JPH0470409A - Controller in bar material driving machine for ground reinforcement - Google Patents

Abstract

PURPOSE:To automate driving-in work of a bar material by placing a chuck mechanism which holds a reinforcing bar material and an oscillating mechanism which hits the chuck mechanism on a guide cell, and disposing a sensor member in these mechanisms for remote control. CONSTITUTION:A chuck mechanism 10 which holds a bar material R and an oscillating mechanism 8 which hits the chuck mechanism are placed on a guide cell 5 so as to move forward and rearward, and a control member 17 which driving-controls the oscillating mechanism 8 and a feed mechanism control member 18 are disposed. Besides, a retract sensor 22 and a bar material R sensor 23 are disposed. Next, a remote control part which controls operation of the oscillating mechanism control member 17 and a feed mechanism control member 19 based on a detected signal from the retract sensor 22 and the bar material sensor 23 is disposed at the body side of a mobile carriage. Moreover, the bar material R for ground reinforcement is buried into the ground smoothly, and these work is automated by means of remote control.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to ground reinforcement work in which soil reinforcing bars are forcibly buried in soft ground or slopes in order to prevent the collapse of soft ground or slopes. The present invention relates to a control device for a bar pushing machine for ground reinforcement applied to.

U. Prior Art] As a conventional technology, there is, for example, Japanese Patent Laid-Open No. 63-217018.

[Problem to be solved by the invention] The chuck mechanism of the soil reinforcement bar pushing machine grasps a part of the long soil reinforcement bar that is longer than the stroke of moving forward and backward on the guide cell and pushes it into the ground. In this case, it is necessary to repeatedly push the ground reinforcing bar into the ground up to the stroke, then retreat the chuck mechanism and vibration mechanism, and push it in again.

Furthermore, in the ground that requires reinforcement, it is necessary to bury ground reinforcement bars over a wide area at short intervals.

Therefore, the present invention aims to remotely automate the work of pushing back and pushing the ground reinforcing bars, thereby simplifying and increasing the efficiency of the ground reinforcing work, thereby performing the work safely and quickly.

[Means for Solving the Problems] The control device of the ground reinforcing bar pushing machine of the present invention has a guide cell attached to the tip of the arm of the self-propelled cart with a chuck mechanism for gripping a part of the ground reinforcing bar. a vibration mechanism that moves forward and backward together with the chuck mechanism and transmits vibration motion to the ground reinforcing bar through the chuck mechanism; and a vibration mechanism that moves the chuck mechanism and the vibration mechanism between a forward start position and a forward end position. In the ground reinforcing bar pushing machine equipped with a retracting feeding mechanism, the guide cell includes a vibration mechanism drive control member that drives and controls the vibration mechanism, and a feed mechanism drive control member that drives and controls the feed mechanism. In addition, on the guide cell side, a forward end sensor for detecting the forward end position, a backward end sensor for detecting the forward start position, and a ground base sensor for detecting the presence or absence of a ground reinforcing bar at the set position. A reinforcing bar sensor is disposed on the vehicle body side of the self-propelled cart, and a control circuit for controlling the operation of the vibration mechanism drive control member and the feed mechanism drive control member based on the detection signals of the respective sensors. It has a configuration that includes a remote control unit.

[Function J] The kite cell mounted on an appropriate self-propelled trolley has a chuck mechanism that grips the ground reinforcing bar, and a vibration mechanism that transmits vibration motion to the ground reinforcing bar through this chuck mechanism. It is mounted so that it can move freely.

This vibration mechanism is, for example, a hydraulic breaker that generates impulsive vibrations, but it is also possible to use a drifter or other vibration generation mechanism, or a sine wave vibration generation mechanism (hereinafter referred to as the impact mechanism), and together with the chuck mechanism. It is driven forward and backward by the feed mechanism.

Each sensor installed in the guide cell is connected to a control circuit installed in the driver's seat of a self-propelled vehicle, for example, and the force control circuit receives the output signal from each sensor and connects to a control circuit installed in the driver's seat of a self-propelled vehicle. Outputs a signal to drive the vibration mechanism drive control member and the feed mechanism drive control member.

As a result, the vibration mechanism is driven with the chuck mechanism gripping a part of the soil reinforcing bar, and the vibration motion is transmitted to the soil reinforcing bar via the chuck mechanism, and the feeding mechanism is activated. The ground reinforcing rod is intermittently pushed into the ground by vibrations by the stroke of the feeding mechanism.

