Hangzhou Daji

Abstract

The present invention provides a pile driver equipped with a rotational position detection device capable of detecting the rotational position of the rotating leader and the upper rotating body. [Solution] A pile driver 11 comprising a fixed leader 24 provided on the front of an upper rotating body 13, a rotating leader 25 provided on the upper part of the fixed leader so as to be rotatable within a predetermined angular range, and a rotation position detection device for detecting the rotation position of the rotating leader relative to the fixed leader, wherein the rotation position detection device comprises a first antenna 42 and a second antenna 43 provided on the upper rotating body for receiving radio waves from positioning satellites, a third antenna 44 provided on the rotating leader for receiving radio waves from positioning satellites, a first positioning device, a second positioning device and a third positioning device for measuring the positions of each antenna, and a control unit that determines the rotation position of the rotating leader relative to the fixed leader based on the relative positions of the first antenna and the third antenna and the relative positions of the second antenna and the third antenna.

Description

Technical Field

[0001] The present invention relates to a pile driver, and more particularly to a pile driver provided with a rotational position detection device for detecting the rotational positions of a rotary leader and an upper revolving body.

Background Art

[0002] A pile driver generally includes a lower traveling body equipped with crawlers, an upper revolving body on which a cab is mounted, a leader provided at the front of the upper revolving body, and a working device that can be raised and lowered along the leader. In such a revolving pile driver equipped with an upper revolving body, the actual behavior when a forward / backward movement command is input depends on the direction of the lower traveling body and does not necessarily match the direction of the operator riding in the cab on the upper revolving body. Also, in a large three-point support type pile driver, in order to perform construction efficiently, there is known one equipped with a rotary leader that rotates the leader around a central axis (for example, see Patent Document 1).

[0003] In recent years, the ICT adaptation of construction work at construction sites has advanced, and in the technical field of position guidance as well, dedicated systems that assist driving using satellite positioning technology have been developed and are in operation. In the positioning (position coordinate measurement) of a pile driver, with two antennas installed on the upper revolving body, the position and orientation of the upper revolving body are obtained by calculation from the positional relationship between the two antennas that changes as the pile driver travels and revolves. As a result, the operator of the pile driver can perform smooth driving operations while imagining the relationship between the current position and the target position by following the visually displayed guidance screen (for example, see Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

[0005] As ICT-based construction methods, such as position guidance, become more widespread, the need to detect the rotational position of rotary leaders and the rotational position of upper rotating bodies is increasing year by year.

[0006] Therefore, the present invention aims to provide a pile driver equipped with a rotational position detection device capable of detecting the rotational position of the rotating leader and the upper rotating body. [Means for solving the problem]

[0007] To achieve the above objective, the first configuration of the pile driver of the present invention is a pile driver comprising: a fixed leader provided at the front of an upper rotating body; a rotating leader provided on the upper part of the fixed leader so as to be rotatable within a predetermined angular range; and a rotation position detection device for detecting the rotation position of the rotating leader relative to the fixed leader, wherein the rotation position detection device comprises: a first antenna and a second antenna provided on the upper rotating body for receiving radio waves from positioning satellites; a third antenna provided on the rotating leader for receiving radio waves from positioning satellites; a first positioning device, a second positioning device and a third positioning device for measuring the positions of each antenna; and a control unit that determines the rotation position of the rotating leader relative to the fixed leader based on the relative positions of the first antenna and the third antenna and the relative positions of the second antenna and the third antenna.

[0008] Furthermore, the third antenna is characterized by being provided on the lower outer circumference of the rotary leader.

[0009] Furthermore, a second configuration of the pile driving machine of the present invention is a pile driving machine comprising a lower traveling body, an upper rotating body rotatably provided on the upper part of the lower traveling body, and a rotation position detection device for detecting the rotation position of the upper rotating body relative to the lower traveling body, wherein the rotation position detection device is characterized by comprising: a first antenna and a second antenna provided on the upper rotating body for receiving radio waves from positioning satellites; a fourth antenna provided on the lower traveling body for receiving radio waves from positioning satellites; a first positioning device, a second positioning device and a fourth positioning device for measuring the positions of each antenna; and a control unit that determines the rotation position of the upper rotating body relative to the lower traveling body based on the relative positions of the first antenna and the fourth antenna and the relative positions of the second antenna and the fourth antenna.

