JPH09137450A - Vibrating penetration device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce frictional resistance and adhesive resistance between a bar-shaped body and an object when the bar-shaped body is penetrated. SOLUTION: A detecting section 2 of a vibrating penetration device 1 is mounted to a truck 4 through a robot arm 3. An oscillating probe 10 is fixed to a first housing of the detecting section 2, and a receiving probe 11 is fixed to a second housing. Penetrating vibrators 58 are respectively mounted to the probes 10 and 11 as the bar-shaped bodies, and when they are penetrated, vibration is applied to the probes 10 and 11. The housings are housed in a casing 37 in a slidable manner. The central part of an oscillation member 46 is connected to the casing 37, one end of the oscillation member 46 is connected to the first housing through a first joint member 47, and the other end is connected to the second housing through a second joint member 48.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a penetrating device for penetrating a rod-shaped body into an object such as a wall or the ground.

[0002]

2. Description of the Related Art In the construction work, when the ground supporting the foundation is soft, it is generally hard to drive the ground. Pile driving is generally performed by mounting a drop hammer or a diesel hammer on a difficult-to-use hammer and hammering the pile into the ground.

Also, in indoor construction work, when a nail or the like is to be penetrated into a wall or floor, a hammer or the like is generally given a shock to drive it.

In addition, when investigating the hardness and softness of the soil, sounding is performed. Exploration is a type of ground investigation, which is a method of penetrating a steel rod into the ground to explore a hard stratum. In this method, a steel rod is inserted while rotating around the axis or being depressed.

Further, there is a method of investigating a substance buried in the ground with a probe. In this method, an operator penetrates the probe until it abuts on the buried object, and feels when the probe is struck. The operator determines the type, shape, state, etc. of the buried object based on the sliding condition, sound condition, and the like. There is also a method in which the operator penetrates the probe instead of penetrating the probe, and for example, it is identified by a computer.

Further, as a method for penetrating a pile or the like into the ground, Japanese Patent Laid-Open Publication No. Sho 55-98527 discloses a method in which the tip of the pile vibrating in the extension direction is further imparted with a vibration for soil penetration penetration to drive the pile. It is disclosed. Also,
A method of burying a buried pipe in the ground is disclosed in Japanese Patent Application Laid-Open No. 58-8 / 1983.
Japanese Patent Application Publication No. 0095 discloses a device for detecting the resistive force of soil acting on the head by applying a lateral vibration to the head provided at the head position of the buried pipe and detecting the axial load.

[0007]

As described above, when hammering a rod-shaped body such as a pile or a nail, there is a problem that a very large noise is generated.

Further, even if a force is applied by a human hand in the penetrating direction of the rod-shaped body or the rod-shaped body is penetrated while being kneaded, the depth that can be penetrated is very small. It is also possible to use a robot or a hydraulic jack or winch instead of a human to forcibly push it in to reduce noise, but since a large reaction force is required at the time of press fitting, the depth of penetration can be made by impacting with a hammer or the like. It will be smaller than the case. These problems occur because of frictional and adhesive resistances that intervene between the penetrating rods such as nails and nails and the soil and walls against them. If it is possible to reduce these frictional and adhesive resistances, the penetration force will be small when penetrating, so it is possible to penetrate with less impact when impacting with a hammer, or instead of a hammer, a hydraulic jack or It can be penetrated by winch, and noise and vibration due to impact of hammer can be significantly reduced.

Therefore, an object of the present invention is to provide a vibration penetrating device capable of reducing frictional resistance and adhesive resistance between a rod-shaped body and an object.

[0010]

DISCLOSURE OF THE INVENTION The present invention is directed to a rod-shaped body which is axially penetrated into an object, a penetration means for applying force to the rod-shaped body to penetrate the body along the axial direction, and vibration of the rod-shaped body. A vibrating penetrating device, comprising: a vibrating vibrator for penetrating. According to the present invention, since the rod-shaped body is vibrated by the penetrating vibrator, the adhesion resistance and the friction resistance between the object and the rod-shaped body are reduced. Therefore, it is possible to penetrate even if the penetration force is small.

