JPS62194390A - Automatic excavator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to an excavator and pile burying machine for digging a hole and/or burying a pile in the dug hole.

``Prior Art'' In order to bury piles for the foundation of a building, a hole is first dug and then the pile is buried in the hole in order to minimize vibration and noise. In this case, drilling rods are added one after another to dig a deep hole, but in the past, the drilling rods were connected directly at each hole position by hand. Furthermore, after the drilling is completed, the drilling rods are collected, but the added drilling rods are manually removed at the hole location. In addition, when burying piles, the piles are added one after another, and the additions are performed, for example, by welding at the positions of holes made by workers. In other words, in the past, the work of connecting drilling rods one after another to perform deep excavation, retrieving the drilling rods, or connecting piles one after another to bury long piles was done manually and required a lot of work. It required human effort and was not done automatically.

"Means for Solving the Problem" According to the present invention, an excavation tower is erected on the skit, and a rotating device such as a power swivel is guided to the excavating tower and held so that it can be moved up and down. A drilling rod or a pile is rotatably connected to a rotating shaft, and a rotational force can be applied thereto, and this rotating device is driven up and down by a feeding device.

The feed mechanism allows the drilling rod or pile to be brought to the drilling position by rotating in a substantially horizontal plane, and can be raised and lowered with the underside of the rotating device, and is A chucking is provided that can be moved up and down, the chucking can grip the drilling rod, and the gripping mechanism can be rotated. A rod clamp is provided with which the drilling rod can be secured on the skit below the chucking.

Furthermore, there is provided a measuring means for measuring the amount of descent of the rotating device, and a means for detecting the lowest position and the lowest position of the rotating device using a limit switch or the like. The feeding mechanism holds the drilling rod, rotates it, brings it directly below the rotating device, that is, the digging position, holds the drilling rod in that state by chucking, and rotates the rotating device to perform the screw connection. connects the drilling rod and the rotating shaft of the rotating device.

Furthermore, a lower drilling rod placed in the dug hole is held and fixed by a rod clamp, and the drilling rod is connected to the lower drilling rod by a threaded connection by rotating the drilling rod connected to a rotating device. In this way, drilling is performed by connecting the drilling rods, rotating the rotating device, and pushing the rotating device downward by the feeding device, and connecting the drilling rods one after another.

When digging is completed to the set depth, the drilling rod is retrieved. When the drilling rod is pulled up and the rotating device reaches the top, the lower drilling rod is held by the rod clamp and the shaft is moved in that state.・By 7 King: Grasp the side drilling rod, rotate its gripping mechanism in the opposite direction to loosen the screw connection with the lower drilling rod, and then rotate the rotation device in the opposite direction to separate the upper and lower drilling rods. Separate the side drilling rod. Next, the upper drilling rod is grabbed by chucking, the rotating device is rotated in the opposite direction to release the connection between the drilling rod and the rotating device, and the feeding mechanism holds the drilling rod and rotates the drilling rod. Perform collection.

When burying a pile, a jig is used to hold and rotate the pile by a supply mechanism, bring it directly under the rotating device, that is, to the burial position, and connect the pile and the rotating device by screw coupling. is attached to a rotating device in advance, the jig is rotated and connected to the pile, and then the rotating device is lowered to bury the pile. In order to screw the pile to the lower pile, the lower pile is held by a pile clamp, and the upper pile is rotated by a rotation device and screwed to the lower fixed pile. do. After that, the pile clamp is released and the rotating device is lowered to bury the pile.

These operations are programmed in advance and are automatically performed by sequentially decoding and executing the program.

In this way, the connection of excavation rods and piles is automatically performed without human intervention, and excavation work or pile burying work can be performed with a small number of people.

``Embodiment'' Anti-burial earth tray Before explaining the excavation/anti-burial machine according to the present invention, the procedure for digging a hole and burying a pile in the hole will be explained with reference to FIG. First, as shown in FIG. 1A, a hole 12 is dug in the upper part of the surface layer using an auger 1), and then a casing 13 is fitted around the entrance of the hole 12 to prevent the hole 12 from collapsing. Drilling rod 16 with pit 14
The hole 12 is dug while rotating, and at the same time, a highly viscous drilling fluid, generally muddy water mixed with an appropriate thickener, is injected at high pressure to perform drilling with the drilling fluid.

As the excavation progresses, the drilling rod 16 is added one after another to excavate, and the excavated soil is taken out by sucking up the drilling fluid from the hole 12.
7 to make it full. When the hole 12 is excavated to a predetermined depth in this manner, the bottom end of the hole 12 is widened and the bulb part 18 is expanded.
shall be. Pit 1 for a certain period at the beginning of drilling rod recovery
4 is rotated while being raised, and excavation is performed by injecting a drilling fluid. After forming a bulbous portion 18 with an enlarged hole diameter in this manner, the drilling rods 16 are recovered one after another. At this time, the bulb part 18 replaces the drilling fluid with the root hardening fluid, and the portion above it replaces the drilling fluid with the peripheral fixing fluid. After the drilling rod has been recovered as shown in FIG. 1C, the piles 19 are sequentially sunk into the hole 12 as shown in the first diagram. This pile 1
9 is, for example, a ready-made reinforced concrete pile. A bag 21 is placed around the outer periphery of this lowermost stake 19.

After the piles 19 have been sunk, cement is poured into the piles 19 connected one after another as shown in Figure 1E, and the bags 21
The inside of the pile is filled with cement to form a bulb 22, and the burial of the pile is completed.

Summary - The excavation and burial machine of the present invention is mounted on a movable body 31 as shown in FIG. The movable body 31 is a tracked vehicle, and a skit (
mount) 32 is installed, and the skit 32 is attached to the outrigger.
It can be held on the ground by 33.

An excavation tower 34 is erected on the skit 32, and a rotating device such as a power swivel 35 is attached to the excavation tower 34 so as to be able to move up and down. This power swivel 35 is driven up and down by a feeding device 36 attached to the upper end of the excavation tower 34. Further, the power swivel 35 can rotate its rotation axis. In other words, a drilling rod is attached to the rotating shaft of the power swivel 35, the power swivel 35 is rotated, and the power swivel 35 is pushed down by the feeding device 36 to excavate, or the pile is moved to the power swivel 35.
It is installed in the hole and the pile is sunk into the hole.

Further, a feed mechanism 37 is provided on the skit 32, and the feed mechanism 37 is capable of holding and rotating a drilling rod or pile in a substantially horizontal plane, and the rotation causes the drilling rod or pile to swivel 35. It can be brought directly under the . An operating room 38 is provided on the skit 32 for an operator to ride in and perform operations. More skit 32
A flain 39 is attached on top, and the ferne 39 allows the attachment and detachment of piles and drilling rods to and from the supply mechanism 37. In addition, various control valves for controlling various cylinders, etc. are located in the valve number capacity section 41 on the skit 32.
A control oil tank 40 is provided.

It is necessary to correctly position the drilling rod at the excavation position when performing survey excavation at the first position, but it is difficult to position the rod with high precision only by controlling the movement using the movable body 31. The position of the excavation tower 34 on the excavation tower 31 can be precisely controlled within a horizontal plane. Furthermore, it is necessary to hold the skit 32 accurately horizontally in order to perform the excavation correctly and vertically. First, a positioning means for accurately positioning the excavation tower 34 will be explained.

That is, in this excavating/pile burying machine, as shown in FIGS. 3 to 5, the skit 32 is composed of a lower skit 32a and an upper skit 32b placed above it, and each of these skits 32a.

As shown in FIGS. 6 and 7, 32b has a substantially rectangular shape, and is made into a frame shape to reduce weight. Drilling tower 34 at one end on upper skit 32b
is attached, and the end of this upper skin 32b on the side where the excavation tower 34 is erected is the front side. Further, a semicircular notch 43 is formed at the front end of the upper skit 32b so that a drilling rod or the like attached directly below the swivel 35 can pass therethrough.

At least one, in this example two guide rods 44a, 44b are retained in the lower skit 32a as shown in FIGS. 4 and 7. These guide rods 44a, 44b extend in the front-rear direction, and the shaft pin 45 is located at the rear end thereof.
It is designed to be able to rotate within a substantially horizontal plane with rotation centers a and 4.5b. These guide rods 44a, 44b
are disposed inside holes 46a, 46) formed in the lower skit 32a, and are held in the lower skit 32a so that the front end can rotate in the left-right direction in FIG. 4 within the holes.

The upper skit 32b is connected to these guide rods 44a.

44b and is movable along these guide rods. In other words, these guide condos 44
Retaining rings 47a and 47b are passed over a and 4.4b, respectively, and retaining ring 47a.

Upper skit 32b is fixed onto 47b.

A moving cylinder 49 is attached between a reinforcing piece 48 provided in the middle of the lower skin 32a in the longitudinal direction and the front part of the upper skin 1-32b, and by expanding and contracting the moving cylinder 49, a two-part skit is created. 32b can move on guide rods 44a, 44b relative to lower skit 32a. The upper skit 32b can be moved in the front-back direction.

Further, a rotation cylinder 51 is connected between the front end of the lower clearance (32a) and the front end of one of the guide rods 44b, and by expanding and contracting the rotation cylinder 51, the guide rod 44b is moved in the horizontal plane. 45b, and thus the upper skit 32b can rotate relative to the lower skit 32a, that is, the excavation tower 34 can be moved in the left-right direction in FIG.

Also, in this example, rings 52a, 5 are attached to guide rods 44a, 44b at the rear end of upper skin l-32b.
2b (52a not shown) is inserted through the cylinder 53a, and these rings 52a, 52b are attached to the rear end of the upper skit 32b.

53b, and by strongly pulling up the rods of these cylinders 53a, 53b, the guide rods 44a, 4
The position of 4b can be fixed.

With such a configuration, the movement of the excavation tower 34 can be adjusted in the longitudinal direction by expanding and contracting the moving cylinder 49, and the position of the excavating tower 34 in the left and right direction can be adjusted by expanding and contracting the rotation cylinder 51. I can do it.

The excavation tower 34 has a cylinder 54 as shown in FIG.
As shown by the dotted line 34', the excavation tower 34 can be tilted backward into a nearly horizontal state.
When it is standing upright on the skid, a pin 55 can be inserted to stably hold it upright. The flain 39 can also be tilted forward in the figure by the cylinder 56, so that it can be tilted almost horizontally. Frein 3
9 can extend and contract its length and can rotate through 360 degrees. The control room 38 is the upper skin! -32b, and the flare 39 is mounted on the lower skit 32a. A configuration for holding the skit 32 horizontally for vertical drilling with the drilling rod will be described later.

A drilling rod or pile is brought under the rotating shaft 57 of the power swivel 35 and connected to it for excavation or pile sinking, and the supply mechanism 37 supplies the drilling rod or pile to the position of the power swivel 35. Do it like this. The feeding mechanism 37 can rotate the drilling rod or pile in a horizontal plane from a position below the power swivel 35, and in an appropriately rotated position, the drilling rod or pile can be removed from the feeding mechanism by a frene. It is designed so that it can be attached to a mechanism. In this example, the supply mechanism 37 holds a plurality of drilling rods, and is capable of automatically sequentially supplying and recovering the drilling rods.

For this purpose, a rod holding mechanism 58 is provided on the upper skit 32b so as to be rotatable in a horizontal plane, as shown in FIGS. 3 to 5. For example, as shown in FIG. 4, the excavation tower 34 has two guide columns 34a.

