Pile driving and extraction machine control method and pile driving and extraction method

Abstract

To provide a control method for a pile press-in and pulling machine which makes a pile press-in and pulling machine self-travel and can press-in a pile even if a relative position between adjacent piles is not constant.SOLUTION: A control method for a pile press-in and pulling machine includes: a press-in step of pressing-in a press-in pile P gripped by a chuck 25 into the ground in front of an existing pile P; an ascending step of releasing gripping of the existing pile P by a clamp 11, and ascending the clamp 11 to a position higher than the existing pile P; a moving amount calculation step of calculating a moving amount of the clamp 11, on the basis of the current position of the clamp 11 and the position of the existing pile P as a movement destination of the clamp 11; a moving step of moving the clamp 11 on the basis of the calculation result in the moving amount calculation step; and a descending step of descending the clamp 11, and gripping the existing pile P by the clamp 11.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for controlling a pile driving-in and extraction machine and a pile driving-in and extraction method. [Background technology]

[0002] Conventionally, a construction method using a pile driving / pulling machine for driving piles into the ground has been known. In this construction method, an existing pile that has been embedded in the ground in advance is gripped with a clamp to absorb the reaction force, and a chuck gripping the pile is raised and lowered to drive a new pile into a position next to the existing pile. Construction techniques using a pile driving / pulling machine include a control method in which the pile driving / pulling machine drives in and pulls the pile while self-propelled (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 61-45023 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the control method of the pile driving / pulling machine described above, it was not easy to drive the pile driving / pulling machine and perform pile driving work when the center distance between adjacent piles, the arrangement direction, etc. were not constant.

[0005] One aspect of the present invention aims to provide a control method for a pile driving / pulling machine and a pile driving / pulling construction method that can self-propel the pile driving / pulling machine to drive in piles even when the relative positions of adjacent piles are not constant. [Means for solving the problem]

[0006] A control method for a pile driving-in and extraction machine according to one aspect of the present invention is a control method for a pile driving-in and extraction machine using a pile driving-in and extraction machine including a chuck for gripping a driven pile, a mast for supporting the chuck so as to be able to rise and fall, a saddle movable back and forth relative to the mast, and a plurality of clamps movably attached to the saddle for gripping an existing pile from the inside, the control method including the steps of: a driving-in process for gripping the existing pile with the clamps and driving the driven pile gripped by the chucks into the ground in front of the existing pile; a raising process for releasing the grip of the existing pile by the clamps and lowering the chuck relative to the mast so as to raise the clamps to a position higher than the existing pile; and a current position of the clamps and a position of the clamps. the current position of the first clamp, which is the foremost of the plurality of clamps, is the position at which it will grip the second existing pile, and the existing pile to which the first clamp will be moved is the first existing pile.

[0007] The current position of a second clamp among the multiple clamps adjacent to the first clamp is a position where it grasps a third existing pile adjacent to the second existing pile, and the existing pile to which the second clamp moves is the second existing pile, and in the movement amount calculation process, it is preferable that the position of the second existing pile is determined from the current position of the first clamp.

[0008] The chuck is rotatable relative to the mast, and the mast is swivelable relative to the saddle, and during the moving process, the rotation angle of the chuck and the swivel angle of the mast can also be adjusted based on the calculation results.

[0009] In the movement amount calculation step, it is preferable that the movement amount is calculated from coordinates based on the chuck that grips the press-fit pile.

[0010] A pile driving-in construction method according to one aspect of the present invention is a pile driving-in construction method using a pile driving machine including a chuck for gripping a driven pile, a mast for supporting the chuck so that the chuck can be raised and lowered, a saddle that is movable back and forth relative to the mast, and a plurality of clamps that are movably attached to the saddle and grip an existing pile from the inside, the pile driving method including a driving-in step of gripping the existing pile with the clamps and driving the driven pile gripped by the chuck into the ground in front of the existing pile, a raising step of releasing the grip of the existing pile by the clamps and lowering the chuck relative to the mast to raise the clamps to a position higher than the existing pile, and a current position of the clamps, a destination of the clamps, and a driving position of the ... the position of the existing pile, and the clamp to which the first clamp is to be moved; a moving step of moving the clamp based on the result of the calculation in the moving amount calculation step; and a lowering step of lowering the clamp to a position where the clamp can grasp the existing pile by raising the chuck relative to the mast, thereby causing the clamp to grasp the existing pile, wherein the existing piles include a first existing pile adjacent to the pressed-in pile and a second existing pile adjacent to the first existing pile, and the current position of the first clamp which is the foremost of the multiple clamps is a position where it grasps the second existing pile, and the existing pile to which the first clamp is to be moved is the first existing pile. [Effects of the Invention]

