JP2024064320A - Pile driver control system - Google Patents

Abstract

[Problem] To provide a control system for a pile driver that can optimize the amount of auger movement required for construction setup work and efficiently proceed with construction. [Solution] In a control system for a pile driver 11 that includes an auger 28 to which construction members (e.g., steel pipe piles 29) are detachably attached, a leader 15 to guide the ascent and descent of the auger, and a control unit to drive and control the auger, the control system includes a memory unit that stores construction plan data that sets a target depth for a planned construction position, a construction member configuration, and a member joining depth, and an alarm unit that prompts the start of member joining work, and the control unit activates the alarm unit when the current construction depth reaches the member joining depth, and stops the auger's rising operation when the auger's rising movement amount based on the member joining depth reaches a set movement amount based on the length of the joining member as the auger is raised. [Selected Figure] Figure 6

Description

The present invention relates to a control system for a pile driver, and more specifically, to a control system for a pile driver equipped with an auger for driving piles.

In general, in pile drivers equipped with an auger that rises and falls along a leader, the length of one stroke of the auger as it rises and falls (the construction length per stroke) is limited by the length of the leader due to its structure. Therefore, when performing long construction work where the construction length exceeds the auger stroke, construction is carried out by adding construction members (steel pipe piles, drilling rods, etc.) of a length that corresponds to the length of one stroke (see, for example, Patent Documents 1 and 2).

As an example, the procedure for constructing steel pipe piles while adding to them is as follows: the first steel pipe pile is set on the auger of the pile driver, the depth data of the construction management device is reset to zero, and the auger is driven (rotated and lowered) to rotate and press the steel pipe pile into the ground, while the construction management device captures the depth data. After a predetermined amount of steel pipe piles have been buried, the construction management device is switched to pile joining mode to hold the depth data, and while this data is held, the first steel pipe pile is separated from the auger. The auger is then raised, and the second steel pipe pile is hoisted with a crane or the like and set on the auger. With the second steel pipe pile set on top of the first steel pipe pile, the two steel pipe piles are connected by welding or screwing. The construction management device is then switched from pile joining mode back to normal mode, and the steel pipe piles are buried while adding the new depth to the depth data that was once held. When connecting and extending three or more steel pipe piles, after burying the second steel pipe pile, repeat the same procedure to connect the third steel pipe pile to the top of the second steel pipe pile and bury it.

JP 2005-76415 A JP 2001-317041 A

At first glance, the joining of construction components appears to be a repetition of routine tasks, but in order to ensure a reliable joint, it is essential to have a foothold that is easy to work on, and it is not a task that can be easily carried out with an emphasis on efficiency. For example, the operator of a pile driver is required to drive the pile at a height that allows for good working posture. In addition, an appropriate gap must be left between the preceding buried pile and the auger in order to suspend and position the next pile. In particular, the amount of auger movement required to obtain this gap is a factor that is not reflected in construction management, so it is necessary to rely on the operator's experience and intuition, which can easily result in waste in the work.

Therefore, the present invention aims to provide a pile driver control system that optimizes the amount of auger movement required for construction setup work and enables construction to proceed efficiently.

In order to achieve the above object, the first configuration of the pile driver control system of the present invention is a pile driver control system including an auger for removably mounting construction members, a reader for guiding the ascent and descent of the auger, and a control unit for driving and controlling the auger, and further including a memory unit for storing construction plan data that sets a target depth for the planned construction position, a construction member configuration, and a member joining depth, and an alarm unit for prompting the start of member joining work, and the control unit activates the alarm unit when the current construction depth reaches the member joining depth, and stops the raising operation of the auger when the auger raising movement amount based on the member joining depth reaches a set movement amount based on the length of the joining member in conjunction with the raising operation of the auger.

The control unit is also characterized in that it stops the lowering operation of the auger when the current construction depth reaches the member joint depth. Furthermore, the pile driver is characterized in that it is applied to steel pipe pile construction in which the construction member is a steel pipe pile. In addition, the pile driver is characterized in that it is applied to ground improvement construction in which the construction member is a rod.

