JPH0626047A - Shaft penetrating device - Google Patents

Abstract

PURPOSE:To stably elevate an elevatable frame having a small and lightweight structure, for penetrating a shaft. CONSTITUTION:A shaft penetrating device for elevating an elevatable frame holding an excavating shaft with the use of right and left wind-up winches, and right and left wind-down winches, comprises an inclinometer 44 for detecting an inclination angle of the elevatable frame, a revolution detector 48 for detecting an elevating speed of the elevatable frame, a speed computing part 54, and a motor rotational speed computing and controlling part 52 which receives detection values from the inclinometer 44 and the computing part 54. This computing and controlling part 52 controls the rotation of motors 27L, 27R incorporated wind-up winches, and motors 37L, 37R incorporated in wind-down winches so as to allow the inclination angle to approach zero, and the elevating speed to approach a preset desired value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a foundation construction machine such as a ground suspension water wall construction machine and a ground improvement machine, a boring machine, etc., to lower the elevating member holding the penetration shaft to bring the shaft into the ground. It relates to a penetrating device.

[0002]

2. Description of the Related Art FIG. 12 shows an example of a multi-axis excavator as a conventional shaft penetrating device.

This device is provided with a gate type frame 80 which is erected on a base (not shown), and guide rails 81 are fixed inside the right and left columns of the gate type frame 80, and along the guide rails 81. A lifting frame 82 is installed so that it can be lifted and lowered. A plurality of (five in the illustrated example) drive shafts 85 are rotatably held on the elevating frame 82, an excavating motor 84 is connected to the upper ends of the respective drive shafts 85, and a shaft gripping device 86 is connected to the lower ends. Is fixed, and each drive shaft 85 is driven by the operation of the excavating motor 84 while the upper end of the excavating shaft (penetrating shaft) 88 is grasped by the shaft grasping device 86.
Also, the excavation shafts 88 are rotated about their own axes, and are lowered together with the elevating frame 82 by their own weight, so that the respective excavation shafts 88 simultaneously penetrate into the ground.

As a means for suspending and lifting the elevating frame 82, a winch 90 is fixed to a column of a gate type frame 80, and the winch 90 is fixed to three places on the top wall of the gate type frame and one central place on the top wall of the elevating frame 82. Pulleys 92 and 9 respectively
3, 94, 96 are rotatably mounted, and the wire 98 pulled out from the winch 90 causes the pulley 92,
93, 96, 93, 94 in this order, and the tip of the wire 98 is attached to the winch 9 in the portal frame 80.
It is fixed to the column on the side opposite to the side where 0 is fixed. Then, by the winding operation of the winch 90 (rotation of the winch drum in the clockwise direction in FIG. 12), the elevating frame 82 is pulled up while being guided by the guide rail 81, and conversely, by the payout operation of the winch 90,
The elevating frame 82 descends by its own weight.

[0005]

The above device has the following problems to be solved.

(1) Since the elevating frame 82 is pulled up by applying an upward driving force only to one central portion of the elevating frame 82 (that is, the portion where the pulley 96 is mounted), the elevating frame 82 is being pulled up and down. The left and right balance is poor. Especially when the plurality of excavating shafts 88 are simultaneously penetrated,
There is a difference in the penetration speed of each shaft depending on the condition of the ground, etc. Therefore, a means for keeping the penetration direction vertical is required against this. Here, in the above-mentioned device, in order to stably move up and down the elevating frame 82 without tilting it, it is necessary to have a robust and large gate-shaped frame 80 and a guide rail 81 as its guiding means, which makes the device compact. However, this is a major obstacle to weight reduction.

(2) Lifting frame 9 with a single winch 90
2 must be lifted, so winch 90
This is a heavy burden, and an expensive and large winch must be used.

These problems become more remarkable as the scale of the elevating frame 82 increases (for example, the number of excavation shafts 88 supported increases).

When the ground excavation resistance is high,
When lowering the elevating frame 92, it is desirable to apply not only its own weight but also a downward pulling force to the elevating frame 92 to positively lower it. To connect a wire to the center of the elevating frame 92 in the above device, Drilling axis 8
8 is an obstacle, and therefore it is structurally difficult to apply a downward force to the elevating frame 92.

Further, in the above-mentioned conventional apparatus, it is desirable to maintain the ascending / descending speed of the ascending / descending frame 92 at an appropriate constant speed. However, in reality, the ascending / descending speed easily fluctuates due to excavation resistance of the ground. Is desired.

An object of the present invention is to provide a shaft penetrating device that can solve the above problems.