[0010] In addition, the fourth antenna is characterized by being located on the outer side in the width direction of the lower traveling body. [Effects of the Invention]

[0011] According to the pile driver of the present invention, since it is equipped with a rotational position detection device in which the control unit determines the rotational position based on the relative position of antennas that changes with rotational movement, it is possible to detect the position of various rotating parts, from parts with a limited range of rotational angle, such as a rotating leader, to parts that rotate 360°, such as an upper rotating body, without using special sensors, and a pile driver that meets the needs of ICT construction, such as position guidance, can be realized. [Brief explanation of the drawing]

[0012] [Figure 1] This is a side view of a pile driver illustrating a first embodiment of the present invention. [Figure 2] This is also a side view of the leader rotation device. [Figure 3] This is also a plan view. [Figure 4] This is also a perspective view showing the antenna arrangement. [Figure 5] This is also a schematic diagram of the rotational position detection device. [Figure 6]It is an explanatory diagram showing the arrangement of the antenna at the reference rotation position of the rotary reader. [Figure 7] It is an explanatory diagram showing the arrangement of the antenna at the left 45° rotation position of the rotary reader. [Figure 8] It is an explanatory diagram showing the arrangement of the antenna at the right 45° rotation position of the rotary reader. [Figure 9] It is an explanatory diagram showing the arrangement of the antenna at the right 90° rotation position of the rotary reader. [Figure 10] It is a graph showing the relationship between the rotation angle and the antenna distance. [Figure 11] It is a perspective view showing the arrangement of the antenna in the pile driver showing the second embodiment of the present invention. [Figure 12] It is a schematic configuration diagram of the rotation position detection device. [Figure 13] It is an explanatory diagram showing the arrangement of the antenna at the reference rotation position of the upper revolving body. [Figure 14] It is an explanatory diagram showing the arrangement of the antenna at the right 90° rotation position of the upper revolving body. [Figure 15] It is an explanatory diagram showing the arrangement of the antenna at the 180° rotation position of the upper revolving body. [Figure 16] It is an explanatory diagram showing the arrangement of the antenna at the 270° rotation position of the upper revolving body. [Figure 17] It is a graph showing the relationship between the rotation angle and the antenna distance.

Embodiments for Carrying Out the Invention

[0013] Figures 1 to 10 show a first embodiment in which the present invention is applied to a large pile driver, which is an example of a pile driver. As shown in Figure 1, the pile driver 11 has a base machine (body) 14 formed by mounting an upper slewing body 13 on a crawler-type lower traveling body 12 via a slewing bearing so that it can rotate. A leader bracket 17 is provided at the front of the upper slewing body 13 to which a leader 15 and front jacks 16, 16 are attached, and an outrigger box 19 is provided at the rear end of the upper slewing body 13 to which rear jacks 18, 18 are attached, and a counterweight 20 is mounted on the outrigger box 19. Furthermore, the upper slewing body 13 has a driver's cab 21 and a power unit 22 consisting mainly of an engine power unit on the body frame, and a luffable gantry 23 is provided above the rear of the upper slewing body 13.

[0014] The leader 15 consists of a cylindrical fixed leader 24 pivotally supported by the leader bracket 17, and a cylindrical rotating leader 25 erected coaxially on the fixed leader 24 so as to be rotatable (i.e., rotatable within a predetermined angular range). A holder 26 is provided in the middle to rotatably hold the rotating leader 25, and the tips of a pair of left and right backstays 27, 27 erected on the upper surface of the arm of the rear jack 18 are connected to the rear of this holder 26. In addition, a pair of left and right guide pipes 30, 30 are provided on the outer front circumference of the leader 15 to guide the auger (working device) 29, to which the auger screw 28 is attached, up and down.

[0015] The rotating leader 25 is formed by connecting multiple leader members with a cylindrical cross-section. It is divided into a basic leader 32 connected to a fixed leader 24 via a leader rotation device 31, and an upper leader 33 connected to the upper part of the basic leader 32. The upper leader 33 is further divided into multiple leader members. Each of these leader members is detachably connected to flange members provided at its upper and lower ends by bolts and nuts.