In addition, the second configuration of the pile driver control system of the present invention is a pile driver control system including an auger to which a construction rod is detachably attached, a reader to guide the ascent and descent of the auger, and a control unit to drive and control the auger, and includes a memory unit to store construction plan data that sets a target depth for a planned construction position, a construction rod configuration, and a rod replacement depth, and an alarm unit to prompt the start of rod replacement work, and the control unit is characterized in that it activates the alarm unit when the current construction depth reaches the rod replacement depth, and stops the ascent of the auger when the auger's ascent movement amount based on the rod replacement depth reaches a set movement amount based on the distance between the rod gripping positions in conjunction with the ascent operation of the auger. Furthermore, the control unit is characterized in that it stops the auger's descent movement when the current construction depth reaches the rod replacement depth.

According to the pile driver control system of the present invention, in the first configuration, for example, when piles are used as construction members, the notification unit is activated when the current construction depth reaches the pile joint depth, so that the operator can be prompted to start pile jointing work at the optimal construction time. Moreover, since the auger's upward movement is stopped when the auger's upward movement amount reaches a set movement amount based on the length of the joint pile, the auger movement amount can be optimized, and for example, in steel pipe pile construction where steel pipe piles are buried in the ground, construction can be carried out efficiently without relying on the operator's experience or intuition.

In addition, in the second configuration, the notification unit is activated when the current construction depth reaches the rod replacement depth, so the operator can be prompted to start the rod replacement work at the optimal construction time. Moreover, the auger's upward movement is stopped when the auger's upward movement amount reaches a set movement amount based on the distance between the rod gripping positions, so the auger movement amount can be optimized. For example, in ground improvement construction to build columnar improvement bodies underground, construction can be carried out efficiently without relying on the operator's experience or intuition.

1 is a side view of a pile driver for steel pipe burial applications to which a control system in a first embodiment of the pile driver control system of the present invention is applied. This is also a side view of a pile driver designed for ground improvement. FIG. 13 is a diagram showing the construction plan data setting display screen (for steel pipe pile construction). FIG. 13 is an explanatory diagram showing the start of construction of a pile driver with a lower pile attached to the auger (depth = 0 m). This is an explanatory diagram showing the pile joining depth reached state (depth = 2 m). FIG. 11 is an explanatory diagram showing the auger stopped rising during pile joining work. This is an explanatory diagram showing the state in which the first intermediate pile is installed during pile joining work. FIG. 11 is an explanatory diagram showing the completed state of pile joining work. This is an explanatory diagram showing the pile joining depth reached state (depth = 5 m). FIG. 11 is an explanatory diagram showing the auger stopped rising during pile joining work. This is an explanatory diagram showing the state in which the second intermediate pile is installed during pile joining work. FIG. 11 is an explanatory diagram showing the completed state of pile joining work. This is an explanatory diagram showing the pile joining depth reached state (depth = 8 m). FIG. 11 is an explanatory diagram showing the auger stopped rising during pile joining work. FIG. 11 is an explanatory diagram showing the upper pile installation state during pile joining work. FIG. 11 is an explanatory diagram showing the completed state of pile joining work. FIG. 11 is an explanatory diagram showing the completed state of construction (depth = 13 m). FIG. 13 is a diagram showing a setting display screen for construction plan data (in the case of ground improvement construction) in a second embodiment of the pile driver control system of the present invention. FIG. 13 is an explanatory diagram showing the pile driver with a rod attached to the auger at the start of construction (depth = 0 m). FIG. 13 is an explanatory diagram showing the rod replacement depth reached state (depth = 6.9 m) during the excavation process. FIG. 11 is an explanatory view showing a state in which the auger stops rising during the rod replacement operation. FIG. 13 is an explanatory diagram showing the completed state of the excavation process (depth = 12 m). FIG. 13 is an explanatory diagram showing the rod replacement depth reached state (depth = 6.9 m) during the pulling-up process. FIG. 11 is an explanatory view showing a state in which the auger stops descending during the rod replacement operation. FIG.

Figures 1 to 17 show a first embodiment of the pile driver control system of the present invention. The pile driver 11 to which the control system shown in this embodiment is applied is a dual-purpose machine that can switch between steel pipe pile construction and ground improvement construction. As shown in Figure 1, the pile driver 11 is equipped with a base machine 14 consisting of a lower running body 12 equipped with crawlers and an upper rotating body 13 that is rotatably mounted on the lower running body 12, a leader 15 erected at the front of the upper rotating body 13, and a hoisting cylinder 16 that supports the leader 15 from the rear. In addition, a leader support 17 that supports the leader 15 so that it can be raised and lowered is provided at the front of the upper rotating body 13, and a pipe guide arm 18 that supports the pipe behind the leader 15 is provided above the front of the upper rotating body 13. In addition, stabilizing jacks 19 are provided at four locations on the front, back, left and right of the upper rotating body 13, and a counterweight 20 is mounted at the rear end of the upper rotating body 13 to balance the pile driver 11.