[0011] According to one aspect of the present invention, a control method for a pile driving / pulling machine and a pile driving / pulling construction method can be provided that can self-propel the pile driving / pulling machine to drive in piles even when the relative positions of adjacent piles are not constant. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic side view of a pile driving-in and extraction machine according to an embodiment of the present invention. [Figure 2] FIG. 1 is a schematic explanatory diagram of a first example of a self-propelled process of a pile driving-in and pulling-out machine. [Figure 3] FIG. 2 is a schematic explanatory diagram showing the arrangement of sensors in a pile driving / pulling machine. [Figure 4] FIG. 10 is a schematic diagram of a control flow when the self-propelled process is automated. [Figure 5] FIG. [Figure 6] FIG. 10 is a diagram illustrating the operation of the pile driving and extraction machine. [Figure 7] FIG. 10 is a schematic explanatory diagram of a second example of the self-propelled process of the pile driving-in and extraction machine. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0014] In this specification, the "forward" of the pile driving / pulling machine refers to the direction in which construction proceeds. In Figure 1, the right side is the forward side of the pile driving / pulling machine, and the left side is the rear side of the pile driving / pulling machine. The "forward" direction may include a left-right component (a direction perpendicular to the plane of the paper in Figure 1). The piles are not particularly limited as long as they can be gripped from the inside, and examples thereof include steel pipe piles, steel pipe sheet piles, concrete piles, etc. In this embodiment, steel pipe piles are used as the piles.

[0015] [Outline of the pile driving and extraction machine] 1 is a schematic side view of a pile driving / pulling machine 1 according to an embodiment. As shown in FIG. 1, the pile driving / pulling machine 1 includes a mast 20, a slide frame 12, a saddle 10, a clamp 11, and a chuck 25. A plurality of clamps 11 are provided on the lower part of the saddle 10. The number of clamps 11 may be any number equal to or greater than two. The plurality of clamps 11 are formed at intervals in the front-rear direction.

[0016] In FIG. 1, the clamp 11 grips the upper end of an existing pile P that has already been pressed in, and fixes the saddle 10 to the top of the pile P. The clamp 11 is inserted inside the pile P, expands, and is pressed against the inner surface of the pile P, gripping the pile P from the inside. The multiple clamps 11 are sometimes referred to as a first clamp 11A, a second clamp 11B, and a third clamp 11C, from front to back in the direction of movement in the self-propelled process (from right to left in FIG. 1). The first clamp 11A is the clamp 11 located furthest forward among the multiple clamps 11. The second clamp 11B is adjacent to the rear of the first clamp 11A. The third clamp 11C is adjacent to the rear of the second clamp 11B.

[0017] FIG. 1 shows a state in which the upper ends of three existing piles P are gripped by clamps 11 to fix the saddle 10, and a new pile P has been driven in front of the three existing piles P. The existing piles are the "existing piles." The new pile to be driven in is the "driven-in pile." There is no particular limitation on the structure in which the clamps 11 grip the piles P.

[0018] The multiple clamps 11 can move in any direction along a horizontal plane relative to the saddle 10. For example, the clamps 11 can move in the front-to-back direction or the left-to-right direction relative to the saddle 10. The clamps 11 can also move in a direction that is a combination of the front-to-back and left-to-right directions. The multiple clamps 11 can operate independently of each other. One or more of the multiple clamps 11 may be fixed to the saddle 10, but it is preferable that they are movable relative to the saddle 10. The multiple clamps 11 may operate independently or integrally.

[0019] The slide frame 12 is provided on the upper part of the saddle 10 so as to be slidable in the front-rear direction relative to the saddle 10. Therefore, the saddle 10 is slidable in the front-rear direction relative to the slide frame 12 and the mast 20.

[0020] The mast 20 is provided on the slide frame 12. The mast 20 functions as a rotating base. The mast 20 is rotatable (pivotable) relative to the slide frame 12 around a rotation shaft 22 provided in the center of the slide frame 12. The rotation of the mast 20 is performed by, for example, a rotation drive source (not shown) such as a motor provided on the underside of the mast 20. The mast 20 supports a chuck 25 so that it can be raised and lowered.

