WO2024029110A1 - 杭打ち装置 - Google Patents

杭打ち装置 Download PDF

Info

Publication number
WO2024029110A1
WO2024029110A1 PCT/JP2023/005431 JP2023005431W WO2024029110A1 WO 2024029110 A1 WO2024029110 A1 WO 2024029110A1 JP 2023005431 W JP2023005431 W JP 2023005431W WO 2024029110 A1 WO2024029110 A1 WO 2024029110A1
Authority
WO
WIPO (PCT)
Prior art keywords
pile
driver
main body
driving
driving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/005431
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
蛯原明光
関口政一
森本秀敏
小幡博志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JDC Corp
Original Assignee
JDC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by JDC Corp filed Critical JDC Corp
Priority to JP2024538812A priority Critical patent/JPWO2024029110A1/ja
Priority to US18/850,963 priority patent/US20250223773A1/en
Publication of WO2024029110A1 publication Critical patent/WO2024029110A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • E02D7/16—Scaffolds or supports for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D11/00—Methods or apparatus specially adapted for both placing and removing sheet pile bulkheads, piles, or mould-pipes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D13/00—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers
    • E02D13/06—Accessories for placing or removing piles or bulkheads, e.g. noise attenuating chambers for observation while placing
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/18—Placing by vibrating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces

