WO2014178102A1

WO2014178102A1 - Device provided with mechanism to add rods

Info

Publication number: WO2014178102A1
Application number: PCT/JP2013/062567
Authority: WO
Inventors: 野元　義一; 匡繕久留島; 辰男長津; 田中　祐介
Original assignee: 五洋建設株式会社; 三和機材株式会社
Priority date: 2013-04-30
Filing date: 2013-04-30
Publication date: 2014-11-06
Also published as: CN105143590B; CN105143590A; JPWO2014178102A1; HK1211645A1; JP5774790B2

Abstract

The purpose of the present invention is to allow operations that add a rod for drilling to be completed within a roughly fixed time regardless of the phase aligning ability of a worker. A rod accommodating device (16) accommodates a rod (60) to be added so that the phase thereof is in a prescribed position. A rotating section (121) of a driving device (12) stops rotating so as to match the phase of the rod (60) accommodated in the rod accommodating device (16) when adding the rod (60). As a result, when the rod (60) to be added is transported to the connecting position by the rod accommodating device (16), a worker does not need to align the phase because the phase of the rod (60) to be added matches the rotating section (121) and other rod (60) phases.

Description

Equipment with a mechanism to add rods

The present invention relates to an apparatus for work involving excavation of the ground, and more particularly to an apparatus having a mechanism for adding a rod for excavation.

・ Ground excavation work is involved in the construction of underground underground walls and ground improvement. The excavation work of these grounds is generally performed by rotating a rod, which is a rod-like body, by a driving device and screwing it into the ground.

When the deepest point of the ground to be excavated is a position deeper than the rod length downward from the connecting position of the drive unit and the rod, a new rod (addition rod) is added to the rod already screwed into the ground. Is called. While the extension work is repeated as necessary, the connecting body of a plurality of rods connected in a straight line is rotated by the drive unit and screwed into the ground, and the tip of the connecting body of the rods of the ground to be excavated When the deepest point is reached, the excavation work at this excavation point is completed.

FIG. 8 is a diagram showing a procedure for adding a rod in the excavator 90 according to the prior art. In FIG. 8A, the direction indicated by the arrow F is the front, the direction opposite to the arrow F is the rear, and the left and right means the left and right with respect to the front. The excavation device 90 lifts the driving device 92, a rod 91 arranged to stand near the end of the base B, a driving device 92 attached to a leader (guide rail) provided on the front surface of the rod 91. A wire rope 93, a winding device 94 that moves the driving device 92 upward by winding the wire rope 93, and moves the driving device 92 downward by sending the wound wire rope 93, and a rod 80-1 1), a rod 80-2 (second rod, rod for extension), etc. (hereinafter collectively referred to as “rod 80”) and a crane 95 for lifting and transporting the rod.

Further, the excavator 90 is configured to drive the rod 80 (the rod 80-1 or a connecting body of a plurality of rods 80 such as the rod 80-1 and the rod 80-2) by the driving device 92 and the wire rope 93 by the hoisting device 94. A control device (not shown) is provided for controlling hoisting and feeding, movement of the entire crane 95 (front-rear direction), and movement of the boom of the crane 95 (angle and expansion / contraction). The operator controls the operation of the excavator 90 by operating the control device.

FIG. 8 (a) shows a state in which the driving device 92 to which the rod 80-1 is connected is waiting at the uppermost position of the movable range in the vertical direction along the reader. In the state of FIG. 8A, the operator operates the control device and sends out the wire rope 93 that is wound up by the winding device 94. Along with the feeding, the driving device 92 to which the rod 80-1 is connected moves downward. Normally, the lower end of the rod 80-1 reaches the ground during the downward movement. When the lower end of the rod 80-1 reaches the ground, the operator operates the control device and starts the operation of the drive device 92. When the operation of the driving device 92 is started, the rod 80-1 is driven and rotated, and is screwed downward with respect to the ground.

FIG. 8B shows a state in which the driving device 92 to which the rod 80-1 is connected has reached the lowest position of the movable range in the vertical direction along the reader. When the state shown in FIG. 8B is reached, the operator operates the control device to stop the operation of the drive device 92, then manually disconnects the drive device 92 and the rod 80-1, and then the control device. Is operated to wind the wire rope 93 by the winding device 94. Along with this winding, the driving device 92 is pulled upward. FIG. 8C shows a state in which the driving device 92 has been lifted.

Subsequently, the operator hangs the wire rope of the crane 95 on the rod 80-2 for extension, operates the control device to lift the rod 80-2, moves the crane 95 forward, and moves the lower end of the rod 80-2. The rod 80-2 is transported so that the portion is located immediately above the upper end of the rod 80-1. FIG. 8D shows a state where the conveyance of the rod 80-2 is completed.

Subsequently, the worker manually connects the lower end of the rod 80-2 and the upper end of the rod 80-1. FIG. 9 is a view showing the positional relationship around the axis of the connecting portion (male shape) at the upper end of the rod 80-1 and the connecting portion (female shape) at the lower end of the rod 80-2. FIG. 9A is a view (upper) of the connecting portion (female shape) at the lower end of the rod 80-2 in FIG. 8 (d), and the connecting portion (male shape) at the upper end of the rod 80-1. The figure which looked at from the top (bottom) is illustrated. As shown in FIG. 9, regular hexagonal coupling portions that engage with each other are provided at the upper end and the lower end of the rod 80. In FIG. 9, broken lines drawn along two parallel hexagonal sides lock the connection of two rods 80 (in this case, rod 80-1 and rod 80-2) that are connected to each other. 2 shows a hole (on the rod 80-2 side) or a notch (on the rod 80-1 side) into which a lock pin (a pair of two) is inserted, and the positions of these holes and the notch in connection are shown. Must match. Hereinafter, matching the positions of the hole and the notch in the connecting portion in the connection is referred to as “phase adjustment” or “phase adjustment”. In FIG. 9, when the broken line AA attached to the rod 80-2 and the broken line BB attached to the rod 80-1 are symmetrical with respect to the axis XX, This means that the rod 80-1 is in phase.