34b is erected in parallel on the upper skit 32b, and its both ends are connected by a connecting portion 34c, and one of the guide columns 34b has a swing shaft approximately parallel thereto as shown in FIG. 59 is rotatably held. Swing axis 5
9 has holding arms 61a at its upper and lower ends, respectively.
61b is attached, and the rotating shaft 62 is rotatably held between the holding arms 61a and 6Ib. A circular support plate 63 is fixed to the lower end of the rotating shaft 62 with the rotating shaft 62 inserted through its center, and a circular holding plate 64 is inserted through the center of the upper end of the rotating shaft 62 to support rotation. It is held movably.

As shown in FIG. 10, the holding plate 64 has a cutout 65 formed therein for insertion and removal. A temporary fixing mechanism 66 is provided on the inner surface of the rotating shaft 62. Temporary fastening mechanism 6
6, as shown in FIG. 10, a fixed plate 68 having a claw 67 projecting diagonally with respect to the circumferential direction is fixed to a rotating shaft 62, and a rotating plate 69 is rotatably rotated in close opposition to the fixed plate 68. It is held on a shaft 62. The rotating plate 69 has protrusions 71 at equal angular intervals as shown in Figure 1). Figure 9 and 1
) As shown in the figure, a cylinder 72 is installed between the fixed plate 68 and the rotating plate 69, and by controlling the expansion and contraction of the cylinder 72, the rotating plate 69 can be rotated by an angle formed with respect to the fixed plate. That is, the drilling rod can be held between the claw 67 and the protrusion 71, and the holding can be released.

As shown in FIG. 9, there is a positioning recess 7 on the support plate 63.
3 are formed at equal angular intervals, and the lower end of the drilling rod 16 can be inserted and positioned within this recess 73.

Further, a peripheral flange 74 is formed on the lower side of the peripheral edge of the holding plate 64. Furthermore, a clutch cylinder 75 extending vertically is attached to the holding plate 64, and the upper end of the rod of the clutch cylinder 75 can be inserted into a hole 76 formed in the holding arm 61a and engaged with the holding arm 61a. . The lower end of the rod of the clutch cylinder 75 can be selectively inserted into equally spaced holes 78 in a clutch plate 77 fixed to the rotating shaft 62 . That is, when the rod of the clutch cylinder 75 is moved upward, the holding plate 64 is connected to the holding arm 61a, and the connection with the clutch plate 77 is disconnected, and conversely, when the rod of the clutch cylinder 75 is moved downward, the clutch plate 64 is connected to the holding arm 61a. 7
7 and is connected to the clutch plate 77, and then disconnected from the holding arm 61a.

As shown in FIG. 12, a rotation cylinder 79 is connected between the holding arm 61b and the rotation shaft 62.

A rotating arm 80 is rotatably held on the rotating shaft 62, a cylinder 81 for moving the rod up and down is attached to the rotating arm 80, and a cylinder 82 for moving the rod up and down is attached to the holding arm 61b. The cylinders 81, 82 can be selectively engaged with engagement holes 83 formed at equal angular intervals under the support plate 63, as shown in FIG. Claw 68, protrusion 71, positioning recess 73, hole 78 in clutch plate 77
, the engagement holes 83, etc. are provided as many as the number that can hold drilling rods, which is 12 in this example.

The lower end of the excavation rod 16 is inserted into one of the positioning recesses 73 of the support plate 63 at the position of the insertion/removal notch 65, and is placed between the claw 67 of the temporary fixing mechanism 66 and the protrusion 71. In this state, the cylinder 72 is controlled to hold the excavation rod 16 between the claw 67 and the protrusion 71. Next, the rod of the clutch cylinder 75 is moved upward and its upper end is connected to the hole 76 of the holding arm 61a, that is, the holding plate 6
Cylinder 8, which is provided on the lower side, prevents 4 from rotating.
When the rod 1 of the cylinder 82 is inserted into the supply hole 83 by protruding upward and the rod of the cylinder 82 is retracted, and the rotating cylinder 79 is controlled in this state, the support plate 63 and the rotating shaft 62 are rotated by a certain angle, for example, 30 degrees, and held. Since the plate 64 is fixed to the holding arm 61a as described above, the drilling rod 16 is placed on the support plate 63 and held by the temporary fixing mechanism 66.
rotates together with the rotating shaft 62. After that, the rod of the cylinder 81 is retracted, the rod of the cylinder 82 is raised and inserted into the retaining hole 83, and in this state, when the rotating cylinder 79 is reversely controlled, only the rotating arm 80 on the rotating shaft 62 is returned to its original position. , and the previously rotated rotational position of the drilling rod 16 is maintained. In this way cylinder 8
1.82 and by controlling the rotation cylinder 79, the drilling rod 16 disposed on the support plate 63 is rotated to the inside of the peripheral flange 74 of the holding plate 64. Even if the holding by the temporary fixing mechanism 66 is released in this state, the upper end of the drilling rod 16 will not fall down due to the presence of the flange 74 of the holding plate 64, and the drilling rod 16 will be held between the holding plate 64 and the support plate 63. Ru. In this way, twelve drilling rods 16 can be held around the rotating shaft 62 at 306 square intervals, for example.

A pile holder 84 is held at the intermediate portion of the rotating shaft 62, and by controlling a movable portion 84a of the pile holder 84 with a cylinder 85, the resistor 19 can be held in place. The lower end of the clutch cylinder 75 is inserted into the ninth hole 78 of the clutch plate 77.
In the inserted state as shown in the figure, the entire rod holding mechanism 58 can be rotated about the rotation shaft 62 by controlling the cylinders 81 and 82 and the cylinder 79 as described above. In other words, the notch 65 for putting in and taking out
The angular position of the holding arm 61a can be arbitrarily set.

As shown in FIGS. 9 and 12, a swing cylinder 8 is provided between the guide column 34b of the excavation tower and the end of the holding arm 61b.
6 is attached, and by controlling the swing cylinder 86, the entire rod holding mechanism 58 can be rotated around the swing shaft 59. In other words, the rod holding mechanism 5
8 can be rotated, for example, by about 90 degrees in a substantially horizontal plane.

As a result of this rotation, the rod holding mechanism 58 can be rotated to a position directly below the swivel 35 as shown in FIGS. I can do it. Therefore, the drilling rod 16 and the pile 1
9 is the front end of this machine, that is, it is not limited to the excavation position with the drilling rod or the position where the pile is sunk, but can be placed at any position (direction).
The work of holding the excavation rod against the rod holding mechanism 58, removing it from the rod holding mechanism 58, and holding the pile to the rod holding mechanism can be carried out using the fragne.

Further, in this machine, the drilling rod 16 can be attached to or detached from the power swivel automatically or by remote control, and the stake 19 can also be attached to the power swivel 35.

Power swivel mount 88 as shown in Figures 3 and 4.
are the guide columns 34a, 34. The power swivel 35 is attached to the power swivel mount 88, and the power swivel 35 is attached to the power swivel mount 88. A chucking mount 89 is mounted below the power swivel mount 88 so that it can move up and down with respect to the power swivel mount 88 by means of cylinders 91a and 91b. The chucking mount 89 also includes the guide posts 34a, 34.
．． b is guided and held so that it can move up and down.

When the chuck 91 is held by the chuck mount 89 and the rod holding mechanism 58 is positioned below the power swivel 35 as shown in FIGS. 15, 16, and 16A, one drilling rod is held in the chuck. The drilling rod 16 can be inserted into the king 91 and the drilling rod 16 can be gripped by the chuck 91. The chucking mount 89 is located on the outer periphery of the rod holding mechanism 58 so as not to interfere with it.

The chucking 91 can rotate while gripping the drilling rod 16. That is, the cylindrical rod guides 90a and 90b are arranged vertically and coaxially and attached to the chucking mount 89.
, the cylinder 92 and the retaining piece 9 are inserted into the opening formed in 90b.
4 is held rotatably about a vertical axis, and its cylinder 92 can enter into the rod guides 90a, 90b through the openings, that is, the drilling rod inserted through the rod guides 90a, 90b can be inserted into the cylinder 92. The drilling rod can be gripped by holding it against the holding piece 94. The engaging piece 94 projects forward and engages with a protrusion 96 fixed to the tube of the movable cylinder 95. The movable cylinder 98 is held by a chucking mount 89 so as to be able to move left and right, and rods 95a and 95b on both sides thereof are fixed to the chucking mount 89. Therefore, the movable cylinder 95
For example, in the figure, when hydraulic pressure is supplied to the rod 95a side and hydraulic pressure is decreased to the rod 95b side, the tube of the movable cylinder 95 moves to the right in the figure, and the drilling rod 16 gripped by the cylinder 92b rotates counterclockwise in the figure. It will move. To rotate the excavation rod in the opposite direction, hydraulic pressure may be supplied to the rod 95b side of the cylinder 95. Note that the chucking mount 89 has a hole 97 through which a chain, which will be described later, passes.

Therefore, one of the drilling rods 16 is positioned directly below the rotating shaft 57 of the swivel, and at that position, the insertion/removal notch 65 in the holding plate 64 of the rod holding mechanism is opposed to the chucking 91, and in this state, the cylinder 91a , 91
b is controlled to position the chucking mount 89 below the holding plate 64, and one drilling rod 16 held by the rod holding mechanism 58 is inserted into the hole 98 of the chucking 91. Thereafter, the cylinders 92a and 92b are controlled to grip the drilling rod 16, and in this state, the chucking mount 89 is moved to the cylinder 91a.

91b to bring it close to the swivel mount 88, that is, to bring one of the drilling rods 16 gripped by the chuck 91 close to the rotation axis 57 of the swivel 35, and to move the swivel 35
By rotating the swivel rotation shaft 57, the male thread 99 formed at the lower end of the drilling rod 16 is screwed into the female thread 101 (FIG. 17) formed at the upper end of the drilling rod 16.
The drilling rod 16 is connected to the swivel rotation shaft 57. The rod holding mechanism 58 is rotated to remove anything other than the connected drilling rod from the position of the power swivel 35. Hereinafter, removing the rod holding mechanism 58 from directly below the power swivel will be referred to as a return operation. After that, lower the power swivel, bring the drilling rod connected to the power swivel close to the upper end of the drilling rod that is already in the ground, and rotate the power swivel 35 to attach the external thread formed at the lower end of the drilling rod connected to the platform. 102 (FIG. 17) is threadedly connected to the lower end screw 101 of the uppermost drilling rod already inserted into the ground. In this case, in order to complete the connection, the drilling rod located underground is held by a rod clamp.

Rod Clamp The rod clamp 103 is attached to cylinders 104a and 104b on both sides of the notch 43 shown in FIG. 7 at the front end position of the upper skin 32b as shown in FIGS. 3 and 4.
is attached to the upper skit 32b (Figs. 18 and 19).
(see figure), a presser 105a is attached to the rod of the cylinders 104a and 104b.

105b are attached, and these pressers 105a.

105b has opposing surfaces that form a substantially common cylindrical surface, and the axial direction of the cylindrical surface is the vertical direction of the swivel rotation axis. The presser 105a, 10
A guide piece 106a is provided on the upper side of 5b.

106b are fixed respectively, and these guide pieces 10
A drilling rod suspended from a swivel rotating shaft 57 is guided between 6a and 106b so that it can descend.

Further, each tube of the cylinders 104a and 104b is extended toward the holding tools 105a and 105b, respectively, and the extension portion 10
7a and 107b, and these extensions are attached to the presser tool 1.
05a and 105b are respectively fitted and guided by the guide pieces 106a and 106.
The extension portions 107a and 107b facing 1.b are provided with notches 1.b, respectively, as shown in FIGS. 3, 18A, and 19A.
08 is formed. Guide piece 10 by notch 108
6a, 106b are guided, and the cylinder]04a,]
, 04. Even if the rod b is expanded or contracted, the rod does not rotate, and the guide pieces 106a and 106b always face each other and are located on the upper side. Presser 105a.