[0012]

SUMMARY OF THE INVENTION According to the present invention, an elevating member is installed in an apparatus main body so that the elevating member can be moved up and down, and the elevating member is lowered with the penetrating shaft being held by the elevating member to move the penetrating shaft into the ground. In the shaft penetrating device adapted to penetrate, the elevating member is connected to a plurality of different parts in the horizontal direction,
A plurality of elevating means for elevating and lowering the elevating member, an inclination state detecting means for detecting an inclination state of the elevating member, and an operation of each elevating means for reducing an inclination detected by the inclination state detecting means. And a lifting control means (Claim 1).

Further, an ascending / descending speed detecting means for detecting an ascending / descending speed of the ascending / descending member, and an ascending / descending speed detected by the ascending / descending speed detecting means are brought close to a preset target value and detected by the inclination state detecting means. The ascending / descending control means may be configured to control the operation of each elevating means so as to reduce the inclination (claim 2), or each elevating means may be a winch connected to the elevating member via a wire. In addition, a tension detecting means for detecting the tension of each wire is provided, and the elevating control means is configured to reduce the elevating drive speed when the detected tension deviates from a predetermined range. By (claim 3),
More excellent effects as described below can be obtained.

When the elevating means is constituted by a winch connected to the elevating member via a wire, as the tilt state detecting means, wire amount detecting means for detecting the amount of wire fed out from each winch, and It is preferable to provide an inclination state calculation means for calculating the inclination state of the elevating member by comparing the wire feed-out amounts detected by the wire amount detection means (claim 4).

Here, the wire payout amount means the wire length of the portion not wound around the winch regardless of the rotating state of the winch.

Further, a tension detecting means for detecting the tension of each wire, a wire extension calculating means for calculating a value relating to the extension amount of each wire based on the tension detected by the tension detecting means, and this wire extension calculating means. And a wire amount correcting means for correcting the detection result of the wire amount detecting means on the basis of the calculation result according to (Claim 5), or an actual condition when the wire feeding amount from each winch reaches a preset reference amount. The reference position inclination state detecting means for detecting the inclination state of the elevating member, and each winch operated so as to eliminate the inclination detected by the reference position inclination state detecting means. By configuring the elevating control means so as to update and store the wire payout amount as a new reference amount (claim 6),
More excellent effects as described below can be obtained.

[0017]

According to the apparatus of the first aspect, the elevating member is stably moved up and down by the operation of each elevating means.
Further, the load on one elevating means is reduced. Moreover, since the tilting state of the lifting member is detected during the lifting, and the operation of each lifting means is controlled so as to reduce this tilt, the lifting member is hardly tilted even if a plurality of lifting means is operated. However, each penetration shaft is well penetrated and withdrawn.

Further, according to the apparatus of claim 2, the ascending / descending speed of the ascending / descending member is also detected, and the ascending / descending means is operated so that the ascending / descending speed approaches a preset target value. Controlled.

According to the third aspect of the present invention, the tension of the wire fed from each winch serving as the lifting means is detected, and when the tension is out of the preset range, the lifting drive speed is lowered. This prevents the occurrence of overload and wire slack.

According to the fourth aspect of the present invention, the amount of wire fed out by each winch serving as the lifting means is detected (in other words, the winding amount is detected), and the lifting member is moved based on the comparison of the detected amounts. The tilted state is calculated.

According to the apparatus of claim 5, the tension of the wire is also detected at the same time as the amount of the wire fed out or the amount of the wire wound is detected, and the amount of elongation of each wire from the natural state is detected by the detected tension. It is calculated. Then, the detection result of the wire feeding amount and the like is corrected by this extension amount,
The tilted state is calculated more accurately based on the corrected wire amount.

When the elevating member is driven by the winch and the wire as described above, the wire may be plastically elongated by the tensile force acting on the wire for a long time. However, according to the device of claim 6, The actual tilt state when the wire feed-out amount from each winch reaches a preset reference amount (that is, when the lifting member is pulled up to a predetermined reference position) is detected, and the winch is adjusted so that this tilt is eliminated. After the operation, the wire winding amount at this time is updated and stored as a new winding amount, so that the deviation of the reference position due to the plastic elongation can be corrected.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS.

The excavator shown in FIG. 2 is provided with a base 10 installed on the ground, and a portal frame 12 is erected on the base 10 to form the main body of the machine.

An elevating frame (elevating member) 14 is installed on the portal frame 12 so as to be able to ascend and descend. Specifically, the guide rollers 16 are provided on both left and right ends of the elevating frame 14.
Is rotatably mounted, and vertical guide rails (not shown) are fixed inside the left and right columns of the gate frame 12, and the guide rollers 16 move up and down along the guide rails. The frame 14 moves up and down.