Further, the present invention is characterized in that the penetrating vibrator applies vibration so that a tip end of the rod-shaped body makes a circular motion in a plane perpendicular to the axial direction of the rod-shaped body. According to the present invention, in a plane perpendicular to the axial direction of the rod-shaped body, the momentary contact area between the object and the rod-shaped body is reduced by applying vibration so that the tip of the rod-shaped body makes a circular motion. The adhesive resistance and the frictional resistance can be effectively reduced, and the penetration force can be further reduced.

[0012]

1 is a front view showing a vibration penetrating device 1 according to an embodiment of the present invention. The vibration penetrating device 1 is configured such that a robot arm 3 is mounted on a movable carriage 4 and a detection unit 2 is attached to the tip of the robot arm 3. The robot arm 3 includes a base 5 rotatably connected to the carriage 4 about the axis L1, an arm 6 connected to the base 5 so as to be angularly displaceable about the axis L2, and an axis relative to the arm 6. An arm 7 is connected to the arm 7 so as to be angularly displaceable about the axis L3, and a rotating member 8 is connected to the arm 7 so as to be angularly displaceable about the axis L4, and connects the detection unit 2 rotatably about the axis L5. The rotary member 8 is provided with a six-axis force sensor 14 for detecting a force applied to the robot arm 3. Vibration penetration device 1
Is moved by the carriage 4 to a desired point, and the robot arm 3 performs positioning for the detection unit 2 to penetrate. The robot arm 3 is controlled by the robot controller 9 based on the output of the six-axis force sensor 14, and positions the detection unit 2 at a desired position at a desired angle. The detection unit 2 is configured to include an oscillation probe 10, a vibration-receiving probe 11, a casing 37 that supports each probe 10, 11, a link means 57, and a penetration vibrator 58. The data from the probe 11 is processed by the data processing device 13.

FIG. 2 is a block diagram showing the data processing device 13. The data processing device 13 includes the signal processing circuit 1
6. It includes an identification circuit 17, a display processing circuit 18, a display device 19, and a database circuit 20, and is connected to the vibration receiving probe 11.

On one end side of the oscillation probe 10 provided in the first housing 35, an impact generator 21 for impacting the embedded object 25 is provided. This shock generator 2
1 is controlled by the control device 15. Oscillation probe 10
Is penetrated into the ground 26 until it abuts against the buried object 25, and the impact applied by the shock generator 21 propagates through the oscillation probe 10 to the buried object 25, and Generates an elastic wave unique to the substance. Oscillation probe 1
For example, 0 is inserted at an angle of 30 ° to 45 ° with respect to the ground surface, and an impact of 0.1 kg to 0.3 kg is applied.

A sensor 27 is attached to one end of the vibration receiving probe 11 provided in the second housing 36. The other end of the vibration receiving probe 11 penetrates into the underground 26 until it comes into contact with the buried object 25. The elastic wave generated in the embedded object 25 is received by the vibration receiving probe 11, propagates through the vibration receiving probe 11, and is converted into an elastic wave signal by the sensor 27. This elastic wave signal is input to the signal amplifier 28 of the signal processing circuit 16, the database circuit 20, and the display processing circuit 18.

The signal processing circuit 16 includes a signal amplifier 28, A
It includes an / D (analog / digital) converter 29, a waveform storage circuit 30, an FFT (fast Fourier transform) operation circuit 31, and an input vector generation circuit 32. In the signal processing circuit 16, an identification signal for identifying an underground object is created from the received elastic waves. That is, the sensor 2
The elastic wave signal converted in 7 is input to the signal amplifier 28 and amplified. Also, if necessary, the signal amplifier 28
Unwanted signals are removed by using a filter provided in. The signal processed by the signal amplifier 28 is converted into a digital signal by the A / D converter 29, and then the waveform storage circuit 30.
And is stored as a time axis response signal.