[0016] The leader rotation device 31, positioned between the fixed leader 24 and the basic leader 32, is basically the same as the configuration described in Patent Document 1, as shown in Figures 2 to 4, and comprises a leader rotation mechanism 34 and, as an internal structure (not shown), a pair of left and right hydraulic cylinders vertically provided inside the fixed leader 24, and a bevel gear mechanism that converts the reciprocating linear motion of these hydraulic cylinders into forward and reverse rotational motion of the leader rotation mechanism 34.

[0017] The leader rotation mechanism 34 is assembled so as to be rotatable relative to a fixed base 35, which is an outer ring bearing case fixed to the upper surface of the flange 24a of the fixed leader 24, and a rotating base 36, which is an inner ring bearing case fixed to the lower surface of the flange 32a of the basic leader 32, via a plurality of bearing balls (not shown) provided in the circumferential direction. Furthermore, in the assembled state, the leader rotation mechanism 34 becomes a component of the leader 15, with the fixed base 35 belonging to the configuration of the fixed leader 24 and the rotating base 36 belonging to the configuration of the basic leader 32.

[0018] As can be seen in Figure 3, the fixed base 35 has a fan-shaped flange 35a that avoids the pair of left and right guide pipes 30, 30 provided on the fixed leader 24. The flange 35a has a total of four locking holes: one locking hole h1 corresponding to the position when the auger 29 is facing forward (to the right in Figure 3), in other words, the reference rotation position of the rotating leader 25; one locking hole h2 located circumferentially at a 45-degree interval to its right (lower side in Figure 3); and two locking holes h3 and h4 located circumferentially at a 45-degree interval to the left of locking hole h1 (upper side in Figure 3). On the other hand, the rotating base 36 has a disc-shaped edge with locking hole projections 36a that selectively match each of the locking holes h1, h2, h3, and h4.

[0019] The locking hole projection 36a has pin holes H corresponding to each locking hole h1, h2, h3, and h4. As shown in Figure 4, when the lock pin 38 is pushed by the hydraulic cylinder 37 provided on the lower outer circumference of the basic leader 32, the lock pin 38 moves downward and passes through the pin hole H, and is inserted and locked into, for example, the locking hole h1 that defines the reference rotation position (Figure 3). This locks the rotation of the rotary leader 25, allowing the auger 29 to be guided up and down between the upper and lower adjacent guide pipes 30, 30. When the rotary leader 25 is rotated from the reference rotation position to create other rotation lock states, locking hole h2 is used when the rotary leader 25 is rotated 45° to the left, locking hole h3 is used when it is rotated 45° to the right, and locking hole h4 is used when it is rotated 90° (45° + 45°) to the right. In other words, the rotating leader 25 has a rotation angle range of 135° and is selectively fixed in four rotation positions at 45° intervals defined by locking holes h1 to h4.

[0020] The pile driver 11 configured in this way is equipped with a rotational position detection device 39 that detects the rotational position of the rotating leader 25 relative to the fixed leader 24, as a means for ICT construction, such as position guidance. The rotational position detection device 39 is used, for example, as a component of the position guidance system described in Patent Document 2 (means for detecting the attitude information of the pile driver), and as shown in Figure 5, it includes a control unit (CPU) 40 that executes various control programs such as positioning (position coordinate measurement) and rotational position detection of the pile driver 11, and a storage unit 41 such as memory. These are incorporated into a controller equipped with various I / O interfaces.

[0021] Furthermore, the configuration of the rotational position detection device 39 includes three antennas 42, 43, and 44 that receive radio waves (positioning signals) from GNSS (Global Navigation Satellite System) positioning satellites, a first positioning device 45 that measures the position of the first antenna 42 using the positioning signal received by the first antenna 42, a second positioning device 46 that measures the position of the second antenna 43 using the positioning signal received by the second antenna 43, a third positioning device 47 that measures the position of the third antenna 44 using the positioning signal received by the third antenna 44, and a display 48 that displays images for position guidance.