A plurality of (five in the illustrated example) drive shafts 18 are arranged side by side in one line on the elevating frame 14, and each drive shaft 18 is rotatable around its own axis. It is supported by 14. An excavation motor 20 is connected to the upper end of each drive shaft 18, while a shaft gripping device 22 is fixed to the lower end thereof. With each shaft gripping device 22 gripping the upper end of each excavation shaft 24, Excavation motor 20
By rotating the drive shafts 18 and the excavation shafts (penetration shafts) 24 about their own axes and lowering them integrally with the elevating frame 14, the excavation shafts 24 are simultaneously penetrated into the ground. ing.

Next, the elevating means of the elevating frame 14 will be described.

First, as the pulling drive means, the base 1 is used.
The left winding winch 26L is installed on the left end upper surface of 0, while the left end winch upper surface of the gate type frame 12, the left end upper surface of the elevating frame 14 and the left end lower surface of the gate type frame 12 respectively. Pulleys 28L, 30L, 32L are rotatably mounted, and the above left-handed winch 2
The left wire 34L pulled out from 6L is the pulley 2
It is hung on 8 L and wound between pulleys 30 L and 32 L, and its end is fixed to the top wall of the gate frame 12. Similarly, on the upper surface of the right end portion of the base 10, a right-side winding winch 26R is installed, while the gate-shaped frame 12
The pulley 2 is provided on each of the upper surface of the right end of the ceiling wall, the upper surface of the right end of the elevating frame 14, and the lower surface of the right end of the top wall of the gate frame 12.
8R, 30R, 32R are rotatably mounted, and the right wire 34R pulled out from the right winding winch 26R is hooked on the pulley 28R, and the pulley 30R
It is wound between R and 32R and its end is a portal frame 1
It is fixed to the top wall of 2. Therefore, when both hoisting winches 26L and 26R operate simultaneously in the winding direction, an upward pulling force is applied to the left and right ends of the elevating frame 14 so that the elevating frame 14 rises along a guide rail (not shown). It has become.

Further, as the pull-down driving means, the above-mentioned base 1
The left lowering winch 36L is installed on the upper surface of the left end of 0, while the pulleys 38L, 38L, on the lower surface of the left end of the elevating frame 14 and the inner surface of the lower left column of the gate frame 12, respectively.
40L is rotatably mounted, and the left wire 42L pulled out from the left hoisting winch 36L is wound between the pulleys 38L and 40L, and its end is fixed to the lower part of the left column of the gate frame 12. Has been done. Similarly,
On the upper surface of the right end of the base 10, a right side winch 3
While 6R is installed, pulleys 38R and 40R are rotatably mounted on the lower surface of the right end of the elevating frame 14 and the inner surface of the lower part of the right column of the gate frame 12, respectively, and pulled out from the right lowering winch 36R. The right wire 42R is wound between the pulleys 38R and 40R, and its end is fixed to the lower portion of the right column of the gate frame 12. Therefore, when both lowering winches 36L and 36R are simultaneously operated in the winding direction, a downward pulling force is applied to the left and right ends of the elevating frame 14, and the elevating frame 14 is moved by the pulling force and its own weight. It is designed to descend along.

Further, the apparatus of this embodiment has an inclinometer 44, a rotation detector 48, and an arithmetic control unit 5 as shown in FIG.
It has 0.

The inclinometer (inclination state detecting means) 44 is installed on the elevating frame 14 and detects the inclination state, more specifically, the inclination angle θ in the horizontal direction from the horizontal plane. The rotation detector 48 is connected to any of the above pulleys mounted on the elevating frame 14, or a detection roller provided separately from these pulleys and arranged to interlock with any of the wires. The rotation amount is detected.

The arithmetic and control unit 50 includes a motor rotation number arithmetic and control unit 52 and a speed arithmetic unit 54. The speed calculator 54 calculates the current ascending / descending speed V of the ascending / descending frame 14 by time-differentiating the rotation amount detected by the rotation detector 48. The speed calculator 54 and the rotation detector 48 together constitutes the ascending / descending velocity detecting means of the present invention.

Motor rotation speed calculation control section (elevation control means)
Reference numeral 52 denotes the hoisting winches 26L and 26R and the hoisting winch 36 based on the tilt angle θ detected by the inclinometer 44 and the ascending / descending speed V calculated by the speed calculator 54.
Winding motor 27L, which is built into L and 36R, respectively
27R and the lowering motors 37L and 37R are calculated in rotation speeds N, and the respective motors 27L and 27R are calculated based on the calculation results.
The drive control of R, 37L, 37R is performed.