A drilling rod 16 is located between the cylinders 105b, and the drilling rod 16 can be held and fixed by controlling the cylinders 104a and 104b, and in this fixed state, the swivel 35 can be rotated to move the drilling rod 16 to its two sides. The drilling rod connected to the swivel rotating shaft 57 and the drilling rod held by the rod clamp 103 can be connected by a screw connection. At this time, the rod clamp 103 receives the rotational force, but the rotational force is received by the fitting part between the holding tools 105a, 105b and the extension parts 107a, ], 07b,
Cylinders 104a, 104. The rod of b is hardly reached, so there is no risk that the seal of the cylinder will be deteriorated by the rotational force. Note that in this example, the guide piece 106a,
Fixed piece 106b 1) 0a.

1) This is the case where 0b is located in the notch 108 and the guide piece is prevented from rotating.

As shown in FIGS. 3 and 19, this rod clamp 10
An elastic ring 1.09 made of rubber is fitted and held on the holding tool 1) 1 directly below the holding tools 105a and 105b of No. 3. A drilling rod held by a swivel 35 is positioned within the elastic ring 109 so as to be inserted therethrough in elastic contact. Therefore, since the drilling rod 16 passes through the elastic ring 109 when recovering the drilling rod 16, the mud attached to the drilling rod 16 is removed and the rod can be held securely in the chucking 91 and the rod clamp 103. can.

The drilling rod is held by the rod clamp 103, and the swivel 35 is made freely rotatable, and the chucking 91 grips the drilling rod connected to the swivel rotating shaft to control the movable cylinder explained in FIGS. 15 and 16. By doing so, the upper drilling rod can be rotated, that is, the threaded connection between the upper drilling rod and the drilling rod held by the rod clamp 103 can be loosened. In that loose state, Cha, 7 King 9
1, and by rotating the swivel 35 in the opposite direction, the threaded connection between the drilling rod held by the rod clamp 103 and the drilling rod connected to the swivel rotation shaft 57 is loosened, and the rod holding mechanism described above is loosened. The drilling rod can be recovered by holding the drilling rod connected to the swivel rotation shaft 57 in the rod holding mechanism 58 by an operation opposite to the operation of connecting the drilling rod from the mechanism 58 to the swivel rotation shaft 57.

Since the rod clamp 103 becomes an obstacle when burying the pile, the rod clamp 103 is designed to be able to be removed from the position. That is, as shown in FIG. 18, FIG. 18A, and FIG. 19, the rod clamp 103 (
The cylinders 104a, 104b) are mounted on a movable plate 301, and both sides of the movable plate 301 are connected to the guide rail 3.
Guided by 02a, 302b, ``Two-part skit 32
A movable plate 301 is held so as to be able to move back and forth on b.
and the upper skit 32b.
3, the movable plate 301 can be retracted to the dotted line position in FIG. An elastic ring 109 is also attached to the movable plate 301.

As shown in FIG. 19, a flange 16a is formed in the middle of the drilling rod with a bit, and this drilling rod is attached to a power swivel with an elastic ring 109 passed through it. )1, the rod clamp 103 can be moved forward to fit the elastic ring 109 into the retainer 1)1.

Furthermore, when the drilling rod is recovered, the elastic ring 109 can also be recovered by performing the reverse operation.

As shown in FIGS. 3 to 5, a feeding device 36 is installed on the top of the excavation tower 34, that is, on the connecting portion 34C. -1) 4 is installed and its sprocket 1
) 4 is connected by a chain 1) 7 to a large sprocket 1) 6 attached to the drive shaft 1) 5.
is reduced in speed by sprockets at both ends of its drive shaft 1) 5.

1) 8a and 1) 8b are respectively attached, and chains 1) 9 are attached to these sprockets 1) 8a and 1) 8b, respectively.
a, 1) 9b is attached to further reduce the speed. One end of each of the chains 1) 9a and 1) 9b is fixed to a swivel mount 1) 8, and the other end is a sprocket 121a attached to the lower end of the guide posts 34a and 34b, respectively.
121b and further chucking mount 8
9 through hole 97 and is fixed to swivel mount 88. Therefore, the hydraulic motor 1) 3 of the feeding device 36 is rotated in one direction to lower the swivel mount 88, and rotated in the opposite direction to raise the swivel mount 88. In this way, the swivel 35 can be moved up and down. In order to measure the vertical amount of this swivel 35 and to measure the depth of excavation by the drilling rod, for example, the hydraulic mower 1 is used.
) 3, a rotary encoder 122 is mounted on the rotating shaft.

A hydraulic motor 124 is attached to the power swivel 35 on a swivel mount 88, and a gear 125 is attached to its rotating shaft as shown in FIG.
26, and the rotating shaft on the large gear 126 is connected to the swivel rotating shaft 57. Therefore, the rotation of the hydraulic motor 124 causes the swivel rotation shaft 57 to rotate at a reduced speed.

The rotation amount and rotation speed at this time can be measured by a rotary encoder 128 connected to the gear 125.

Further, in this machine, drilling is performed by rotating the bit 14 (FIG. 1B) and at the same time, drilling is performed by jetting high-pressure drilling fluid. For this purpose, the swivel rotation shaft 57 is made into a double tube as shown in FIG.
2, an outer tube 131 protrudes above the case 133 of the large gear 126, and a joint portion 134 is rotatably covered over the protruding end. Joint portions 134 for externally supplying liquid into the passages 132, respectively.
A high pressure pipe connection part 135a is provided at the upper end, and a low pressure pipe connection part 135b is provided at the side of the joint part 134, respectively.

A high-pressure drilling fluid is supplied into the inner pipe 129, and a large amount of peripheral fixing fluid, cement milk, etc. is supplied to the cylindrical passage 132 at low pressure. As shown in FIG. 17, the drilling rod 16 is also made of a double pipe in order to pass the high pressure drilling fluid from the inner tube 129 of the swivel rotating shaft and the low pressure fluid from the cylindrical passage 132.

In order to connect the stake to the power swivel 35, a stake connection jig is connected to the power swivel 35. Pile connection jig 137
has a substantially cylindrical shape as shown in FIG.
A connecting female screw 141 is fixed at the center of the power swivel rotating shaft.
9 or the lower end screw 102 of the drilling rod can be screwed together. Furthermore, in this example, this jig 137 can also be used to connect the final pile and a power swivel, and a cylindrical female thread 1 is provided on the inner peripheral surface of the cylindrical body 138.
42 is removably attached with a screw 143. The male thread 14 at the upper end of the resistor 19 is connected to the cylindrical female thread 142.
4 can be screwed together. In other words, the pile 19 is the 22nd
As shown in the figure, a male thread 144 is formed at its upper end, and a female thread 145 is formed at its lower end, which can be threadedly connected to this male thread 144, and this stake 19 has a center hole. It has been penetrated.

On the other hand, the final pile, that is, the pile to be buried at the top, has a cylindrical protrusion 146 having a smaller diameter than the outer circumferential diameter protruding from its upper end, as shown in FIG. 21B, for example. A pair of pins 147 are protruded and fixed 180 degrees apart from the side surfaces of. In the pile connection jig 137, an inner tube 148 is attached concentrically inside a cylindrical body 138, and the inner tube 148 has a substantially L-shaped notch 149 from its lower end surface, as shown in FIG. 21C. They are formed 180 degrees apart, and the bin 147 of the final pile 19 can be inserted into and coupled to this L-shaped notch 149 (inverted in the figure).

As shown in FIGS. 3, 4, and 23, a stake clamp 151 is provided below the rod clamp 103. This pile clamp 151 has a rotating arm 15 centered around a shaft 152.
3 is rotatably provided, one end of the arm 153 is connected to the cylinder 154, and the other end of the arm 153 is provided with a pile holder 15.
5 is installed. The anti-pressure foot 155 is shaped so as to follow the circumferential surface of the pile I9. Such a rotating arm 153
, a cylinder 154, and a pile presser 155 are provided as a pair facing each other. Therefore, by controlling both cylinders 154, the pile 19 can be held between both sides.

When connecting the pile 19 to the swivel rotation shaft 57 in the same way as when connecting the drilling rod 16 to the swivel rotation shaft 57,
The pile connecting jig 137 is connected to the rotating shaft 57 in advance, and in this state, the pile 1 is attached to the pile presser 84 of the rod holding mechanism 58.
9, and in that state attach the anti-connection jig 13 to the pile 19.
7 is rotated and held by the rotation of the swivel 35.
Connect by screwing to. Thereafter, the lower stake is held by the anti-clamp 151, and in this state, the swivel is lowered and rotated to threadably connect the upper stake connected to the swivel to the lower stake.

Next, the control for holding the skit 32 horizontally will be explained. For example, if the outrigger holding the skit 32 is
As shown in Figure 4, the front outriggers 33a, 33b
As an example, it is assumed that four outriggers, ie, rear outriggers 33c and 33d, are used to hold the vehicle. An inclinometer is installed at the intersection of the two intersecting straight lines, but in this example, the inclinometer 1 is installed on the line 16 connecting the outriggers 33a and 33d.
62 is provided, and the inclinometer 162 detects the inclination angle of the straight line 161 with respect to the horizontal plane.
Inclinometer 1 measures the inclination of line 163 perpendicular to 61 with respect to the horizontal plane.
Detected at 62. A support portion of the inclinometer 162 is provided within the operation chamber 38 in FIG. 3, for example.

The inclinometer 162 controls the outriggers 33a and 33d in accordance with the detected inclination angle of the straight line 161 with respect to the horizontal plane to make it horizontal.
33a and 33d, corresponding to the respective distances a and d.
By controlling one of the outriggers 33a and 33d such that, for example, when one of the outriggers 33a and 33d is raised and the other is lowered at a ratio of :d, the straight line 161 is made horizontal with a small amount of control. In addition, in order to correct the inclination of the straight line 163 with respect to the horizontal plane, the outriggers 33b, 33c are similarly -33b, 33
c are controlled inversely to each other. In other words, the intersection of the line connecting the outriggers 33b and 33c and the straight line 161 and the outrigger 3
3b.

The inclination of the straight line 163 with respect to the horizontal plane may be corrected according to the distances b' and c' between the lines 33c.

Control of these outriggers 3, 3a to 33d is performed at high speed when the outriggers are initially extended, and correction control for slight deviations for maintaining the horizontal position is performed little by little with high precision. From this point of view, these outriggers
Drive cylinders 164a-1 for 33a-33d
64d (FIG. 25), switching valves 165a to 165d for raising and lowering the outriggers are provided in the hydraulic passages for each cylinder, respectively, and a high-speed valve is provided in the hydraulic passage common to these vertical switching valves 165a to 165d. A control valve 166 is inserted, and a low speed control valve 167 is provided in parallel with this valve 166. Furthermore, the switching valve 16 of the high-speed control valve 166
A pressure switch 168 for detecting the oil pressure is provided in the oil pressure passage on the sides 5a to 165d. pressure switch 168
valve 166 when the detected hydraulic pressure is above a predetermined value.
The control is switched from the control by the valve ]67 to the control by the valve ]67.