Definitions

  • the present invention relates to a pile driving device.
  • piles may be driven (driven) directly into the ground.
  • heavy machinery such as a crane truck equipped with a pile driver may be used.
  • move the heavy machinery to the vicinity of the driving point drive the piles while stopped, and then move the heavy machinery to the vicinity of the next driving point after completing the pile driving work. It is necessary for heavy equipment to repeatedly move and stop, such as moving and stopping while driving piles (see, for example, Patent Document 1).
  • an object of the present invention is to provide a piling device with good energy efficiency.
  • the pile driving device includes a main body portion including a traveling device, a pile driver for driving piles, a moving device connected to the main body portion and moving the pile driver, and a moving device for moving the pile driver.
  • a control device for performing the pile driving is provided therein.
  • FIGS. 1(a) to 1(c) are schematic diagrams showing a pile driving device according to a first embodiment.
  • FIGS. 2(a) and 2(b) are enlarged views of the pile driver.
  • FIG. 3(a) is an enlarged view of the moving device, and
  • FIG. 3(b) is a diagram for explaining the Chebyshev link mechanism.
  • It is a block diagram showing a control system of a pile driving device. It is a flowchart showing the operation of the pile driving device during pile driving work.
  • FIGS. 6(a) to 6(c) are diagrams (part 1) showing the movement of the pile driving device.
  • FIGS. 7(a) to 7(c) are diagrams (part 2) showing the movement of the pile driving device.
  • FIGS. 8(a) and 8(b) are diagrams (Part 3) showing the movement of the pile driving device.
  • FIGS. 9(a) and 9(b) are diagrams (part 4) showing the movement of the pile driving device.
  • FIG. 6 is a diagram for explaining a method of determining the moving speed of the main body and the moving device. It is a figure showing the example of a setting of movement speed Vv, Vm in a 1st embodiment.
  • FIGS. 12(a) to 12(c) are schematic diagrams showing a pile driving device according to the second embodiment. It is a figure which shows the example of a setting of moving speed Vv, Vm in 2nd Embodiment.
  • FIGS. 14(a) to 14(d) are diagrams for explaining the delivery mechanism according to the first modification.
  • FIGS. 15A and 15B are diagrams for explaining a pile delivery method using the delivery mechanism according to Modification 1.
  • FIGS. 16(a) and 16(b) are diagrams for explaining a supply stand according to modification 2.
  • FIGS. 17(a) and 17(b) are diagrams for explaining a method for supplying piles to a delivery mechanism using a supply stand according to modification 2.
  • FIGS. 1(a) to 1(c) are schematic diagrams showing a pile driving device 100 according to the first embodiment.
  • the direction in which the pile driving device 100 moves straight when driving a pile is referred to as the X-axis direction
  • the vertical direction as the Z-axis direction the direction orthogonal to each of the X-axis and the Z-axis as the Y-axis direction.
  • FIG. 1(a) is a diagram showing the pile driving device 100 viewed from the -Y direction
  • FIG. 1(b) is a diagram showing the pile driving device 100 viewed from the +X direction
  • 1(c) is a diagram showing a state in which the pile driving device 100 is viewed from the +Z direction.
  • the pile driving device 100 includes a main body 104, a robot arm 10 as a first supply device provided on the main body 104, and performs pile driving.
  • the pile driver 20 is provided with a moving device 30 that moves the pile driver 20 with respect to the main body portion 104.
  • illustration of the robot arm 10 is omitted for convenience of illustration.
  • the pile driving device 100 of this embodiment is of an automatic driving type without a driver's seat.
  • the main body 104 moves on the ground by a traveling device 102 having four wheels (tires).
  • the traveling device 102 rotates in response to driving force from a driving source 106 (see FIG. 4).
  • the drive source 106 is, for example, an internal combustion engine.
  • the drive source 106 is not limited to this, and may be a battery and a motor.
  • the drive source 106 may be a combination of an internal combustion engine and a motor (a hybrid drive source).
  • a pair of crawlers (crawlers) around which an idler wheel and a drive wheel are wrapped may be used.
  • the robot arm 10 is a device that grasps the pile 200 loaded on the main body 104, transports it to the vicinity of the pile driver 20, and delivers it to the pile driver 20.
  • the robot arm 10 includes an arm portion 12 having multiple joints, a rotating portion 14 that rotates the entire arm portion 12 around the Z-axis, and a hand portion 16 provided at the tip of the arm portion 12.
  • the hand portion 16 includes a suction portion 17 and a grip portion 19, as shown in FIG. 1(c).
  • the attraction unit 17 includes an electromagnet, and magnetically attracts (adsorbs) the iron pile 200 by supplying an electric current to the electromagnet.
  • the gripping part 19 grips the stake 200.
  • the robot arm 10 When the robot arm 10 grips the pile 200 with the gripping part 19, the robot arm 10 can firmly hold the pile 200 by generating the magnetic attraction force of the attraction part 17. Thereby, when the robot arm 10 transports the pile 200, it is possible to prevent the pile 200 from falling.
  • the suction unit 17 may have a mechanism for generating other suction force, such as a vacuum suction force, instead of the electromagnet.
  • the robot arm 10 when controlling the robot arm 10, an image captured by an image capturing device (not shown) provided in the hand section 16 is used. By controlling the robot arm 10 based on the image, the robot arm 10 can accurately hold the stake 200.
  • the imaging device does not need to be provided in the hand section 16. For example, it may be provided in a part of the main body 104, or it may be provided in a drone that can fly near the pile driving device 100.
  • LiDAR lidar