At this time, when the forward end sensor detects the end of forward movement, the control circuit stops the forward movement of the feed mechanism and the driving of the vibration mechanism.
Then, the retraction of the feeding mechanism is started. At this time, since the ground reinforcing bar whose tip end has already been pushed into the ground is restrained by the ground, only the chuck mechanism and the vibration mechanism retreat while remaining pushed into the ground.

When the backward end sensor detects the end of backward movement, the control circuit stops the backward movement of the feeding mechanism, the chuck mechanism changes the gripping position of the ground reinforcing bar and grips the ground reinforcing bar, and then the vibrator #ll Advancement of the transport mechanism is started.

By automating the multi-stage repetition of such forward and backward movements, it is possible to push into the ground a ground reinforcing bar that is longer than the stroke length of the feeding mechanism.

During work, when a soil reinforcement bar is pushed into the ground to a predetermined depth and the soil reinforcement bar sensor outputs a detection signal indicating no soil reinforcement bar, the control circuit is reset and operation is stopped. .

In this case, if the pushing machine of the present application is designed to be fully hydraulically driven and a hydraulic excavator is used as a self-propelled cart, for example, the hydraulic power source of the hydraulic excavator can be used as a power source, and the work range is expanded and work with good mobility is possible. This is preferable because it can be done.

[Effects of the Invention] Since the present invention is configured as described above, it is possible to precisely and smoothly insert a long-sized ground reinforcing bar into the ground, regardless of the forward and backward movement stroke of the chuck mechanism, up to the capacity of the pushing machine. This makes it possible to simplify and streamline the bar pushing work for embedding various long soil reinforcing bars into the ground.

In addition, the control circuit is equipped with a soil reinforcement bar sensor that detects the presence or absence of soil reinforcement bars, so when the soil reinforcement bars are pushed into the ground to a predetermined depth, the pushing machine is automatically activated. It is possible to accurately perform remote control of the pusher by stopping the presser at the same time, eliminating erroneous operations.

[Example] Next, one embodiment of the present invention will be described with reference to the drawings.

Hydraulic excavator vehicles, etc. are used in ground reinforcement bar pushing machines that are applied to ground reinforcement work that forcibly pushes and embeds ground reinforcement bars (hereinafter referred to as bars) R such as reinforcing bars into soft ground. The tip of arm 2 of self-propelled trolley 1 and arm 2
A supporting portion 4a that is detected laterally is formed at the lower end of a connecting bracket 4 that is tiltably connected to the tip of a piston rod 3a of a hydraulic cylinder 3 attached to the hydraulic cylinder 3, and a hollow The guide cell 5, which has a horizontally long shape, is attached near the center.

At the upper end of the guide cell 5, a pair of kite rails 5a, 5a are formed extending horizontally to both sides, extending over almost the entire length of the guide cell 5.
A foot pad 5b that is pressed against the ground J during ground reinforcement work to hold the guide cell 5 in a predetermined posture is formed at the tip of the foot pad 5b. An openable insertion hole 5d is provided near the guide cell 5, through which the bar R fed forward along the longitudinal direction of the guide cell 5 is inserted.

A substrate 7 placed on the guide cell 5 is placed on the kite cell 5.
a, a pair of slide parts 7b, 7b connected to both side edges of the board 7a and slidably engaged with both guide rails 5a of the guide cell 5, and a pair of slide parts 7b, 7b, which are erected in parallel on the board 7a. Pair of side plates 7C.

7C, and a guide cell 5 protruding from the lower surface of the rear end of the substrate 7a.
A movable bracket 7 having a projecting piece 7d inserted therein is installed so as to be movable in the longitudinal direction.

The movable bracket 7 has a cylinder 8a in which a hammer reciprocally driven by hydraulic pressure is inserted and is sandwiched between both side walls 7b of the movable bracket 7, a switching valve 8b attached to the cylinder 8a, A striking mechanism 8 is attached to the tip of the cylinder 8a and has a chisel 8c fitted therein so as to be movable forward and backward within a certain range.