As shown in FIG. 9 (a), the phase (position around the axis, the same applies hereinafter) of the rod 80-2 (the rod 80 for extension) that has been conveyed by the crane 95 and a part of the ground are screwed. The phases of the rods 80-1 in a state of being inconsistent do not match. Therefore, the worker manually rotates the rod 80-2 around the axis and adjusts the phase as shown in FIG. 9B, and then connects the rod 80-2 and the rod 80-1. Specifically, the operator operates the control device while placing the lower end portion of the rod 80-2 on the upper end portion of the rod 80-1, and moves the rod 80-2 by the crane 95 in the lateral direction (in FIG. 8D). Pull the rod 80-2 upright, and engage the rod 80-1 so that the upper end of the rod 80-1 covers the lower end of the rod 80-2. Subsequently, the worker enters each hole (a pair of two) formed by a notch in the hole provided in the connecting portion of the rod 80-2 and the connecting portion at the upper end of the rod 80-1 communicating with the hole. Lock pins are inserted, and in order to prevent these lock pins from falling off, for example, a nut is fixed to a screw thread cut in the lock pins. Thereby, the connection between the rod 80-1 and the rod 80-2 is completed. FIG. 8E shows a state where the connection between the rod 80-1 and the rod 80-2 is completed.

FIG. 10 is a view showing the positional relationship around the axis of the connecting portion (female shape) of the driving device 92 and the connecting portion (male shape) at the upper end of the rod 80-2 in the state of FIG. 8 (e). FIG. 10A is a view (upper) of the connecting portion (female shape) of the driving device 92 in FIG. 8 (e) seen from below, and the connecting portion (male shape) of the upper end of the rod 80-2 from above. The figure (bottom) seen is illustrated. As in FIG. 9, in FIG. 10, the broken line AA attached to the connecting portion of the driving device 92 and the broken line BB attached to the rod 80-2 are symmetrical with respect to the axis XX. In this case, the connecting portion of the driving device 92 and the rod 80-2 are in phase. As shown in FIG. 10A, the phase of the connecting portion of the driving device 92 and the phase of the connecting portion at the upper end of the rod 80-2 connected to the rod 80-1 do not necessarily match. The main cause of such a phase shift is that the rod 80 released from the torque of the drive device 92 after the connection between the drive device 92 and the rod 80-1 is released in the state of FIG. 8B. -1 may rotate (buckling) in the direction opposite to the direction in which the torque was applied. Therefore, a phase shift occurs between the rod 80-1 and the drive device 92, and a phase shift also occurs between the rod 80-2 connected to the rod 80-1 and the drive device 92.

Therefore, the operator needs to match the phase of the driving device 92 with the phase of the rod 80-2. Specifically, the operator rotates the connecting portion of the driving device 92 by repeatedly starting and stopping the operation of the driving device 92 in small increments, and the phase of the connecting portion of the driving device 92 and the connecting portion of the rod 80-2 is rotated. Adjust. FIG. 10B shows a view (upper) of the connecting portion of the driving device 92 in a state where the phase alignment is completed, and a view (lower) of the connecting portion at the upper end of the rod 80-2 as seen from above. Illustrated.

When the phase alignment between the driving device 92 and the rod 80-2 is completed, the operator operates the control device to slowly move the driving device 92 downward. With this movement, the connecting portion at the upper end of the rod 80-2 fits into the connecting portion of the driving device 92. Subsequently, the worker locks in each of the holes (a pair of two) formed by the notch in the hole provided in the connecting part of the driving device 92 and the connecting part at the upper end of the rod 80-2 communicating with the hole. In order to prevent the lock pins from falling off, for example, nuts are fixed to the threads cut into the lock pins. Thereby, the connection between the driving device 92 and the rod 80-2 is completed. FIG. 8 (f) shows a state where the connection between the driving device 92 and the rod 80-2 is completed.

The above is the procedure for adding the rod in the excavator 90 according to the prior art. When the work of adding the rod is completed, the worker operates the control device to start operation of the drive device 92. When the operation of the driving device 92 is started, the connecting body of the rod 80-2 and the rod 80-1 is driven and rotated, and is screwed downward with respect to the ground, so that excavation work proceeds.

For example, Patent Document 1 is a document relating to an apparatus for working with excavation having a mechanism for adding a rod. Patent Document 1 discloses an automatic coupling device that automatically couples the upper end portion of an extension rod conveyed by a revolving storage device with respect to an auger rotation driving device mounted so as to be movable in a vertical direction along a leader. A multi-axis auger comprising is disclosed.

JP-A-7-247574

When using the excavator 90 according to the above-described prior art, the worker connects the rod 80-2 around the axis by, for example, manual operation when connecting the connecting portion at the upper end of the rod 80-1 and the connecting portion at the lower end of the rod 80-2. Must be rotated to match the phase. Furthermore, the worker needs to perform the phase adjustment work even when the connecting portion of the driving device 92 and the connecting portion at the upper end of the rod 80-2 are connected. The time required for these phase adjustment operations varies depending on the skill level of the worker.

Therefore, an object of the present invention is to provide means capable of completing the work of adding rods used for excavation in a substantially constant time regardless of the phasing skill of the worker.

In order to solve the above problems, the present invention provides a driving means for rotating a rod, which is a rod-like body screwed into the ground in accordance with rotation in a predetermined direction around an axis, and the driving means is parallel to the screwing direction of the rod. When the driving means elevating means elevating in the direction and the rod partially screwed into the ground are used as the first rod, the second rod that is added to the rod is set to the predetermined first position. The position between the first rod and the driving means in a state where the connection between the first rod and the first rod is released, the shaft of the first rod and the second rod Transporting means for transporting at a second position where the axis of the shaft is in a straight line, and the driving means is configured to transport the second rod to the second position in a state where the first rod is connected. Around the axis of the second rod Phase contrast, to match the phase around the axis of the first rod, there is provided an apparatus for stopping the rotation of the first rod.