[0021] The chuck 25 is provided forward of the mast 20 in a plan view. The chuck 25 is capable of moving up and down. The chuck 25 includes a chuck frame 26 and a casing chuck 27. The chuck frame 26 is capable of moving up and down. The casing chuck 27 is attached to the chuck frame 26. The entire chuck 25 (the chuck frame 26 and the casing chuck 27) moves up and down as a unit by the extension and contraction of the cylinder 30.

[0022] The casing chuck 27 is rotatably mounted on the chuck frame 26. This allows the chuck 27 to rotate relative to the mast 20. The casing chuck 27 has an overall cylindrical shape, and an opening 31 that penetrates vertically is formed inside the casing chuck 27. The opening 31 has a shape that follows the cross section of the pile P in a plan view. The pile P is inserted into the opening 31.

[0023] A fixing member is provided inside the casing chuck 27. The fixing member grips the pile P to be pressed in, for example, from the outside, by means of a hydraulic cylinder (not shown).

[0024] [Self-propelled process of pile driving and extraction machine] The self-propelled process of the pile driving-in and extraction machine 1 will be described with reference to Figure 1 and Figures 2(A) to 2(F). Figures 2(A) to 2(F) are schematic explanatory views of the self-propelled process of the pile driving-in and extraction machine 1.

[0025] 1 and 2(A) show a state in which a first pile P1 is pressed into the ground G in front of multiple (three) existing piles P held by a clamp 11. The number of existing piles P held by the clamp 11 is, for example, two or more. The first pile P1 is an example of an existing pile P.

[0026] As shown in FIG. 2(B), the mast 20 is advanced relative to the saddle 10, and the second pile P2 (press-in pile) is temporarily pressed into the ground G in front of the first pile P1 (press-in process). "Temporary pressing" means pressing the second pile P2 into the ground G to an extent that the second pile P2 can be gripped by the chuck 25 and the pile pressing-in and extraction machine 1 can be self-propelled.

[0027] The first pile P1 is the first existing pile PA. The first existing pile PA is adjacent to the rear of the second pile P2 (press-in pile). The pile P adjacent to the rear of the first existing pile PA is the second existing pile PB. The pile P adjacent to the rear of the second existing pile PB is the third existing pile PC. The pile P adjacent to the rear of the third existing pile PC is the fourth existing pile PD.

[0028] Of the three clamps 11, the current position of the first clamp 11A is a position where it grips the second existing pile PB. The current position of the second clamp 11B is a position where it grips the third existing pile PC. The current position of the third clamp 11C is a position where it grips the fourth existing pile PD.

[0029] As shown in Figure 2(C), the chuck 25 is raised to a predetermined height and grips the second pile P2 in that state. The height of the chuck 25 at this time should be high enough to allow the main body of the pile driving / pulling machine 1 to move independently in the subsequent steps.

[0030] As shown in FIG. 2(D), with the second pile P2 being gripped by the chuck 25, the grip of the existing pile P by the clamp 11 is released. The chuck 25 is lowered relative to the body (saddle 10, clamp 11, slide frame 12, and mast 20) of the pile driving-in and pulling-out machine 1, thereby raising the body of the pile driving-in and pulling-out machine 1 (raising process). The body of the pile driving-in and pulling-out machine 1 must be raised to at least a height to which the lower end of the clamp 11 is positioned higher than the upper end of the existing pile P.

[0031] As shown in Figure 2(E), while holding the second pile P2, the saddle 10 is advanced relative to the mast 20 to a position behind the second pile P2 where the existing piles P, P1, including the first pile P1, can be held by the three clamps 11 (movement process).

[0032] The destination of the first clamp 11A is the first existing pile PA. The destination of the second clamp 11B is the second existing pile PB. The destination of the third clamp 11C is the third existing pile PC.

[0033] As shown in Figure 2(F), while still gripping the second pile P2, the chuck 25 is raised relative to the body of the pile driving-in and extraction machine 1, thereby lowering the body of the pile driving-in and extraction machine 1. The clamp 11 is now in a position where it can grip the existing piles P and P1. In this state, the clamp 11 grips the existing piles P and P1 (lowering process).

[0034] This completes one cycle of the self-propelled process of the pile driving / pulling machine 1. The pile driving / pulling machine 1 can drive in multiple piles sequentially while self-propelled by repeating the self-propelled process described with reference to Figures 2(A) to 2(F).