The leader 15 is made by connecting multiple leader members each having a rectangular cylindrical cross section. It is divided into a basic leader 21 that is rotatably attached to a support shaft in the width direction of the base machine provided on the leader support 17, an upper leader 22 that is connected to the upper part of the basic leader 21, and a lower leader 23 that is connected to the lower part of the basic leader 21. The upper leader 22 is further divided into multiple leader members. Each of these leader members is connected by flange members at the upper and lower ends, and is configured to be detachable using bolts and nuts. By removing the bolts and nuts to release the flange connection, it can be rearranged into a long specification consisting of many leader members (Figure 1) and a short specification consisting of a small number of leader members (not shown).

At the top end of the leader 15, there is a top sheave 24 around which the lifting rope is wound, and at the front of the lower part, there is an openable and closable vibration control device 25 that prevents the rotating construction material from vibrating. At the center of the front of the leader 15, there is a rack gear 26, which is one of the components of a rack and pinion type lifting mechanism (work equipment lifting mechanism), and at the front ends of both sides, there are a pair of left and right guide pipes 27, 27 for guiding the lifting and lowering of the work equipment, which are continuously installed over the entire length of the leader 15.

The auger 28, which is an example of a working device, has a pair of left and right guide gibs 28a, 28a that protrude rearward and slide against the guide pipes 27, 27 of the leader 15, and can be raised and lowered along the front surface of the leader 15 by rotating a pinion gear that meshes with the tooth rows provided on both sides of the rack gear 26 using an auger lifting hydraulic motor (not shown). In addition, the auger body 28b, which is equipped with a reduction mechanism, is provided with an auger drive hydraulic motor 28c for applying a rotational drive force to the auger 28.

When the pile driver 11 is used for the purpose of constructing steel pipe piles, a steel pipe pile is used as the construction member. The steel pipe pile 29 is detachably connected to the lower end of the drive shaft 30 attached inside the auger body 28b via a rod cap 31. The drive shaft 30 engages with a chuck device 28d provided on the underside of the auger 28, with the torque-transmitting polygonal cross-section angular shaft portion inserted into the rotating shaft portion (square hole) of the auger body 28b, thereby restricting axial movement. The chuck device 28d is, for example, a well-known device equipped with a chuck plate that can engage with the circumferential chuck groove portion of the drive shaft 30.

The steel pipe pile 29 attached to the auger 28 is held by the vibration prevention device 25 so that it can rotate and move axially. In this construction start state (Figure 1), the auger 28 rotates and moves downward (pushes) to press the pile into the ground. When long construction is performed such that the construction length exceeds the auger stroke, the steel pipe pile 29 is added to the pile with a length PL that corresponds to one stroke length, that is, a length (e.g., about 3 to 6 m) that takes transportability into consideration, with the length of the leader 15 as the limit. In this case, the optimal auger upward movement for pile joining work corresponds to the length PL of the steel pipe pile (joint pile) 29 to be joined, taking into consideration the gap (e.g., about 10 to 20 cm) for placing the steel pipe pile 29 on the preceding buried pile, based on the pile joining depth described later.

On the other hand, when the pile driver 11 is used for the purpose of performing ground improvement work, a rod is used as the construction member. As shown in FIG. 2, the rod 32 is a pipe-shaped object with a flow path for the ground improvement agent inside, and is formed longer than the leader 15 by connecting multiple rods, and a drilling head 33 equipped with a drilling blade 33a and agitation blade 33b is provided at the lower end. In addition, a swivel joint 35 is provided at the upper end of the rod 32 for introducing the ground improvement agent from an injection hose 34. The rod 32 thus formed is engaged with the chuck device 28d to restrict axial movement when the middle angular shaft portion of the multiple angular shaft portions provided in the axial direction is inserted into the rotating shaft portion of the auger body 28b.

The rod 32 attached to the auger 28 is held by the anti-vibration device 25 so that it can rotate and move axially. In this construction start state (Figure 2), the rod 32 is rotated and lowered along the leader 15, and the soil improvement agent sent through the rod 32 is sprayed from the tip of the excavation head 33 into the excavated hole, so that the soil excavated by the excavation blade 33a of the excavation head 33 is mixed with the soil improvement agent by the mixing blade 33b.

