (3) lifting it up cannot be adequately controlled, there are disadvantages such as a loss of machine operating time and the inability to perform the process normally.

Therefore, the purpose of the main invention was made in view of the above-mentioned problems, and if an abnormal operation occurs during the period from excavation to pushing of the fixing plate (fixing plate) to pulling it up, the work is immediately stopped, and To provide an automatic excavation device for creating cast-in-place piles that can be adjusted so that execution management from excavation to salvage can be smoothly performed after confirming that the work is being carried out normally.

(Means for Solving the Problems) In order to achieve the above object, the present invention comprises: a parameter setting means for setting at least the standard feeding speed, standard rotation speed, maximum torque, etc. in excavation at the start of operation; and the parameter setting means. After completing the settings, perform excavation,
an excavation optimum value judgment means for judging whether or not the standard feeding speed, standard rotation speed, maximum torque, etc. are the optimum values for excavation; If an abnormal operation occurs from the time of pressing the fixing plate (fixing plate) to lifting it up, the work is immediately stopped, and when the work is performed normally, the fixing plate (fixing plate) is pushed L2 from the excavation to the fixing plate (fixing plate) pushing. This is an automatic excavation device for driving piles.

In addition, the parameters set by the parameter setting means need only be at least the standard feed speed, standard rotation speed, and maximum torque for excavation, and the end of digging can be detected even at the stroke end of the drilling head, and the feed speed, standard rotation speed, and It is possible to use torque as a substitute.

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

An example of a device for setting these values is shown in FIG. 7, which will be discussed later.

Further, in a more preferable apparatus of the present invention, the pile construction means has a pile construction judgment means for determining whether or not the operation from excavation to pushing of the fixing plate to pulling up is abnormal. If the pile construction judgment means determines that the operation from excavation to pushing the anchor plate to pulling it up is abnormal,
After all operations are stopped, the operator or the like is made aware of the abnormal stop through the display recognition means.

In addition, it is also possible to implement the above-mentioned excavation optimum value judgment means and pile construction means (particularly pile construction judgment means) that promptly stops work or resumes normal work when an abnormal operation occurs (in particular, pile construction judgment means) in one control unit. , this example is shown in FIG. 12, which will be explained in detail later.

Furthermore, a front view and a side view of an example of the overall mechanical view of the automatic excavation device of the present invention are shown in FIGS. 1 and 2, which will be described in detail later.

(Function) First, the parameter setting means writes the standard feed speed, standard rotation speed, maximum torque, etc. for excavation into the internal storage section using the setting switch at the start of operation.

Then, after completing the settings of the standard feed speed, standard rotation speed, maximum torque, etc., excavation is started.

Next, the optimum excavation value determining means judges whether the standard feed speed, standard rotational speed, maximum torque, etc. are the optimum values for excavation.

When the optimum excavation value determining means determines that the excavation is the optimum value, the pile forming means performs operations from excavation to pushing in of the fixing plate to pulling it up.

When the operations from excavation to pushing of the fixing plate (fixing plate) to pulling up by the pile making means are normal, the automatic excavation is ended.

On the other hand, if there is an abnormality in the operation of the pile construction method from excavation to pushing of the fixing plate (anchor plate) to pulling it up, all operations should be stopped and a message indicating the abnormal stop should be displayed to the worker. Recognize it through the means of

(Example) Next, an example of an automatic excavation device for constructing cast-in-place piles of the present invention will be described based on the accompanying drawings.

In the apparatus, an example of which is shown in FIGS. 1 and 2, numeral 1 is a base machine and 2 is a guide frame.

The guide frame 2 is provided with outer tubes 4 which are rotatably attached to the drill head 3 and arranged so as to be vertically movable.

Furthermore, as shown in FIGS. 1 and 2, this device includes a hydraulic unit OU, which is a unit consisting of a feeding hydraulic unit and a rotating hydraulic unit, and a CU, which is a control unit for automatic operation. An SB, which is a switch box, is attached to the machine for manually setting parameters such as the standard feeding speed, standard rotation speed, maximum torque, and drill head weight for the maximum feeding force in automatic drilling before automatic operation.

Further, OU is a hydraulic unit consisting of a feeding hydraulic unit, a rotating hydraulic unit, and the like.

CU is a control unit for automatic driving, and SB
is a switch box that manually sets parameters such as the standard feed speed, standard rotation speed, maximum torque, and drill head weight for the maximum feed force in automatic drilling before automatic operation.

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

The switch box SB is configured as shown in FIG. 7, which will be described later, and has a control unit C for automatic operation.
U is configured as shown in FIGS. 8 to 11, which will be described later.