[0022] As shown in Figure 4, the first antenna 42 and the second antenna 43 are both located at the rear of the upper rotating body 13, and as shown in Figure 6, in a plan view, they are positioned at equidistant left and right from the center line CL in the front-to-back direction of the upper rotating body (up and down direction in Figure 6) passing through the rotation axis O of the upper rotating body 13 (in this embodiment, on a line perpendicular to the center line CL, and symmetrical with respect to the center line CL). On the other hand, the third antenna 44 is located at the lower outer circumference of the basic leader 32 (in this embodiment, at a position diagonally to the right and rear, rotated approximately 135° to the right from the front of the leader (the mounting position of the work device 29)) via a bracket 49 at the reference rotation position of the rotating leader 25 (Figures 4 and 6).

[0023] The memory unit 41 stores a table (first table) that associates the relative positions of the antennas 42, 43, and 44, which change as the rotating leader 25 rotates, with the rotation angle of the rotating leader 25. The control unit 40 refers to this table. That is, the control unit 40 determines the rotational position (relative rotational position) of the rotating leader 25 with respect to the fixed leader 24 based on the relative positions of the first antenna 42 and the third antenna 44, and the relative positions of the second antenna 43 and the third antenna 44.

[0024] As shown in Figures 6 to 10, the reference table is set based on a graph that defines the relationship between each combination of antenna distances L1 and L2 and the rotation angle, for example, in a coordinate system (a planar coordinate system consisting of an X-axis parallel to the center line CL and a Y-axis perpendicular thereto) with the first antenna 42 as the reference (local coordinate origin). The distance L1 between the relative positions of the first antenna 42 and the third antenna 44, and the distance L2 between the relative positions of the second antenna 43 and the third antenna 44 are determined as the inter-antenna distances. In this embodiment, the reference rotation position of the rotation leader 25 (Figures 4 and 6) is defined as 0°, and the solid line in the graph represents the first-to-third antenna distance L1, and the dotted line represents the second-to-third antenna distance L2.

[0025] When positioning the pile driver 11 using the rotation position detection device 39 configured in this way, the control unit 40 determines the position and orientation of the upper rotating body 13 from the positional relationship (coordinate measurement) between the first antenna 42 and the second antenna 43, and converts the coordinates of the third antenna 44 to a local coordinate system (X,Y) based on the first antenna 42. In this case, the coordinates of the second antenna 43 are determined by considering an offset amount (a certain amount) in the Y-axis direction from the coordinates (origin) of the first antenna 42. Then, the distance Li between the antennas (i=1,2) is calculated by taking the square root of the sum of the squares of the X-axis component and the Y-axis component in the local coordinate system (X,Y) (Li = √(Xi 2 +Yi 2 )) By taking into account the rotational position (orientation) of the rotary leader 25 identified by table reference, the position of the central axis of the auger screw 28 on the ground, i.e., the pile center position C, is determined (Figure 4).

[0026] In this state, the rotation position of the rotary leader 25 is selected from four options: 0° (Figure 6), 45° left (Figure 7), 45° right (Figure 8), and 90° right (Figure 9). Therefore, if the distance between the antennas L1 and L2 is not a combination corresponding to these four angles, the rotary leader 25 is in an unstable state where it is not fixed by the locking pin 38. In such a case, the system prompts the operator to take precautions regarding driving operations, for example, by displaying a message on the driver's seat display 48.

[0027] Thus, in the first configuration of the pile driver 11 of the present invention, a rotation position detection device 39 is provided in which the control unit 40 determines the rotation position based on the relative positions of the antennas 42, 43, and 44 that change as the rotational movement of the rotational leader 25 changes. Therefore, it is possible to detect the position of a rotating part such as the rotational leader 25 and to determine the positional relationship of each part (pile center position C) without using special sensors, and a pile driver 11 that meets the needs of ICT construction, such as position guidance, can be realized.

[0028] Furthermore, since the third antenna 44 is provided on the lower outer circumference of the rotary leader 25, positional information errors caused by bending of the leader 15 can be reduced. As a result, it is possible to meet the positional accuracy requirements for rotating parts with a limited rotation angle range, such as the rotary leader 25, with a relatively inexpensive configuration.

[0029] Figures 11 to 17 show a second embodiment in which the present invention is applied to a large pile driver, which is an example of a pile driver. In the following description, components identical to those shown in the above embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0030] In the pile driver 11 of the second embodiment, the configuration is basically the same as in the above embodiment, and the configuration of the rotational position detection device 50, as shown in Figure 12, includes a fourth antenna 51 that receives radio waves from GNSS positioning satellites and a fourth positioning device 52 that measures the position of the fourth antenna 51 using the positioning signal received by the fourth antenna 51. As shown in Figure 11 and other figures, the fourth antenna 51 is provided on the outer side in the width direction of the lower traveling body 12, specifically on the outer front end of the side frame 12a that constitutes the lower traveling body 12, via a bracket 53.