  • LiDAR scans pulsed electromagnetic waves such as ultraviolet light, visible light, or near-infrared light, and based on the emitted light and scattered light, determines the distance to the object, the shape of the object, the material of the object, and the color of the object. It is a sensor that detects information such as In the first embodiment, LiDAR can detect pile driving locations and measure driven piles.
  • FIGS. 2(a) and 2(b) are enlarged views of the pile driver 20. Note that FIG. 2(a) is a diagram showing the pile driver 20 as seen from the -Y direction, and FIG. 2(b) is a diagram showing the pile driver 20 as seen from the +X direction. .
  • the pile driver 20 includes a slide section 22 connected to a moving device 30, a gimbal 24 as a maintenance mechanism connected to the slide section 22, and a gimbal 24 connected to the slide section 22. It has a wire winding part 26 provided below the wire winding part 24, and a vibro hammer 28 suspended and held by a wire 27 connected to the wire winding part 26.
  • the slide section 22 is a mechanism that moves the structure below the gimbal 24 of the pile driver 20 in the directions of arrows A and A' (Y-axis direction) in FIG. 2(b).
  • the slide portion 22 may be a feed screw type drive mechanism, a drive mechanism using a linear motor, or another type of drive mechanism.
  • the gimbal 24 has rotation axes 25Y and 25X extending in the Y-axis direction and the X-axis direction, and rotates around the Y-axis (movement in the B and B' directions in FIG. Movements in directions C and C' in FIG. 2(b) are allowed.
  • the vibro hammer 28 holds a heavy pile 200, so even if the ground is sloped or the main body 104 is sloped, the wire 27 is always extended vertically due to the movement of the gimbal 24. Maintain state (maintain verticality). Further, the longitudinal direction of the pile 200 held by the vibro hammer 28 always coincides with the vertical direction.
  • the gimbal 24 may be provided with a drive device such as a motor, and the gimbal 24 may be driven so that the longitudinal direction of the pile 200 coincides with the vertical direction.
  • the wire winding unit 26 adjusts the height position of the vibro hammer 28 and the stake 200 held by the vibro hammer 28 by adjusting the amount of winding of the wire 27.
  • the vibro hammer 28 holds (grips) the upper end of the pile 200 in an upright state (upright state) by a chuck mechanism 29 (see FIG. 4).
  • the vibratory hammer 28 drives (drives) the pile 200 into the ground to a desired depth using vibration force.
  • the moving device 30 is a device that moves the pile driver 20 using a Chebyshev link mechanism.
  • FIG. 3(a) is an enlarged view of the moving device 30, and
  • FIG. 3(b) is a diagram for explaining the Chebyshev link mechanism.
  • the moving device 30 includes a driving joint 32, a driven joint 34, an intermediate joint 36, and a rotational drive device 38 that rotates the driving joint 32 around a rotation shaft 33.
  • Each node of the moving device 30 has dimensions (length ratio) as shown in FIG. 3(b). That is, if the length of the driving node 32 is 1, the length of the driven node 34 is 2.5, and the length of the intermediate node 36 is 5. Further, the driven node 34 is connected to the middle point of the intermediate node 36 in the longitudinal direction. By setting each node to such dimensions, each node constitutes a Chebyshev link mechanism.
  • the upper end portion 36e of the intermediate joint 36 is rotated as shown in FIG. 3(b). It moves as if tracing a trajectory as shown by the broken line.
  • the trajectory shown by this broken line includes a portion extending in the X-axis direction.
  • the Chebyshev link mechanism has the function of converting rotational motion into linear motion. Therefore, according to the moving device 30, the upper end 36e of the intermediate node 36 (the part to which the pile driver 20 is connected) is reciprocated between the point A (initial position) and the point B in FIG. 3(b). The movement from point A to point B can be along the X axis.
  • FIG. 4 is a block diagram showing the control system of the pile driving device 100.
  • the pile driving device 100 includes the aforementioned robot arm 10, pile driver 20, moving device 30, and drive source 106, as well as a control device 50, a communication device 52, a GNSS (Global Navigation Satellite System) 54, an imaging device 56, and a memory ( recording device) 58, etc.
  • GNSS Global Navigation Satellite System
  • the control device 50 has a CPU and controls the operation of each part when performing pile driving work using the pile driving device 100.
  • the communication device 52 acquires the pile driving plan from an external device (such as a terminal used by an operator or a host computer) and stores it in the memory 58 .
  • the host computer includes a CPU with higher processing performance than the CPU of the control device 50. For this reason, the host computer may perform various analyzes such as an analysis of an image taken by the imaging device 56 and an analysis of the posture of a driven pile.
  • the pile driving plan map is map data showing in what position and in what order the piles are to be driven.
  • the GNSS 54 measures the position of the pile driving device 100 using artificial satellites.
  • the imaging device 56 images a mark indicating the pile driving position marked on the ground in advance, and images the state of the pile after driving. It is assumed that the GNSS 54 and the imaging device 56 are provided on the main body 104, as shown in FIG.
  • the memory 58 stores the pile driving plan as described above. Further, the memory 58 stores the analysis result when the control device 50 analyzes the image captured by the imaging device 56 (image capturing the state of the pile after driving). Furthermore, the memory 58 stores various control data (for example, data such as the moving speed of the main body section 104 and the moving speed of the moving device 30) when performing pile driving work.
  • the control device 50 of this embodiment drives the main body 104 at a constant speed in a predetermined direction (for example, the +X direction as the second direction), and drives the pile through the moving device 30.