After the auger 28 is lowered below the leader 15, the auger 28, which has released its grip on the middle angular shaft portion, is raised to grip the upper angular shaft portion for re-gripping. In this case, the optimal amount of upward movement of the auger for the rod re-gripping operation corresponds to the distance CL between the gripping positions of the rod 32, i.e., the distance between the upper and lower chuck grooves 32a (the lower side is not shown), based on the rod re-gripping depth described below. The re-gripping operation is performed not only when the rod 32 is pushed in but also when it is pulled up, and in either case, the fixing means of the anti-vibration device 25 is used to fix the rod 32 in that position.

In order to carry out various construction works such as steel pipe pile construction and ground improvement construction, inside the operator's cab 36 installed on the upper rotating body 13, devices such as operating levers and pedals for driving, rotating, raising and lowering the auger 28, push button switches, and a touch panel display are concentrated near the operator's seat for ease of use. In addition, a construction management device is installed that is electrically connected to these devices and the operation detection means of the pile driver 11.

The construction management device functions as one component of the control system of the present invention, and is composed mainly of a CPU (control unit) that executes a construction management program for controlling various construction methods, controls the drive of the auger 28, and performs calculations such as data processing and judgment. It also includes a FLASH ROM that stores the construction management program, a RAM that temporarily stores various data during processing, a hard disk (storage unit) that stores construction plan data that sets the planned construction position at the construction site, the target depth for that position, the construction member configuration (e.g., pile configuration, rod configuration) and member joint depth (e.g., pile joint depth, rod joint depth) or rod replacement depth, as well as various data on the actual construction data created by executing the construction management program, a display (display unit) that allows the operator to check the execution results of the construction management program on a display screen and input and change data by operating a touch panel, and a speaker (alert unit) that prompts the start of member joint work in response to a command from the control unit.

The multiple sensors constituting the operation detection means of the auger 28 include a torque sensor, a depth sensor, and a rotation sensor. The torque sensor is a sensor that measures the torque of the construction workpiece gripped by the auger 28, and pressure sensors are provided on the supply side of the hydraulic circuit of the auger drive hydraulic motor and on the secondary side of the hydraulic circuit of the solenoid proportional valve, and each pressure sensor detects the operating pressure and control pressure of the auger drive hydraulic motor. The detected signal is transmitted to the control unit, and the construction torque is calculated as the construction load based on the pressure and the capacity of the auger drive hydraulic motor.

The depth sensor detects depth using a rotary encoder built into the rack and pinion lifting mechanism. The detected signal is transmitted to the control unit, which calculates the depth based on the rotation angle and rotation radius. The detection signal from the rotary encoder is also used by the control unit to calculate the auger lift amount and lifting speed. The rotation sensor detects the gear teeth of the reduction mechanism with a proximity sensor and counts the pulse signal. The detected signal is transmitted to the control unit, which calculates the integrated rotation number and rotation speed based on the cumulative count.

The construction management device can also download construction management programs and construction plan data via a communication connection. The construction plan data is input in advance into a computer in the office based on a construction plan created based on the results of a boring survey (an example of a ground survey) at the construction site, and includes pile numbers as well as the construction sequence associated with the pile numbers, and various construction target values such as the target depth, feed speed, rotation speed, and cement milk flow rate. The construction plan data is input by inputting pile position data in comparison with the construction drawings. Specifically, the planned buried positions of the piles (planned construction positions) are specified in two-dimensional coordinates as relative positions (distances) from the origin of the coordinate system.

For example, the construction plan data referenced in steel pipe pile construction is set in consideration of the relationship between the construction length and the auger stroke, but when performing long-length construction, it is possible to specifically set the pile configuration and pile joint depth according to the pile number. For example, as shown in Figure 3, the pile configuration of pile number "1234" consists of four steel pipe piles (joint piles) 29 to be added: lower pile "3.00m", first medium pile (circled number 1) "3.00m", second medium pile (circled number 2) "3.00m", and upper pile "4.00m". On the other hand, the pile joint depth can be specified within a range, and is set, for example, to the upper limit of the auger position during work "1.50m" and the lower limit of the auger position during work "0.50m" based on the height position of the lower end of the leader 15. This allows the pile joint depth to be set within a range that does not deviate from the auger stroke and within a range of "1.00m" near the ground.