Further, FIGS. 3 to 6 and FIG. 18 illustrate the general configuration of each mechanical part of the automatic excavation equipment for creating cast-in-place piles shown in FIGS. 1 and 2. The general configuration of each part of these machines will be explained.

In FIG. 3, an auger 5 is provided at the tip of the outer tube 4, and a pair of notches 6 are provided at axially symmetrical positions on the tip surface, so that the auger 5 does not disturb the soil much. It can be drilled like this.

Further, inside the outer tube 4, there is an inner tube 8 inserted with some play.

As shown in FIGS. 4 and 5, this inner tube 8 is fitted with a ring body 9 having a recess 9a on the outer periphery of its upper end with which the cam follower 19 of the inner tube extrusion device 2o engages, and on the inner periphery. A guide square member 10 is attached in the axial direction.

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

FIG. 6 is a diagram showing the main parts of the feeding device 11, in which a sprocket 14 is connected to an oil motor 12 via a reducer 13.
A roller chain 15 is engaged with the roller chain 15, and both ends of the roller chain 15 are fixed to the drill head 3 as shown in FIG.

In this way, the outer tube 4 is rotatably attached to the drill head 3 by moving the roller chain 15.
The ship is located below and is being fed or raised.

The fixing plate 21 shown in FIGS. 1 and 3 is constructed by tightening the lower part of the bag 40 as shown in FIG. 6.7 to set it.

Note that 23 shown in FIG. 3 indicates each fixing plate 2.
1 is a semicircular blocking plate provided horizontally in the inner pipe 8 to prevent earth and sand from entering into the inner pipe 8 during excavation.

That is, in this embodiment, as shown in FIG. 18, the upper end of the bag 40 is first passed through the clip-shaped holder 24 having a hard padded portion on the clamping portion, and then the bag 40 is folded downward. When the bag body 40 is pulled downward, the weight of the clipper 29 presses the clipper 29 downward, and the upper end of the bag body 40 is pressed between the lower surface of the clipper 29 and the upper hole of the holder 24. The bag body 40 is securely and removably tightened between the hard padded parts provided on the surface.
Hold and store.

The clip has a bag winch 3 as shown in FIG.
As shown in FIG. 18, the wire 32 is rotatably suspended from the tip of the wire 32 fed out from the wire 32 via a cable can 33.

The Sarukan 33 has upper and lower metal rings that rotate freely, and has a structure that does not transmit rotation from above downward, for example.

The material of the bag 40 may be fiber, plastic film, metal film, or the like.

When using the automatic excavation device for creating cast-in-place piles shown in this drawing, first, as shown in FIG. 21 to sandwich the lower part of the bag body 40.

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

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

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

Then, the drill head 3 and the feeding device 11 are operated, and the inner tube 8. The outer tube 4 and the fixing plate 21 are rotated and fed together to excavate to a predetermined depth.

Note that the operating method etc. at this time will be described later.

When operating in this way, the holder 24 at the upper end of the bag 4o is guided by the guide square of the inner tube 8, and the lower end is fixed by the fixing plate 21, so the bag 40 rotates together with the bag 40. Twisting is prevented.

Then, in this automatic excavation equipment, rotation and feeding are stopped,
The shifter fork 1 is activated by operating the inner tube extrusion device 20.
6 is rotated downward to push out the inner tube 8 downward.

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

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

Therefore, since the bag body 40 is set in the soil without being twisted, when the inner tube 81 row tube 4 has finished retreating, the holder 24 is removed from the upper end of the bag body 40, and the hydraulic slurry such as mortar is removed. By injecting the same from the upper opening of the bag 40, it can be used as a foundation pile when constructing a house on soft ground, for example.

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

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

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

In the device of the present invention shown in the embodiment, the switch box SB shown in FIG. 7 is located inside the door at the position indicated as SB in FIG. Each panel of the unit CU includes the panel shown in FIG. 8 arranged vertically, and the panel shown in FIG.

In addition, in the following description of the drawings, each component of the operating device will be explained using the symbols used in FIGS. 1 to 6.

Therefore, detailed explanation will be given sequentially starting from FIG.

In Figure 7, DPI is a display that can display an 8-digit numerical value, the first digit is a field that indicates which parameter, and 5W20 is a setting switch for changing the numerical value displayed in DPI. .

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

When setting this parameter, first press the center button of the 5W20, and the number 1, which indicates the input order, will first appear in the leftmost digit of the display DPI.

In this way, select the parameter to be input, and input the numerical value corresponding to that parameter as follows.

When entering a numerical value, press the leftmost button on the 5W20 to change the maximum number of digits for the display DPI setting.

Then press the button in the center of 5W20 to set the required value.