The present invention also provides a driving means for rotating a rod, which is a rod-like body screwed into the ground as the shaft rotates in a predetermined direction, and a drive for moving the driving means up and down in a direction parallel to the screwing direction of the rod. When the first elevating means and the rod partially screwed into the ground are used as the first rod, the second rod, which is a rod added to the rod, is moved from the predetermined first position to the first rod. And the drive means in a state where the connection between the first rod and the first rod is released, and the axis of the first rod and the axis of the second rod are in a straight line. The axis of the second rod with respect to the phase around the axis of the driving means in a state where the connection between the conveying means for conveying and the driving means and the first rod is released To match the surrounding phase To provide an apparatus and a rotating means for rotating said second rod around the axis.

The apparatus may include a gripping unit that grips the first rod before the connection with the driving unit is released.

Further, in the above apparatus, when the first rod is rotated by the driving means, the gripping means releases the gripping of the first rod and is connected to the first rod or the first rod. The second rod connected to the first rod or the first rod may be restricted in the horizontal direction while allowing the second rod to rotate.

Further, in the above apparatus, the gripping means includes a gripping means lifting / lowering means that moves up and down in a direction parallel to a direction in which the first rod or a connecting body of the first rod and the second rod is screwed. Also good.

In the above apparatus, each of the first rod and the second rod includes three or more rods arranged so that the axis is perpendicular to one plane, and the three rods in the one plane. The three or more included in the assembly connected to each other by members extending radially from the one point located inside the polygon whose vertex is the position of each of the rods to each of the three or more rods. One of the rods, and the gripping means passes through the assembly in a direction parallel to a direction in which the first rod or the first rod-second rod connecting body is screwed. It is good also as a structure which has the hole which accept | permits.

In addition, the apparatus may include a rod lifting / lowering unit that lifts / lowers the second rod transported to the second position by the transporting unit.

Further, in the above apparatus, the conveying means includes at least the second rod and a third rod added to the second rod, and an axis direction of the second rod and the third rod. One of the second rod and the third rod is held at a position on the circumference of a circle on a vertical plane, and the second rod and the third rod are moved around the center of the circle. It is good also as a structure which conveys to the said 2nd position.

According to the present invention, since the device rotates the rod or the drive unit so that the phase of the rod and the phase of the drive unit coincide with each other, the addition work of the rod used for excavation is a technique for phase adjustment of the worker. Regardless, it is completed in a certain amount of time.

It is the figure which showed the external appearance of the apparatus concerning one Embodiment of this invention. It is the figure which showed the external appearance of the drive device concerning one Embodiment of this invention. It is the figure which showed the external appearance of the rod holding | grip apparatus concerning one Embodiment of this invention. It is the figure which showed the external appearance of the rod storage apparatus concerning one Embodiment of this invention. It is the block diagram which showed the structure of the control apparatus concerning one Embodiment of this invention. It is the figure which showed a mode that the extension of a rod was performed in the apparatus concerning one Embodiment of this invention. It is the figure which showed the external appearance of the connecting rod, rod storage apparatus, and rod holding | grip apparatus concerning one modification of this invention. It is the figure which showed a mode that the extension of a rod was performed in the excavation apparatus concerning a prior art. It is the figure which showed the relationship of those phases at the time of the connection between rods. It is the figure which showed the relationship of those phases at the time of the connection between a drive device and a rod.

[Embodiment]
The apparatus 1 concerning one Embodiment of this invention is demonstrated below. FIG. 1 is a diagram showing an external appearance of an apparatus 1 when used for excavation work for ground improvement by a deep mixing treatment method as an example. FIG. 1A is a right side view of the device 1, FIG. 1B is a top view of the device 1, and FIG. 1C is a front view of the device 1. FIG. 1 (d) is a view of the device 1 in the direction of arrow A in FIG. 1 (a), and FIG. 1 (e) is a view of the device 1 in the direction of arrow C in FIG. 1 (a). FIG. In the following, when the direction indicated by the arrow F in FIG. 1A is the front, the direction opposite to the arrow F is the rear, and the left and right, it means the left and right toward the front.

The apparatus 1 is disposed on a base B on a work boat floating on the seawater W, and is used to improve the ground G (not shown) under the seawater W by a deep mixing treatment method. In order to improve the ground G, the apparatus 1 first includes four stirring heads 59a to 59d including excavation blades, stirring blades, and slurry discharge ports. The four agitation heads 59a to 59d are connected by a connecting band so as to be rotatable around the axis in a state where the axes are arranged in a straight line in the horizontal direction of the apparatus 1 with the axis as a vertical direction. Hereinafter, when simply referred to as “stirring head 59”, it means any one of the stirring heads 59a to 59d, and when “stirring head 59 (assembly)” is referred to It shall be said.

The tubular rods 60-1a to 1d are connected in advance above the stirring heads 59a to 59d, respectively. The rods 60-1a to 1d are connected by a connecting band so as to be rotatable around the axis in a state where the axes are arranged in a straight line in the left-right direction of the apparatus 1 with the axis as the vertical direction. Hereinafter, the term “rod 60-1” refers to any one of the rods 60-1a to 1d, and the term “rod 60-1 (assembly)” refers to the rod 60- connected by a connecting band. It shall mean 1a to 1d. That is, the rod 60-1 (assembly) is connected above the stirring head 59 (assembly).

The apparatus 1 uses the rods 60-1a to 1d in order to make the stirring head 59 reach deeper than the layer of the ground G that can be reached by the connected body of the stirring head 59 (assembly) and the rod 60-1 (assembly). Further connecting rods 60-2a to 2d connected upward, rods 60-3a to 3d connecting further above the rods 60-2a to 2d, and further connected above the rods 60-3a to 3d. The rods 60-4a to 4d are provided.