A striking mechanism 8 is applied to the bar R by releasably gripping a part of the bar R.
A chuck mechanism 10 provided to transmit the striking action of the holder 9 is attached to the tip of the chisel 8c of the striking mechanism 8.
It is connected to the striking mechanism 8 through a joint so that it can move forward and backward.

The chuck mechanism IO includes a fixed chuck 11 that is immovably attached to the holder 9, and a fixed chuck 11 that is movably attached to the holder 9 in a direction perpendicular to the pushing direction of the bar R and can move forward and backward relative to the side of the fixed chuck 11. The chuck cylinder 13 is provided with a movable chuck 12 adjacent to the movable chuck 12 and a chuck cylinder 13 mounted laterally on the holder 9, and a piston rod 13a of the chuck cylinder 13 is connected to the movable chuck 12 so as to be able to move forward and backward together.

When the piston rod 13a of the chuck cylinder 13 moves forward, a part of the bar R is irremovably gripped between the chucks 11 and 12, and the striking action of the striking mechanism 8 moves the bar R through the chuck mechanism IO. On the other hand, when the piston rod 13a retires, the bar R is released and the chuck mechanism 10 moves leaving the bar R behind.

A striking mechanism 8 and a chuck mechanism 10 are provided in the guide cell 5.
is propelled from the forward start position where the movable bracket 7 moves to the rear end on the guide cell 5 to the forward end position where the movable bracket 7 moves to the front part above the guide cell 5, and retreats from the forward end position to the forward start position. A feeding mechanism 14 provided for the purpose of
The tip of the piston rod 14b is connected to the projecting piece 7d of the movable bracket 7 via a pin 15 so as to be able to move forward and backward together.

When a part of the bar R is gripped by the chuck mechanism 10, the feed mechanism 14 is driven to propel the chuck mechanism IO, and the pushing machine is driven with the tip of the bar R pressed against the ground J, the chuck mechanism IO The bar R is repeatedly struck by the striking mechanism 8 and moves forward together with the bar R intermittently by the striking action of the striking mechanism 8 and the propulsive force of the feeding mechanism 14.
It is gradually pushed into I.

The forward movement start position of the chuck mechanism 10 is the chuck mechanism l.
While O gripped a part of the bar R and was pressed against the tip of the bar R or against the ground J, the striking action of the striking mechanism 8 and the propulsion action of the feeding mechanism 14 were applied to the chuck mechanism 10. It is set at a position where buckling deformation of the bar R is sometimes suppressed.

Solenoid valve storage box 1 attached to the lower surface of the rear end of the guide cell 5
6 includes a first electromagnetic valve 17 which is a striking mechanism drive control member for controlling the supply and stop of supply of hydraulic oil to the striking mechanism 8 and switching the striking mechanism 8 between a driving state and a drive stop state.
and a second electromagnetic valve which is a chuck mechanism drive control member for controlling the supply mode of hydraulic oil to the chuck cylinder 13 of the chuck mechanism 10 and advancing and retracting the piston port 13a of the chuck cylinder 13. 18, and a third solenoid valve 19 which is a feed mechanism drive control member for controlling the supply mode of hydraulic oil to the feed mechanism 14 and advancing and retracting the piston rod 14b of the feed mechanism 14. The electromagnetic valves 17, 18, and 19 are connected to a hydraulic pump 32 mounted on the body of the self-propelled trolley l.

Next, the striking mechanism 8 is
, the control circuit S for controlling the operation of the chuck mechanism 10 and the feed mechanism 14 will be explained.

The sensing unit 20 of the control circuit S is disposed at a suitable position in the guide cell 5, and when the striking mechanism 8 and chuck mechanism 10 move to the forward end position, it detects the end of forward movement of both mechanisms 8 and 10, and controls the chuck mechanism 10. Forward end sensor 2 that sends a forward end signal for reversing the forward movement at the forward end position of
I and the guide cell 5 are arranged at appropriate positions so that both mechanisms 8. The chuck mechanism 10 detects the end of IO retraction
A rearward end sensor 22 is disposed near the chuck mechanism 10 and a rearward end sensor 22 that sends a forward start signal for reversing the backward movement at the forward start position of the set position. It is composed of a bar sensor (ground reinforcement bar sensor) 23 that transmits a signal. In addition,
Although a proximity switch is used in this example as each sensor 21, 22, 23, a distance measuring device such as a mechanical limit switch or a rotary encoder can also be used.