In this embodiment, based on the inclination angle θ and the amount of change ΔV (= V−Vo) of the ascending / descending speed V with respect to a preset reference speed Vo, the number of revolutions N of each motor is increased / decreased by fuzzy calculation. Amount (change amount from reference value No)
ΔN is calculated. The rules for this fuzzy operation are shown in Table 1 below, and the membership function is shown in FIG.
~ 5.

[0035]

[Table 1]

The value of the tilt angle θ in Table 1 is
A positive value is set when the left side of the elevating frame 14 is inclined in a direction higher than the right side, and a negative value is set in the opposite case. Further, in each column, for example, "left PS right PB" means that the left lowering motor 27L and the hoisting motor 3 are
PS is set for 7L, and the lowering motor 27 on the right side
It means that PB is set for R and the hoisting motor 37R.

As shown in Table 1, in the present embodiment, the inclination angle θ approaches 0, that is, the elevating frame 14
The left and right motor rotation speeds N are increased and decreased in the direction in which the height positions of the left and right ends of the same are approached, and the change amount (increase / decrease amount from the reference speed Vo) ΔV of the vertical movement speed V of the entire vertical movement frame 14 is 0
The left and right motor rotation speeds N are increased or decreased in a direction such that the ascending / descending speed V becomes equal to the reference speed Vo.

Next, the operation of this device will be described.

First, when the excavation shaft 24 penetrates, the left and right hoisting motors 27L and 27R are rotationally driven in the unwinding direction so that the hoisting winches 26L and 26R to the wires 34L and 3R.
4R is fed out, while the lowering motors 37L and 37R are rotationally driven in the winding direction to lower the lowering winches 36L and 3L.
By winding the wires 42L and 42R around 6R,
The lifting frame 14 is formed by these wires 42L and 42R.
A downward pulling force is applied to the left and right ends of the elevating frame 14 and the elevating frame 14 is forcibly pulled down along the guide rails.

At the time of this penetration, the inclination angle θ and the descending speed V of the elevating frame 14 are detected momentarily, and the inclination angle θ
Since the rotation speed N of each motor is controlled in a direction in which is close to 0 and in a direction in which the descending speed V is close to a preset reference speed Vo, the elevating frame 14 is kept at a reference level while maintaining a substantially horizontal state. It descends at the speed Vo or a stable speed close to this.

On the contrary, when the excavation shaft 24 is pulled out, the left and right lowering motors 37L and 37R are rotationally driven in the feeding direction, and the lowering winches 36L and 36R to the wires 42L and 4L.
2R is unwound, while winding motors 27L and 27R are rotationally driven in the winding direction to wind up winches 26L and 2L.
By winding the wires 34L and 34R around 6R,
The lifting frame 14 is formed by these wires 34L and 34R.
An upward pulling force is applied to both left and right ends of the elevating frame 14 and the elevating frame 14 is forcibly pulled up along the guide rails.

Even during this withdrawal, the elevating frame 14
The inclination angle θ and the descending speed V of the motor are momentarily detected, and the rotation speed N of each motor is controlled so that the inclination angle θ approaches 0 and the descending speed V approaches the preset reference speed. Therefore, the elevating frame 14 stably rises at the reference speed Vo or a speed close thereto while maintaining a substantially horizontal state.

As described above, this apparatus detects the tilted state and the ascending / descending speed of the ascending / descending frame 14 and controls the motor rotation speed based on these detected values, so that the ascending / descending frame 14
It is possible to raise and lower by raising and lowering the lifting frame 14 to both right and left ends of the raising and lowering frame, and it is possible to raise and lower the raising and lowering frame 14 in a stable manner as compared with a conventional device that applies a pulling force to one central portion of the raising and lowering frame. Can be made. For this reason,
The load on the guide rail for guiding the elevating frame 14 is reduced, and the guide rail is simplified.
In some cases, the omission can be made possible, whereby the overall size and weight of the device can be reduced. Moreover, since the elevating frame 14 is moved up and down by the left and right winches, the load applied to one winch is small, and therefore each winch can be inexpensive and small and lightweight.

Further, since the lifting force is applied to the left and right, the winch 36L, 3L is wound around the lifting frame 14.
It is also easy to apply a pulling force of 6R, and such a pulling force allows the excavation shaft 24 to penetrate more smoothly.

Next, a second embodiment will be described with reference to FIGS.