The rods 60-2a to 2d, the rods 60-3a to 3d, and the rods 60-4a to 4d are arranged in a straight line in the horizontal direction of the device 1 with the axis as the vertical direction, like the rods 60-1a to 1d. In this state, it is connected by a connecting band so as to be rotatable around an axis. Hereinafter, the term “rod 60-2” simply refers to any one of the rods 60-2a to 2d, and the term “rod 60-2 (assembly)” refers to the rod 60- connected by a coupling band. 2a to 2d. The same applies to the rods 60-3a to 3d and the rods 60-4a to 4d. Further, when simply referred to as “rod 60”, any one of rods 60-1 to 60-4 is meant. Further, when the rod 60-1 (assembly), the rod 60-2 (assembly), the rod 60-3 (assembly), and the rod 60-4 (assembly) are not distinguished, they are referred to as “rod 60 (assembly)”.

The ground improvement work is performed as follows. First, at a first point on the horizontal plane, the apparatus 1 lowers the coupling body of the stirring head 59 (assembly) and the rod 60-1 (assembly) into the seawater W. When the lower ends of the four agitation heads 59 and the rod 60-1 constituting the coupling body of the agitation head 59 (assembly) and the rod 60-1 (assembly) reach the upper surface of the ground G, the apparatus 1 A slurry containing a solidifying agent such as cement from the opening at the upper end of the rod 60-1 while rotating the connecting body of the four stirring heads 59 and the rod 60-1 around the axis and screwing the stirring head 59 into the ground G. And is discharged from the slurry discharge port of the stirring head 59. The discharged slurry is mixed with the soft soil of the ground G by the stirring blade of the stirring head 59.

When the stirring head 59 (assembly) is screwed into the ground G and the upper end of the rod 60-1 (assembly) reaches a predetermined position close to the height of the upper surface of the base B, the apparatus 1 moves to the rod 60-2 (assembly). ) From the standby position on the base B to above the rod 60-1 (assembly), the rod 60-2 (assembly) is added to the rod 60-1 (assembly), and then the stirring head 59 is screwed into the ground G The slurry is discharged and stirred while continuing. Thereafter, similarly, the apparatus 1 sequentially adds the rod 60-3 (assembly) to the rod 60-2 (assembly), the rod 60-4 (assembly) to the rod 60-3 (assembly), and the stirring head. The 59 is screwed into the ground G, and the slurry is discharged and stirred.

When the stirring head 59 reaches a deep layer to be improved on the ground G, the apparatus 1 pulls up the screwed stirring head 59 and the connecting body of the rods 60-1 to 4 while rotating in the opposite direction. At that time, the slurry may be further discharged. Further, the slurry is not discharged while the stirring head 59 is screwed into the ground G (when penetrating), and the slurry is discharged only while the stirring head 59 is pulled out from the ground G (when pulling out). Good.

When the lower end of the rod 60-4 (assembly) reaches a predetermined position close to the height of the upper surface of the base B as the stirring head 59 (assembly) is pulled up, the apparatus 1 moves the rod 60-4 (assembly) and its lower part. The rod 60-3 (assembly) connected to the base B is disconnected, and the rod 60-4 (assembly) is transported to the standby position on the base B. Thereafter, similarly, the device 1 releases the connection and transports the rod 60-3 (assembly) and the rod 60-2 (assembly) to the standby position.

Thereafter, the apparatus 1 moves the connecting body of the rod 60-1 (assembly) and the agitation head 59 (assembly), which has been disconnected from the rod 60-2 (assembly), at a predetermined position above the base B. When it is pulled up to reach the ground, the ground improvement work at the first point is completed.

When the ground improvement work at the first point is completed, the apparatus 1 repeats the above-described ground improvement work at a second point on the horizontal plane (for example, a point adjacent to the first point) after the work boat moves. Similarly, the device 1 repeats the ground improvement work at the third point, the fourth point,. As a result, the entire ground G in a predetermined area including these points is improved.

Subsequently, the configuration of the apparatus 1 will be described. The device 1 includes a ridge 11 arranged so as to stand up near the end of the base B, and a drive device 12 (an example of a drive unit) attached to a reader (guide rail) provided on the front surface of the ridge 11 so as to be movable up and down. ), A hoisting device 13 (an example of driving means elevating means) that elevates and lowers the driving device 12 by winding and sending out a wire rope that lifts the driving device 12, and grips the rod 60 when the rod 60 is added or disconnected. The rod gripping device 14 (an example of gripping means) that functions to keep the rod 60 steady when the agitation head 59 is screwed or pulled out, and the rod gripping device 14 is lifted and lowered by winding and feeding the wire rope that lifts the rod gripping device 14. A hoisting device 15 (an example of a gripping means lifting / lowering means) is provided.

Further, the device 1 accommodates the rod 60-2 (assembly), the rod 60-3 (assembly) and the rod 60-4 (assembly), and if necessary, moves them to the standby position on the base B and the driving device 12. A rod storage device 16 (an example of a transporting unit) that transports between the connecting position below and the connecting position below. The rod storage device 16 moves in the front-rear direction by, for example, self-propelling on a rail provided on the base B with a wheel or the like.

As shown in FIG. 1 (d), the flange 11 has a shape of “U” rotated 90 degrees to the left as viewed from the front, and the rod 60-2 (assembly), The rod 60-3 (assembly) and the rod 60-4 (assembly) pass through between the left and right columns of the rod 11, and are transported between the standby position and the connection position by the rod storage device 16.

FIG. 2 is an external view of the driving device 12. 2A is a view of the drive device 12 as viewed from the front, and FIG. 2B is a view of the drive device 12 as viewed from below. The driving device 12 includes four independent rotating portions 121a to 121d (hereinafter, simply referred to as “rotating portion 121” if they are not distinguished from each other), and the rod 60 connected thereto is driven and rotated by a motor. This is a device for pouring slurry supplied from the outside through a pipe (not shown) from the upper end of the rod 60.

The rotating part 121 includes a female connection part that receives the connection part (male-shaped regular hexagonal column) at the upper end of the rod 60 connected from below (see FIG. 10). The connection between the rotating part 121 and the rod 60 and the release of the connection are performed by inserting / removing the lock pin in the same manner as described with reference to FIG. However, the rotating unit 121 is rod connecting devices 18a to 18d for inserting / removing lock pins under the control of a control device 20 (described later) operated by an operator (hereinafter simply referred to as “rod connecting device 18” unless they are distinguished). It has.