The control circuit S is provided at a working position remote from the sensors 21, 22, 23, for example, in the driver's cab 1a of the vehicle body of the self-propelled trolley 1, in order to remotely control the mechanisms 8, 10, 14. A remote control section 24 is incorporated, and this remote control section 24 includes a manual operation switch section 26 and a start switch 27a.
and an automatic operation switch section 27 having a stop switch 27b, a sensor section 28a and an automatic operation section 28b that control the operating state of each electromagnetic valve 17, 18, 19.
a memory circuit 28 having a timer 29a, a delay circuit 29 having a timer 29a, a sensing unit 201 and a manual operation switch unit 26.
．． Automatic operation switch section 27° memory circuit 28. Delay circuit 2
A gate circuit 30 receives each output signal of 9 and outputs a specific signal, and a gate circuit 30 receives the output signal of this gate circuit 30 and outputs a signal for controlling the operation of each electromagnetic valve 17, 1, 8, and 19. A drive circuit 31 is provided.

The manual operation switch section 26 includes a forward switch 26a for manually driving the feed mechanism 14 to propel the chuck mechanism 10 forward from the forward start position, and a forward switch 26a for driving the feed mechanism 14 by manual operation to propel the chuck mechanism 10 forward from the forward start position.
4 is manually operated to move the chuck mechanism 10 back from the forward end position to the forward start position; a striking switch 26c is for manually driving the striking mechanism 8; It is provided with a chuck switch 26d that is driven by operation to cause the chuck mechanism 10 to grip the bar R.

However, the chuck switch 26d resets only the automatic operation section 28b of the memory circuit 28 and sets the sensor section 28a.

The drive circuit 31 includes a striking mechanism drive section 31a connected to the coil section I7a of the first solenoid valve I7, a chuck drive section 31b connected to the coil section 18a of the second solenoid valve 18, and a chuck drive section 31b connected to the coil section 18a of the second solenoid valve 18. A forward drive section 31c connected to the forward coil section 19a and a backward coil section 19 of the third solenoid valve 19.
The retracting drive unit 31d connected to b is connected in parallel.

The start switch 27a of the automatic operation switch section 27 sets the automatic operation section 28a of the memory circuit 28, and the stop switch 27b resets the sensor section 28a and the automatic operation section 28b.

The sensor unit 28a of the memory circuit 28 is reset by the output signal of the forward end sensor 21 when the chuck mechanism 10 moves to the forward end position, and is reset by the output signal of the backward end sensor 22 when the chuck mechanism IO moves back to the forward start position. It is set by a signal, and the logical output of the sensor section 28a is inverted by this setting and resetting.

When the bar sensor 23 is not detecting the bar R, all circuits of the control circuit S are reset.

For this reason, detailed work such as the remaining part of the bar R in the final stage of pushing the bar R into the ground is performed manually.

The output of the sensor section 28b of the memory circuit 28 is sent to the gate circuit 30.
are input to the striking mechanism drive section 31a, chuck drive section 31b, and forward drive section 31c of the drive circuit 31 through the striking mechanism drive section 31. The first by the 8 force signal of a
The position of the solenoid valve 17 is changed to a position that supplies hydraulic oil to the striking mechanism 8, and the position of the second solenoid valve 18 is changed to a position that advances the piston rod 13a of the chuck cylinder 13 by the output signal of the chuck drive unit 31b. Then, the position of the third electromagnetic valve 19 is converted to the position where the piston rod 14b of the feed mechanism 14 is moved away by the output signal of the forward drive section 31c.

The inverted output of the sensor section 28a of the memory circuit 28 is sent to the striking mechanism drive section 31a of the drive circuit 31 via the gate circuit 30.
, the chuck drive unit 31b, and the retraction drive unit 31d, and the position of the first solenoid valve 17 is converted to the position where the supply of hydraulic oil to the striking mechanism 8 is stopped by the output signal of the striking mechanism drive unit 3La, and the chuck drive The position of the second solenoid valve 18 is changed by the output signal of the part 31b to the position for retracting the piston rod l"l3a of the chuck cylinder 13, and the position of the second solenoid valve 18 is changed by the output signal of the retraction drive part 31d.
The position 9 is converted into a position where the piston rod 14b of the feed mechanism 14 is moved.