In this embodiment, the wires 34L, 34R, 42L, 4L are provided between the ends of the wires 34L, 34R, 42L, 42R shown in FIG. 2 and the gate frame 12.
Load cells 60L, 60R, 62 for detecting 2R tension
L and 62R are provided, and in addition to the tension T detected by these load cells, each motor 27L, 27R,
The rotation speed control of 37L and 37R is performed.

Specifically, the preset reference tension To is set.
The actual change amount ΔT of the tension T from is calculated, and the motor rotation speed change amount ΔN can be obtained by the fuzzy calculation which takes in all the tension change amount ΔT and the tilt angle θ and the speed change amount ΔV. The inclination angle θ,
For the three conditions of the speed change amount ΔV and the tension change amount ΔV, 3 × 3 × 3 = 27 total conclusions are set. Here, as an example, Table 2 shows the rules for the rotation speed change amount ΔN of the hoisting motors 27L and 27R under the conditions of the inclination angle θ and the tension ΔT when the speed change amount ΔV is ZE. Membership functions for the quantities ΔTL and ΔTR are shown in FIGS. 6 (a) and 6 (b).

[0048]

[Table 2]

As shown in Table 2, the winding motor 27
For L and 27R, the tension change amount ΔT increases (i.e., the tension T increases).
Is greater than or less than a preset range), the calculated motor rotation speed change amount Δ
N has been reduced. Here, when the tension T increases, the motor rotational speed is decreased because the tension T increases as the pulling resistance increases when the excavation shaft 24 is pulled out, so that an overload acts in this case. This is because it is necessary to reduce the motor output to prevent this. In addition, the reason why the motor rotation speed is lowered even when the tension T is decreased is
When the penetration resistance of the excavation shaft 24 increases and the penetration speed decreases when the excavation shaft 24 penetrates, the penetration speed of the hoisting winches 26L and 26R exceeds the penetration speed of the excavation shaft 24. This is because it is necessary to reduce the rotation speed of the motor to reduce the feeding speed in order to prevent the bending.

Although not shown, regarding the lowering motors 37L and 37R, when the tension T of the wires 42L and 42R is increased, that is, when the penetration resistance is increased, the output of the lowering motors 37L and 37R is increased. Should be calculated so as to prevent overload.

According to such a device, by appropriately lowering the motor rotation speed in accordance with the wire tension T, it is possible to perform good lifting drive while preventing the wire from slackening or overloading.

Next, a third embodiment will be described with reference to FIGS.

In this embodiment, as schematically shown in FIG. 8, only hoisting winches 26L and 26R are provided as lifting means, and the pulleys 30L and 30R shown in the first embodiment are provided.
Is omitted, and the ends of the wires 34L and 34R are fixed to the elevating frame 14 side via the load cells 60L and 60R. Then, the excavation shaft is pulled out by the hoisting operation of the hoisting winches 26L and 26R, and the excavation shaft is penetrated by the feeding operation (that is, by utilizing the own weight of the excavation shaft and the elevating frame 14). (Namely, the descending speed of the elevating frame 14) is controlled by
Built in winch drums 26L and 26R,
The winch brakes 66L and 66R shown in FIG. 9 are used. Further, rotation detectors (wire amount detection means) 48L and 48R similar to the rotation detector 48 shown in the first embodiment are provided for each of the left and right wires.

On the other hand, in the arithmetic and control unit 50, the wire extension amount calculating means 56L, 56R and the feeding wire length calculating means (wire amount correcting means) 57L, 57 as shown in FIG.
R, an inclination angle calculation means 58, and a brake control means 59 are provided.

The wire extension amount calculating means 56L and 56R are
Based on the wire tensions T _L and T _R respectively detected by the left and right load cells 60L and 60R, the left and right wires 34L and 3
In 4R, the amounts of extension m _L and m _R of the part fed out from the winch are respectively calculated, and the feeding wire length calculation means 57L and 57R are respectively set to the above-mentioned amount of extension m.
_L, based on the m _R, the rotation detector 48L, wire feed amount detected by 48R C _L, actual feeding wire length to correct the C _{R L L, L R,} i.e. hoisting winch 26L,
The lengths L _L and L _R from the feeding start point of 26R to the load cells 60L and 60R are more accurately obtained.

The tilt angle calculating means 58 is based on the comparison between the calculated feeding wire lengths L _L and L _R , and the lifting frame 1
4 is used to calculate the actual tilt angle θ, and the brake control means 59 uses the left and right winch brakes 66L, 66 based on the tilt angle θ calculated while the elevating frame 14 is descending.
It controls the operation of R (that is, controls the wire payout speed).