Then, press the leftmost button on the 5W20 to enable input of the next digit, and press the center button on the 5W20 to enter the required number.

Repeat this operation to set the first parameter. This first parameter can now be entered using the center button of the 5W20.

Repeat these operations to enter all necessary parameters.

The date and time may also be input as these parameters, or the date and time may be configured to be automatically input using a built-in clock.

In addition, the excavation depth can be determined by hand-operated 3 shown as SW21.
The excavation depth setting has a digit counter and is set with an adjustment switch.

Further, SW22 is a power switch, and 5W23 is a toggle switch for selecting setting prohibition/setting permission of display DPI.

5W24 is a toggle switch for selecting auto/manual depth reset mode, and this toggle switch 5
When W24 is set to auto, when it detects that the drilling rod (outer cylinder) 4 has touched the ground surface, 51r! The depth will be automatically reset to zero.

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

Further, 5W25 is a toggle switch for turning on/off the measurement external output.

On the other hand, 5W26 is an adjustment switch for setting the hole number in order to identify the number of the hole to be excavated, and like the adjustment switch SW21 for setting the excavation depth described above, it has a counter that can be moved by hand. have.

Further, the PT is a printer that prints depth information of each excavation hole, such as date, time, hole number, and depth.

According to the switch box SB shown in FIG. 7, the depth information of each excavation hole, such as the date, time, hole number, and depth, can be arbitrarily set using SW21, 5W24, 5W26, etc., and each can be set using the printer PT. Depth information of the borehole can be recorded.

On the other hand, on the panel that displays numerical values of various parameters during operation, which forms part of the control unit CU shown in Fig. 8, 5W30 is the power switch, and LPI is the forward/backward direction indicator lamp.

This indicates that the feeding force is applied downward when the lamp is lit, and LP2 is a feeding forward direction indicating lamp, which indicates that the feeding force is applied upward when the lamp is lit.

In addition, MTI is a feeding force indicator that indicates the absolute value of feeding force, MT2 is a rotation speed indicator that indicates the rotational torque of the spindle, and MT3 is a torque indicator that indicates the rotational torque of the spindle. do.

Furthermore, DP2 is a liquid crystal display that simultaneously numerically displays the feeding position (i.e., the position of the tip of the drill rod 4), the depth (i.e., the depth from the ground surface), the feeding speed (or feeding force), etc. be able to.

In this control unit CU, if an abnormality occurs during automatic operation, the operation of each part is stopped, and an abnormality message is displayed on the liquid crystal display DP2 to make the operator aware of the presence of any abnormality.

For example, if you want to use the automatic start switch in SW7 shown in FIG. 11 (described later) during manual operation,
message will be displayed, but in this case, cancel manual operation and then start automatic operation.

In addition, the LCD display DP2 displays “Feeding speed j, number of points per time 1,
If a message such as rtorque J or rbit load (this is a load in which the load of the drilling rod is added to the feeding force) is displayed, it can be recognized that there is an abnormality in the displayed parameter. , reset the parameters using the panel shown in FIG. 7 that was recorded earlier.

In this case, first enable the setting of the 5W23 switch, then press the center button of the 5W20 switch.Then the numerical value that has already been set will be reproduced on the display DP2.
Press the center button of the 5W20 switch until the value of the parameter you want to set appears, then change this value.

In this way, the parameters that the device has recognized as abnormal are set again.

On the other hand, if the message rtorque abnormality J is displayed, the torque will exceed the set value during automatic excavation, and the torque will not decrease even if you reduce the bit load and rotation speed. Press the automatic operation start switch of SW7 in FIG. 11, which will be described later, and try again.

If the message "Unable to excavate" is displayed, the ground is hard and the feed speed for automatic excavation is 5 cm/min or more even if the bit load is increased to the set value, and in this case, automatic operation of SW7 is also performed. Press the start switch and try again.

In addition, the message display of "pushing abnormality" is displayed when the ground is hard and cannot be pushed in, and even if the boring rod 4 is pulled up to about 50 mm and pushed in again, the boring rod 4 still cannot be pushed in.

In this case as well, first press the automatic operation start switch of SW7 to try again, and if that does not work, press the stop switch of SW7 to stop, then manually pull up a few mm and push in.

FIG. 9 is a schematic circuit diagram around the control unit C0 in FIG. 8 mentioned above and FIG. 11 mentioned later. FIG. 10 shows, for example, a current 10 is a diagram showing an example of the connection between the terminal board TB and each measuring device in FIG. 9 when input measuring devices are used. FIG.

With these outputs, it is also possible to simultaneously display feeding speed, feeding force, rotation speed, torque, etc. during excavation in a graph over time.