The time axis response signal stored in the waveform storage circuit 30 is Fourier transformed by the FFT calculation circuit 31 to create a frequency response signal. From the created frequency response signal, the input vector generation circuit 32 creates a divided response signal divided for each of a plurality of frequency bands. For example, 20
A signal in a frequency band of Hz to 5 kHz is divided into a range of 10 to 100. For example, it is divided into 50. These divided signals are learned in advance, divided by the maximum value of each component in the data stored in the database circuit 20, and 0 to 1
Is normalized to the value of. The divided response signal thus created is the identification signal.

The discrimination circuit 27 comprises a neural network 33 and an output vector judgment circuit 34. As the neural network 33, for example, B
PNN is used. The divided response signal from the input vector generation circuit 32 is input to the neural network 33, an output signal for each type of underground buried object is created based on the divided response signal, and is provided to the output vector determination circuit 34. The output vector determination circuit 34 determines the type of the underground object based on the output signal level from the neural network 33. Output signals from the waveform storage circuit 30, the FFT operation circuit 31, the input vector generation circuit 32, the neural network 33, and the output vector determination circuit 34 are subjected to image processing by the display processing circuit 18, and are implemented, for example, by a liquid crystal display device. 19 is displayed.

FIG. 3 is a simplified front view showing the connected state of the oscillation probe 10 and the vibration-receiving probe 11, and FIG. 4 is a sectional view of the detection unit 2. The detection unit 2 includes a casing 37, an oscillation probe 10, a vibration receiving probe 11, and a link mechanism 57. The casing 37 houses the first housing 35 and the second housing 36 slidably. In the first housing 35, the oscillation probe 10 that transmits the impact from the impact generator 21 to the embedded object 25 is attached. Oscillation probe 1
The middle part of 0 bends about 30 degrees, and the tip part has an axis L6 parallel to the axis L5.

In the second housing 36, the vibration-receiving probe 11 to which the sensor 27 is fixed is mounted. The vibration receiving probe 11 has an axis L7 parallel to the axis L5. First,
The second housings 35, 36 are formed in a hollow, substantially rectangular parallelepiped shape, are adjacent to each other, and are hollow casings 3 that open downward.
7 are slidably housed independently of each other in the direction of the axis L5. In this manner, the oscillation probe 10 and the vibration receiving probe 11 are guided in a linear direction parallel to each other. Probes 10 and 11 are fixed to one end portions 38 and 39 of the first and second housings 35 and 36, respectively, and the other end portions 40 and 41 of the first and second housings 35 and 36 and the bottom portion 42 of the casing 37. Between them, springs 43 and 44 are provided, respectively.

The first and second housings 35 and 36 and the casing 37 are connected by a link mechanism 57, and the link mechanism 57 includes a pair of rocking members 46, a pair of first connecting members 47, and a pair of second connecting members 48. Composed of and. The oscillation probe 1 is provided at one end 38 of the first housing 35.
A pair of protrusions 52 protruding downward with respect to 0 are provided,
Similarly, the second housing 36 is provided with a pair of protrusions 54 protruding with the vibration receiving probe 11 interposed therebetween. Link mechanism 57
In FIG. 3, a plurality of members are configured symmetrically with the probes 10 and 11 interposed therebetween. FIGS. 3 and 4 show the configuration viewed from the front, but the same configuration is provided on the back side. Projection 52
One end of a first connecting member 47 is connected via a pin 53 so as to be freely angularly displaceable, and the second connecting member 48 is also connected to the projection 54 via a pin 55. The other end of the first connecting member 47 is connected to one end of the swinging member 46 so as to be angularly displaceable by a pin 51, and similarly, the second connecting member 58 is connected to the other end of the swinging member 46 via a pin 53. You. The center of the swing member 46 is connected to one end of a pair of protrusions 50 projecting downward from the open end of the casing 37 by a pin 49 so as to be angularly displaceable.