The control for the drive cylinders 164a to 164d is performed by the 26th
Let's explain with reference to the flowchart in the figure. First, automatic leveling,
In other words, when you start the routine to level skit 32, it checks whether the initial automatic leveling is done (S,)
. From the initial automatic leveling, that is, the state in which the skit 32 is moved by the movable body 31, the outriggers 33a to 33
When leveling is performed by extending the pressure switch 168 first, the pressure switch 168 is checked to be OFF, and if it is ON, that is, if it is already in the controlled state by the low speed control valve 167, it is considered abnormal, and if it is OFF, it is switched. valve 16
5a to 165d are turned on, and the high-speed control valve 166 is turned on (S3) to extend all outriggers 33a to 33d at high speed. When all these outriggers 33a to 33d reach the ground, the oil pressure in the hydraulic passage increases and the pressure switch 16
8 becomes ON (S,). This pressure switch 168 is
When it becomes N, the switching valves 165a to 165d turn OFF.
, and the high-speed control valve 166 is turned off.

In this example, each outrigger is then further extended slightly, that is, gradually extended to the extent that the balance is not lost, so that each outrigger is securely grounded.

To make this slight overhang, for a predetermined period of time, each switching valve 1 is
This is done by supplying hydraulic pressure through 65a to 165d one by one. In this example, when the front side of the excavator faces a high wall, for example, control is first performed from the front outrigger so as not to be affected by the wall.

That is, as shown in FIG. 26, the front right outrigger 33a
Turn on the switching valve 165a for S6)
, the outrigger 33a is gradually extended for a certain period of time Δ1.
．． Check whether the specified time Δt1 has elapsed (S7).
, then turn on the switching valve 165b for the front left outrigger 33b (SS), and then check whether the predetermined time Δt1 has elapsed (S,), Δt.
, the switching valve 165C for the rear right outrigger 33C is turned ON. ), similarly check whether a certain period of time Δt has elapsed (5II), and if a certain period of time has elapsed, turn ON the switching valve 165d for the rear left outrigger -33d (S+Z), and check whether a certain period of time Δt1 has elapsed. After that time has elapsed, each of the outriggers 33a to 33d has been brought into contact with the ground with sufficient certainty due to the gradual extension of each outrigger.

Next, the inclination meter 162 at this time detects each inclination of the straight line 161° 163 with respect to the horizontal plane, and correspondingly, the outrigger 3 required to level the skit 32 is detected.
Control amounts, that is, correction amounts for 3a to 33d are calculated (SI4). As a result of the correction calculation, the front cloth outrigger
Check whether to raise 33a (srs), and if you want to raise it, turn on the switching valve 165a (316)
, gradually raise the outrigger 338, and check whether it has been raised by the correction value (Sl?). When the correction value is increased, the switching valve 165d of the rear left outrigger 33d is turned on, and in this case, the outrigger 33
Turn on the valve 165d in the direction of lowering d (S+s
). It is checked whether this lowering amount has reached the corrected value (319), and if it has reached the calculated value, it is checked whether the front outrigger 33b should be raised (SZO).

When raising this outrigger 33b, correspondingly turn on the switching valve 165b (5KI) and check whether this raising amount is the correction value (5Zt). If it matches this correction value, the rear right outrigger 33c Turn on the switching valve 165C for this outrigger 33.
Try to lower C (Sz3).

Check whether the lowered value is the set correction value.3
24) If this matches, check the detection state of the inclinometer 162, that is, check whether both lines 161 and 163 are in a horizontal state (Szs), and if they are both horizontal, perform automatic centering, i.e. The lamp indicating that the level of the skit 32 is maintained is turned on (SZ+,), and this process of automatically controlling the level is completed.

When the horizontal correction calculation is completed, that is, step SI5
If it is necessary to lower the front cloth outrigger 333, the switching valve 165d of the rear left outrigger 33d is turned on to raise the outrigger 33d (SZ7).

Check whether the rise of this outrigger 33d has reached the correction value (521)), and when it reaches a predetermined value, the switching valve 165a for the front right outrigger 33a is turned on, and in this case, the outrigger 33a is lowered. (S29). Check whether the operation of lowering the outrigger has reached a predetermined value, that is, whether it has reached the corrected value (s:lO). If the operation has reached the corrected value, the process moves to step 320. In this step S2゜, if it is necessary to correct to lower the former outriggers,
First, the switching valve 16 for the rear right outrigger 33c
Turn on 5c and raise its outrigger 33c (S3
+), check if this is the specified correction value.
3□), if the predetermined value is reached, the former outrigger -33d
The switching valve 165d is turned ON to lower the switching valve 165d (S3: +). Check whether the ability to lower or retract this outrigger 33 has reached a predetermined value (334), and if it has reached the predetermined value, step S
Move to 2S.

In this step S25, if the detected inclination by the inclinometer is not zero, that is, if each straight line 161) 63 does not coincide with the horizontal, it is checked whether correction is required again. It is checked whether there is any deviation (S35), and if it is necessary to correct it again, the process moves to step S14, a correction calculation corresponding to the inclination is performed, and the above-mentioned step SI and the following processes are performed. Furthermore, when the automatic leveling process is activated, if initial automatic leveling is not performed (S+), that is, if the skit 32 becomes slanted for some reason during excavation work, generally the deviation of the skit 32 from the horizontal is slight. However, if the detected output of the inclinometer 162 exceeds a predetermined value, that is, if it deviates from the horizontal by a predetermined value or more, an alarm is issued and automatic leveling control processing is performed. In the case after that, the process moves from step S to step 33&, and checks whether automatic leveling is being performed during the work. If not, it is determined that there is an error and the process returns. If it is leveling control during excavation work, the process returns to step S. The process moves to step sea and is executed from the corrected sales process. In addition, the steno knob S that performs the above-mentioned correction calculation, and the horizontal correction control of the skit in the following, are the low-speed control valve 1.
67, each outrigger can be raised and lowered one by one with precision.

In order to automatically control this excavation and pile burying machine, as mentioned above, for example, a rotary encoder is used to control the vertical movement distance of the swivel 35 and, if necessary, its speed. 122 is provided, and a row encoder 128 is provided to detect the rotational speed or number of rotations of the rotating shaft 59 of the swivel 35. Furthermore, the hydraulic motor 1 with swivel 35
Although not shown in the figure, a pressure sensor for detecting the oil pressure in the hydraulic passage No. 24 is provided. In FIG. 10, proximity switches 171a are provided on both sides of the insertion/removal notch 65.

171b are provided, and when the excavation rod 16 held by the rod holding mechanism 58 passes through these proximity switches, this is detected. Although not shown in the figure, there is also a mint switch that detects that the rod holding mechanism 58 is in the return position, a mint switch that detects that the rod clamp 103 is in the return position, and a mint switch that detects that the rod holding mechanism 58 is in the return position. A limit switch that detects that the notch 65 is at a predetermined angle position with respect to the holding arm 61a, a limit switch that indicates the operating position of the clutch cylinder 75, a limit switch that detects the vertical state of the chucking 91 with respect to the swivel mount, power swivel 3
Limit switches and the like are provided to detect the origin position and the lowest point position of No. 5, respectively.

Next, the control for automatically operating this excavation/pile burying machine will be explained with reference to the flow chart of FIGS. 27A-M. In FIG. 27, the processes with two-tree lines attached to the frame indicate that they are automatically performed. First, start the engine of the movable body 31! , turn on the operation control switch (S2),
The movable body 31 is operated and moved (S3), the excavation tower 34 is raised by operating the switch (S3), the movable body 31 is further moved near the position to be excavated, and the swivel 35 is moved almost directly above the excavation position. (S5)
.

Next, when the automatic vertical centering switch of the excavation tower is turned on (36), the skit 32 is automatically set in the horizontal position as described with reference to FIG. Furthermore, the sixth
The upper skit 32 as described with reference to FIGS.
b is moved forward and rotated relative to the lower skit 32a to position the rotating shaft 57 of the swivel directly above the point to be excavated (S,
). Thereafter, it is automatically checked again whether the excavation tower is properly aligned vertically, that is, whether vertical centering is required (SS). As mentioned earlier, if the detected slope of the inclinometer exceeds a predetermined value, an alarm lamp in the operation room will display, and the vertical centering switch will be automatically turned on, and the skit will be leveled automatically again. Control to state (
S, ), when the control is completed, the centering completion lamp is displayed. Next, a switch for returning the rod holding mechanism 58 is turned on (SIO). This return is referred to as RC return in FIG. 27. When this switch is turned on, the cylinder 86 explained in FIGS. 9 and 12 is controlled, the rod holding mechanism 58 is rotated and returned, and the rod holding mechanism 58 is tightened by the temporary fastening mechanism 66. will be carried out (S
++). When the return of the rod holding mechanism 58 is confirmed by, for example, a limit switch (S+□), it is then checked by, for example, a mint switch whether the rod clamp 103 has returned or is retracted rearward (SIs ).

If the rod clamp has not returned, the rod clamp 103 is moved rearward and returned (SI4). The completion of the return is indicated by a lamp.

Next, it is checked whether the insertion/removal notch 65 of the upper holding plate 64 of the rod holding mechanism 58 is located at the correct angular position (S, S). This check is performed by a limit switch, and if the clutch cylinder 75 is not in the normal angular position, it is checked by an overlocking switch (316) that the clutch cylinder 75 is lowered, and if it is not lowered, the clutch cylinder 75 is lowered and the In FIG. 9, the holding arm 61a is disengaged and the clutch plate 77 is engaged (SIt). In this state, the switch is operated to rotate the rod mechanism 58, that is, in FIG. 61a and check whether the notch 65 is at the normal angular position again (SIs), if it is at the normal angular position, check whether there is another drilling rod at the position of the notch 65 for taking in and out. (SI,), if it is, check whether the clutch cylinder 75 is up (SZ), and if it is not, raise the clutch cylinder 75 and connect it to the holding arm 61a. ShikuSz□),
After that, tighten the temporary fixing mechanism 62 (S2□) and rotate the rod holding mechanism 58, that is, rotate the rod holding mechanism 58 with the holding plate 64 fixed to the holding arm 61a (523).
, it is checked again in step SI9 whether or not there is a drilling rod at the position of the notch 65. If there is no excavation rod at the position of the notch 65, it is checked whether the clutch cylinder 75 is lowered (S24), and if it is not lowered, the clutch cylinder 75 is lowered and connected to the clutch plate 77, and the holding arm 61a (Szs).

After that, operate the switch and move the rod holding mechanism 58 to 30''.
(S26).

This N is counted in a counter. In this state, the auger 1) (FIG. 1A) is attached and held by the rod holding mechanism 58. When the attachment is completed (S2?), the temporary fastening mechanism 66 is tightened by switch operation (Sze), and the switch for setting the rod holding mechanism 58 is operated (S29), and then the rod holding mechanism 58 is moved to the left or Turn to the right by 30°×(N+1) (S31). When the completion of cent of the rod holding mechanism is detected (S3□),
When the rod holding mechanism is rotated to the right by 30 degrees, that is, directly below the swivel (S33), the chucking 91
(S3s
), loosen the temporary fixing mechanism 66 (S36), and loosen the swivel 35.
While rotating forward, the chucking 91 is raised to SS,
), it is checked whether the oil pressure of the swivel 35 is below a predetermined value, and if it is equal to or higher than k1, that is, it is determined that the rotating shaft 57 of the swivel is securely screwed into the female thread at the upper end of the auger (S38), the auger is connected. is completed (S39)
.