The upper and lower limits of the component joint depth of the steel pipe piles 29 and rods 32 are set based on the means of joining the components (welding, mechanical fastening, etc.) and the physical conditions of the worker in order to ensure a good working posture. Then, when the current construction depth reaches the upper limit of the auger position during work, a voice guidance such as "Pile joint work is possible" is issued from the speaker. This allows the operator to stop operating the auger 28 at the appropriate time. In such an operation that fully ensures on-site discretion, construction can be continued as necessary, but in that case, when the current construction depth reaches the lower limit of the auger position during work, the lowering operation of the auger 28 is forcibly stopped by hydraulic control. This restricts excessive pushing operation that reduces the workability of the component joint work. The component joint depth may be pinpointed or set within a very narrow range. For example, by setting the upper and lower limits of the auger position during work to the same value, when the current construction depth reaches the component joint depth, the lowering operation of the auger 28 is stopped and a voice guidance is issued from the speaker at the same time. This allows for highly accurate stopping and guidance functions.

The created construction plan data is uploaded to a data server on the network with the addition of location information such as the address of the construction site and the model number of the pile driver 11 that will be used for construction. In addition, a construction management program for construction that is carried out based on the construction plan data, such as steel pipe pile construction, and data on the setting parameters of the construction management program are also created and uploaded to the data server in the same manner.

The construction management device configured in this manner executes an additionally incorporated control program to operate a control system that supports the operation of the pile driver 11, in particular a control system that optimizes the auger movement amount required for joining the construction members (preparation work). The specific operation of the control system will be described below with reference to each process of steel pipe pile construction shown in Figures 4 to 17.

First, when the construction management device is started at the construction site, the basic program is executed in the control unit, and a login screen is displayed on the display. Here, when the user logs into the system using an ID and sets conditions according to the purpose from the menu screen, the necessary construction management programs and construction plan data are downloaded, and the construction plan pile placement screen (pile selection screen) is displayed on the display, although this is not shown in the figure.

When constructing pile number "1234" under the various conditions shown in the setting display of FIG. 3, as shown in FIG. 4, the pile driver 11 with the lower pile attached to the auger 28 is aligned with the planned construction position (pile core), and then the pile display body of No. 1234 is selected by operating the touch panel. At this time, if the gap for the joint pile arrangement is set to "10 cm" according to the guidance, the auger upward movement amount will take into account the gap "10 cm" in the length PL of each steel pipe pile (joint pile) 29. For example, among the set pile configurations, the length PL of the first middle pile and the second middle pile are both 3 m, so the auger upward movement amount required based on the pile joint depth is 3.1 m. On the other hand, the length PL of the upper pile is 4 m, so the auger upward movement amount required based on the pile joint depth is 4.1 m.

Then, with the display switched to a specified construction screen and in the construction start state (depth = 0 m), construction proceeds while creating construction data for the target depth of "13.00 m". The created construction data is displayed in real time as the current construction data in numerical and graphical form on the construction screen in accordance with the operation of the auger 28, and at the same time, the construction torque indicating the construction load for each depth and the pile number "1234" are associated and stored sequentially in the memory unit of the construction management device.

When the current construction depth reaches the first pile joining depth (depth = 2 m), as shown in Figure 5, the lowering movement of the auger 28 is stopped and at the same time a voice message is issued from the speaker saying "Pile joining work can be performed." At this point, the pushing amount is adjusted to obtain an optimal working platform, and then the set value of the pile joining depth (auger position during work) is finally determined and the stopping and guidance function of the auger 28 is activated.

Then, the construction depth is held by operating the touch panel, and the auger 28 and the lower pile are made separable by a predetermined procedure (e.g., reverse rotation of the auger). Then, as shown in FIG. 6, when the auger 28 is raised and the auger's movement amount based on the pile joint depth reaches the set movement amount "3.1 m" based on the length PL "3 m" of the first intermediate pile (joint member), the raising operation of the auger 28 is stopped. Next, the upper rotating body 13 is rotated as necessary, the prepared first intermediate pile is lifted with a rope, and the first intermediate pile is attached to the auger 28. Then, in the operation of placing the first intermediate pile, as shown in FIG. 7, the minimum necessary gap S "10 cm" is obtained between the lower pile and the first intermediate pile, and the first intermediate pile is placed on the lower pile.