The vibration-receiving probe 11 fixed to the second housing 36 has an axis L7 parallel to the axis L5. The oscillation probe 10 fixed to the first housing 35 is bent toward the side close to the vibration receiving probe 11 as shown in FIG. 4, and further bent at a portion forming a distance A with the vibration receiving probe 11. It has an axis L6 and extends in a direction parallel to the axis L7 of the vibration receiving probe 11. Therefore, since the vibration-sensing probe 11 and the oscillation probe 10 extend in close proximity to each other and extend in parallel, the size and shape of the embedded object 25 are not so limited and the probes 10, 11 are not restricted.
Can be brought into contact with the embedded object 25. In the present embodiment, the distance A is selected to be about 25 mm,
From the lower ends of the first and second housings 35, 36 to the probe 10,
In this embodiment, the distance B to the tip of 11 is selected to be 400 mm, for example. The bottom of the casing 37 is rotatably connected to the rotating member 8 of the robot arm 3 about the axis L5. A penetrating vibrator 58 described below is provided near the center of the probes 10 and 11.

Next, the operation of the detection section 2 will be described. As shown in FIG. 3, the robot arm 3
Is arranged at a desired point at a desired angle, and a penetration force is applied through the casing 3 in the direction of the axis L6, L7 of each probe to penetrate. When the tip of the vibration receiving probe 25 first contacts the embedded object 25, the penetration of the vibration receiving probe 11 stops first, and the penetration force of the robot arm 3 transmitted to the swinging member 46 via the casing 37 is The center of the swinging member 46 and the pin 51 are pushed down via the pin 49 with the pin 53 of the second connecting member 48 connected to the penetrated vibration receiving probe 11 as a fulcrum. The pin 51 further pushes down the oscillation probe 10 via the first connecting member 47 to bring the tip of the oscillation probe 10 into contact with the embedded object 25. When the tips of the probes 10 and 11 come into contact with the object to be buried, the reaction force suddenly increases.
When it is determined that the tips of 0 and 11 have contacted the embedded object 25, the robot arm 3 stops the penetration. When the oscillating probe 10 first comes into contact with the buried object 25, both probes 1
0 and 11 abut against the buried object, and the penetration stops. Thereafter, as described above, an impact is applied to the embedded object 25 via the oscillation probe 10, the elastic wave generated by the embedded object 25 is received by the vibration receiving probe 11, and transmitted to the data processing device 13 via the sensor 33. The type of the sent underground object is determined.

Springs 43, 4 for connecting the first and second housings 35, 36 and the bottom 42 of the casing 37, respectively.
4 indicates that one of the probes 10 and 11 has an embedded object 25.
, The spring on the one probe side absorbs the penetrating force by the elastic force, and prevents applying excessive force to the buried object 25. Further, the springs 35 and 36 limit the difference d between the penetration amounts of the respective probes 10 and 11. For example, only one probe comes into contact with the end of the buried object 25 and the other probe comes off the buried object 25. The penetration prevents the link mechanism 57 from being damaged.

FIG. 5 is a cross-sectional view showing each example of the penetrating vibrator 58 attached to the probes 10 and 11, and FIG. 5A shows the axes L6 and L7 of the probes 10 and 11, respectively. Penetration vibrator 58 for vibrating each probe 10, 11 in a plane including
FIG. 5B shows a penetrating vibrator 58 that applies vibrations so that the probes 10 and 11 make a circular motion in a plane perpendicular to the axes L6 and L7.

The penetrating vibrator 58 shown in FIG. 5 (a) is mounted above the portion where the probes 10 and 11 are parallel to each other, and is fixed in the hollow casing 62 and the rotation axis L8.
A motor 64 having a rotating shaft 63 rotatable therearound;
It has a center of gravity at a position eccentric from the rotation shaft 63,
And an oscillating weight 65 attached to the oscillating member. The rotation axis L8 intersects perpendicularly with the axes L6, L7 of the probes 10, 11, respectively. Since the oscillating weight 65 is eccentrically attached to the rotary shaft 63, the motor 64 vibrates so as to make a circular motion in a plane perpendicular to the axis L <b> 8 of the rotary shaft 63 by the rotation of the oscillating weight 65, and further via the casing 62. Then, each of the probes 10 and 11 is vibrated in a plane including the axes L6 and L7.