In these FIGS. 9 and 10, TB is a terminal board for taking out the external output mentioned above, and Sv. .

Sv- is the feed speed terminal, BLM is the maximum bit load, B
L- is a bit load terminal, R8M, RS~ are rotation speed terminals, and TQM, TQ- are torque terminals.

In addition, SVT in Fig. 10 is a feeding speed measuring device, BL
T is a feeding force measuring device, RST is a rotation speed measuring device, and TQT
is a torque measuring instrument.

Further, the feeding force measuring device, torque display meter, etc. shown in FIG. 9 are provided on the panel shown in FIG. 8.

In addition, when changing the feeding speed, feeding force, rotation speed, and torque, switch S shown in FIG. 9 and FIG. 11 described later.
This is done using W or a voltage converter.

FIG. 11 is a diagram showing a switch panel of the control unit CU shown in FIG. 9 above.

In this Fig. 11, the G used for automatic operation G:'-
Although only the push button switch for starting automatic operation of SW7 is described, the switch for the manual device will also be explained.

In Fig. 11, SWI is the feed lever switch. When the lever is in neutral, the drill head 3 stops, and when the lever is pushed down from this position until it is held forward, the drill head 3 moves forward until it is held in the rear. If you defeat it, it will retreat.

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

SW3 is a rotary lever switch; when the lever is in neutral, the spindle stops, and when the lever is pushed down until it is held in front of that position, the spindle rotates clockwise (normal rotation).
Rotates counterclockwise (reverse) when tilted until held backwards
do.

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

SW5 is a switch that slides the guide frame forward, backward, left and right.

'SW6 is a winch lever switch, and when the lever is in neutral, the bag winch 31 stops, and when the lever is pushed forward from this position, the bag winch 31 is hoisted up, and when it is pushed back, it is unwound.

When you let go of the lever, it automatically returns to the neutral position and stops.

SW7 is an automatic operation start push button switch, and the switch allows selection of the start of automatic operation, the start of automatic operation from the - time stop state, the automatic operation from an automatic stop state, the stop of automatic operation, the end of automatic operation excavation, etc.

5WIO is a push button switch, and when the "push" switch is pressed, the inner tube 8 is pushed forward, and when pushed to the final position, the lamp inside the switch lights up.

Then, when you press the "Release" switch, the inner tube 8 retreats and returns to the position before pushing, and the lamp inside the "Push" switch turns off. The switch that is
Bag body winch auto tension push button switch 5
When you press the "on" switch in w15, the lamp inside the switch lights up and the bag winch 31 fixes the end of the bag to the fixing plate 2.
The wire 32 that pulls the bag body 40, which is raised at the upper end of the outer tube 4 and is locked at the notch 6 of the outer tube 4, from the upper end is kept at a constant tension.

Further, when the "off" switch is pressed, tension is no longer applied to the bag winch 31.

At this time, the lamp inside the "on" switch also turns off.

When the "release" switch is pressed, the inner tube 8 moves back and returns to the position before pushing, and the lamp inside the "push" switch turns off.

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

SW8, 9 and 5W11 described below are switches that are not used when using the device shown in FIG.
By changing the combination of the outer tube 4 and the inner tube 8 shown in FIG.
This switch is used when using a device in which only the inner tube 8 with the bag 40 mounted therein is attached to the guide frame 2 so that the bag 40 is placed in an excavated hole.

The difference between the attached device and the device shown in FIG. 3 is that there is no auger, and the inner tube extrusion device 20 and the parts attached to this inner tube extrusion device 20 are not present.

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

On the other hand, SW8 is a push button switch of the bag body winch 31, and when the "wind up" switch is pressed, the bag body winch 31
By hoisting up the bag body winch 31 and pressing the "unwind" switch again, the bag body winch 31 can be lowered.

SW9 is a push-button switch for bag feeding. When you press the "Forward" switch, the bag feeding device moves forward, and when you press "Backward," the bag feeding device moves backward. However, if you press either switch, It works only while you press it.

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

The CPU 30 is the above-mentioned excavation optimum value judgment means and pile creation judgment means, and the area 30A of the CPU 30 is the excavation optimum value judgment means and the area 30B is the pile formation judgment means.

Based on commands from the optimal excavation value determining means 30A and the pile construction determining means 30B of the CPU 30, it is determined whether or not the work is being performed smoothly up to the optimal excavation value and pile construction.

First, the optimum excavation value determining means 30A makes sure that the optimum polling conditions are satisfied, and the pile construction determining means 30B determines whether or not the work necessary for pile construction is being carried out smoothly.

RAM31. The ROM 32 is a memory in which the above-mentioned setting data and the like are written and erased or written in advance as necessary.