When the auger is connected in this way, the auger excavation switch is turned on (S4°), the holding of the chuck 91 is released (S41), the chuck 91 is raised (S4□), and the rod holding mechanism 58 is rotated. I want to come back 5ll
), the temporary fixing mechanism 66 is further tightened (S44), and the power swivel 35 is lowered to the depth O (S4s). From this point, the auger excavates by manual operation (S4
6) During that time, monitor the excavation torque (rotational force of the auger), auger feeding force (that is, the descending force of the auger, the excavation rotation speed, etc.), and manually adjust the excavation torque and feeding force according to the condition of the surface soil. Excavate while making adjustments. During this excavation, the verticality of the excavation tower is checked (347), and when the verticality becomes, for example, 1/200 or more, the excavation is stopped,
However, the power swivel should continue to rotate S41
+), the vertical centering switch is turned on, vertical centering is automatically performed (S49), and then horizontal centering, that is, checking whether the excavation position is correct is performed (S50).
), if centering is required, horizontal centering is performed in the same manner as step S7 (S5.), and the process returns to step S46 to perform auger excavation under manual control.

In this way, digging is performed while checking the verticality, and it is checked whether the digging depth has reached the preset value of 4 (S5□). This depth is determined by the integrated value of the encoder of the feeding device 36. Excavation will automatically stop when the set depth is reached (S53), and the power swivel continues to rotate. Then, when the auger excavation stop switch is turned on (S54), the power swivel automatically rises.
When the auger is withdrawn, this is detected by the position switch of the power swivel (355), and the rotation of the power swivel is automatically stopped (S56). Then, when the switch to set the rod holding mechanism 58 is turned on (
s s'+) The rod holding mechanism 58 rotates. Check whether the loading/unloading notch 65 is in the correct position (S5S),
If the position is correct, it is checked to see if there is another rod in the notch 65 (S59), and if there is another rod, it is checked to see if the clutch cylinder 75 is up (S,
. ), if it is not up, raise the clutch cylinder 75 (S61) and rotate the rod holding mechanism 58 by operating the switch S6□), check again in step SOB whether the notch 65 is in the correct position, and make sure it is in the correct position. Please check if the clutch cylinder 75 is lowered.
3) If it has not been lowered, lower the clutch cylinder 75 and engage it with the clutch plate (31, 4), then return to step 362, rotate the rod holding mechanism 58 by operating the switch, and return to step 35B again to disengage it. It is checked whether the position of the notch 65 is correct, and if it is correct, it is checked whether there is another rod in the notch, and if not, the temporary fixing mechanism 66 is loosened (S65).

After the setting of the rod holding mechanism 58 is completed, sbb>, that is, after the rod holding mechanism has rotated to the auger position,
When the release switch is operated to disconnect the power swivel and the auger (S67), the chucking 91 is lowered (S+
, o), the rod of the auger is grabbed by the chuck 91 (S69), and the shaft king 9 starts to descend (57o), and the power swivel is reversed, that is, the screw-connected power swivel and the auger are disconnected (S7).
1) When the mint switch detects that the chucking 91 has descended to a predetermined position, that is, when the auger is placed on the rod holding mechanism 58 (S72), the temporary fixing mechanism 66 is tightened to hold the auger. 5q3), release the chucking 9I 574), and then the chunking 91 is raised (S'15) 6 Then, when the rod holding mechanism return switch is operated (S76), the clutch cylinder 75 is lowered and the clutch plate It is checked whether the clutch cylinder 75 is connected to the clutch plate (S7?), and if the clutch cylinder 75 is not connected to the clutch plate, the clutch cylinder is lowered (S7?). B) Tighten the temporary fixing mechanism 66 (S79)
, the rod holding mechanism 58 is rotated 30 degrees to the right (s
l1o). When the rod holding mechanism 5B returns to rotation, this is detected by the limit switch (Set), and the switch for rotating the rod holding mechanism 58 is operated (Sa□).
That is, the auger is rotated to the position of the notch 65, the switch for loosening the temporary fixing mechanism 66 is operated (Ss, I), and the auger is removed from the rod holding mechanism 58 (Sl14).

In this way, as shown in Figure 1A, when the auger is used to excavate and the auger is pulled up and removed,
As shown in Figure 1B, insert the casing 1 into the drilled hole.
3 and make sure that the area around the hole does not collapse. That is, when the auger removal is completed in this way (S as
) Check whether it is necessary to rotate the rod holding mechanism to attach the casing (S1) 6), and if it is necessary to rotate, operate the rotation switch (
It is checked whether the clutch cylinder 75 is lowered (SSS) and the clutch cylinder 75 is lowered.
If the rod has not been lowered, it is lowered and connected to the clutch plate (SI19), and then the rod holding mechanism 58 is rotated (S9°), and it is checked whether it is necessary to rotate again. If this is not necessary, attach the casing attachment to the rod holding mechanism 58 (S91
). The casing is also pre-attached to the casing attachment. When the installation of the casing attachment is completed (39Z), the temporary fixing mechanism 66 is tightened by operating the switch (S, 3), and the switch for centigrade the rod holding mechanism is further operated (S94). Then, the rod holding mechanism rotates by -30° x (N+1) (395), and when the rod holding mechanism rotates and is positioned above the excavation position, it is detected by the mint switch (S96), and the rod holding mechanism rotates by 395).
It is turned to the right by 0° (397), and further steps 33a~
Routine R8 of S39 is executed (89B), and the rod of the casing attachment is connected to the power swivel. Then, when you operate the casing push switch (S
+o4) The holding of the chuck 91 is loosened, the chuck 91 rises, and the rod holding mechanism automatically returns to S. ,), After tightening the temporary fixing mechanism 66, the power swivel descends to zero depth (S+.,), and in this state it is checked whether the position of the casing tongue should be adjusted (SII
o) If adjustment is necessary, rotate the power swivel to position the tongue of the casing at the required angle S++
+ ), operate the switch to push the casing (S
I+2).

The casing is pushed in (S1) 3), that is, the power swivel is lowered by the feeding device 36, and it is checked whether it has reached the specified depth (S1) 4).
When the casing is pushed to a specified depth, the power swivel is reversed by A rotation (SIIo), and the power swivel is raised (SI+6). The connection between the casing and the casing attachment is carried out in the same way as the connection between the final pile and the anti-connection jig, as previously explained with reference to FIG. The connection with the attachment comes off. The power swivel is at the highest position, this is detected by the limit switch (SI+6), and then when the switch to set the rod holding mechanism is pressed (Sl, Wa), the routine R5 of steps 5SII to S6S is executed and the rod holding mechanism is set. is correctly sent (SIIo).

The setting of the rod holding mechanism is now complete (S1). ), when the rod disconnection switch is operated (S, 2°), step S
68~S? 5 routine Re is executed (S+□,),
The casing attachment is disengaged from the power swivel, and the casing attachment is held by the rod holding mechanism. When you operate the switch that returns the rod holding mechanism (SI29)
, Step S? Enter routine Rd from 7 to 3+10 (3
130), the return of the rod holding mechanism is completed (SI31
). Then, operate the rotation switch of the rod holding mechanism to position the casing attachment at the position of the insertion/removal notch 65 (S+az), operate the switch to release the temporary fixing mechanism (S+is), and then remove the casing attachment (S++4). .

Next, connect the drilling rods, and use the drilling rod with a pin (14) attached at the bottom as the first drilling rod to be connected. Therefore, it is checked whether this is already attached to the rod-attached mechanism 58 (S+3s), and if it is not attached, it is checked whether it is necessary to rotate the rod holding mechanism to attach it (SI36), and it is necessary to rotate it. If so, operate the rotation switch (S+t7). Then, it is checked whether the clutch cylinder 75 is connected to the clutch plate (Sl:Ill), and if it is not connected, the clutch cylinder is lowered and connected to the clutch plate (<5xsq). The rod holding mechanism is then pivoted (
SI40), it is checked again whether the rotation is still necessary, and if it is not necessary, the drilling rod with the bit is attached to the rod holding mechanism (S + a□). Then the temporary fixing mechanism 6
6 by operating the switch (S14□), and check whether the rod with the bit is positioned in the notch 65 (SI
43), If it is in the notch 65 position, operate the switch to raise the clutch cylinder 755I44),
Furthermore, operate the switch that rotates the rod holding mechanism to rotate it (Sea 5), make sure that the rod with the bit is not in the notch 65 position, and then check whether the clutch cylinder 75 is lowered (S146), and if it is not lowered, Lower the clutch cylinder S, 7), and operate the switch to center the rod holding mechanism (S148). Then, it is checked whether the clutch cylinder 75 is lowered (C3xaq), and if it is not lowered, it is lowered (S15°), and the rod holding mechanism is moved 130'X (N→-1
) is rotated (S+s+), and then the door holding mechanism is rotated and brought to the set position (SI52
). The rod holding mechanism is then rotated 30° to the right (
Sesa). Then, when you operate the rod connection switch (
SI54) and routine R are executed and the hit rod is connected to the power swivel 5155). Then, when the rod holding mechanism return switch is operated (S16I), the holding by the chucking 91 is released (SI62).
, the chucking 91 is raised (S16:l), the rod holding mechanism is rotated and returned (5I64), and the temporary fixing mechanism 66 is tightened (S165). Thereafter, the power swivel is lowered to a depth N, that is, the power swivel is lowered by the amount excavated by the auger (S166).

Thereafter, when the excavation start switch is operated (3167), rotation of the power swivel 35 is started (SI68), and feeding by the feeding device 36 is started (3169).

In this state, excavation is being carried out by the drilling rod, during which time it is checked whether the feeding force is smaller than 2, that is, whether the excavation is proceeding smoothly (S170).
), if it is not progressing, the feeding device 36 is stopped (5
171), the power swivel is increased by a predetermined value (S17□
), the feeding speed is reduced (Sl7.), and step S1
6. , and feeding is carried out again. If the feeding force is less than 2, it is checked whether the excavation torque is smaller (Sl74); if the excavation torque is greater than 3, step S; Then, the feeding is stopped and the feeding speed is reduced. If the excavation torque is less than 3, it is checked whether the verticality is less than a predetermined value (Sets
), if the predetermined value or more, steps s48 to SS
Routine R8 of I is executed (S176), and then the excavation start switch is operated (Se, 7).

Then, feeding start step S16. Move to.

If the verticality is within a predetermined value, it is checked whether the excavation has reached the desired final depth (S+e+), and if it has not been excavated to that extent, it is checked whether the power swivel is at the lowest position (See□), When it reaches the lowest position, the feeding device 36 is stopped, and the rotation by the power swivel 35 is also stopped (S183).

Check whether the rod clamp 103 is set, that is, moved forward (SII+4), and if it is not set, control the cylinder 303 in FIG. 18 to move the rod clamp 103. 5) Hold the drilling rod during excavation with the rod clamp 103 (Seos), and remove the power swivel from the drilling rod by reversing the power swivel while slightly raising the power swivel (Sl87), then set the power swivel to the maximum position. ” 5xsq rising to the second end)
, and then operates the switch to center the rod holding mechanism (Sl90).

Then, after the rod holding mechanism 58 turns by -30°×N (Sl, I), check whether there is a drilling rod at the position of the notch 65 (5I92), and if there is no rod, the clutch cylinder 75 will rise. Check whether it is engaged with the holding arm (Sl93), and if it is not engaged, raise the clutch cylinder 75 (S194), then rotate the holding mechanism (5195), and drill into the notch again. It is determined whether the rod is present (3192) and, if so, the rod holding mechanism is set in rotation, ie, positioned over the excavation rond during excavation (3196). Further, routine R is executed (SI70), and the drilling rod in the rod holding mechanism is screw-coupled to the power swivel. After that, when the switch to return the rod holding mechanism is operated (S2゜), the holding of the drilling rod by chucking is released (Szot
), the chucking 91 rises (52o5), the rod holding mechanism rotates and the return is completed (3206), then the temporary fixing mechanism is tightened (S2°,), and then the power swivel is lowered (S2). 8), it is checked whether the power swivel has descended to the connection position of the drilling rod held by the rod clamp 103 (S2o,), and if the power swivel has descended to the connection position, the power swivel is rotated and lowered to remove the blockage. The drilling rod connected to the power swivel is threadedly connected to the lower drilling rod fixed to the rod clamp 103 (Sz+o
), it is checked that the power swivel has reached a predetermined pressure (S21), and when the predetermined pressure is reached, the rod connection is completed (Szrz). Thereafter, the rod clamp 103 is released (5213), the process returns to step 561), the power swivel is rotated, and the feeding device performs feeding, and excavation work is performed in the same manner as described above.