In addition, the driving device 12 includes a phase sensor 17 (not shown in FIG. 2) that detects the current phase of each of the rotation units 121a to 121d, and controls each of the rotation units 121a to 121d by controlling the motor with an inverter. The rotation can be stopped at the designated phase position.

FIG. 3 is an external view of the rod gripping device 14. 3A is a view of the rod gripping device 14 as viewed from above, and FIG. 3B is a view of the rod gripping device 14 as viewed from the front. FIG. 3C shows one of gripping mechanisms 141a to 141d (hereinafter simply referred to as “gripping mechanism 141” unless they are distinguished from each other) provided for the rod gripping device 14 to grip each of the four rods 60. It is the figure which looked at one in the direction of arrow D of FIG.3 (b). The main body 140 of the rod gripping device 14 is provided with a hole so as to penetrate in the vertical direction in order to receive the rod 60, and two arms are provided so as to grip the rod 60 received in the hole from the front and rear. 1411F and an arm 1411B are provided. One end of each of the arm 1411F and the arm 1411B is disposed at a position close to the rod 60, and the other end is connected to a cylinder 1412F and a cylinder 1412B that expand and contract by, for example, hydraulic pressure.

Each of the arm 1411F and the arm 1411B is fixed so as to be rotatable at a fulcrum near the center. When the cylinder 1412F and the cylinder 1412B contract, the arm 1411F and the arm 1411B rotate around the fulcrum, and one of them is attached to the rod 60. The end of is pressed. As a result, the rod 60 is gripped by the arm 1411F and the arm 1411B. Note that the rod 60 gripped by the arm 1411F and the arm 1411B is further tightened by the arm 1411F and the arm 1411B when trying to move downward due to its own weight or the like, so the rod 60 will not fall off.

Further, when the cylinder 1412F and the cylinder 1412B extend, the arm 1411F and the arm 1411B rotate in the reverse direction around the fulcrum and the end portion pressed against the rod 60 is released from the rod 60. As a result, the rod 60 is released from the gripping of the arm 1411F and the arm 1411B. The rod 60 is guided by the inner wall of the hole provided in the main body 140 so that the axis thereof is maintained in the vertical direction when the rod 60 is rotated by driving of the driving device 12. As described above, the rod gripping device 14 serves to prevent the rod 60 from swinging.

FIG. 4 is an external view of the rod storage device 16. 4A is a right side view of the rod storage device 16, FIG. 4B is a front view of the rod storage device 16, and FIG. 4C is a top view of the rod storage device 16. 4D is a view of the rod storage device 16 viewed in the direction of arrow F in FIG. 4A, and FIG. 4E is the rod storage device in the direction of arrow G in FIG. FIG. The rod storage device 16 is connected to connecting portions (female shapes) at the lower ends of the rods 60-2a to 2d, and fixes the lower ends of the rods 60, and lifts and lowers the rod 60. (Hereinafter, when these are not distinguished, they are simply referred to as “rod lifting device 19-2”) (an example of rod lifting means). Similarly, the rod storage device 16 fixes the lower ends of the rods 60-3a to 3d and the rods 60-4a to 4d, and lifts and lowers the rods 60. When these are not distinguished, they are simply referred to as “rod lifting device 19-3”) and rod lifting devices 19-4a to 4d (hereinafter simply referred to as “rod lifting device 19-4” if they are not distinguished from each other). . When the rod lifting devices 19-2 to 19-4 are not distinguished, they are simply referred to as “rod lifting device 19”.

FIG. 4F is an external view of one of the rod lifting devices 19. The rod lifting device 19 includes a pedestal portion 191 having a coupling portion (male shape) that engages with a coupling portion (female shape) at the lower end of the rod 60, and a pedestal portion 191 according to expansion and contraction of a cylinder driven by a motor or the like. Is provided. In addition, the connection part (male shape) with which the base part 191 is equipped does not rotate, The phase is being fixed in the predetermined position.

For example, the rods 60-2 (assemblies) are arranged in a state where each of the rods 60-2a to 2d is disposed in a comb-shaped recess (between the comb teeth) shown in FIG. 4 (c). A connection band for connecting 60 (the upper connection band of the two upper and lower connection bands) is placed on the teeth of the comb. In this state, the connecting portion of the pedestal portion 191 of the rod lifting devices 19-2a to 2d is connected to the connecting portion at the lower end of the rods 60-2a to 2d. As a result, the lower ends of the rods 60 are fixed, and the rod 60-2 (assembly) is held without shaking in the front-rear direction. The same applies to the rod 60-3 (assembly) and the rod 60-4 (assembly).

When the rod 60 is connected to the rotating part 121 of the driving device 12, the elevating part 192 lowers the pedestal part 191 after the connection is completed, and releases the connection between the rod 60 and the pedestal part 191. Further, when the rod 60 is disconnected from the rotating unit 121 of the driving device 12, the elevating unit 192 raises the pedestal unit 191 to connect to the lower end of the rod 60, and the rod 60 is connected to the rotating unit 121. After the release, the pedestal portion 191 is lowered to drop the upper end portion of the rod 60 from the rotating portion 121, and the connecting band of the rod 60 (assembly) including the rod 60 is placed on the comb teeth of the rod storage device 16. Place.

The apparatus 1 includes a control device 20 that controls the drive device 12, the hoisting device 13, the rod gripping device 14, the hoisting device 15, the rod storage device 16, the phase sensor 17, the rod coupling device 18, and the rod lifting / lowering device 19 described above. Yes. FIG. 5 is a block diagram showing the configuration of the control device 20. The control device 20 includes a driver 201 that receives an operation of the operator, a signal that the operator 201 outputs according to the operation of the worker, and a signal that the driving device 12 outputs according to the driving state. 12 and the like, and an input / output interface that outputs the instruction signal generated by the control unit 202 to the drive device 12 and the like and receives various signals output from the drive device 12 and the like 203. Each device controlled by the control device 20 is connected to the input / output interface 203.