[0031] The memory unit 41 stores a table (second table) that associates the relative positions of the antennas 42, 43, and 51, which change with the rotation of the upper rotating body 13, with the rotation angle of the upper rotating body 13. The control unit 40 refers to this table. That is, the control unit 40 determines the rotational position (relative rotational position) of the upper rotating body 13 relative to the lower traveling body 12 based on the relative positions of the first antenna 42 and the fourth antenna 51, and the relative positions of the second antenna 43 and the fourth antenna 51.

[0032] As shown in Figures 13 to 17, the reference table is set based on a graph that defines the relationship between each combination of antenna distances L3 and L4 and the rotation angle, respectively, using a local coordinate system (X,Y) with the first antenna 42 as the reference (local coordinate origin). For example, the distance L3 between the relative positions of the first antenna 42 and the fourth antenna 51, and the distance L4 between the relative positions of the second antenna 43 and the fourth antenna 51 are determined as the inter-antenna distances. In this embodiment, for example, the reference rotation position (Figures 11 and 13) where the forward command (actual operation) and forward movement (actual behavior) of the pile driver 11 coincide, that is, the normal position for transporting the pile driver 11 towards the construction site, is defined as 0°. The solid line in the graph represents the inter-antenna distance L3, and the dotted line represents the inter-antenna distance L4.

[0033] When positioning the pile driver 11 using the rotation position detection device 50 configured in this way, the control unit 40 determines the position and orientation of the upper rotating body 13 from the positional relationship (coordinate measurement) between the first antenna 42 and the second antenna 43, and then identifies the position of the central axis of the auger screw 28 on the ground, i.e., the pile center position C, taking into account a predetermined offset amount from the origin of the local coordinate system (X,Y) (position of the first antenna 42), the orientation of the rotation leader 25, etc. (Figure 11). In addition, the control unit 40 converts the coordinates of the fourth antenna 51 to the local coordinate system (X,Y) based on the first antenna 42. In this case, the coordinates of the second antenna 43 are determined by considering an offset amount (a certain amount) in the Y-axis direction from the origin. Then, the square root of the sum of the squares of the X-axis component and the Y-axis component in the local coordinate system (X,Y) is calculated as the distance Li between the antennas (i=3,4) (Li=√(Xi 2 +Yi 2 )) The rotational position (orientation) of the upper rotating body 13 relative to the lower traveling body 12 is determined by table reference.

[0034] For example, if the upper rotating body 13 is rotated to the right (clockwise in Figure 13) from the reference rotation position (Figure 13), the rotation position of the upper rotating body 13 changes sequentially to 90° (Figure 14), 180° (Figure 15), 270° (Figure 16), and so on, until it completes a full 360° rotation and returns to the original reference rotation position (Figure 13). As shown in Figures 13 to 16, as the upper rotating body 13 rotates, the fourth antenna 51 moves along a virtual circle A centered on the rotation axis O, and as a result, the relative magnitudes of the distances L3 and L4 between the antennas change periodically (Figure 17).

[0035] Here, when the rotation position of the upper slewing body 13 reaches 180°, an inconvenience occurs where the vehicle will move in reverse if the operator gives a forward command (forward tilt of the lever) from their perspective. Therefore, the system prompts the operator to take precautions regarding driving operations, for example, by displaying a message on the driver's seat display 48. This warning operation continues as long as the set conditions are met, and operates, for example, when the rotation position of the upper slewing body 13 is within the range of 45° to 315°.

[0036] In this second configuration, the same effects as the first configuration can be achieved. Furthermore, in this example, the control unit 40 is equipped with a rotation position detection device 50 that determines the rotation position based on the relative positions of the antennas 42, 43, and 51 that change as the upper rotating body 13 rotates. Therefore, it is possible to determine the rotation position (relative rotation position) of the upper rotating body 13 with respect to the lower traveling body 12 without using special sensors, and a pile driver 11 that meets the needs of ICT construction, such as position guidance, can be realized.