These memories are also used when setting parameters by the parameter setting means.

The rotary encoder 33 measures the rotational speed and digging stroke of the boring rod (outer tube 4).

Further, the proportional valve amplifiers 34 and 35 are indicated by PVI and Pv2.

Furthermore, 36 is a hydraulic control unit consisting of a solenoid valve relay box, a solenoid valve, a solenoid proportional valve, etc., and controls the drive of the in-site pile building device.

Moreover, a depth reset mode changeover switch for resetting the depth and a measurement external output switch are attached to the switch box SB.

When the depth reset mode changeover switch is set to the "auto" side, the depth is automatically reset to O when automatic operation is started and the fixing plate touches the ground surface.

Additionally, if the depth reset mode selector switch is set to the ``manual j'' side, the depth will not be reset even if it touches the ground.

For example, in the case of soft ground, ground contact may not be detected on the actual ground, but may be detected slightly below the ground surface, and there is a risk that the actual ground and the detected position may deviate from each other. It is desirable to set the depth reset mode switch to the "manual" side and press the depth reset switch on the control unit CU at the moment of contact with the ground surface to set the depth to O.

In addition, when the measurement external output switch is set to the "on" side, the measurement signals of feeding speed, feeding force, rotation speed, and torque are
An electric signal of ~20 mA is output to the terminal board TB shown in FIG.

When no load is connected to the terminal board T I3, this switch is set to the "off" side.

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

FIGS. 13 to 16 are flowcharts showing specific operating procedures of the automatic excavation device for creating cast-in-place piles according to the present invention.

In explaining these flowcharts, reference will be made to the explanation of the configurations in FIGS. 1 to 12, and their reference numerals will be cited here.

Here, in explaining these drawings, before entering the first operation, step 1, the lower end is inserted into the outer tube 4 of the apparatus shown in FIGS. 1 and 2 as shown in FIG. The bag body 40, which is locked by the fixing plate 21 and whose upper end is fixed by the holder 24, is attached as shown in FIG.

The steps from step 1 to step 15 shown in FIG. Autonomous driving will become smoother.

Further, when automatic operation is performed for the first time in step 1, it is preferable to slow down the rotational speed and feeding speed so that the robot can be lowered slowly to the ground surface.

After making such preparations, first, an operation procedure for automatic operation (step 1) is started (not shown in FIG. 13).

Then, check whether the set parameters are within the allowable range of this device, and whether the input parameters are the same as the set parameters, that is, whether the set parameters are within the specified range. or C in Figure 12 above.
Judgment is made by the excavation optimum value judgment means 30A of the PU 30 (step 2).

If the optimum excavation value determining means 30A determines that the set parameters are normal, the tension of the bag winch 31 shown in FIG. (ie, descent) (step 4).

Then, similarly, the drilling optimum value determining means 30A determines whether or not the boring rod (outer tube) 4 has touched the ground surface (step 5), and it is determined that the boring rod (outer tube) 4 has not touched the ground. (i.e., when the ground surface is not detected in the case of extremely soft ground, or when the ground surface contact is not detected at a position where there is already a drilling machine), the boring head 3 rotates in the normal direction, Excavation (that is, descent) is continued to determine whether the excavation depth has reached the set depth (step 6), and if it is determined that the set depth has been reached, the excavation is ended (step 7).

Note that whether or not the vehicle has touched down is determined based on a decrease in the feeding speed, an increase in torque, or a decrease in the feeding force due to the grounding.

On the other hand, if the optimum excavation value determining means 30A determines in step 6 that the set depth has not been reached, it is determined in step 8 whether or not the excavation end switch has been pressed;
If it is determined that the excavation end switch has been pressed, the excavation is ended and the end depth is stored in RAM 3 in FIG. 12 (step 7).

If it is determined in step 8 that drilling has not been completed, it is determined in step 9 whether or not the position of the polling drill rod (outer tube) 4 in FIG. 1 is at the end of the stroke, and the drill head is If it is determined that position 3 is the end of the stroke, the excavation is finished and the end depth is stored in the RAM 31 (step 7).
.

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

In addition, in step 2, if the parameters set in step 10 by the switch box SB are not within the specified range, the optimum excavation value determining means 3 of the CPU 30 in FIG.
If it is judged as 0A, the parameter abnormality is displayed on the display DP2 of the control unit shown in Fig. 8, all operations are stopped in step 11, and the abnormal stop is notified to the operator in step 12. Recognize the situation by issuing an alarm or other means.

On the other hand, in step 5, the boring rod (outer tube)
If the drilling optimum value determining means 30A in FIG. ) 4 is increased, and in step 15 it is determined whether the rotation speed has reached the set value.