FIG. 6 is a diagram showing how the rod 60 (assembly) is added in the device 1. In the following description, the start and stop of the rotation of the stirring head 59 by the drive device 12 will not be mentioned, but for example, when the tip of the stirring head 59 reaches the ground G, the operator operates the control device 20, The operation start of the drive device 12 is instructed. In accordance with the instruction, rotation of the rotating unit 121 is started, and the stirring head 59 is screwed into the ground G.

FIG. 6A shows a state in which the driving device 12 to which the rod 60-1 (assembly) is connected is raised to the uppermost position by the hoisting device 13. The rod gripping device 14 is guided to a fixed position (slightly below the upper surface of the base B) by the hoisting device 15 together with the driving device 12 while guiding the vicinity of the lower end of each rod 60 included in the rod 60-1 (assembly). Position) is raised. In this state, since the lower end portion of the stirring head 59 is pulled up from the seawater W, the stirring head 59 does not interfere with navigation even when the work ship moves a long distance.

The worker moves the work ship to the point where the ground is improved, and then operates the control device 20 to instruct the lowering of the drive device 12 and the rod gripping device 14. In accordance with the instruction, the winding device 13 and the winding device 15 start feeding the wire rope, and the driving device 12 and the rod gripping device 14 are lowered. When the rod gripping device 14 reaches the home position, the hoisting device 15 stops feeding the wire rope and keeps the rod gripping device 14 at the home position. The hoisting device 13 continues to feed the wire rope until it reaches the lowest position. FIG. 6B shows a state in which the drive device 12 has reached the lowest position as a result.

When the driving device 12 reaches the lowest position while rotating the rotating unit 121, the driving device 12 stops the rotation by inverter control so that the phase of the rotating unit 121 detected by the phase sensor 17 becomes a predetermined position. .

6B, the operator operates the control device 20 to instruct to release the connection between the rod 60 and the drive device 12. In the state shown in FIG. In accordance with the instruction, the rod gripping device 14 first grips the vicinity of the upper end of each of the rods 60 included in the rod 60-1 (assembly). Subsequently, the rod connecting device 18 pulls out the lock pin from the hole of the connecting portion, and unlocks the connection between the rod 60 and the rotating portion 121. Thereafter, the hoisting device 13 raises the driving device 12 to the uppermost position. Along with the rise, the rod 60 held by the rod holding device 14 is pulled out from the rotating unit 121. At this time, since the rod 60 is gripped by the rod gripping device 14, buckling does not occur. FIG. 6C shows a state in which the drive device 12 which has been disconnected from the rod 60-1 (assembly) has reached the uppermost position.

Subsequently, the operator operates the control device 20 to instruct the addition of the rod 60-2 (assembly). In accordance with the instruction, the rod storage device 16 moves forward and conveys the rod 60-2 (assembly) to the coupling position. FIG. 6 (d) shows a state in which the rod 60-2 (assembly) is conveyed to the coupling position by the rod storage device 16.

Subsequently, the rod lifting device 19-2 raises the rod 60-2 (assembly). As it rises, the connecting portion (male shape) at the upper end of each rod 60 included in the rod 60-2 (assembly) fits into the connecting portion (female shape) of the rotating portion 121. At this time, since the phase of the rotating part 121 coincides with the phase of the rod 60 determined by the phase of the connecting part of the pedestal part 191 of the rod lifting device 19-2, phase alignment by an operator is unnecessary.

Thereafter, the rod connecting device 18 inserts a lock pin into the hole of the connecting portion, and locks the connection between the rod 60 and the rotating portion 121. FIG. 6E shows a state immediately after the connection between the rod 60-2 (assembly) and the driving device 12 is completed.

Subsequently, the rod lifting device 19-2 lowers the pedestal 191. Along with this lowering, the connecting portion (male shape) of the elevating part 192 is extracted from the connecting portion (female shape) at the lower end of the rod 60 included in the rod 60-2 (assembly), and the connection is released. FIG. 6F shows a state immediately after the connection between the rod 60-2 (assembly) and the rod lifting device 19-2 is released.

Subsequently, the rod storage device 16 moves backward and returns to the standby position. FIG. 6G shows a state immediately after the rod storage device 16 returns to the standby position after the rod 60-2 (assembly) is connected to the drive device 12.

Subsequently, the winding device 13 sends out the wire rope and lowers the driving device 12 to which the rod 60-2 (assembly) is connected. Along with the lowering, the rod included in the rod 60-1 (assembly) held by the rod holding device 14 is connected to the connecting portion (female shape) at the lower end of the rod 60-2 included in the rod 60-2 (assembly). The connecting portion (male shape) at the upper end of 60-1 is inserted. Here, since the phase of the rod 60-1 coincides with the phase of the rotating part 121, the phase difference between the rod 60-1 and the rod 60-2 does not occur, and therefore phase alignment by an operator is unnecessary. . The worker inserts a lock pin into the hole of the connecting portion between the rod 60-1 and the rod 60-2 to lock the connection. FIG. 6 (h) shows a state where the connection of the rod 60-1 (assembly) and the rod 60-2 (assembly) is completed.

Subsequently, the worker operates the control device 20 to instruct the lowering of the drive device 12. At this time, if the agitation head 59 has already reached the ground G, the operation of the drive device 12 is instructed as the drive device 12 is lowered. In accordance with this instruction, first, the rod 60-1 held by the rod holding device 14 is released. Subsequently, the winding device 13 starts to send out the wire rope. When the operation of the driving device 12 is instructed, the driving device 12 starts the rotation of the rotating unit 121. As a result, the driving device 12 to which the rod 60-2 (assembly) is coupled moves downward. FIG. 6 (i) shows a state where the driving device 12 to which the rod 60-2 (assembly) is connected has reached the lowest position.

As in the case of reaching the state of FIG. 6B, when the driving device 12 reaches the lowest position while rotating the rotating unit 121, the phase of the rotating unit 121 detected by the phase sensor 17. The rotation is stopped by inverter control so that becomes a predetermined position.