[0035] Regarding the self-propelled process of the pile driving / pulling machine 1 explained with reference to Figures 2(A) to 2(F), we have studied technologies for automating each process, and have studied the installation of various sensors necessary for automation and suitable control methods based on the detection of these sensors.

[0036] The main steps in the self-propelled process are summarized below in 1) to 5). 1) A step of moving the mast 20 forward relative to the saddle 10 and temporarily press-fitting the second pile P2 in front of the first pile P1 (press-fit step). 2) A step of raising the chuck 25 to a predetermined height and gripping the second pile P2 in that state. 3) A process (raising process) in which the clamp 11 is released from its grip while still gripping the second pile P2, and the main body (saddle 10, mast 20, etc.) is raised until the clamp 11 reaches a position higher than the multiple existing piles. 4) A process (movement process) of advancing the saddle 10 relative to the mast 20 to a position at the rear of the main body where the existing piles P and P1 can be grasped with the three clamps 11 while still holding the second pile P2. 5) A process (lowering process) in which, while still holding the second pile P2, the main body (saddle 10, mast 20, etc.) is lowered to a position where the existing piles P and P1 can be held by the three clamps 11, and the existing pile P is held by the clamps 11.

[0037] In order to automate each of the above processes, necessary sensors were installed in the pile driving / pulling machine 1, and a study was conducted on a control method using these various sensors.

[0038] In step 1), a mast forward / backward sensor is provided to grasp the forward / backward position of the mast 20 (or the forward / backward position of the saddle 10). This allows the pile driving / pulling machine 1 to move the mast 20 forward / backward by a predetermined distance (forward or backward) based on the relative positional relationship between the mast 20 and the saddle 10. In step 1, the mast 20 is advanced relative to the saddle 10. Examples of the mast forward / backward sensor include a stroke sensor, a proximity switch, and a limit switch. Depending on the type of sensor, the stopping positions of the mast 20 and the saddle 10 may be determined in advance.

[0039] In step 2), a chuck up / down sensor is provided to grasp the vertical position of the chuck 25 relative to the main body (mast 20, etc.). This allows the pile driving / pulling machine 1 to move (raise or lower) the chuck 25 by a predetermined amount in the vertical direction while the main body is fixed, based on the relative positional relationship between the main body and the chuck 25.

[0040] In step 3), the above-mentioned chuck up / down sensor is used to grasp the vertical position of the chuck 25 relative to the main body (mast 20, etc.). Based on the relative positional relationship between the main body and chuck 25, the pile driving / pulling machine 1 can move (raise or lower) the main body (mast 20, saddle 10, etc.) in the vertical direction by a predetermined amount while the chuck 25 is fixed.

[0041] In step 4), the mast fore-and-aft sensor is used to grasp the fore-and-aft position of the mast 20 (or the fore-and-aft position of the saddle 10). The pile driving / pulling machine 1 can move the mast 20 forward or backward by a predetermined amount based on the relative positional relationship between the mast 20 and the saddle 10. In step 4, the saddle 10 is advanced relative to the mast 20. That is, the saddle 10 is advanced with the mast 20 fixed.

[0042] In step 5), the above-mentioned chuck up / down sensor is used to grasp the vertical position of the chuck 25 relative to the main body (mast 20, etc.). Based on the relative positional relationship between the main body and chuck 25, the pile driving / pulling machine 1 moves (raises or lowers) the main body (mast 20, saddle 10, etc.) a predetermined amount of vertical movement while the chuck 25 is fixed, and can lower the main body so that the clamp 11 is in a suitable position.

[0043] When lowering the main body, the posture of the mast 20 may be grasped using an inclinometer attached to the mast 20, and the mast 20 may be tilted so as to form a predetermined angle with respect to the existing piles (piles P, P1).

[0044] (Arrangement of sensors and control units) The following describes the arrangement of each sensor and its control unit in the pile driving-in and extraction machine 1. Figure 3 is a schematic explanatory diagram showing the arrangement of sensors in the pile driving-in and extraction machine 1.