  • the machine 20 is driven relative to the main body 104 in the -X direction as a first direction.
  • the speed of the pile driver 20 at this time is the same as the speed of the main body 104 (but in the opposite direction). This prevents the pile driver 20 from moving relative to the ground during the pile driving operation.
  • FIG. 5 starts from a state in which the control device 50 acquires a pile driving plan diagram via the communication device 52 and stores it in the memory 58.
  • the pile driving device 100 is used to drive piles at a plurality of locations lined up in the X-axis direction. Further, it is assumed that the pile driving device 100 is positioned at a position a predetermined distance away from the location on which pile driving is to be performed on the ⁇ X side.
  • the control device 50 starts moving at a constant speed toward the location where pile driving is to be performed first (step S10).
  • the control device 50 rotates the wheels of the traveling device 102 via the drive source 106 to move the entire pile driving device 100 at a constant speed in the +X direction.
  • FIG. 6A shows a state in which the pile driving device 100 has started moving at a constant speed in the direction of the white arrow. Note that the position indicated by the triangular mark in FIG. 6(a) means the location where stakeout is performed first (the location marked with a white line or the like).
  • the control device 50 sets the mobile device 30 to an initial state (step S12).
  • the initial state means a state in which the upper end portion 36e of the intermediate node 36 of the moving device 30 is located at point A (initial position) shown in FIG. 3(a).
  • the control device 50 controls the rotary drive device 38 to rotate the drive joint 32 of the moving device 30 counterclockwise (in the direction of arrow D), thereby moving the pile driver 20 in the direction of the arrow D. Move it in the E direction to bring it into the state shown in FIG. 6(c).
  • the control device 50 can check the state of the moving device 30 (the position of the upper end portion 36e of the intermediate joint 36) based on the result of detecting the state of the driving joint 32 using an encoder or the like.
  • control device 50 causes the robot arm 10 to grip the pile 200 (step S14). More specifically, by controlling the arm section 12 and the rotating section 14, the control device 50 brings the hand section 16 close to the stake 200 placed on the main body section 104, and moves the hand section 16 toward the grip section 19 (see FIG. 1). (c)), and at the same time, turn on the magnetic attraction by the suction unit 17 (see FIG. 1(c)). This allows the robot arm 10 to grip the pile 200 as shown in FIG. 6(c).
  • the control device 50 causes the pile driver 20 to grip the pile 200 (step S16).
  • the control device 50 controls the robot arm 10 to cause the chuck mechanism 29 of the vibrohammer 28 of the pile driver 20 to grip the upper end of the pile 200.
  • FIG. 7A shows a state in which the pile driver 20 grips the pile 200 (a state in which it has been delivered).
  • control device 50 determines whether the vehicle has reached the vicinity of the piling position (step S18).
  • the control device 50 determines whether the vicinity of the pile driving position has been reached based on the information on the pile driving plan and the measurement results of the GNSS 54.
  • the control device 50 uses the imaging device 56 to image the surrounding area, and uses the captured image to determine the pile driving position. It is recognized (step S20).
  • the control device 50 controls the slide portion 22 to adjust the position (Y position) of the pile driver 20 (Step S22). Specifically, the control device 50 determines the position of the pile driving position in the Y-axis direction and the position of the pile 200 held by the pile driver 20 in the Y-axis direction based on the image captured by the imaging device 56.
  • the slide portion 22 is controlled so that the Note that the position of the slide portion 22 can be detected by a linear encoder or the like provided on the slide portion 22.
  • the control device 50 waits until the pile driver 20 (pile 200) is located directly above the pile driving position (step S24). Note that the control device 50 can determine whether the stake 200 has come directly above the stake driving position from the image captured by the imaging device 56. When the pile 200 is located directly above the pile driving position, the control device 50 performs pile driving while moving the pile driver 20 relative to the main body 104 (step S26). At this time, the control device 50 controls the rotary drive device 38 so that the moving speed of the pile driver 20 in the ⁇ X direction matches the moving speed of the main body 104. Thereby, the state where the pile 200 does not move relative to the ground (stationary state) is maintained. Therefore, the control device 50 starts driving the pile 200 with the vibro hammer 28 while the pile 200 does not move relative to the ground.
  • FIG. 7(c) shows a state in which pouring has started.
  • the pile driving completed state means that the state transitions from FIG. 8(a), FIG. 8(b), and FIG. 9(a) in order, and as shown in FIG. This means the state in which the object has reached the most ⁇ X side position (point B in FIG. 3(b)) within the movement range.
  • the moving speed of the main body 104 and the moving speed of the moving device 30 are determined in advance so that the pile driving ends when the moving device 30 reaches the position shown in FIG. 9(b). , this point will be explained in detail later.
  • control device 50 releases the grip of the pile 200 by the vibro hammer 28 (chuck mechanism 29). Further, the control device 50 returns the mobile device 30 to the initial state (step S30). The process of returning the mobile device 30 to its initial state is similar to step S12 described above.
  • control device 50 images the state of the pile 200 that has been staked using the imaging device 56, and analyzes the captured image to confirm whether the pile has been properly driven.