Thereafter, the same operation as that shown in FIGS. 6 (b) to 6 (h) is repeated, and the rod 60-3 (assembly) and the rod 60-4 (assembly) are sequentially added to improve the ground G. Progresses.

When the driving device 12 to which the rod 60-4 (assembly) is connected reaches the lowest position, the operator operates the control device 20 to instruct to lift the stirring head 59. In response to this instruction, the driving device 12 rotates the rotating unit 121 in the direction opposite to that during excavation. Moreover, the winding device 13 winds up the wire rope. Thereby, pulling up of the stirring head 59 is started.

When the rod 60-4 (assembly) is pulled up above the upper surface of the base B as the stirring head 59 is pulled up, the lower end of the rod 60-4 (assembly) is separated from the upper end of the rod 60-3 (assembly). Subsequently, the upper end portion of the rod 60-4 (assembly) is cut off from the drive device 12, stored in the rod storage device 16, and conveyed to the standby position. Thereafter, the rod 60-3 (assembly) and the rod 60-2 (assembly) are similarly separated as they are pulled up. Since the operation of separating these rods 60 (assemblies) is just the opposite of the operation of adding the rods 60 (assemblies) described above with reference to FIG.

As described above, according to the device 1, the rotation unit 121 of the drive device 12 stops its rotation so as to coincide with the phase of the rod 60 for addition, so that the connection between the drive device 12 and the rod 60 and the rod 60 are stopped. There is no need for a phase alignment operation by a worker in the connection between them. For this reason, the rod extension work can be completed in a substantially constant time regardless of the phasing skill of the worker.

[Modification]
The above-described embodiment is a specific example of the present invention, and can be variously modified within the scope of the technical idea of the present invention. Examples of these modifications are shown below.

In the embodiment described above, the phase of the rod for extension 60 is fixed at a predetermined position, and when the driving device 12 stops the rotation of the rotating unit 121, the phase of the rotating unit 121 is the phase of the rod 60 for adding. A configuration is adopted in which the rotation of the rotating unit 121 is stopped at a position that coincides with. Instead, the rod lifting device 19 includes a rotating unit (an example of a rotating unit) that rotates the rod 60 for addition around the axis, and the phase of the rotating unit 121 detected by the phase sensor 17 when the rod 60 is added. A configuration may be employed in which the rotating portion rotates the rod 60 for addition so that the phase of the rod 60 for addition matches the phase.

In the embodiment described above, the stirring head 59 (assembly) and the rod 60 (assembly) employ a configuration in which four stirring heads 59 or rods 60 are arranged in a line in the left-right direction and connected by a connecting band. First, the number of stirring heads 59 and rods 60 included in the stirring head 59 (assembly) and rod 60 (assembly) is not limited to four, and may be other numbers. Further, the arrangement of the stirring heads 59 and the rods 60 constituting these assemblies is not limited to a single line in the left-right direction, and other arrangements may be adopted.

In the above-described embodiment, the rods 60 (assemblies) for addition, that is, the rods 60-2 (assemblies), the rods 60-3 (assemblies), and the rods 60-4 (assemblies) are arranged in a line in the front-rear direction. The structure accommodated in the state by the rod storage device 16 is employed. The arrangement of the rods 60 for addition stored in the rod storage device 16 is not limited to the arrangement in a line in the front-rear direction, and other arrangements may be adopted.

FIG. 7 shows a rod gripping device 14 ′ (corresponding to the rod gripping device 14), a rod storage device 16 ′ (corresponding to the rod storage device 16), and a rod 60 ′ (assembly) (rod 60) included in the device 1 ′ according to the modification. (Equivalent to (assembly)). FIG. 7A shows a state in which the rod storage device 16 ′ is in the standby position, and FIG. 7B shows a state in which the rod storage device 16 ′ is in the connection position.

First, the rods 60 ′ (assemblies) included in the device 1 ′ are arranged so that the four rods 60 ′ (corresponding to the rods 60) are located at the apexes of a square when viewed from above. 'Are connected to each other by a cross-shaped connector.

Further, the rod gripping device 14 ′ included in the device 1 ′ accommodates four rods 60 ′ arranged in a cross shape, and allows passage of a cross-shaped connector for connecting the rods 60 ′ in the vertical direction. As described above, the main body 140 ′ (corresponding to the main body 140) is provided with a substantially cross-shaped hole as viewed from above. Thus, by connecting the rod 60 ′ with a cross-shaped coupler, the gripping mechanism 141 ′ that grips the rod 60 at a position adjacent to each rod 60 ′ on the main body 140 ′ (corresponding to the gripping mechanism 141 of the embodiment). , Not shown) can be arranged.

For example, when four rods 60 ′ are connected by a coupler in the shape of a square, the body 140 ′ of the rod gripping device 14 ′ allows the square coupler to pass in the vertical direction. Therefore, a square hole needs to be provided at the center. In that case, in order to firmly hold each of the four rods 60 ′, a space for arranging the gripping mechanism 141 ′ around the square-shaped hole is secured, and the gripping mechanism 141 ′ is connected to the rod 60. It is difficult to make the rod gripping device 14 compact, for example, by lengthening the arm that grips'. Such inconvenience can be avoided if the connecting tool has a cross-shaped shape.

In FIG. 7, the rod 60 '(assembly) includes four rods 60', but the rod 60 '(assembly) may include three or five or more rods 60'. Also in this case, like the rod 60 ′ (assembly) shown in FIG. 7, the plurality of rods 60 ′ included in the rod 60 ′ (assembly) are arranged on the circumference of the circle, and the rod 60 ′ is arranged from the center of the circle. What is necessary is just to set it as the structure which connects those rods 60 'by the member extended radially toward each.

Further, the rod storage device 16 ′ provided in the device 1 ′ stores the rods 60 ′ (assemblies) in a state of being arranged at equal intervals on the circumference of a circle centering on the shaft 161 ′, not in a line in the front-rear direction. Then, the rod storage device 16 ′ is transported to the connection position by rotating around the shaft 161 ′ so as to switch the bullet supplied to the hammering position by the rotating cylinder of the rotary handgun (or the connection position). The rod 60 '(assembly) is recovered.