In this way, drilling is performed while connecting the drilling rods one after another, and in step 5I81, it is constantly monitored whether the drilling has reached the set depth, and when the set depth is reached, the process shown in Fig. 1C is performed. As explained above, the bottom end of the excavated hole is enlarged to form a bulbous portion.

In other words, feeding by the feeding device 36 is stopped (S214
) and raise the power swivel while rotating it (S2.
5) By this operation, that is, by digging while raising the bulb, the bulb portion is enlarged. During this process, it is checked whether the power swivel has reached the uppermost position, that is, the position to remove and retrieve the drilling rod (S
216), when that position is reached, the rotation of the power swivel is stopped (S217), and the drilling rod immediately below the drilling rod directly connected to the power swivel is fixed by the rod clamp 103 (S21) 1), and then chucked. 91 is lowered (S219), and the drilling rod connected to the power swivel on the drilling rod held by the rod clamp 103 is grabbed by chucking (S2□). Next, the rotation of the power swivel is released, that is, the rotating shaft 57 of the power swivel is allowed to rotate freely by external force (S2□I), and when the breakout activation switch is further operated (S2□2),
a drilling rod controlled by a movable cylinder 95 within a chucking 91 and held by the chucking;
The threaded connection to the drilling rod held by the rod clamp 103 becomes loose. Next, when the switch to release the chucking is operated (32□3), the power swivel starts to rise (S2□4), and the power swivel is reversed and the drilling rod connected to the power swivel and the rod clamp 103 below it. The threaded connection between the drilling rods fixed by is disconnected (S2□,), and the power swivel is further raised to the uppermost end (SZ□6). In addition, the chucking is raised (S227), and then the switch for centering the rod holding mechanism is operated (S2□8).

Then, it is checked whether the insertion/removal notch 65 is in the correct position (S2□,), and if it is not in the correct position, it is checked whether the clutch cylinder 75 is lowered (S2□,).
23o), if this has not been lowered, lower the clutch cylinder and connect it to the clutch plate (S231), then the rod holding mechanism is rotated by 1306 x N (S23°), and it is checked again whether the notch is in the correct position. (S2□,)
If it is in the correct position, it is checked whether there is another drilling rod in the notch (S233), and if there is another drilling rod, it is checked whether the clutch cylinder is raised (S233).
Szzt), if the clutch cylinder is not raised, raise this clutch cylinder and connect it with the holding arm (Szzt).
235), the rod holding mechanism is rotated by 1306XN (S236), and it is checked again whether there is a drilling rod in the notch (Sz3s). If there is no excavation rod, the temporary fixing mechanism 66 is loosened (Szst) and the rod holding mechanism is rotationally set (323!1).

When the centration of the rod holding mechanism is completed, routine Re is executed (S239), and the connection between the power swivel and the drilling rod is severed, and the drilling rod is held by the rod holding mechanism. When the return switch of the rod holding mechanism is operated (S247), the rod holding mechanism rotates, and when the return is completed (S24I+), the power swivel rotates and descends (S249), and the drilling rod held by the rod clamp 103 is removed. and the power swivel are connected, and when the connection is completed (S2..), the rod clamp 103
is released (S251), and if it has not been raised to the specified depth (S25□), the process returns to steps S2 and 5, and the power swivel is rotated and raised to perform enlarged excavation of the bulb.

In this bulb enlargement excavation, in a state where there is no need to cut off the excavation rod, from step 5216 to step S2,
Did the power swivel rise to the specified depth after moving to 2?
In other words, it is checked whether the expansion of the legal phase part is completed, and when the expansion is completed, the rotation of the power swivel is stopped (Sz
s3) After that, the process moves to blowing and removing the drilling rod.

That is, while the power swivel rotates forward (S2, S4), the power swivel is raised (S2, 5), and it is constantly checked whether the power swivel is at the drilling rod disconnection position (S2,
6), Steps 3217 to S2□ when the separation position is reached;
The routine Rf is executed (3257), and the drilling rod held by the rod clamp 103 and the drilling rod connected to the power swivel are separated. After that, when you control the switch that returns the rod holding mechanism (3
26+1), the routine R9 of steps S2□ and ~S2,8 is executed (S269), and the rod holding mechanism is set to the digging position with the notch 65 in the correct position and no drilling rod in the notch. . In this state, if you operate the rod disconnection switch (S276)
, routine Rc is executed (S2?+), and the drilling rod connected to the power swivel is held by the rod holding mechanism. After that, when you operate the switch that returns the rod holding mechanism (S27°), the rod holding mechanism returns,
The power swivel is lowered, and routine R6 is executed to connect the drilling rod held by the rod clamp (S273).

Thereafter, a check is made to see if it is the lowest drilling rod (S275), and if it is not the lowest drilling rod, the process returns to step 5255 and the drilling rod is recovered in the same manner. If the connected drilling rod is the lowest one, the power swivel is raised to depth M2 (S271).
), a cleaning fluid is supplied to the drilling rod to clean it, and then the power swivel is raised to its two-most position (32
7. ).

Next, when the switch to center the rod holding mechanism is operated (S21), routine R9 is executed (S21).
)1), then operate the power swivel and drilling rod disconnect switch (3282), /L/-chin R
c is executed (Szsi), and the drilling rod attached to the power swivel is held by the rod holding mechanism. After that, when you operate the sui-nochi that returns the rod holding mechanism (
S284), the rod holding mechanism rotates and returns, and the rod clamp 103 retreats and returns (Szes).
.

This completes the collection of all drilling rods, and the next step is to sink the piles.

When setting the pile, first install the anti-centering jig (3
2B6), then press the chucking lowering switch to lower the chucking 82B), then lower the power swivel by operating the switch 5za8), release the chucking S2+19), pile sinking jig (second
1) is attached to the rod holding mechanism (S290). Next, tighten the chucking by operating the switch (3291), and operate the rod connection switch (S29Z), and the chucking will rise.5293
), and the power swivel rotates (S294),
It is checked whether the tightening has reached a predetermined pressure (32
95) When the predetermined pressure is reached and the connection of the pile connection jig to the power swivel is completed (S2, 6), the holding of the chucking is released (S297) and the chucking is raised (3291)) .

Press the switch to set the rod holding mechanism (329
9) It is determined whether the notch 65 is in the correct position (Sio
o) If the position is not correct, it is checked whether the clutch cylinder 75 is lowered (Sao+).

If it is lowered and released, the clutch cylinder 75 is lowered (S3°2), and then the rod holding mechanism is rotated by 30°×N (S303), and the operation is continued until the notch is in the correct position.

If the notch is in the correct position, the rod holding mechanism rotates and the setting is completed (S304). Next, it is determined whether the pile to be connected is the final pile (S3゜5), and if it is not the final pile, the power swivel rotates down and connects to the pile held by the rod holding mechanism (S: +os, 5so
t, Ss. ), and then the hold on the pile by the anti-pressure mechanism 84 (FIG. 9) is released (Sl., ). The power swivel rises to the home position (uppermost end) (S31°). After that, the rod holding mechanism 58 is returned (Ss+'+)
, the pile is laid down (S31□). The piles will be installed by remote control while monitoring the verticality, etc. During this sinking, it is determined whether the pile is the final pile (S3+:+)
, If it is not the final pile, it is determined whether the power swivel has reached the lowest position (3314), and if it has reached the lowest position, the pile sinking is automatically stopped (S: ++s). The pile being sunk is clamped by the clamp 151 (S3.6), and then the power swivel is reversed (S317), and the connection between the pile and the power swivel is released. After stopping the reverse rotation of the power swivel (S31) 1), raise the power swivel (S3).
I, ), then it is checked whether the pulling force is less than a predetermined value of 3 (S32°), that is, it is checked whether the connection between the pile and the power swivel has been reliably released. If the pulling force is 3 or more than the predetermined value, it is determined that the connection between the pile and the power swivel is not released, and step S38. The power swivel is reversed by returning to .

With the power swivel disconnected from the pile, the power swivel is stopped at the upper limit (Ssz+), and then the switch to center the rod holding mechanism is operated (332g).

As a result, the rod holding mechanism is rotated below the power swivel, but at this time, a new stake is already held in the rod holding mechanism. With the stake under this power swivel, step S3゜0~S104 routine R1
33Z3), and then execute routine R4 (S3□4) to connect the new pile held by the zero-end holding mechanism to the pile connection jig of the power swivel, and then connect the new pile held by the pile clamp. After that, the pile presser 84 is released (S3□,), and the power swivel is raised (S326), that is, when it is raised to the origin, the rod holding mechanism is restored (S3□,), and then in Step 5
Moving to ffl□, the work of laying piles is carried out.

In this way, the piles are connected one after another and the piles are sunk, and when the final pile is reached, this is detected in step S3゜.
As described above with reference to FIG. 21, a pin is attached to the uppermost end of the pile for this final resist, and correspondingly, the female screw of the pile connecting jig is removed (S3□,'). In order to connect the notch of this pile connection jig to the pin, the power swivel is lowered while rotating (S2□8), and when the force reaches a predetermined value of 3 or more, the pile connection jig is pressed onto the pin. It seems that the lower edge of the inner cylinder of the ingredient has contacted S32. ), the power swivel stops lowering (Ss, 3o). In this state, the power swivel is being rotated, and if the power swivel rotates one or more times before the rotational force reaches the predetermined value of 1 (S33□), in this case, the process proceeds to step S3□8, in which the power swivel is rotated and lowered again. return. When the rotational torque of the power swivel reaches a predetermined value before one rotation, it is determined that the pin has entered the notch, the rotation of the power swivel is stopped, and the power swivel is further lowered.
In other words, the pin is controlled so that it passes through the vertical passage of the notch, and when the power swivel is pressed, when the force reaches a predetermined value of 1 or more (3335), the power swivel is rotated (3336).
) When the pin is moved to the lateral passage of the notch and its rotational torque reaches a predetermined value (S:1)? ), step S3
8, it is determined that the connection between the final shaft and the pile connecting jig is completed. After that, carry out the same routine as for laying the intermediate piles.

During the work of sinking this pile, if it is determined in step 8313 that it is the final pile, the process moves to step 8338, where it is determined whether the power swivel is at the lowest position, and when it reaches the lowest position, the pile sinking is stopped (S339). .