Then, in step 15, the boring rod (outer tube) 40
If the optimum excavation value determining means 30A determines that the rotational speed has been increased and the rotational speed has reached the set value, excavation is started (16).

Further, if the drilling optimum value determining means 30A determines that the rotational speed of the boring rod (outer tube) 4 is increased and the rotational speed does not reach the set value in step 15, the process returns to step 14 described above.

As described above, in this embodiment, the excavation optimum value determining means 30A
Steps of judgment, i.e., step 2, step 5
, 6, steps 8, 9, and step 15, and based on these judgment steps, it is determined whether or not each setting condition is satisfied, and according to the judgment, the other control area 30C of the CPU 30 executes the execution steps. For example, step 3.4, step 11, steps 13-15, etc. are executed.

Therefore, in this embodiment, when building foundation work for a building by constructing piles in soft ground or the like, it becomes possible to perform optimum excavation according to the properties of the excavation hole.

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

After starting this excavation, the optimum excavation value determining means 30A in FIG. 12 determines whether the torque becomes 90% or less of the maximum torque (steps 16 and 20).

When the optimum excavation value determining means 30A determines that the torque is 90% or less of the maximum torque, it is determined in step 21 whether the feeding speed is 120% or less of the standard feeding speed, Feeding speed is 120% of standard feeding speed
If it is determined that the maximum torque is 70% or less of the set value, it is determined whether the maximum torque is 70% or less of the set value (step 22).
.

Next, when the excavation optimum value determining means 30A determines that the maximum torque is 70% or less of the set value, it is determined whether the feeding speed becomes the standard feeding speed or not, and in step 23, the feeding speed is determined to be the standard feeding speed. If the advancing speed is the standard feeding speed, it is determined whether the bit load is less than the maximum bit load (that is, the load obtained by adding the loading space of the rod to the feeding force) (step 24).

If the drilling optimum value determining means 30A determines that the bit load is below the maximum bit load, the feeding force is increased in step 25, and the boring rod (outer tube) 4 in FIG. 1 is increased in step 26. It is determined whether the rotation speed of the boring rod (outer tube) 4 is 105% or more of the standard rotation speed.
% or more, the rotation speed of the boring rod (outer tube) 4 is decreased in step 26, and the next step is executed (step 28).

On the other hand, in step 21, if the feeding speed does not exceed 120% of the standard feeding speed, the excavation optimum value determining means 3
If the determination is 0A, the feeding force is reduced in step 29 and step 26 is performed.

Further, in step 26, if the drilling optimum value determining means 30A determines that the rotation speed of the boring rod (outer tube) 4 is not 105% or more of the standard rotation speed, step 3
0, it is determined whether the rotation speed of the boring rod (outer tube) 4 is 95% or less of the standard rotation speed, and if the rotation speed of the boring rod 4 is 95% or less of the standard rotation speed, the optimum drilling value is determined. When the determination means 30A makes a determination, the next step 28 is executed.

On the other hand, if the drilling optimum value determining means 30A in FIG.
1, increase the rotation speed of the boring rod (outer tube) 4,
Execute the next step 28 7 Also, in step 20, the torque is the maximum torque 9
If it is determined by the excavation optimum value determining means 30A that it is not 0% or less, it is determined in step 32 whether or not the feeding force becomes equal to or greater than the minimum value, and in step 33, it is determined whether the feeding force becomes equal to or greater than the minimum value. If it is determined that this is the case, the feeding force is reduced and the next step 28 is executed.

On the other hand, if it is determined in step 32 that the feeding force does not exceed the minimum value by the excavation optimum value determination means 30A shown in FIG. If it is determined that the rotational speed of the boring rod 4 is equal to or higher than the minimum value, the rotational speed of the boring rod 4 is reduced and step 28 is executed.

Further, if the pile construction determining means 30B determines in step 34 that the rotational speed of the boring rod (outer tube) 4 shown in FIG. 1 does not exceed the minimum value, step 36 is executed.

Next, turn to FIG. 15. After step 28, step 4
0, and the optimum excavation value determining means 30A in FIG. 12 determines whether the excavation speed is equal to or higher than the minimum value, and when the optimum excavation value determination means 30A determines that the excavation speed is equal to or higher than the minimum value, Then, the pile construction determining means 30B determines whether the excavation depth has reached the set depth (step 41).

If the pile construction determining means 30B determines that the set depth has been reached, the end depth is stored in the RAM shown in FIG. 12 in step 42.
31, and in step 43, the boring rod (outer tube) 4 shown in FIG. The pile construction determining means 30B determines whether or not the pile construction has been completed (step 44).