For example, since the rod storage device 16 of the embodiment stores the rods 60 (assemblies) in a line in the front-rear direction, for example, when the rod 60-4 (assembly) is transported to the connection position (or recovered from the connection position), The rod storage device 16 must move greatly forward. At that time, the comb-shaped protrusion protrudes forward from the coupling position. Therefore, for example, when the ground G is improved at a position adjacent to the bridge pier, a situation may occur in which the rod-like 60 (assembly) cannot be added or detached because the comb-shaped protrusion hits the pier. On the other hand, in the modified example shown in FIG. 7, the rod storage device 16 'does not largely protrude forward from the coupling position, and thus the above-described disadvantage does not occur.

Further, the rod lifting device 19 ′ (corresponding to the rod lifting device 19) included in the device 1 ′ includes a rotating portion 193 ′ (not illustrated) that rotates the pedestal portion 191 ′ (corresponding to the pedestal portion 191 and not illustrated). Yes. The rotating unit 193 ′ is arranged so that the phase of the rod 60 ′ matches the phase of the rotating unit 121 ′ (corresponding to the rotating unit 121) of the driving device 12 ′ (corresponding to the driving device 12) detected by the phase sensor 17. The rod 60 ′ connected to the portion 191 ′ is rotated around the axis.

The above is the description of the apparatus 1 ′ according to the modified example shown in FIG. 7. In the following, still another modification is shown.

In the above-described embodiment, when the rod for extension 60 is connected to the driving device 12, the rod 60 moves upward and is connected to the driving device 12. Instead, a configuration in which the driving device 12 moves downward and is coupled to the rod 60 may be employed.

In the above-described embodiment, the apparatus 1 is used for the deep mixing method. However, the apparatus according to the present invention can be applied to any apparatus that performs excavation work involving rod addition.

In the above-described embodiment, the connection between the drive device 12 and the rod 60 is configured such that the rod connection device 18 locks and releases the connection. Instead of this, the locking of the connection between the driving device 12 and the rod 60 may be manually performed by an operator, similarly to the locking of the connection between the rods 60.

It should be noted that the shape, arrangement, number, and the like of the specific components constituting the device shown in the above-described embodiments and the specific operation of the device are merely examples, and limit the technical scope of the present invention. It is not a thing. For example, although the shape of the connecting portion is a regular hexagon, it may be other shapes such as a hexagon that is not a regular hexagon, another polygon, or a spline shape.

DESCRIPTION OF SYMBOLS 1 ... Device, 11 ... Scissors, 12 ... Drive device, 13 ... Winding device, 14 ... Rod gripping device, 15 ... Winding device, 16 ... Rod storage device, 17 ... Phase sensor, 18 ... Rod coupling device, 19 ... Rod lifting / lowering Equipment 20 ... Control device 59 ... Stirrer head 60 ... Rod 80 ... Rod 90 ... Excavator 91 ... Wear 92 ... Drive device 93 ... Wire rope 94 ... Winding device 95 ... Crane 121 ... Rotating part, 140 ... main body, 141 ... gripping mechanism, 191 ... pedestal part, 192 ... elevating part, 201 ... operator, 202 ... control part, 203 ... input / output interface, 1411 ... arm, 1412 ... cylinder

Claims

Driving means for rotating a rod that is a rod-like body screwed into the ground with rotation in a predetermined direction around an axis;
Drive means lifting means for raising and lowering the drive means in a direction parallel to the screwing direction of the rod;
When a rod partially screwed into the ground is used as the first rod, the second rod, which is a rod added to the rod, from the predetermined first position, the first rod, A position between the driving means in a state in which the connection with the first rod is released, and the second rod axis is aligned with the axis of the first rod and the axis of the second rod; A conveying means for conveying at a position;
The driving means is arranged around the axis of the first rod with respect to the phase around the axis of the second rod when the first rod is connected to the second position when the first rod is connected. An apparatus for stopping the rotation of the first rod so as to match the phases of
Driving means for rotating a rod that is a rod-like body screwed into the ground with rotation in a predetermined direction around an axis;
Drive means lifting means for raising and lowering the drive means in a direction parallel to the screwing direction of the rod;
When a rod partially screwed into the ground is used as the first rod, the second rod, which is a rod added to the rod, from the predetermined first position, the first rod, A position between the driving means in a state in which the connection with the first rod is released, and the second rod axis is aligned with the axis of the first rod and the axis of the second rod; A conveying means for conveying the position;
The second rod so as to match the phase around the axis of the second rod with the phase around the axis of the drive means when the connection between the drive means and the first rod is released And a rotating means for rotating the shaft around an axis.
The apparatus according to claim 1, further comprising a gripping unit that grips the first rod before the connection with the driving unit is released.
The gripping means releases the gripping of the first rod when the first rod is rotated by the driving means, and the second rod connected to the first rod or the first rod. The apparatus according to claim 3, wherein horizontal vibration of the first rod or the second rod connected to the first rod is limited while allowing rotation of the rod.
The holding means raising / lowering means for raising and lowering the holding means in a direction parallel to a direction in which the first rod or a connecting body of the first rod and the second rod is screwed is provided. apparatus.
Each of the first rod and the second rod includes three or more rods arranged so that the axis is perpendicular to one plane, and each of the three or more rods in the one plane. One of the three or more rods included in the assembly connected to each other by a member extending radially from one point located inside the polygon whose position is the apex to each of the three or more rods And
4. The gripping means has a hole that allows the assembly to pass in a direction parallel to a direction in which the first rod or a coupling body of the first rod and the second rod is screwed. The apparatus in any one of thru | or 5.
The apparatus according to claim 1, further comprising: a rod lifting / lowering unit that lifts / lowers the second rod transported to the second position by the transporting unit.
The conveying means includes at least a second rod and a third rod joined to the second rod, a circle on a plane perpendicular to the axis direction of the second rod and the third rod. The second rod and the third rod are moved around the center of the circle, and one of the second rod and the third rod is moved to the second position. The apparatus according to any one of claims 1 to 7.