Next, the control contents performed during the penetrating operation of this device will be described with reference to the flowchart of FIG.

First, the left and right winding winches 26L, 26
By the winding operation of R, the elevating frame 14 is set at a predetermined upper initial position (reference position) (step S1). From this state, the wires 34L and 34R are drawn out from the winches 26L and 26R, respectively,
The lifting frame 14 and the excavation shaft 24 descend by their own weight,
The excavation shaft 24 penetrates into the ground (step S2).

During this penetration operation, the left and right load cells 60L,
60R in wire tension T _L, T _R is the rotation detector 48L,
In 48R, the left and right wires 34L, 34 from the above reference position
R feed amount C _L, C _R are respectively detected (step S3). Here, the wire extension amount calculating means 56L, 56R
Calculates the amounts of elastic extension m _L , m _R of the wire payout portion resulting from the wire tensions T _L , T _R detected by the left and right load cells 60 L, 60 _R (step S
4). The wire extensions m _L and m _R are generally obtained by the following equation based on Hooke's law.

[0060]

[Number 1] _{m L = α · C L ·} T L m R = α · C R · T R Note that alpha in both formulas wires 34L, an elongation constant per unit of 34R length.

Feeding wire length calculating means 57L, 57R
Are the wire extension amounts m _L and m _R calculated by the wire extension amount calculation means 56L and 56R.
The wire feeding amounts C _L and C _R detected by the above are corrected respectively, and the values are corrected, and these values are more accurately fed-out wire lengths L _L and L _R (L _L = C _L + m _L , L _R = C _R + _{M R} ) (step S5). Inclination angle calculation means 59
Calculates the tilt angle θ of the elevating frame 14 based on the comparison between the corrected feeding wire lengths L _L and L _R (step S6).

[0062]

[Number 2] _{^{θ = sin ~ 1 (L R}} -L L) / D , however, D is to lift frame 14 wire 34L, 34
This is the interval between the R joints (see FIG. 8).

Based on the inclination angle θ, the brake control means 59 controls the operation of the left and right winch brakes 66L and 66R. When the inclination angle is within the preset allowable range, the brake control means 59 more specifically determines that the inclination angle θ is −β ≦ θ ≦ β (β is a preset positive value). If the condition is satisfied (YE in step S7)
In S), both the winch brakes 66L and 66R are not operated, and the tilt angle θ exceeds the upper limit value β (that is, when the elevating frame 14 descends to the right; step S).
If NO in step 7 and YES in step S8), the right winch brake 66R is operated (step S9), and the tilt angle θ is reached.
Is below the lower limit value -β (that is, when the elevating frame 14 descends to the left; NO in steps S7 and S8)
The left winch brake 66L is operated (step S10). By such brake control, each excavation shaft is satisfactorily penetrated into the ground while keeping the elevating frame 14 substantially horizontal.

As shown in this embodiment, when a winch is used as the elevating means in the present invention, the inclination angle θ can be calculated from the payout amount of each wire 34L, 34R without using an expensive inclinometer. As a result, good penetration control can be performed with an inexpensive structure.

Further, in this embodiment, the left and right wires 34L and 34L are determined from the detection results of the left and right load cells 60L and 60R.
Since the elongation amounts m _L and m _R of _R are calculated and the detection results of the wire feeding amounts C _L and C _R are corrected in consideration of the elongation amounts m _L and m _R , the state is closer to the actual state. Accurate tilt angle calculation can be performed.

In this embodiment, the control at the time of the penetration operation is shown, but the wires 34L, 34 are also used when the excavation shaft is pulled out.
R feed amount (that is, winding winch 26L, 26R
(The length of the wires 34L and 34R that have not yet been wound)
And the hoisting motors 27L and 27R based on the detected
It suffices to control the number of revolutions. This also applies to the case where the penetrating work is performed using the lowering motors 37L and 37R shown in the first embodiment.

Next, a fourth embodiment will be described with reference to FIG.

When the winch is used as the lifting means as described above, the wires 34L and 34R are plastically stretched due to the tensile force acting on the left and right wires 34L and 34R for a long period of time, which causes the inclination angle θ. There is a risk that the calculation of will be incorrect. Therefore, in this embodiment, the elongation is automatically adjusted while the elevating frame 14 is pulled up to the initial position (reference position).