Pile construction judgment means 3 whether pushing has been completed normally
If it is determined to be 0B, the reversing and retreating (that is, lifting) of the boring head 3 is started (step 45).

On the other hand, if the pile construction determining means 30B of FIG. 12 determines that the feeding speed is not equal to or higher than the minimum value in step 40,
After stopping all operations in step 11, step 47
After stopping all operations in step 11, the operator is informed that an excavation abnormality has occurred (step 12).

Further, when the feeding speed is equal to or higher than the minimum value, in step 41, the pile construction determining means 30B determines whether the excavation depth has reached the set depth, and if it is determined that the set depth has been reached, Finish the excavation and record the end depth in the RAM in Figure 12.
31 (step 42).

If the pile construction determining means 30B shown in FIG. 12 determines in step 41 that the excavation depth has not been reached, step 4
8, it is determined whether or not the excavation end switch among the automatic operation switches SW7 shown in FIG. (step 42).

Further, if the pile construction determining means 30B determines that the excavation end switch is not pressed in step 48, it is determined whether or not the stroke of the boring rod (outer tube) 4 is at the end, and the boring rod (outer tube) If the stroke in step 4 is determined to be the end, the excavation is finished and the end depth is set to the first depth.
The data is stored in the RAM 31 shown in FIG. 2 (step 42).

If the pile construction determining means 30B in FIG. 12 determines that the stroke of the boring rod (outer tube) 4 is not at the end, the process returns to step 5.

On the other hand, in step 44, if the pile construction determining means 30B determines that the pushing of the boring rod (outer tube) 4 has not been completed normally, step 50 , and in step 51 it is determined whether the boring rod (outer tube) 4 has retreated by a certain amount.

When the pile construction determining means 30B determines that the boring rod (outer tube) 4 has been retreated by a certain amount, the boring rod (outer tube) 4'I? : Reverse/reverse and stop, push and insert again, and execute the next step 54 6 In addition, if the pile construction determining means 30B determines that the boring rod (outer pipe) 4 has not been retreated by a certain amount for,
The determination in step 51 is made again.

Next, FIG. 16 will be explained.

In FIG. 14, after step 54, if the pushing has been completed normally in step 60, the pile construction determining means 30B
If it is determined that
1, it is determined whether the rotational speed of the motor 54 shown in FIG. 17, which will be described later, which rotates the boring rod (outer tube) 4 is equal to or higher than a certain rotational speed.

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

If the pile construction determining means 30B determines that the feeding position is O, the reversal and retreat of the boring rod (outer tube) 4 is stopped in step 64, and step 65
Turn off the auto tension with , and turn the boring rod (
Release the push in 4 (outer tube).

Next, in step 66, the boring rod (outer tube) 4
The depth is printed on the printer PT shown in FIG. 7, and automatic excavation is completed (step 67).

On the other hand, in step 36, if there is a torque abnormality, all operations in step 11 are stopped, and step 68
The torque abnormality is displayed on the display DP2 in FIG. 8, and the operator is made aware of the abnormal stop (step 12 in FIG. 13) by means such as an alarm.

In addition, in step 60, if the pile construction determining means 30B determines that the pushing has not ended normally, in step 69, the pushing abnormality is displayed on the display on the DP2 in FIG. 8, and all operations are stopped. In step 11), the operator is made aware of the abnormal stop (Stella 12 in FIG. 13) by means of an alarm or the like. Stop all operations in step 11 (step 80゜69
, step 11.12).

If the pile construction determining means 30B determines in step 16 that the number of rotations of the motor 54 shown in FIG. The abnormality is displayed on the display DP2 in FIG. 8, and all operations are to be stopped (step 11 in FIG. 13), and the operator is made aware of the abnormal stop (step 12 in FIG. 13).

If the pile construction determining means 30B determines in step 62 that the feeding speed is not equal to or higher than a certain speed, the screen displays that there is an abnormality in the lifting speed in step 71 and stops all operations. step 11),
The operator is made aware of the abnormal stop (step 12 in FIG. 11).

This concludes the explanation of the flowcharts showing the operating procedures from FIG. 11 to FIG. 14.

Next, FIG. 15 is a hydraulic circuit diagram showing the operation of the main parts of the hydraulic control sections 34 to 36 shown in FIG. 12. In this figure, the relief valve 50 for adjusting the feeding force is actuated by the output electric signal of the electromagnetic proportional relief valve 34 for adjusting the feeding force,
The solenoid valve 51 is opened to feed the feed to the hydraulic feed valve, and the feeding motor 52 of the boring rod (outer tube) 4 is operated to feed the boring rod (outer tube) 4.