[0045] 3, the mast forward / backward sensor 50 is disposed near the boundary between the saddle 10 and the slide frame 12. The mast forward / backward sensor 50 detects the relative positional relationship between the saddle 10 and the mast 20. The mast forward / backward sensor 50 can detect the amount and direction of forward / backward movement of the mast 20 in accordance with the sliding of the slide frame 12. The mast rotation sensor 51 is provided in the mast 20 and detects the rotation angle of the mast 20 around the rotation axis 22 .

[0046] The chuck up / down sensor 52 is disposed at the front of the mast 20. The chuck up / down sensor 52 detects the relative positional relationship (up / down positional relationship) between the mast 20 and the chuck 25. The chuck up / down sensor 52 can detect the amount of vertical movement (amount of movement) and the direction of vertical movement of the chuck 25. The chuck rotation sensor 53 is disposed near the chuck frame 26 and detects the rotation angle of the chuck 25 .

[0047] The first clamp front-rear sensor 54A is disposed near the boundary between the saddle 10 and the first clamp 11A. The first clamp front-rear sensor 54A detects the front-rear position of the first clamp 11A. The first clamp front-rear sensor 54A detects the front-rear movement of the first clamp 11A and the associated grippable position. The first clamp left / right sensor 55A is disposed near the boundary between the saddle 10 and the first clamp 11A and detects the left / right position of the first clamp 11A. The first clamp left / right sensor 55A detects the left / right movement of the first clamp 11A and the associated grippable position.

[0048] The second clamp front-rear sensor 54B is disposed near the boundary between the saddle 10 and the second clamp 11B. The second clamp front-rear sensor 54B detects the front-rear position of the second clamp 11B. The second clamp front-rear sensor 54B detects the front-rear movement of the second clamp 11B and the associated grippable position. The second clamp left / right sensor 55B is disposed near the boundary between the saddle 10 and the second clamp 11B and detects the left / right position of the second clamp 11B. The second clamp left / right sensor 55B detects the left / right movement of the second clamp 11B and the associated grippable position.

[0049] The third clamp front-rear sensor 54C is disposed near the boundary between the saddle 10 and the third clamp 11C. The third clamp front-rear sensor 54C detects the front-rear position of the third clamp 11C. The third clamp front-rear sensor 54C detects the front-rear movement of the third clamp 11C and the associated grippable position. The third clamp left / right sensor 55C is disposed near the boundary between the saddle 10 and the third clamp 11C and detects the left / right position of the third clamp 11C. The third clamp left / right sensor 55C detects the left / right movement of the third clamp 11C and the associated grippable position.

[0050] Known sensors can be used as the mast forward / backward sensor 50, mast rotation sensor 51, chuck up / down sensor 52, chuck rotation sensor 53, clamp forward / backward sensors 54A to 54C, and clamp left / right sensors 55A to 55C. For example, stroke sensors, proximity switches, limit switches, pressure sensors, etc. can be appropriately selected and used.

[0051] A control section (controller) 60 connected to the sensors 50 to 53, 54A to 54C, and 55A to 55C is provided inside the mast 20. The control of each sensor by the control section 60 will be described later with reference to a block diagram and the like.

[0052] A control method for a pile driving-in and extraction machine and a pile driving-in construction method according to an embodiment will be described.

[0053] (Control method by the control unit) A control method using the sensors (sensors 50-53, 54A-54C, 55A-55C) by the control unit 60 will be described. Fig. 4 is a schematic diagram of a control flow when the self-propelled process (forward self-propelled) is automated in the pile driving-in and extraction machine 1. Fig. 5 is a schematic diagram showing a pile P. Figs. 6(A) to 6(D) are diagrams explaining the operation of the pile driving-in and extraction machine 1.

[0054] Using the control unit 60, the movement amount of the clamp 11 can be calculated based on the current position of the clamp 11 and the position of the existing pile P. This process is called the "movement amount calculation process." The movement amount calculation process can be performed, for example, after process 1) and before process 3). Note that the movement amount calculation process can be performed after process 1) and before process 4). An example of the control flow will be described below with reference to FIG.

[0055] As shown in FIG. 4, at the start of control (Start), the clamp 11 grips the existing pile P, and the chuck 25 grips the second pile P2. In step S1, the clamp 11 releases the existing pile P from its grip while the chuck 25 grips the second pile P2 (see FIG. 5).

[0056] Step S2 is an example of a "movement amount calculation step." In this step, the movement amount of the clamps 11 may be calculated from coordinates based on the center O of the chuck 25. In this case, the coordinates based on the center O of the chuck 25 are commonly used, so the positions of the multiple clamps 11 can be accurately determined.