  • the control device 50 uses image analysis to check whether the pile 200 has been driven straight, whether the pile 200 has been driven to an appropriate length, and the like.
  • control device 50 adjusts subsequent piling driving when the piling is not performed appropriately (step S32). For example, if the image analysis shows that the pile 200 could not be driven sufficiently, the ground may be hard, so the control device 50 moves the main body 104 so that the pile 200 can be driven sufficiently. The speed and the moving speed of the moving device 30 are adjusted (slowed down).
  • the control device 50 adjusts the moving speed of the main body 104 in order to prevent the pile 200 from being driven in too much.
  • the moving speed of the moving device 30 is increased, and the operating time (placing time) of the vibro hammer 28 is shortened. That is, in this embodiment, the control device 50 controls a detection device that detects the state of the pile 200 from the image captured by the imaging device 56, and a method of driving subsequent piles based on the state of the pile 200. An adjustment device has been realized to adjust the.
  • step S32 if the pile 200 cannot be properly driven, data is added to the pile driving plan including the position information of the pile, whether correction is necessary, whether re-driving is necessary, etc.
  • the control device 50 may transmit positional information of piles that require correction or re-driving to the above-mentioned terminal or host computer using the communication device 52. Further, position information of piles that require correction or re-driving may be displayed on a display device (not shown) of the aforementioned terminal or host computer. This allows the worker to confirm which piles need to be re-drilled.
  • step S34 determines whether all pile driving has been completed. If this determination is negative, the process returns to step S14 and the above-described process is repeated. Note that the process of step S14 (the process of causing the robot arm 10 to grip the pile) may be finished in advance before the determination in step S34 is affirmed. That is, the robot arm 10 may be made to grip the pile 200 in advance in parallel with the pile driving operation by the pile driver 20.
  • step S34 determines whether the processing in FIG. 5 ends.
  • the pile driving interval is D (m)
  • the pile driving length is L (m)
  • the moving speed of the main body 104 is Vv (m/min)
  • the moving device 30 ile driving The moving speed of the machine 20) is defined as Vm (m/min). Further, the driving speed of the pile driver 20 is defined as Vp (m/min).
  • the moving speed Vm of the moving device 30 may be a value obtained from the following equation (5).
  • Vm -Vv...(5)
  • FIG. 11 shows an example of setting the moving speeds Vv and Vm.
  • the pile spacing is 2m and the pile driving speed is 2m/min, and the pile driving length is set to 0.5m, 1m, or 1.5m
  • the speeds Vv and Vm may be set to values as shown in FIG.
  • the pile driving device 100 includes a main body portion 104 provided with a traveling device 102, a pile driver 20 for driving piles, and a pile driver 20 connected to the main body portion 104, A moving device 30 for moving the striking machine 20 is provided. Then, the control device 50 performs staking while the traveling device 102 is traveling (while the main body portion 104 is moving). As a result, the number of times the traveling device 102 stops can be reduced, so the number of accelerations and decelerations can also be reduced, making it possible to improve energy efficiency.
  • the construction period for pile driving work can be shortened compared to the case where the traveling device 102 moves to the vicinity of the pile driving position, stops, and drives piles in a stopped state. I can do it.
  • the control device 50 causes the moving device 30 to move the pile driver 20 in a predetermined direction (for example, the -X direction) while the pile driver 20 drives a pile.
  • This predetermined direction (-X direction) is opposite to the direction in which the main body 104 moves while the pile driver 20 drives a pile.
  • the moving speeds of the main body 104 and the pile driver 20 are the same (but in opposite directions).
  • the moving speed Vv of the main body 104 and the moving speed Vm of the moving device 30 are determined by the distance D between two piles continuously driven by the pile driver 20 and the driving length of the piles. It is determined based on the height L and the driving speed Vp of the pile driver 20. Thereby, the control device 50 can set the moving speeds Vv and Vm to appropriate speeds.
  • the moving speed Vv of the main body 104 and the moving speed Vm of the moving device 30 are different from the time Tb in which the moving device 30 returns from point B to point A in FIG. It is determined based on the time Tw until the driving machine 20 grips the pile. Thereby, it is possible to set the moving speeds Vv and Vm to appropriate speeds.
  • the moving device 30 uses a Chebyshev link mechanism that converts rotational motion into linear motion. Thereby, the pile driver 20 can be moved in a straight line with a simple configuration.
  • the pile driver 20 has a gimbal 24.
  • the verticality of the wire 27 that hangs and holds the vibro hammer 28 and the stake 200 gripped by the vibro hammer 28 can be maintained. Therefore, the stake 200 can be driven in with high precision.
  • control device 50 adjusts the manner in which the piles to be driven thereafter are driven based on an image taken of the state of the piles driven by the pile driver 20. Therefore, in the case of a failure in pouring, it is possible to adjust the manner of pouring so that the failure does not occur in the future.
  • control device 50 displays the position information of the pile 200 that could not be properly driven, the necessity of correction, the necessity of re-driving, etc. on the display device (not shown) as described above. , workers can easily check information on piles that need to be corrected or re-drilled.
  • the robot arm 10 that supplies piles to the pile driver 20 has a suction part 17 that sucks the pile 200 and a grip part 19 that grips the pile 200.