[0037] Furthermore, since the fourth antenna 51 is located on the outer side in the width direction of the lower traveling body 12, the influence on the reception of the positioning signal of the fourth antenna 51 when the upper rotating body 13 rotates can be reduced. As a result, it is possible to meet the positional accuracy requirements for a part that rotates 360°, such as the upper rotating body 13, with a relatively inexpensive configuration.

[0038] It should be noted that the present invention is not limited to the above-described embodiments, and the rotational position detection device can be configured as a detection means to be incorporated into existing systems, and can be appropriately modified according to the functions required for various pile drivers (from small to large). Furthermore, the specifications, number, and arrangement of the antenna and its corresponding positioning device, as well as the structure of the bracket for mounting the antenna, are also arbitrary. For example, the antenna can be placed on the top of the leader (top sheave) or on the auger that moves up and down along the leader. When the antenna is installed on the lower traveling body, it can be arranged with a guard (protective member) as a measure to prevent damage. Furthermore, the control program is also arbitrary, and the referenced table (combination of data), etc., can be appropriately changed. In this embodiment, the relative position is expressed using the distance between the first and second antennas and the third or fourth antenna as an indicator, but it may also be expressed using the angle of the third or fourth antenna with respect to the X-axis as seen from the first and second antennas in a local coordinate system based on the first antenna. [Explanation of symbols]

[0039] 11…Pile driver, 12…Lower traveling body, 12a…Side frame, 13…Upper rotating body, 14…Base machine, 15…Leader, 16…Front jack, 17…Leader bracket, 18…Rear jack, 19…Outrigger box, 20…Counterweight, 21…Operator's cab, 22…Power unit, 23…Gantry, 24…Fixed leader, 24a…Flange, 25…Rotating leader, 26…Holder, 27…Back stay, 28…Auger screw, 29…Auger, 30…Guide pipe, 31…Leader rotation device, 32…Basic leader 32a…Flange, 33…Upper leader, 34…Leader rotation mechanism, 35…Fixed base, 35a…Flange, 36…Rotating base, 36a…Locking hole projection, 37…Hydraulic cylinder, 38…Lock pin, 39…Rotation position detection device, 40…Control unit, 41…Storage unit, 42…First antenna, 43…Second antenna, 44…Third antenna, 45…First positioning device, 46…Second positioning device, 47…Third positioning device, 48…Display, 49…Bracket, 50…Rotation position detection device, 51…Fourth antenna, 52…Fourth positioning device, 53…Bracket

Claims

1. A fixed leader is provided at the front of the upper rotating body, A rotating leader is provided on the upper part of the fixed leader so as to be rotatable within a predetermined angular range, A pile driver comprising a rotational position detection device for detecting the rotational position of the rotating leader relative to the fixed leader, The rotational position detection device is, The upper rotating body is provided with a first antenna and a second antenna that receive radio waves from positioning satellites, A third antenna is provided on the aforementioned rotating leader to receive radio waves from positioning satellites, A first positioning device, a second positioning device, and a third positioning device for measuring the position of each antenna, A pile driver characterized by having a control unit that determines the rotational position of the rotating leader relative to the fixed leader based on the relative positions of the first antenna and the third antenna and the relative positions of the second antenna and the third antenna.

2. The pile driver according to claim 1, characterized in that the third antenna is provided on the lower outer circumference of the rotary leader.

3. Lower running body and An upper rotating body is rotatably mounted on the upper part of the lower traveling body, A pile driver comprising a rotation position detection device for detecting the rotation position of the upper rotating body relative to the lower traveling body, The rotational position detection device is, The upper rotating body is provided with a first antenna and a second antenna that receive radio waves from positioning satellites, A fourth antenna is provided on the lower traveling body to receive radio waves from positioning satellites, A first positioning device, a second positioning device, and a fourth positioning device for measuring the position of each antenna, A pile driver characterized by having a control unit that determines the rotational position of the upper rotating body relative to the lower traveling body based on the relative positions of the first antenna and the fourth antenna and the relative positions of the second antenna and the fourth antenna.

4. The pile driving machine according to claim 3, characterized in that the fourth antenna is provided on the outer side in the width direction of the lower traveling body.

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