The penetrating vibrator 58 shown in FIG. 5 (b) is composed of a casing 62, a motor 64, a rotary shaft 63 and an oscillating weight 65, and the rotary axis L9 of the rotary shaft 63 is the probe 10, 11. Are provided in parallel with the respective axis lines L6, L7. Accordingly, the rotation of the oscillating weight 65 causes the motor 64 to vibrate so as to make a circular motion in a plane perpendicular to the rotation axis L9. That is, the probe is vibrated so as to make a circular motion in a plane perpendicular to the axis L6, L7 of each of the probes 10, 11.

When the probes 10 and 11 penetrate into the ground, vibrations are applied by the penetration exciter 58, respectively.
Vibration is applied to the soil particles contacted by the probes 10 and 11, thereby reducing the adhesion resistance and frictional resistance between the probes 10 and 11 and the soil, and reducing the penetration force required to penetrate the probes 10 and 11. Can be done. Further, since the penetrating vibrator 58 shown in FIG. 5 (b) gives vibration so that each probe 10 and 11 makes a circular motion, the momentary contact area between the soil and each probe 10 and 11 becomes small. Further, it is possible to further reduce the adhesion resistance and the friction resistance.

When inserting the probes 10 and 11, each probe 1
An experiment was performed to compare the difference between the case where vibration was applied to 0 and 11 and the case where vibration was not provided.

The soil used in the experiment was dry loamy soil, and the buried object 25 was buried at a depth of 12 cm from the ground surface. The penetration angle of each of the probes 10, 11 is 45 °, the feed speed of each of the probes 10, 11 is 2.5 mm per second, the vertical depth H of the tip of each of the probes 10, 11 from the ground surface, The necessary penetration force W was examined. The determination as to whether or not the tips of the probes 10, 11 have contacted the buried object 25 is made by determining the vertical depth H = 12.
It is determined that the contact has been made when the distance has reached cm or more.

In this experiment, four types of penetration methods A, B, C and D were tested for comparison. The penetrating method A is a method of penetrating without giving vibration to each of the probes 10 and 11.
Penetration method B is a method in which a force is applied while slowly prying the base end side around the tip of each of the probes 10 and 11 to perform the penetration. The penetrating method C is shown in FIG.
8, each probe 1 in a plane including the axes L6 and L7.
This is a method of penetrating while vibrating 0 and 11. The penetration method D is a method in which penetration is performed by using the penetration exciter 58 of FIG. 5B while vibrating so that each of the probes 10 and 11 makes circular motion in a plane perpendicular to the axes L6 and L7. Is. In the penetration method C and the penetration method D, each of the vibration exciters 58 for penetration is used.
Was set to 122 Hz. FIG. 6 is a graph showing the results of the above-described experiment. The vertical axis is the penetration force W required to penetrate each of the probes 10 and 11, and the horizontal axis is each probe 1
The vertical depth H indicates the depth of the tip of 0, 11 from the ground surface.