  • the suction part 17 can assist the gripping part 19 to grip the pile, so that the pile can be prevented from falling.
  • the moving device 30 moves the pile driver 20 in the opposite direction (-X axis direction) to the moving direction (+X direction) of the main body 104.
  • the case of moving has been explained.
  • the moving device 30 is not limited to this, and the moving device 30 may move the pile driver 20 in a direction including as a component a direction opposite to the moving direction of the main body portion 104 (for example, an in-plane direction in XZ). good.
  • the pile driver 20 may adjust the wire winding portion 26 as appropriate so that the vibro hammer 28 is placed at an appropriate position.
  • FIG. 12(a) is a diagram showing the pile driving device 300 according to the second embodiment viewed from the ⁇ Y direction
  • FIG. 12(b) is a diagram showing the pile driving device 300 viewed from the +X direction
  • FIG. 12(c) is a diagram showing the pile driving device 300 viewed from the +Z direction. Note that the same components as in the first embodiment are given the same reference numerals, and the description thereof will be omitted.
  • the pile driving device 300 of the second embodiment has a pile driver 320 using a hydraulic jack instead of the pile driver 20 of the first embodiment (the pile driver having the vibro hammer 28). Moreover, the pile driving device 300 of the second embodiment includes a slide mechanism 330 instead of the moving device 30 of the first embodiment.
  • the slide mechanism 330 includes a stator 332 fixed on the main body 104 and a movable element 334 that slides on the stator 332 along the X-axis direction.
  • the slide mechanism 330 may be a linear motor, a feed screw type drive mechanism, or some other drive mechanism.
  • the pile driver 320 includes a table 322, a pair of hydraulic jacks 324 provided on the table 322, and a pair of gripping mechanisms 326 connected to each of the pair of hydraulic jacks 324.
  • the pair of gripping mechanisms 326 includes a chuck mechanism that grips the pile 200.
  • the robot arm 10 transports and delivers the pile 200 loaded on the main body 104.
  • the hydraulic jack 324 applies a pressing force to the pile 200 gripped by the pair of gripping mechanisms 326 .
  • An actuator 340 that drives the table 322 in six degrees of freedom is provided between the table 322 and the mover 334.
  • a parallel link mechanism or the like can be used as the actuator 340.
  • the parallel link mechanism is a mechanical structure in which a table 322 and a movable element 334, which are a pair of plate members, are connected in parallel by a plurality of actuators 340.
  • the actuator 340 is used to adjust the position of the pile 200 in the Y-axis direction and maintain the verticality, similar to the gimbal 24 and slide section 22 of the first embodiment.
  • the gimbal 24 allows the rotational direction of the vibrohammer 28 to change around the X-axis and Y-axis, and the slide portion 22 adjusts the position of the vibrohammer 28 in the Y-axis direction. Therefore, in the second embodiment as well, the table 322 may employ a mechanism other than the parallel link mechanism as long as it can be driven in three degrees of freedom: the rotational directions around the X- and Y-axes, and the Y-axis direction. It may also be a thing.
  • the control device 50 of the pile driving device 300 of the second embodiment drives the main body portion 104 at a constant speed in a predetermined direction (for example, the +X direction) while driving the slide mechanism 330.
  • the pile driver 320 is driven relative to the main body part 104 in the -X direction through the drive.
  • the control device 50 controls the position and attitude of the table 322 using the actuator 340 in order to align the position of the pile 200 with the pile driving position and to maintain the verticality of the pile.
  • the pile driving device 300 includes a main body section 104 equipped with a traveling device 102, a pile driver 320 that performs pile driving, and a pile driver 320 that is connected to the main body section 104.
  • a slide mechanism 330 for moving the batter 320 is provided.
  • the control device 50 performs staking while the traveling device 102 is traveling (while the main body portion 104 is moving).
  • the number of times the traveling device 102 stops can be reduced, so the number of accelerations and decelerations can also be reduced. Therefore, it is possible to improve energy efficiency.
  • the throughput of the pile driving work can be improved compared to the case where the traveling device 102 moves to the vicinity of the pile driving position, stops, and drives the pile in the stopped state. I can do it.
  • FIG. 13 shows a setting example of the moving speed Vv of the main body 104 and the moving speed Vm of the pile driver 320 in the second embodiment.
  • the moving speeds Vv and Vm can be set using the same method as in the first embodiment. For example, if the pile spacing is 2 m and the pile driving speed is 8 m/min, and the pile driving length is set to 3 m, 4 m, or 5 m, the moving speeds Vv, Vm may be set to a value as shown in FIG.
  • the pile driving device 300 causes the pile driver 320 provided on the main body 104 to move relative to the main body 104 in the opposite direction while the main body 104 is moving.
  • the case where the pile 200 is driven while doing so has been explained.
  • the invention is not limited to this, and while the main body 104 is moving, the pile driver 320 moves relative to the main body 104 in the opposite direction, and the hydraulic jack 324 drives the pile driven into the ground. It may also be removed by By doing so, it is possible to improve energy efficiency when removing piles in, for example, a mega solar power generation facility.
  • the delivery mechanism 500 includes a tapered container 400 and a feeder 410, as shown in FIGS. 14(a) and 14(b).
  • the tapered container 400 has a function of guiding the pile 200 transported by the robot arm 10 to the feeder 410. Note that a notch 402 is provided on the -X side surface of the tapered container 400 to allow the pile 200 to pass through.