Then, the auger 28 is lowered, and as shown in Figure 8, with the first middle pile set on top of the lower pile, the two steel pipe piles 29, 29 are connected by welding or screwing. Any of the various connection methods ensures a good working foothold, but in particular in the case of welding work, which has strict working conditions, the lower pile (pre-buried pile) is driven to a height H from the construction ground GL at the pile joint depth that makes welding work easy (generally about 1.0 to 1.5 m above the ground or footboard), resulting in a reliable joint that satisfies workability and quality.

When the first pile joining operation is completed, the operator releases the retained state of the construction depth by operating the touch panel, and continues the work while adding the new depth to the depth data that was temporarily retained. Then, when the current construction depth reaches the second pile joining depth (depth = 5 m), as shown in Figure 9, the lowering operation of the auger 28 is stopped and at the same time, a voice guidance is issued from the speaker. This allows the operator to return the operating lever to neutral and end the operation of the auger 28.

Then, the construction depth is held by operating the touch panel, and the auger 28 and the first intermediate pile are made detachable in the same manner as the first time. Then, as shown in FIG. 10, when the auger 28 is raised and the auger's upward movement amount based on the pile joint depth reaches the set movement amount "3.1 m" based on the length PL of the second intermediate pile "3 m", the raising operation of the auger 28 is stopped. Next, the prepared second intermediate pile is lifted with a rope and attached to the auger 28. Then, in the operation of placing the second intermediate pile, the second intermediate pile is placed on the first intermediate pile with the minimum necessary gap S "10 cm" obtained between the top and bottom of the first and second intermediate piles, as shown in FIG. 11.

Then, the auger 28 is lowered, and the two steel pipe piles 29, 29 are connected with the second intermediate pile set on top of the first intermediate pile, as shown in Figure 12. Here, the same working conditions as the first pile are obtained for the second pile joining work. That is, the first intermediate pile (pre-buried pile) is driven to a height H from the construction ground GL that makes it easy to work with, resulting in a reliable joint that satisfies construction and quality requirements.

When the second pile joining work is completed, the operator releases the holding state of the construction depth by operating the touch panel, and proceeds with the work while adding the new depth to the depth data that was temporarily held. Then, when the current construction depth reaches the third pile joining depth (depth = 8m), as shown in Figure 13, the lowering operation of the auger 28 is stopped and a voice guide is issued from the speaker. Then, after the construction depth is held and the auger 28 and the second middle pile are made separable, as shown in Figure 14, the raising operation of the auger 28 is stopped when the auger rising movement amount based on the pile joining depth reaches the set movement amount "4.1m" based on the length PL of the upper pile "4m".

Next, the prepared upper pile is lifted with a rope and attached to the auger 28. Then, in the operation of placing the upper pile, as shown in FIG. 15, the upper pile is placed on the second middle pile with the minimum necessary gap S of "10 cm" obtained between the top and bottom of the second middle pile and the upper pile.

Then, the auger 28 is lowered, and the two steel pipe piles 29, 29 are connected with the upper pile set on top of the second middle pile, as shown in FIG. 16. Here, the same working conditions as the first and second piles are obtained for the third pile joining work. That is, the second middle pile (pre-buried pile) is driven to a height H from the construction ground GL that makes it easy to work with, so a reliable joint that satisfies workability and quality is obtained.

When the third pile jointing work is completed, the operator releases the holding state of the construction depth by operating the touch panel, and proceeds with the construction while adding the new depth to the depth data that was temporarily held. Here, the control program processing determines that all the joint piles corresponding to pile number "1234" have been used based on the current construction depth (for example, the state where 10 m has been reached), clears the setting of the lower limit value (lower limit of the auger position during work) for the timing of stopping the lowering operation of the auger 28, and resets it when the target depth is reached. Then, when the current construction depth reaches the target depth (depth = 13 m), as shown in Figure 17, the lowering operation of the auger 28 is stopped and at the same time, a voice guidance of "Construction is completed" is issued from the speaker. Through this series of processes, the construction of the steel pipe pile for pile number "1234" is completed. Then, in the same manner, at the subsequent planned construction positions, construction is carried out as planned to the target depth while performing the necessary pile jointing work.

In this way, in the first configuration of the pile driver control system of the present invention, for example, when piles are used as construction members, an alarm unit (e.g., a speaker) is activated when the current construction depth reaches the pile joint depth, so that the operator can be prompted to start pile jointing work at the optimal time for construction. Moreover, since the upward movement of the auger 28 is stopped when the upward movement amount of the auger 28 reaches a set movement amount based on the length of the joint pile, the auger movement amount can be optimized, and for example, in steel pipe pile construction in which steel pipe piles 29 are buried in the ground, construction can be carried out efficiently without relying on the experience or intuition of the operator.