As can be seen from the graph, in the penetration method A, the penetration depth W gradually increases from around the vertical depth H = 3 cm while fluctuating up and down, and the vertical depth H at which the buried object 25 is embedded.
= 12 cm, the slope increases and the penetration force W becomes 5
Even if it exceeds kg, H does not reach 12 cm. In the penetration method B, the penetration force W rises almost linearly from around the vertical depth H = 3 cm, and rises sharply from around H = 11.5 cm,
About 4.5 kg of force is required to finally contact the buried object 25. In the penetration method C, the penetration force is approximately 0 kg up to the vertical depth H = 6 cm, and then rises, descends once at the vertical depth H = 9 cm, and the penetration force W = 1 kg. Until it comes into contact, the penetration force W rises and finally comes into contact with the buried object 25 at a penetration force W of about 4.5 kg. In the penetration method D, although the penetration force W slightly rises once at the vertical depth H = 9 cm, the vertical depth H = 11.5c
The penetration force W is almost 0 kg up to m, from which it rises rapidly, and the penetration force W when contacting the buried object 25 is 1.75.
kg. Therefore, the penetration force when abutting against the buried object 25 of the penetration method D is less than half the force of the other penetration methods A, B and C. Furthermore, before the buried object 25 is buried 5
mm, the penetration force W is almost 0 kg, and rises sharply from there. Therefore, it is very easy to determine whether or not it has contacted the buried object 25 as compared with the other penetration methods A, B, and C.

Although the form in which the present invention is applied to the buried object identification system has been described above, the present invention can be applied to other forms such as construction work such as pile driving, soil investigation, and nailing. For example, the penetration exciter gives vertical vibration to the pile, or vibration such that the tip of the pile moves circularly in a plane perpendicular to the axis to reduce the frictional force between the soil and the pile, and to reduce the friction with the drop hammer or diesel hammer. Strike it by hitting it, forcing it into place with a hydraulic jack or winch, or by its own weight. Further, instead of the pile, a vibration exciter for penetration may be attached to a steel rod and used for searching for a hard stratum (sounding).

When a nail or the like is driven in, whether it is forcibly pushed in, for example, by vibrating the penetrating vibrator to give vertical vibration to the nail, or to give vibration such that the tip of the nail moves circularly in a plane perpendicular to the axis of the nail. , Or hit it with a hammer to make it penetrate.

[0035]

As described above, according to the present invention, since the rod-shaped body is vibrated by the vibrator for penetration, the adhesive resistance and frictional resistance between the object and the rod-shaped body are reduced. Therefore, even if the penetration force is small, the rod-shaped body can be easily penetrated.

[Brief description of the drawings]

FIG. 1 is a front view showing a vibration penetrating device 1 according to an embodiment of the present invention.

FIG. 2 is a block diagram of a data processing device 13;

FIG. 3 is a simplified front view showing a connected state of an oscillation probe 10 and a vibration receiving probe 11;

FIG. 4 is a cross-sectional view of the detection unit 2.

FIG. 5 is a cross-sectional view showing each example of a vibration exciter 58 for penetration.

FIG. 6 is a graph showing the relationship between the penetration input W of each of the probes 10 and 11 and the vertical depth H.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vibration penetration device 2 Detection part 3 Robot arm 4 Bogie 9 Robot control device 10 Oscillation probe 11 Vibration receiving probe 13 Data processing device 25 Embedded object 37 Casing 46 Oscillating member 47 First connecting member 48 Second connecting member 57 Link mechanism 58 Penetration shaker

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Fujio Iitaka 1-14-4 Aoba, Sagamihara City, Kanagawa Prefecture (72) Inventor Akihiro Nakayama 1 Kawasaki-cho, Kakamigahara City, Gifu Prefecture Kawasaki Heavy Industries, Ltd. Gifu Factory (72) Invention Person Tomo Kimura 1 Kawasaki-cho, Kakamigahara-shi, Gifu Prefecture Kawasaki Heavy Industries Ltd., Gifu Factory (72) Inventor Masayoshi Uno 1 Kawasaki-cho, Kakamigahara City, Gifu Prefecture Kawasaki Heavy Industries Gifu Factory Ltd.

Claims (2)

[Claims] 1. A rod-shaped body penetrating an object in the axial direction, a penetrating means for applying a force to the bar-shaped body to penetrate the body along the axial direction, and an exciting vibration for penetrating the bar-shaped body. And a vibrating device. 2. The vibration according to claim 1, wherein the penetrating vibrator gives vibration such that a tip end of the rod-shaped body makes a circular motion in a plane perpendicular to an axial direction of the rod-shaped body. Penetration device.