The delay circuit 29 is provided for the purpose of delaying the operation of the striking mechanism 8 and the feed mechanism 14 by the operating time required for the chuck mechanism 10 to release and grip the bar R at the end of forward movement and at the end of backward movement, and when the forward movement is completed. At the end of the backward movement, the impact mechanism 8 and the feed mechanism 14 start operating after a delay of the time set by the timer 29a.

Next, the operation and effect of the control circuit S described above will be explained.

During ground reinforcement work, when the control circuit S is turned on and the bar R is set in the pushing machine, the bar sensor 23 detects the bar R.
is detected, and the set negative state of the sensor section 28a of the memory circuit 28 is released.

In this state, when the chuck switch 26d of the manual operation switch section 26 is pressed, the chuck drive section 31. The piston rod 13a of the chuck cylinder 13 is activated by the output signal b.
The bar R moves forward and a part of the bar R is gripped by both chucks 11 and 12. Note that if you forget to press the chuck switch 26a and change the posture of the guide cell 5, there is a risk that the bar R will slip because it is not gripped, but if power is turned on to the control circuit S. At this point, the chuck cylinder I3 is driven to the gripping state, and if the gripping state is released by the stop switch 27b, the gripping state is maintained unless the gripping state is intentionally released, so the risk of the bar R slipping is reduced.

If the bar R is not set, the signal from the bar sensor 23 input to the gate circuit 30 is negated by the gate circuit 30, making it impossible to start automatic operation.

With a part of the bar R being gripped by the chuck mechanism IO, move the bar R and the guide cell 5 to the pushing position close to the ground J, then press the forward switch 26a of the manual operation switch section 26 to move the feed mechanism 14. The piston rod 14b is withdrawn, and the chuck mechanism IO is advanced to a position where the tip of the bar R contacts the ground J, thereby starting automatic operation of the pushing machine.

In this state, when the start switch 27a of the automatic operation switch section 27 is pressed, the automatic operation section 28b of the memory circuit 28 is set, and the output signals from the sensor section 28a and the automatic operation section 28b of the memory circuit 28 are sent to the gate circuit 30. The first solenoid valve 17 and the third solenoid valve 19 are actuated by the output signals of the striking mechanism drive section 31a and forward drive section 31c, respectively, and the striking mechanism 8 starts the striking operation, and , the chuck mechanism IO is propelled forward by the piston rod 14b of the feed mechanism 14 and moves forward intermittently, and the striking action of the striking mechanism 8 and the propelling action of the feeding mechanism 14 are transmitted to the bar R via the chuck mechanism 10. The rod R is gradually pushed into the ground J.

When the striking mechanism 8 and the chuck mechanism 10 move to the forward end position, the forward end sensor 21 sends a forward end signal to reset the sensor section 28a of the memory circuit 28, and the logic output of the sensor section 28a is inverted and the gate circuit is activated. 30, and the first and third solenoid valves 17.19 are connected to the striking mechanism drive unit 31.
a and the output signal of the forward drive unit 31c, and the propulsion of the striking mechanism 8 and the feed mechanism 14 is stopped, and the second solenoid valve 18 is operated by the output signal of the chuck drive unit 31b to move the piston of the chuck cylinder 13. The rod 13a leaves and the gripping state of the bar R is released. Then, the delay circuit 29 is activated, and the tire 29 of the delay circuit 29 is activated.
After a delay of the time set in step a, the third solenoid valve 17 is activated by the output signal of the retraction drive section 31d, the striking mechanism 8 stops its striking operation, and the piston rod 14b of the feeding mechanism 14 is activated.
moves forward, and the striking mechanism 8 and the chuck mechanism 1o move the bar R.
, and retreat to the forward starting position.

When the striking mechanism 8 and the chuck mechanism 10 retreat to the forward start position, the backward end sensor 22 outputs a backward end signal, sets the sensor section 28a of the memory circuit 28, and the sensor section 2
The logic output of 8a is inverted again and input to the drive circuit 31 via the gate circuit 30, and the second electromagnetic valve I8 is actuated by the output signal of the chuck drive unit 31b, and the piston rod 13a of the chuck cylinder 13 moves. , a part of the bar R is gripped by the chuck mechanism 10 with the gripping position changed to the rear position. After the second solenoid valve 18 is actuated and the bar R is gripped, the first and third solenoid valves 17 and 19 are actuated by the output signals of the striking mechanism drive section 31a and the forward drive section 31c, respectively, to strike again. The mechanism 8 starts a striking operation, and the piston rod 14b of the feed mechanism 14 starts a retracting operation, and the above series of operations is repeated until the entire length of the bar R is embedded in the ground J. In this case, if a 3-position switching valve or a pilot check valve is used for the second solenoid valve 18 and the circuit is configured to prevent the piston rod 13a from leaving when the power is cut off, opening of the chuck due to the power cut can be avoided and the bar R Falling can be prevented.