Further, the output electric signal of the electromagnetic proportional relief valve 35 for adjusting the rotation speed operates the relief valve 53 for adjusting the rotation speed, and the electric signal from the motor 56 of the power unit 55 opens the electromagnetic valve 63 to apply hydraulic pressure to the motor 54. The boring rod (outer tube 4) is rotated by the motor 54.

Further, the hydraulic motor 56 and 57 of the power unit 55 are connected to the bag feeding motor 61 and the feeding element through the solenoid valves 58 to 60.
Hydraulic pressure is supplied to the winch motor 52 and the bag winch motor 62, and the respective motors are activated.

Therefore, according to this embodiment, by using the hydraulic circuit, the rotation and digging of the boring rod (outer tube) 4 can be performed while applying a constant tension by the bag winch motor, so that the series of operations can be ensured. It can be done.

Furthermore, according to the above embodiment, if an abnormal operation occurs during the period from excavation to pushing of the fixing plate to lifting, the work is immediately stopped, and if the work is performed normally, After confirming this, adjustments can be made to ensure smooth execution management from excavation to salvage, so that operations from excavation to pushing the fixing plate to salvage are normal. If it is determined that there is, automatic excavation can be finished smoothly.

In addition, in this example, from excavation to the fixing plate (fixing plate)
If it is determined that there is an abnormality in the operation from pushing to lifting, all operations can be stopped and the operator can be made aware of the abnormal stop through display or other means. This eliminates loss of machine operating time,
Can be carried out normally.

(Effects of the Invention) As described above, according to the present invention, if an abnormal operation occurs during the period from excavation to pushing of the fixing plate to lifting, the work is immediately stopped and the work is not carried out normally. If
Adjustments can be made to ensure smooth implementation management from excavation to salvage, so if the operation from excavation to salvage is determined to be normal, automatic excavation can be smoothly completed.

Further, according to the present invention, if it is determined that there is an abnormality in the operation from excavation to salvage, all operations can be stopped, so unnecessary operation of the machine can be eliminated.

According to claim 2, if the pile construction determining means determines that the operations from excavation to pushing the fixing plate to pulling up are abnormal, all operations are stopped and then the abnormal stop is performed. Since it is possible to make the operator aware of the fact through means such as display, it is possible to not only eliminate the loss of operating time but also to carry out the operation normally.

[Brief explanation of drawings]

1 to 6 are diagrams showing an embodiment of the mechanical components of an automatic excavation device for creating cast-in-place piles according to the present invention, and FIG. 7 is a diagram showing the front panel of a switch box SB according to an embodiment of the present invention. , FIG. 8 is a diagram showing a meter panel of a control unit CU according to an embodiment of the present invention, FIG. 9 is a schematic circuit diagram around a measurement external output switch, and FIG. 10 is a diagram showing a meter panel of a control unit CU according to an embodiment of the present invention. FIG. 11 is a diagram showing an example of the connection between the terminal board and each measuring device in the case of the present invention, and FIG.
The figure is a block diagram showing the control outline of the switch box SB and hydraulic unit OU for automatic operation, and Figures 13 to 16 show specific operating procedures of the automatic excavation device for creating cast-in-place piles of the present invention. FIG. 17 is a hydraulic circuit diagram showing the operation of the main parts of the hydraulic control units 34 to 36 of FIG. 12, and FIG. 18 is a diagram showing the locked state of the bag in the outer cylinder. In the figure, 3 is a drill head, 4 is an outer pipe, 8 is an inner pipe, OU is a hydraulic unit, CU is a control unit, and SB is a switch box. Patent applicant Asahi Kasei Kogyo Co., Ltd.-31:Jig1--Bil=. [−〜−−゛−−−“−゛[ 3g P2

Claims (2)

[Claims] (1) A parameter setting means for setting at least the standard feeding speed, standard rotation speed, maximum torque, etc. for excavation at the start of operation, and excavation is carried out after the setting of this parameter setting means is completed,
an excavation optimum value judgment means for judging whether or not the standard feeding speed, standard rotation speed, maximum torque, etc. are the optimum values for excavation; A pile that immediately stops work when an abnormal operation occurs from the time of excavation to pushing the fixing plate to pulling it up, and when the work is performed normally, the work continues from excavation to pushing the fixing plate to pulling it up. 1. An automatic excavation device for creating cast-in-place piles, characterized by comprising a construction means. (2) The pile construction means has a pile construction judgment means for determining whether the operation from excavation to pushing of the fixing plate to pulling up is abnormal or normal, and the pile construction judgment means , If the operation from excavation to pushing of the fixing plate to lifting is judged to be abnormal, all operations are stopped and the operator etc. are made aware of the abnormal stop through display recognition means. The automatic excavation device for creating cast-in-place piles according to claim (1).