Figures 18 and 25 show a second embodiment of a pile driver to which the control system of the present invention is applied. In the following description, the same components as those shown in the previous embodiment are designated by the same reference numerals and detailed description is omitted.

The pile driver control system in the second embodiment basically has the same configuration as the previous embodiment, with the pile driver 11 being designed for ground improvement using a rod 32 as the construction member, and the construction management device executing a construction management program for ground improvement construction.

The construction plan data referenced in ground improvement construction is set taking into consideration the relationship between construction length and auger stroke, but when performing long-distance construction, it is possible to specifically set the rod configuration and rod replacement depth according to the pile number. For example, as shown in FIG. 18, the rod configuration of pile number "5678" consists of two rods 32 to be replaced, an upper rod "5.35 m" and an under rod "7.65 m". In addition, the gripping position distance CL of the rod 32 connecting the two rods is set to "6.00 m" based on the position information of the chuck groove portion 32a of the rod 32. In other words, the auger upward movement required based on the rod replacement depth is 6.00 m.

On the other hand, the rod replacement depth can be specified within a range. For example, the upper limit of the auger position during operation is set to "1.50 m" and the lower limit of the auger position during operation is set to "0.50 m" based on the height position of the lower end of the leader 15. This allows the rod replacement depth to be set within a range that does not deviate from the auger stroke and within a range of "1.00 m" near the ground.

The specific operation of the control system will be described below with reference to each step of the ground improvement construction shown in Figures 19 to 25. First, when constructing pile number "5678" under the various conditions shown in the setting display of Figure 18, the rod 32 is attached to the auger 28 in a specified procedure, and as shown in Figure 19, the pile driver 11 is aligned with the planned construction position (pile core), and then pile display body No. 5678 is selected by operating the touch panel.

Then, with the display switched to a specified construction screen and in the construction start state (depth = 0 m), construction (excavation process) proceeds while creating construction data for the target depth of "12.00 m". The created construction data is displayed in real time as the current construction data in numerical and graphical form on the construction screen in accordance with the operation of the auger 28, and at the same time, the construction torque indicating the construction load for each depth and the pile number "5678" are associated and stored sequentially in the memory unit of the construction management device.

When the current construction depth reaches the rod replacement depth (depth = 6.9 m), as shown in Figure 20, the lowering operation of the auger 28 is stopped and at the same time a voice guide saying "Rod replacement work can be performed" is issued from the speaker. Here, the pushing amount is adjusted to obtain the optimal auger lowering stop position, and then the set value of the rod replacement depth (auger position during work) is finally confirmed and the stop and guidance function of the auger 28 is activated. As a result, both the auger lowering stop position, which is the rod replacement depth, and the auger rising stop position are set based on the known gripping position distance CL.

Then, the construction depth is held by operating the touch panel, and the fixing means of the anti-vibration device 25 is activated to make it possible to perform the rod replacement operation. Then, as shown in FIG. 21, when the auger 28 is raised and the auger's upward movement amount based on the rod replacement depth reaches the set movement amount "6.00 m" based on the distance CL "6.00 m" between the rod gripping positions, that is, when it reaches the auger rise stop position, the lifting operation of the auger 28 is stopped. Here, after checking the engagement state of the chuck device 28d with the rod 32, the fixing means of the anti-vibration device 25 is released to complete the rod replacement operation.

When the rod replacement work in the excavation process is completed, the operator releases the holding state of the construction depth by operating the touch panel, and continues construction while adding the new depth to the depth data that was temporarily held. Then, when the current construction depth reaches the target depth (depth = 12 m), as shown in Figure 22, the lowering operation of the auger 28 is stopped and at the same time, a voice guidance of "Target depth reached" is issued from the speaker. This allows the operator to proceed with the construction (pulling process) of pulling the rod 32 up from the excavation hole while raising and rotating (reverse) the auger 28.

In the lifting process, when the auger 28 reaches the rising stop position (depth = 6.9 m), as shown in Figure 23, the rising movement of the auger 28 is stopped and at the same time a voice guidance "Rod replacement work can be performed" is issued from the speaker. Next, the fixing means of the vibration prevention device 25 is operated to make it possible to perform the rod replacement work. Then, as shown in Figure 24, when the auger 28 reaches the lowering stop position, the lowering movement of the auger 28 is stopped. Here, after confirming the engagement state of the chuck device 28d with the rod 32, the fixing means of the vibration prevention device 25 is released to complete the rod replacement work.