In order to make the upper end of this final shaft coincide with the ground surface or below the ground surface, an excavation rod is connected to a resistor connection jig, and the excavation rod is further connected to the upper end of the final shaft to perform pile burying. That is, by operating the switch for setting the rod clamp 103 (S34°), the rod clamp 103 is advanced and set at a predetermined position. Fix the rod part of the anti-connection jig with the rod clamp 103 (534I), then reverse the power swivel and disconnect the pile connection jig (S34゜)
, raise the power swivel to the highest position (S343)
. When you operate the switch that sets the rod holding mechanism (
S344), the rod holding mechanism (which already holds the drilling rod) rotates and rotates below the power swivel, and routine R9 is executed (334S) to connect the drilling rod to the power swivel. Concatenation is done. In this state, the chucking is lowered (C3ssb), and the drilling rod is held by the chucking (S34?).
), then release the temporary fixing mechanism 66 (Sz4e
) Raise the chucking and rotate the power swivel (S, 34q). When the rotational torque reaches a predetermined value of 2 due to this rotation (S350), the connection between the drilling rod and the power swivel is completed (S3s+). Then, the routine R1 of steps 3204 to S2.3 is executed (S:152), and the drilling rod connected to the power swivel is connected to the pile connecting jig, and the rod clamp 10 is connected to the pile connecting jig.
3 is loosened, pile sinking is performed by remote control (S362). During this time, a check is made to see if the stake has reached the final depth (S363), and if the final depth has not been reached, a check is made eight times to see if the power swivel has reached the lowest position (S, +64). In other words, if the final pile is placed fairly deep, the power swivel may be at its lowest position. In that case, the drilling rod is further connected in the same way as the drilling rod connection when drilling is proceeded first, that is, from step S, 87 to step S1,
Similar to the process in step 7, the connection of the excavation rod to the power swivel is completed through steps 5365 to S3qz, and the process returns to step 5352 to further perform the process of connecting to the lower excavation rod before sinking.

When it is detected in step S, 63 that the sinking has reached the final depth, the process moves to step S, 77, where the power swivel is reversed in Z rotation, and an operation is performed to separate the connection between the final shaft and the pile connection jig. , a check is made to see if the rod to be recovered is the final jig (S3.s), and if not, the power swivel is raised (S379), and if the lifting force is 6 or more than the predetermined value, that is, the anti-connection If the connection between the tool and the final pile is not released (S33°), the process returns to step 317B and the power swivel is reversed. Step S
3. If the pulling force in IO is less than 5, check whether the power swivel is in the disconnection position between the rod and the power swivel (S, 8I), and check whether the rod clamp 103 is centered in this rod disconnection position (S38□) , if it has not been sent, please set this (5ffl13), and then proceed to the rod collection processing step S25. Similar to the processes from step 5273 to step 5273, steps 5384 to S sqo are executed. In other words, the drilling rod is recovered. Further, the rod clamp 103 is returned to disconnect the lower pile connection jig and the power swivel (S399), and then the switch to raise the power swivel is operated (34 degrees), and the switch to lower the chucking is operated (S4).゜、)、
And operate the switch to tighten the chucking (S40
2) Furthermore, operate the switch that raises and reverses the power swivel (S4o3). In other words, the pile connecting jig and the power swivel are separated by raising the pile connecting jig, grasping its rod part with the chucking, and reversing the power swivel (3404), and then loosening the chucking (S4os). I would like to collect that pile connection jig.
o6), raise the power swivel to 34G? ), the chucking is raised (Saoa), the pile installation is completed, and preparation for the next process is started (Saoq).

When excavating hard strata, for example, p as shown in Fig. 28. Only perform downward excavation (propulsion excavation), and then the distance of that propulsion excavation! . Upward excavation (return excavation) is performed by a distance of % (!./2).

An excavation method that repeats this process is used. This is called double action mode. If the control device is configured to be able to take this double action mode, when the excavation start switch is operated in the process shown in Fig. 27 (3167), it is determined whether the double action mode is selected as shown in Fig. 29. Investigated (S5o0
), and if it is not double-acting mode, it will be processed in single-acting mode (
SS. I) The power swivel is rotated and feeding is performed again, but at this time the feeding force becomes larger than 2 (S
soz), automatically moves to the double-motion mode, and executes the double-motion mode processing. 3), and similarly, when the excavation torque becomes larger than 3 (SS.4), it is also possible to automatically shift to the double action mode.

In this double action mode (S503), the feeding force and digging torque are checked in the same way, and if the feeding force and digging torque become larger than a predetermined value, the feeding speed is reduced. It can also be processed as follows.

``Shito''E-1' As mentioned earlier, when excavating in double action mode and supplying drilling fluid, supplying the drilling fluid that matches the stratum being excavated. is preferred. In this case the 28th
In the figure, a geological boundary 171 was discovered during descending excavation.
When reaching 1, the drilling fluid is changed to one suitable for the underlying strata at time t1, after which the 10 downward excavations are completed and upward excavation (return excavation) is performed, and at the time t1 in the middle.
2, when passing the stratum boundary 171, excavation is performed by switching to a drilling fluid suitable for the stratum above it, and when descending drilling is performed again and reaching the stratum boundary 171, at that time point t3, the drilling fluid is similarly switched. Excavation will be carried out.

By the way, it is necessary to prepare the drilling fluid by mixing it in advance to some extent, and if it is a large construction site, the necessary drilling fluid will be prepared in multiple tanks. It is possible to prepare enough liquid and also prepare drilling liquid suitable for the lower side of the strata boundary.
It is difficult to keep several types of drilling fluids in sufficient quantities at all times at a narrow construction site.

In such a case, a special double-motion mode may be used, for example, as shown in FIG. 30. In other words, when downward excavation is performed and the stratum boundary 171 is reached, even if continuous downward excavation is not performed by Xo, the return excavation is switched to return excavation, and this return excavation 172 is performed not to p or o /2 but to the descending immediately before that. Excavation is carried out to the location of the excavation, that is, the depth of the geological boundary.

and the depth at the bottom of the descending excavation just before that. In this case, return excavation 172 is performed by the difference ΔL=LO−L, and then downward excavation 173 is performed. This descending excavation 17
This descending excavation 173, in which the drilling fluid is switched at the stratum boundary 171 in the middle of the step 3, is performed from the stratum boundary 171 to p. /
After excavation to a depth of 2, return excavation 174 is performed. When the stratum boundary 171 is reached during this downward excavation 173, the same process as excavation in the normal double-motion mode may be started.

According to the process shown in FIG. 30, the drilling fluid only needs to be changed once when passing through the strata boundary 171 during descending excavation 173. Note that the location of stratum boundaries is investigated by polling in advance, and each stratum is also investigated, and drilling fluid suitable for each stratum is prepared.

The excavation control shown in FIG. 30 is shown in FIG. 31. When the double action mode is started (Sl,.), descending excavation is performed first (Ssll), and it is checked whether the descending excavation has reached t2 o / 2 (SS.), and when it reaches 10/2, it is started to ascend. Excavation was carried out (35□), and the upward excavation was 207
2 is performed (Ss+4), and this is 10/
When it reaches 2, descending excavation is performed (Ss+s), and it is checked whether this descending excavation has been performed 10 times C8s+b)
,This is! . When this happens, the process returns to step S13 and upward excavation is performed. This is the control in the general double action mode, but in this case, step S, 1. It is checked whether the stratum boundary has been reached during descending excavation (SSI?), and if the stratum boundary has been reached, the excavation is switched to ascending excavation, and ΔL=t, o −
L.

(Ss+a). After that, descending excavation by Δthickness is performed (SSI9), that is, the stratum boundary is reached, mud water switching is performed (SS, .), and step S
51. Return to In step 5SI6, it is checked whether the stratum boundary has been reached during descending excavation (SS21), and if the stratum boundary has been reached, the process moves to steps S6 and S8.

In addition, when drilling in the double action mode, as shown in FIG. 32, if the power swivel reaches the lowest end 180 in the middle of downward drilling 180 and it becomes necessary to change the connection of the drilling rod, at that point Drilling rod switching connection'tE
(182) is carried out, descending excavation 181 is completed, and when ascending excavation 183 begins, the power swivel reaches the uppermost position, at which point the drilling rod is retrieved (184) and ascending excavation continues, and then descending excavation 185 However, in the middle of the process, the power swivel comes to the lowest position, so the drilling rod is in contact! (186) will be performed. Therefore, it is necessary to connect the drilling rod twice and disconnect it once, resulting in a time-consuming operation.

In such a case, it is preferable to use a special back-motion mode as shown in FIG. When the power swivel reaches its lowest position during downward excavation 189, the maximum movement range S of the power swivel during excavation. and the current amount of descent from the top of the power swivel S7
Perform upward excavation 191 by the difference Δ5=so −8,
Next, descending excavation 192 is performed, and when this is performed for ΔS, the power swivel reaches the lowest position, and here 193) is performed to add the drilling rod, and then β. /2 downward excavation is performed. From this point on, return excavation in the normal double-movement mode is started. In this case, the drilling rod only needs to be connected once, similar to the connection in the single-acting mode.

A control flowchart in this case is shown in FIG. Step S5
1. 5516 is the normal double-movement mode processing similar to that described in FIG. 31. In steps S5 and 2, it is checked whether the power swivel has reached the lowest point during descending excavation (S
szs), when it reaches the lowest point, upward drilling is performed by ΔS (S5□6), and then downward drilling is performed 68 times (S5□,), and the drilling rod is connected (Sszs).
), return to step S5,1. In step 5SI6, it is checked whether the power swivel has reached the top end during descending excavation (S5□,), and if it has reached the bottom end, step S, 26
Move to.

It is preferable to use a drilling fluid suitable for the stratum to be excavated, and the drilling fluid is supplied, for example, as shown in FIG. 35. That is, powder of a thickener such as bentonite is supplied from a tank 201 to a meter 1 via a supply control valve 102.
03, and this weighed value is guided to the computer 205 from the sensor 204 of the load cell, for example. When this weighed value reaches the set value, the weighed bentonite is supplied to the switching hopper 215, and then the weighed bentonite is supplied to the switching hopper 215.
is supplied to either mixing tank 206 or 207. Similarly, CMC, which is a thickener, is supplied from the tank 208 to the meter 21) through the valve 209, and the metered sensor 2
The output of No. 12 is supplied to a computer 205, and a set amount of CMC is supplied to a switching hopper 215, from which it is further supplied to either a mixing tank 206 or 207. Further, the admixture in the admixture tank 216 is supplied to the measuring device 21) through the valve 217, and the admixture measured in a set amount is supplied to the mixing tank 206 or 207 through the switching hopper 215. In addition, cement from cement silo 218 enters valve 2.
19, the measured value is supplied to the computer 205 through the sensor 222, and when the set amount is measured, the valve 219 is closed and the weighed cement is passed through the switching hopper 215 to the mixing tank 206 or 20.
7.

A metering pump 224 is connected to the mixing tanks 206 and 207 from a dispersant tank 223, and a valve 22 is connected through a pipe 225.
A set amount can be supplied to the mixing tanks 206 and 207 under the control of the mixing tanks 206 and 227. Further, fresh water from the fresh water tank 228 is supplied from a pump 229 to the mixing tank 206 or 207 through a valve 231, further through a meter 232, and under the control of valves 233 and 234. The flow rate measured by the meter 232 is supplied to the computer 205.

Liquid mixed and stirred in mixing tanks 206 and 207 stirring tank 23
5 or 236 under the control of valves 237 to 240, respectively. The drilling fluid, root hardening fluid, peripheral fixing fluid, or cement milk obtained in the stirring tanks 235 and 236 is transferred to the common flow meter 2 by controlling the valves 241 and 242.
43 and further to a high pressure pump 247 or a low pressure pump 248 through a valve 245 or 246. The drilling fluid guided to the high pressure bomb 247 is supplied at high pressure into the inner pipe of the power swivel. Further, the root hardening liquid, peripheral fixing liquid, cement milk, etc. guided by the low pressure pump 248 are supplied at low pressure to the cylindrical passage of the power swivel. Fresh water can also be supplied to the flow meter 243 through a valve 249. The flow rate measured by this flow meter 243 is supplied to the computer 205.