  • the feeder 410 has a rectangular parallelepiped shape, for example, and is rotatable around the Z-axis around the rotation shaft 420. Near both longitudinal ends of the upper surface of the feeder 410, recesses 412 and 414 are provided that are large enough to fit one end of the pile 200. The recesses 412 and 414 function as holding parts that can hold the pile 200 in an upright state. In the states shown in FIGS. 14(a) and 14(b), neither of the recesses 412 and 414 exists below the tapered container 400, but as shown in FIGS. 14(c) and 14(d), When the feeder 410 rotates around the Z-axis around the rotating shaft 420, the recess 412 (or 414) is positioned below the tapered container 400 (first position).
  • the robot arm 10 inserts the stake 200 into the tapered container 400 from above in the states shown in FIGS. 14(c) and 14(d), as shown in FIG. 15(a).
  • the pile 200 is guided by the tapered container 400, one end (lower end) of the pile 200 fits into the recess 412 of the feeder 410, and the pile 200 is held in an upright state.
  • the feeder 410 rotates around the Z-axis around the rotating shaft 420, so that the pile 200 passes through the notch 402 and transfers as shown by the broken line. position (second position). This allows the delivery mechanism 500 to deliver the pile 200 to the pile driver 20, 320. Note that before the pile drivers 20 and 320 start driving piles, the feeder 410 rotates 90 degrees around the rotation axis 420, and is in the state shown in FIGS. 14(a) and 14(b).
  • the robot arm 10 can go to receive the next pile 200 onto the main body part 104. That is, the operation of the robot arm 10 to transport the pile 200 and the operation of the transfer mechanism 500 to transfer the pile 200 to the pile drivers 20 and 320 can be performed in parallel. Thereby, it becomes possible to shorten the time required to transport the pile 200 (time Tw in the first embodiment).
  • Modification 2 Next, modification example 2 will be explained.
  • the device for supplying the piles 200 to the delivery mechanism 500 of the first modification is not the robot arm 10 but a supply table 600 as shown in FIGS. 16(a) and 16(b). It has the following characteristics.
  • the configuration of the supply stand 600 is schematically shown in FIGS. 16(a) and 16(b). Note that the supply table 600 is assumed to be installed on the main body section 104.
  • the supply table 600 includes an inclined table 602 having an inclined surface 603, a first gate 604a, a second gate 604b, and a third gate provided on the inclined surface 603. It includes a third gate 604c, a fourth gate 604d, a fifth gate 604e, and a pile raising device 606 as a supply mechanism.
  • a stake 200 can be inserted (prepared) in advance between each gate.
  • each of the gates 604a to 604e can be moved in a direction perpendicular to the inclined surface 603 by a drive device (not shown). As a result, each gate 604a to 604e is opened and closed.
  • the pile raising device 606 includes a drive device 610, a plate member 608, and a stopper 609.
  • the plate member 608 has its longitudinal direction aligned with the X-axis direction in the state shown in FIG. Then, the plate member 608 is in the state shown in FIG. 16(b) (standing up state).
  • the first gate 604a is opened as shown in FIG. 17(a).
  • the pile 200 held by the first gate 604a rolls along the slope 603 and moves to above the plate member 608.
  • the stopper 609 allows the pile 200 to remain on the plate member 608.
  • the stake 200 may be fixed onto the plate member 608 by making the upper surface of the plate member 608 concave. In this case, the stopper 609 may be omitted.
  • the drive device 610 rotates the rotating shaft, thereby raising the plate member 608 as shown in FIG. 17(b).
  • the stakes 200 on the plate member 608 slide along the upper surface of the plate member 608 and enter the tapered container 400 from above.
  • the pile 200 is held in the recess of the feeder 410 as in the first modification.
  • the subsequent operation of the feeder 410 is the same as in the first modification.
  • the first gate 604a returns from the open state as shown in FIG. 17(a) to the closed state as shown in FIG. 17(b). From this state, by opening the second gate 604b as shown in FIG. 17(b), the pile 200 held by the second gate 604b rolls on the slope 603 and is held by the first gate 604a. . After that, each pile 200 is moved downward in stages by closing the second gate 604b and opening the third gate 604c, closing the third gate 604c, and opening the fourth gate 604d.
  • the four piles 200 held on the inclined table 602 can be sequentially supplied to the delivery mechanism 500 without using the robot arm 10.
  • the number of gates is five has been described in FIG. 16(a) etc., the number of gates is not limited to this and can be increased or decreased as necessary.
  • the inclined table 602 sequentially supplies piles to the pile raising device 606 along the inclined surface 603, and the pile raising device 606 raises the supplied piles while ( while raising it up) and supplying it to the delivery mechanism 500.
  • the pile 200 can be supplied to the delivery mechanism 500 with a simple configuration without using the robot arm 10.
  • the robot arm 10 may be provided on the main body 104 together with the supply table 600, and a large number of piles 200 may be loaded on the main body 104.
  • the robot arm 10 may be used to appropriately supply the piles 200 loaded on the main body 104 to the supply table 600.
  • a pole member may be provided on the main body 104, and at least one of the GNSS 54 and the imaging device 56 may be provided on this pole member.
  • the GNSS 54 is provided on the pole member, positioning becomes easier than when it is provided at a lower position on the main body 104.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
PCT/JP2023/005431 2022-08-04 2023-02-16 杭打ち装置 Ceased WO2024029110A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2024538812A JPWO2024029110A1 (https=) 2022-08-04 2023-02-16
US18/850,963 US20250223773A1 (en) 2022-08-04 2023-02-16 Piling Machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022124530 2022-08-04
JP2022-124530 2022-08-04