After the first embedding work of ground reinforcement bars R is completed,
A new ground reinforcing bar R is set in the pushing machine and the same embedding operation is repeated.

Therefore, it is possible to accurately and smoothly embed the ground reinforcing bar R having a dimension longer than the advancing and retracting stroke of the chuck mechanism 10 into the ground J, and various long ground reinforcing bars R
It is possible to simplify and streamline the work of pushing bars into the ground.

In addition, since the control circuit S is equipped with a bar sensor 23 that detects the presence or absence of the ground reinforcing bar R, the operation of the pushing machine can be automatically stopped in response to a signal indicating that there is no bar, and the bar It is possible to eliminate erroneous operation of the pusher when R is not set, and to accurately perform remote control of the pusher.

Note that when a chuck mechanism that mechanically grips the bar R is used instead of the hydraulically driven chuck mechanism 10 of the above embodiment, the chuck switch 26d, delay circuit 29, chuck drive circuit 31b, etc. of the control circuit S are changed. No longer needed.

Further, a detection means for detecting the propulsive force of the piston rod 14b of the feeding mechanism 14 is provided, and after the tip of the bar R comes into contact with the ground J at the start of the ground reinforcement work, the bar R is pushed to the feeding mechanism 14. If the impact mechanism 8 is automatically driven when the applied load increases rapidly, the switching from manual operation to automatic operation at the start of soil reinforcement work is omitted, and the work is started automatically from the beginning. I can do something.

Further, in order to prevent a dry striking state in which the hammer is driven while the chisel 8c of the striking mechanism 8 is held at an intermediate position between the advancing end and the retracting end and has not returned to the normal striking position, the chisel 8c A delay circuit may be provided to drive the striking mechanism 8 by delaying the time for the rod R to move from the advancing end to the retiring end. When the pressure rises to the appropriate level set by the initial push into the ground, the first
The solenoid valve 17 may also be operated.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and Fig. 1 is a block diagram of a control device, Fig. 2 is an explanatory diagram of ground reinforcement work, and Fig. 3 is a block diagram of a control device.
4 is a front view of the pushing machine, FIG. 5 is a plan view of the vicinity of the chuck mechanism, and FIG. 6 is a time chart of the control circuit. 8...Blow mechanism 10...Chuck mechanism 14...Feed mechanism 17...First solenoid valve (blow mechanism drive control member) 19...
...Third solenoid valve (feeding mechanism drive control member) 20...Sensing section 21...Advance end sensor 22...Retreat end sensor 23...Bar sensor (ground reinforcement bar sensor) 24...
...Remote control section 31...Drive circuit 31a...Blow mechanism drive section 31, c...Forward drive section 31d...Backward drive section S...Control circuit

Claims (1)

[Claims] The guide cell attached to the tip of the arm of the self-propelled trolley has a chuck mechanism that grips a part of the ground reinforcement bar, and moves forward and backward together with this chuck mechanism to vibrate the ground reinforcement bar through the chuck mechanism. In the ground reinforcement bar pushing machine equipped with a vibration mechanism that transmits motion, and a feed mechanism that propels and retreats the chuck mechanism and the vibration mechanism between a forward start position and a forward end position, the guide cell includes: A vibration mechanism drive control member that drives and controls the vibration mechanism, and a feed mechanism drive control member that drives and controls the feed mechanism, and a forward end sensor that detects the forward end position on the guide cell side; A backward end sensor for detecting the forward start position and a ground reinforcing bar sensor for detecting the presence or absence of a ground reinforcing bar at the set position are provided, and each of the above A control device comprising a remote control section of a control circuit that controls the operation of the vibration mechanism drive control member and the feed mechanism drive control member based on a detection signal from a sensor.