On the other hand, muddy water 251 in the excavated hole 12 is sucked up by a vacuum pump 252 and supplied to a solid-liquid separator 253.

Here, solid and liquid are separated, and further cyclone 254
As a result, muddy water containing fine particles below a predetermined value is guided to a muddy water tank 256 through a valve 255. The inside of the muddy water tank 256 is constantly stirred, the water level of the muddy water 257 therein is measured with a water level meter 258, the specific gravity is measured with a hydrometer 259, and the viscosity is measured with a viscometer 261. These measured values are led to calculator 205. The muddy water 257 in the muddy water tank 256 passes through a valve 262 , a pump 267 , a valve 268 , and a valve 231 to a flowmeter 232 .
In other words, the mud water from the pump 267 is returned to the mud tank 256 through the mixing tank 206269, or
It is released to the outside through 71.

The calculator 205 calculates the amount and flow rate of various additives such as thickeners to be added to muddy water from the measured values of the hydrometer 259, viscometer 261, etc. in order to create drilling fluid with a viscosity suitable for the stratum to be excavated. The various materials are then weighed and supplied to the mixing tank 206 or 207 to produce the required drilling fluid.

In order to carry out this excavation and pile burying work as efficiently as possible, a drilling fluid suitable for the stratum is prepared, for example, in a mixing tank 206, and then the drilling fluid is supplied in a stirring tank 235, and then supplied as drilling fluid from a high-pressure pump. On the other hand, when the excavation progresses and reaches the next stratum, the mixing tank 2 mixes the drilling fluid suitable for that stratum.
07, and in response to changes in the stratum, it is possible to immediately switch and supply the drilling fluid suitable for the stratum. In addition, a table is prepared for each drilling fluid suitable for each layer, specific gravity, viscosity (or both), flow rate, amount of various additives, etc. of mud, and the drilling fluid is automatically created by referring to this table. Switching supply can also be performed automatically.

In addition, when the excavation is completed, the drilling rod is recovered while replacing the drilling fluid with root hardening fluid for the enlarged part of the bulb, and the drilling fluid is replaced with surrounding fixing fluid for the part above the enlarged part of the bulb. However, these root hardening liquid and peripheral fixing liquid are also mixed in the stirring tank 235 on one side and the stirring tank 236 on the other side.
be prepared and able to work continuously. After the drilling rods have been collected in this manner, the piles are set down, and once the piles have been set down, cement milk is supplied through the set down piles to form bulbs.

Bulb tray bottom Finally, to make bulbs, a high viscosity fluid such as cement milk or mortar is packed underground, but depending on the burial conditions, it may not be possible to fill the amount underground to fill the bag above ground. Sometimes.

From this point of view, the following processing is performed. That is, the first
As shown in Figure F, a bag 21 is placed over the outer periphery of the lowest pile, and the amount of cement milk supplied to this bag 21 is determined by the volume of the bag 21. It becomes difficult to feed cement milk before the amount is reached, and when the cement milk feed pressure reaches a certain value, it is fed at a lower rate than before. By doing this, it is possible to supply nearly the maximum amount of cement milk in the bag.

For example, as shown in FIG. 36, cement milk is initially supplied at the maximum discharge rate of the pump, and the target supply rate, that is, the maximum volume Q that can be put into the bag 21 on the ground, is reached. If, for example, the supply amount reaches Q, 1 before reaching Q, and the supply pressure P measured by the pressure gauge on the output side of the pump reaches the set value P1, the pump discharge amount is set to 50% of its maximum value. Then, the pressure of the pressure gauge will decrease and cement milk will be supplied, but the target value Q. Supply amount Q1 before
When the pressure P reaches the set value P again at □, the pump discharge amount is further reduced to 30% of the maximum value and the supply is continued.After this, when the supply force P reaches the set value P1 again, the supply is stopped. Control is performed, for example, by the process shown in FIG. When the cement milk press-in process is started, the discharge amount of the pump is first set to its maximum value (357+), and the discharge amount of the cement milk is integrated by a flow meter. When the cumulative value Q of the discharge amount reaches the scheduled value (target value) Qo, the supply of cement milk will be stopped (SS73)
, planned value Q. The pressure P on the pressure gauge is checked to see if it reaches the set value P before it reaches the set value P (3574), and the discharge of cement milk continues until it reaches P+, and if the pressure P reaches Pl, the pressure is It is checked whether the first time P has been reached (S575), and if it is the first time, the pump discharge amount is set to 50% of the maximum value and the pump continues to supply cement (SS76).

The supply pressure P becomes Pl again, and if it is not the first time, the process moves to step 5577, where it is checked whether it is the second time that the pressure P has become P, and if it is the second time, the pump discharge amount is set to 30% of the maximum value. Continue m protrusions (SS7B). When the supply pressure P becomes P again, the pressure is reduced to P in step S, 77.
Since this is not the second time it has become positive, the supply of cement milk is stopped.

By lowering and supplying the discharge amount in this way, it is possible to fill the bag with as much cement milk as possible. In this way, the discharge amount of the pump may be lowered and repeated supply may be performed more frequently. Further, as shown in FIG. 38A, the supply pressure P first reaches the set value P,
The supply may be performed at a reduced discharge rate, and then the supply may be performed until the supply pressure P reaches a set pressure P2 higher than Pl.

Further, as shown in FIG. 38B, when the pressure reaches the high pressure P2, the discharge amount may be further reduced and the supply may be performed again. In this way, as much cement milk as possible can be supplied and a predetermined bulb portion can be obtained.

Note that cement milk can be filled into the bag in a shorter time than when supplying with a small discharge amount from the beginning.

"Effects of the Invention" As described above, according to the excavating pile burying machine according to the present invention, the rod holding mechanism 58 can be rotated and the chunking 9 can be rotated.
1, the rod clamp 103, and a power swivel, which is a rotating device, can be used to connect and disconnect a 1m cutting rod. Similarly, the chucking 91 and the pile clamp 1
51 can be used in combination to connect the piles, and furthermore, the piles and drilling rods can be fed by the feeding mechanism and connected to the rotating device by screw coupling, and these processes can be performed automatically. This allows for drilling holes and burying piles with fewer operators than in the past, where drilling rods were connected and disconnected directly by hand, or piles were connected by welding. It can be dug or piled.

Further, by having a rod holding mechanism as a supply mechanism hold and rotate a plurality of drilling rods, the drilling work can be performed quickly and the drilling rods can be recovered quickly.

Furthermore, in this example, the feeding mechanism is rotated to feed drilling rods and piles, so for example, when digging a hole close to the wall of a building and burying the pile, there is no need to worry about getting in the way of the wall. The rod holding mechanism can be rotated to a position where the rod holding mechanism will not move, and the drilling rod or pile can be held against the rod holding mechanism. It can be done efficiently.

Furthermore, by investigating the properties of the strata in the area to be excavated, it is possible to automatically set the driving force and rotational torque for excavation according to the strata at each depth. It is also possible to supply drilling fluid that matches the properties.

Note that other rotating devices may be used instead of the power swivel, and the present invention is not limited to drilling using drilling fluid, and may be applied to only drilling holes, burying piles, or both.

[Brief explanation of drawings]

Figure 1 is a cross-sectional view of the dam explaining the process of excavation and pile burying.
Fig. 2 is a perspective view showing the external appearance of the excavation/pile burying machine according to the present invention, Fig. 3 is a side view of the excavation/pile burying machine, Fig. 4 is a right side view of Fig. 3, and Fig. 5 is a side view of the excavation/pile burying machine according to the present invention. 3 is a plan view, FIG. 6 is a side view showing the connection state of the lower skit and upper skit, FIG. 7 is a plan view of FIG. 6, FIG. 8 is a sectional view taken along the line AA of FIG. The figure is a vertical sectional view showing an example of the supply mechanism, No. 10.
Figure 1) is a plan view of Figure 9, Figure 1) is a sectional view taken along line BB in Figure 9, Figure 12 is a sectional view taken along line CC in Figure 9, Figure 13 is a sectional view taken along line DD in Figure 9, Figure 14 is a front view of Figure 13, Figure 15
The figure is a plan view of the chucking 91, FIG. 16 is a front view of FIG. 15, FIG. 16A is a sectional view taken along the PP line of the chucking 91, FIG. 17 is a diagram showing the operating rod, and FIG. 18 is a rod clamp. A plan view of the right half of 103 in section, Fig. 18A
is a cross-sectional view taken along the HH line in FIG. 18, FIG. 19 is a front view with a part of FIG. 18 in cross section, FIG. 19A is a cross-sectional view taken along the FF line in FIG. 19, and FIG. 21 is a cross-sectional view showing the pile joining jig 137, FIG. 21A shows the connection state with the intermediate pile, FIG. 21B shows the connection state with the final pile, and FIG. C is a diagram showing the same figure B rotated by 90 degrees, Figure 22 is a front view showing the intermediate pile, and Figure 23
24 is a plan view showing the relationship between the outrigger and the inclinometer, FIG. 25 is a plan view showing the relationship between the drive cylinder and the switching valve for the outrigger, and FIG. 26 is a plan view showing a part of the pile clamp 151. Figure 27 is a flowchart showing an example of skit leveling control, Figure 27 is a flowchart showing an example of the overall operation of excavation and burying, Figure 28 is a diagram showing double action mode, and Figure 29 is double action mode and single action mode. FIG. 30 is a flowchart showing an example of changing to special return movement at a stratum boundary, FIG. 31 is a flowchart showing an example of the operation of the process,
Fig. 32 is a diagram for explaining the switching of the drilling rod in the double action mode, Fig. 33 is a diagram showing the special double action mode when switching the drilling rod, Fig. 34 is a flowchart showing an example of its operation, and Fig. 35 Figure 36 is a block diagram showing the overall configuration of the drilling fluid treatment device, Figure 36 is a diagram showing an example of the relationship between the supply amount and supply pressure during bulb cement supply control, and Figure 37 is an example of the control operation in Figure 36. FIG. 38 is a diagram showing another example of the relationship between supply amount and supply pressure in cement supply control. A B C 1 Figure D E F1) Kaisho 6
2-194390 (27) Fig. 10 Fig. 1) Fig. 16 A Fig. 17 Fig. 22

Claims (1)

[Claims] (1) An excavation tower erected on a skit, a rotating device that is held movably up and down on the excavation tower and applies rotational force to the connected drilling rod, and a feeding device that moves the rotating device up and down, a supply mechanism capable of holding a plurality of drilling rods so as to be rotatable around a rotation axis and simultaneously rotating the drilling rods to position one of the drilling rods directly below the rotating device; a chuck that is provided so as to be able to move up and down on the side, that is capable of gripping a drilling rod located under the rotation device and capable of rotating the gripping mechanism; a rod clamp that is attached and capable of fixing a drilling rod located directly below the rotating device; a measuring means that measures the amount of descent of the rotating device; and a rod clamp that rotates and rotates the drilling rod of the feeding mechanism. a first means for positioning one drilling rod directly under the rotating device; a second means for holding the drilling rod directly below the rotating device in the chucking; a third means for rotating a rotating shaft of the device and connecting it to the rotating device; a fourth means for rotating the drilling rod of the feeding mechanism to remove it from under the rotating device; and a drilling device connected to the rotating device. a fifth means for fixing the drilling rod directly below the rod with the rod clamper; and a sixth means for connecting the drilling rod connected to the rotating device to the drilling rod fixed to the rod clamper by rotation of the rotating device; a seventh means for releasing the fixation by the rod clamper in a state connected by the sixth means and excavating by driving the feeding device and rotating the rotating device; An automatic excavator comprising a control device for executing the excavation machine.