Publications (1)

Publication Number Publication Date
WO2024029110A1 true WO2024029110A1 (ja) 2024-02-08

Family

ID=89849051

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/005431 Ceased WO2024029110A1 (ja) 2022-08-04 2023-02-16 杭打ち装置

Country Status (3)

Country Link
US (1) US20250223773A1 (https=)
JP (1) JPWO2024029110A1 (https=)
WO (1) WO2024029110A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118133395A (zh) * 2024-03-21 2024-06-04 泰州市禄畅建筑劳务有限公司 自动化基坑打桩塑形控制系统
CN119594943A (zh) * 2024-11-08 2025-03-11 中国十七冶集团有限公司 一种用于工程测量的自动放样系统及方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0813488A (ja) * 1994-06-30 1996-01-16 Ohbayashi Corp 杭打機
JP2014148829A (ja) * 2013-02-01 2014-08-21 Nippon Steel & Sumikin Metal Products Co Ltd 杭基礎構造
WO2022097315A1 (ja) * 2020-11-04 2022-05-12 日本国土開発株式会社 杭打ち装置および建設機械

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3227364B2 (ja) * 1995-12-18 2001-11-12 株式会社クボタ 移植機の苗取出方法及び装置
JPH09271222A (ja) * 1996-02-05 1997-10-21 Kubota Corp 移植機の苗取出装置および苗取出方法
JP3356382B2 (ja) * 1997-02-25 2002-12-16 株式会社クボタ 移植機の植付装置
JP3948374B2 (ja) * 2002-08-29 2007-07-25 井関農機株式会社 苗移植機
JP4345303B2 (ja) * 2002-12-27 2009-10-14 井関農機株式会社 苗移植機

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0813488A (ja) * 1994-06-30 1996-01-16 Ohbayashi Corp 杭打機
JP2014148829A (ja) * 2013-02-01 2014-08-21 Nippon Steel & Sumikin Metal Products Co Ltd 杭基礎構造
WO2022097315A1 (ja) * 2020-11-04 2022-05-12 日本国土開発株式会社 杭打ち装置および建設機械

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118133395A (zh) * 2024-03-21 2024-06-04 泰州市禄畅建筑劳务有限公司 自动化基坑打桩塑形控制系统
CN119594943A (zh) * 2024-11-08 2025-03-11 中国十七冶集团有限公司 一种用于工程测量的自动放样系统及方法

Also Published As

Publication number Publication date
US20250223773A1 (en) 2025-07-10
JPWO2024029110A1 (https=) 2024-02-08

Similar Documents

Publication Publication Date Title
WO2024029110A1 (ja) 杭打ち装置
US11040453B2 (en) Robot system
US10753738B2 (en) Robot system
US6256553B1 (en) Method and device to pick up, transport and put down a load
US12385208B2 (en) Pile driving apparatus and construction machine
US11919147B2 (en) Gripping apparatus
US20240399790A1 (en) Wall-traversing vehicle
JP2012222975A (ja) 給電装置搭載車両
CN107886545A (zh) 电动汽车换电的视觉系统、标定方法及电池定位方法
JP2024038291A (ja) 建設機械システム
CN113291854A (zh) 一种堆料方法及堆料装置
US12157640B2 (en) Mixing device
JP2023085716A (ja) 部品バラシ装置、部品バラシ装置の制御方法およびピックアップシステム
KR100489677B1 (ko) 리클레이머의 불출 자세 제어방법
WO2025055824A1 (zh) 搬运属具及搬运装置
CN111468939B (zh) 阀轴安装方法及设备
WO2023210085A1 (ja) 杭打ち装置
CN106564815A (zh) 一种门座式起重机的控制装置
CN114425961B (zh) 充电桩及巡检系统
JP2021075168A (ja) 連結装置、連結移動装置及び自律移動装置
US20250353187A1 (en) Construction Robot With Parallel Manipulator
EP4699913A1 (en) Moving device, and control method and control program for moving device
CN119533226A (zh) 一种现场混装铵油炸药车对孔装药方法
CN118508861A (zh) 智能对接设备及其无人驾驶控制方法
JP2020101371A (ja) 移動体、位置決め方法、及び位置決めシステム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23849678

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2024538812

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 18850963

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

WWP Wipo information: published in national office

Ref document number: 18850963

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 23849678

Country of ref document: EP

Kind code of ref document: A1