Specifically, as shown in FIG. 11, brackets 67L and 67R are provided on the upper portions of the left and right columns of the gate frame 12.
A non-contact type distance sensor (reference position inclination state detecting means) 68L, 68R is attached via the both, and both distance sensors 68L, 68R face the upper surface thereof when the elevating frame 14 rises to the reference position. , Are arranged at positions where the distances d _L and d _R to the upper surface can be detected.
Both the distance sensors 68L and 68R are connected to the arithmetic and control unit 50, and the arithmetic and control unit 50, when the wire feeding amount by the left and right winding winches 26L and 26R reaches a preset reference amount (in other words, Hoisting winch 2
6L, 26R with both wires 34L, 34R wound up to an amount corresponding to the above reference amount), both distance sensors 68
The detection distances d _L and d _R of L and 68R are read, and either the left or right winding winch 26L or 26R is reached until both distances become equal (that is, when the elevating frame 14 becomes horizontal).
After activating, the wire feeding amount at this time is updated and stored as a new reference amount.

According to such a device, even if the wires 34L and 34R are stretched due to long-term use, the elevating frame 14 is set at the reference position by periodically updating and storing the reference value as described above. It is possible to keep it always horizontal.

The present invention is not limited to the above embodiments, but the following modes can be adopted as examples.

(1) In the first embodiment, the device for obtaining the motor rotation speed by the fuzzy calculation is shown, but the present invention is not limited to this, and the elevation drive speed may be controlled by feedback control. .

(2) The present invention is not limited to the one in which a plurality of penetration shafts are simultaneously penetrated, but is also applicable to, for example, a single penetration shaft in which only one penetration shaft is penetrated.

(3) The number of lifting means such as a winch is not limited to one on the left and right, and the present invention is also effective when the lifting frame 14 is raised or lowered by, for example, three or more lifting drive means. is there.

(4) In the present invention, it is not necessary to directly obtain the inclination angle of the elevating member, but a value relating to this may be obtained and the operation control of each elevating means may be performed based on this value. For example, in the second embodiment described above, both wire lengths L can be obtained without obtaining the tilt angle θ from the left and right feeding wire lengths L _L and L _R.
L, by the difference in L _R a (L _R -L _L) performs control so as close to 0, it is possible to keep in a substantially horizontal direction lift frame 14 in the same manner as described above.

[0076]

As described above, the present invention uses a plurality of elevating means, detects the tilt state of the elevating member while it is moving up and down, and controls the elevating drive so that the tilt state is reduced. The lifting frame can be lifted and lowered more stably than the conventional device that applies a pulling force to one central portion of the lifting member as in the prior art.
Therefore, it is possible to simplify the guide rails and the like for guiding the elevating member and to omit them in some cases, which has the effect of reducing the size and weight of the entire apparatus. In addition, since the lifting / lowering drive can be performed by the plurality of lifting / lowering drive means, the load on one lifting / lowering drive means can be reduced, so that each lifting / lowering drive means can be inexpensive, small and lightweight.

Further, according to the apparatus of claim 2, the ascending / descending speed is detected in addition to the tilted state, and the operation of the ascending / descending means is controlled so that the ascending / descending speed approaches a preset target value. The effect is that the penetration shaft can be penetrated and withdrawn in a good direction at a good speed.

Further, in the apparatus according to the third aspect, the tension of the wire connected to the winch as the ascending / descending driving means is detected, and when the detected tension deviates from the predetermined range, the ascending / descending driving speed is set. Since the above-mentioned tension is reduced, the inconveniences such as overload and wire slack due to an increase in penetration / pull-out resistance can be avoided by reducing the lifting drive speed when an abnormality occurs in the tension. effective.

According to the fourth aspect of the present invention, the wire feed amount of each winch serving as the lifting means is detected (in other words, the winding amount is detected), and the lifting member is moved based on the comparison of the detected amounts. Since the inclination state is calculated, the inclination state of the elevating member can be grasped from the payout amount of each wire without using a special inclinometer, and the elevating control can be performed with a more inexpensive structure. There is an effect that can be done.

Further, in the apparatus according to the fifth aspect, the amount of elongation of each wire from the natural state is calculated by the tension of the wire, and the detection result of the amount of wire unwinding etc. is corrected by this amount of elongation. There is an effect that the tilted state of the elevating member can be more accurately calculated based on the corrected wire amount, and more appropriate elevating control can be performed.

Further, in the apparatus according to the sixth aspect, the actual inclination when the wire feeding amount from each winch reaches a preset reference amount (that is, when the elevating member is pulled up to a predetermined reference position). By detecting the state and operating the winch to eliminate this tilt, by updating and storing the wire winding amount at this time as a new winding amount,
Since the deviation of the reference position is corrected, even if the wire is plastically stretched during long-term use,
By performing the update storage of the reference amount periodically, there is an effect that accurate elevation control can be maintained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a drive control system of an excavator in a first embodiment of the present invention.