When the rod replacement work in the lifting process is completed, the operator continues the work of lifting the rod 32 while raising and rotating the auger 28. When the auger 28 reaches the lifting stop position (depth = 0 m), as shown in Figure 25, the auger 28 stops raising and at the same time, a voice message is issued from the speaker saying "Construction is complete." After going through this series of processes, the ground improvement work for pile number "5678" is completed. Then, in the same manner, at the subsequent planned construction position, construction is carried out as planned to the target depth while performing the rod replacement work.

In this way, in the second configuration of the pile driver control system of the present invention, an alarm unit (e.g., a speaker) is activated when the current construction depth reaches the rod replacement depth, so that the operator can be prompted to start the rod replacement work at the optimal time for construction. Moreover, since the upward movement of the auger 28 is stopped when the upward movement amount of the auger 28 reaches a set movement amount based on the distance CL between the gripping positions of the rods 32, the auger movement amount can be optimized, and for example, in ground improvement construction in which a columnar improvement body is constructed underground, construction can be carried out efficiently without relying on the experience or intuition of the operator.

The present invention is not limited to the above-mentioned embodiments, and the control program may be simply configured to be added to an existing construction management device and function, and may be modified as appropriate according to the specifications of the pile driver and the type of construction member. In addition, various settings such as the member joint depth, the rod replacement depth, and the gap for arranging the joint member are optional, and optimal values may be provided by machine learning, for example. Furthermore, the notification unit may be configured by a lamp, monitor display, buzzer sound, etc., in addition to voice. In addition, although the first embodiment (member joint) is applied to steel pipe pile construction, it can be applied to various prefabricated pile construction including concrete pile construction, and can also be applied to ground improvement construction. In the case of ground improvement construction, the joint member for construction is a rod, and by joining multiple rods, even longer construction can be performed.

11...pile driver, 12...lower running body, 13...upper rotating body, 14...base machine, 15...leader, 16...elevation cylinder, 17...leader support, 18...pipe guide arm, 19...jack, 20...counterweight, 21...basic leader, 22...upper leader, 23...lower leader, 24...top sheave, 25...anti-vibration device, 26...rack gear, 27...guide pipe, 28...auger, 28a...guide gib, 28b...auger body, 28c...hydraulic motor for driving auger, 28d...chuck device, 29...steel pipe pile, 30...drive shaft, 31...rod cap, 32...rod, 32a...chuck groove, 33...digging head, 33a...digging blade, 33b...mixing blade, 34...injection hose, 35...swivel joint, 36...operator cab

Claims (6)

A control system for a pile driver including an auger to which a construction member is detachably attached, a leader to guide the elevation and lowering of the auger, and a control unit to drive and control the auger,
A storage unit stores construction plan data that sets a target depth for a planned construction position, a member configuration for construction, and a member joining depth, and a notification unit that prompts the start of member joining work,
The control unit is
When the current construction depth reaches the member joint depth, the notification unit is activated.
A control system characterized by stopping the raising operation of the auger when the amount of auger raising movement based on the member joining depth reaches a set movement amount based on the length of the joining member in conjunction with the operation of raising the auger. The control system according to claim 1, characterized in that the control unit stops the lowering operation of the auger when the current construction depth reaches the member joining depth. The control system according to claim 1 or 2, characterized in that the pile driver is applied to steel pipe pile construction, in which the construction member is a steel pipe pile. The control system according to claim 1 or 2, characterized in that the pile driver is applied to ground improvement work in which the construction member is a rod. A control system for a pile driver including an auger to which a construction rod is detachably attached, a leader to guide the elevation and lowering of the auger, and a control unit to drive and control the auger,
A storage unit stores construction plan data that sets a target depth for a planned construction position, a construction rod configuration, and a rod replacement depth, and a notification unit that prompts the start of rod replacement work,
The control unit is
When the current construction depth reaches the rod replacement depth, the notification unit is activated.
A control system characterized by stopping the raising operation of the auger when the amount of auger upward movement based on the rod replacement depth reaches a set movement amount based on the distance between the rod gripping positions in conjunction with the raising operation of the auger. The control system according to claim 5, characterized in that the control unit stops the lowering operation of the auger when the current construction depth reaches the rod replacement depth.

Images