FIG. 2 is a front view showing the overall configuration of the excavator.

FIG. 3 is a graph showing a membership function with respect to an amount of change in vertical speed.

FIG. 4 is a graph showing a membership function with respect to a tilt angle.

FIG. 5 is a graph showing a membership function with respect to a motor rotation speed change amount.

FIG. 6 is a block diagram showing a drive control system of an excavator in a second embodiment of the present invention.

FIG. 7 is a graph showing membership functions for wire tension.

FIG. 8 is a schematic front view of an excavator according to a third embodiment of the present invention.

FIG. 9 is a block diagram showing a drive control system of the excavator.

FIG. 10 is a flowchart showing a penetration control operation performed by the excavator.

FIG. 11 is a schematic front view showing a main part of an excavator according to a fourth embodiment of the present invention.

FIG. 12 is a front view showing an example of a conventional multi-axis excavator.

[Explanation of symbols]

10 Base (apparatus main body) 12 Gate type frame (apparatus main body) 14 Elevating frame (elevating member) 24 Excavation axis (penetration axis) 26L, 26R Winding winch (elevating means) 34L, 34R, 42L, 42R Wire 36L, 36R winding Lowering winch (elevating means) 44 Inclinometer (inclination state detecting means) 48 Rotation detector (constructing up-and-down speed detecting means) 48L, 48R Rotation detector (wire amount detecting means) 50 Calculation controller 52 Motor rotation speed calculation controller (Lifting control means) 54 Velocity calculation section (constituting elevation speed detection means) 56L, 56R Wire expansion amount calculation means (wire expansion calculation means) 57L, 57R Feeding wire length calculation means (wire amount correction means) 58 Inclination angle calculation means (Inclination state calculation means) 59 Brake control means (elevation control means) 60L, 60R, 62L, 62R Load cell (tension detection means)

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Shogo Kawabe 1-3-18 Wakihamacho, Chuo-ku, Kobe City Kobe Steel, Ltd. Kobe Head Office

Claims (6)

[Claims] 1. A shaft penetrating device in which an elevating member is installed in an apparatus body such that the elevating member can be moved up and down, and the elevating member is lowered while the penetrating shaft is held by the elevating member so that the penetrating shaft penetrates into the ground. In the above, a plurality of elevating means connected to a plurality of horizontally different parts of the elevating member and elevating the elevating member, an inclination state detecting means for detecting an inclination state of the elevating member, and an inclination state detecting means. And a lifting control means for controlling the operation of each lifting means so as to reduce the detected inclination. 2. The shaft penetrating apparatus according to claim 1, further comprising an ascending / descending speed detecting means for detecting an ascending / descending speed of the ascending / descending member.
The ascending / descending control means for controlling the operation of each ascending / descending means so that the ascending / descending speed detected by the ascending / descending speed detecting means approaches a preset target value and the inclination detected by the inclination state detecting means is reduced. A shaft penetrating device characterized in that 3. The shaft penetrating device according to claim 2, wherein each elevating means comprises a winch connected to the elevating member via a wire, and a tension detecting means for detecting a tension of each wire is provided. The shaft penetrating device, wherein the lifting control means is configured to reduce the lifting drive speed when the detected tension deviates from a predetermined range. 4. The shaft penetrating device according to claim 1, wherein each elevating means comprises a winch connected to the elevating member via a wire, and the tilt state detecting means includes a wire from each winch. A shaft comprising: a wire amount detecting means for detecting a feeding amount; and an inclination state calculating means for calculating an inclination state of the elevating member by comparing the wire feeding amounts detected by the wire amount detecting means with each other. Penetration device. 5. The shaft penetrating apparatus according to claim 4, wherein the tension detecting means for detecting the tension of each wire, and the wire for calculating a value relating to the elongation amount of each wire based on the tension detected by the tension detecting means. A shaft penetrating device comprising: an elongation calculating means; and a wire amount correcting means for correcting a detection result of the wire amount detecting means based on a calculation result of the wire elongation calculating means. 6. The shaft penetrating apparatus according to claim 4, wherein a tilted state of a reference position for detecting an actual tilted state of the elevating member when the wire feeding amount from each winch reaches a preset reference amount. The winch is operated so that the inclination detected by the detecting means and the reference position inclination state detecting means disappears, and the wire feeding amount of each winch in the state where the inclination disappears is updated and stored as a new reference amount. A shaft penetrating device, characterized in that it comprises lifting control means.