[0057] In step S2, parameters (A) to (I) of each movable part are determined. (A) is the distance traveled in the front-to-rear direction of mast 20. (B) is the rotation angle of mast 20. (C) is the rotation angle of chuck 25. (D) is the distance traveled in the left-to-right direction of first clamp 11A. (E) is the distance traveled in the front-to-rear direction of first clamp 11A. (F) is the distance traveled in the left-to-right direction of second clamp 11B. (G) is the distance traveled in the front-to-rear direction of second clamp 11B. (H) is the distance traveled in the left-to-right direction of third clamp 11C. (I) is the distance traveled in the front-to-rear direction of third clamp 11C.

[0058] As shown in Fig. 6(A), the position of clamp 11 can be determined using clamp front-rear sensors 54A-54C and clamp left-right sensors 55A-55C (see Fig. 3). In the example shown in Fig. 6(A), the center O of chuck 25, the center of first clamp 11A, the center of second clamp 11B, and the center of third clamp 11C are aligned linearly in the front-rear direction.

[0059] The current position of first clamp 11A is detected by first clamp front / rear sensor 54A and first clamp left / right sensor 55A. The current position of first clamp 11A may be written to a memory area in control unit 60 (see FIG. 3).

[0060] Similarly, the current position of second clamp 11B is detected by second clamp front-rear sensor 54B and second clamp left-right sensor 55B. The current position of third clamp 11C is detected by third clamp front-rear sensor 54C and third clamp left-right sensor 55C. The current positions of second clamp 11B and third clamp 11C may be written to a memory area in control unit 60 (see FIG. 3).

[0061] In the example shown in Figure 6(A), the current position of the first clamp 11A is not displaced left and right or front and rear. This is detected by the first clamp front and rear sensor 54A and the first clamp left and right sensor 55A. The current position of the first clamp 11A is the position of the existing pile P, to which the second clamp 11B is to be moved.

[0062] Control unit 60 calculates the amount of movement of first clamp 11A based on the current position of first clamp 11A and the position of first stake P1 (see FIG. 5). First stake P1 is the stake P that was gripped by chuck 25 before second stake P2 (see FIG. 5) that is currently gripped by chuck 25. This allows for the distance (D) of left-right movement of first clamp 11A and the distance (E) of front-rear movement of first clamp 11A (see FIG. 4) to be obtained. The position of the first stake P1 (see FIG. 5) may be written in the storage area of ​​the control unit 60 as the position of the stake P gripped by the chuck 25 in the previous self-propelled process.

[0063] The control unit 60 calculates the amount of movement of the second clamp 11B based on the current position of the second clamp 11B and the position of the existing pile P to which the second clamp 11B is to be moved. This provides the left-right movement distance (F) of the second clamp 11B and the front-rear movement distance (G) of the second clamp 11B in the movement process (see FIG. 4).

[0064] The pile P may be pressed into a different position due to various factors during construction. The target position of the pile P may also be set at a position that is shifted left and right or forward and backward from a position a predetermined distance ahead.

[0065] In the example shown in Figure 6(B), the current position of the first clamp 11A has shifted to the right from its original position (see Figure 6(A)) due to a positional shift of the pile P. This positional shift is detected by the first clamp left / right sensor 55A. The current position of the first clamp 11A is the position of the existing pile P, to which the second clamp 11B is to be moved.

[0066] The control unit 60 calculates the amount of movement of the second clamp 11B based on the current position of the second clamp 11B and the position of the existing pile P to which the second clamp 11B is to be moved. This provides the left-right movement distance (F) of the second clamp 11B and the front-rear movement distance (G) of the second clamp 11B in the movement process (see FIG. 4).

[0067] In the example shown in Figure 6(C), the current position of the first clamp 11A has shifted backward from its original position (see Figure 6(A)) due to a positional shift of the pile P. This positional shift is detected by the first clamp front / rear sensor 54A. The current position of the first clamp 11A is the position of the existing pile P, to which the second clamp 11B is to be moved.

[0068] The control unit 60 calculates the amount of movement of the second clamp 11B based on the current position of the second clamp 11B and the position of the existing pile P to which the second clamp 11B is to be moved. This provides the left-right movement distance (F) of the second clamp 11B and the front-rear movement distance (G) of the second clamp 11B in the movement process (see FIG. 4).

[0069] In the example shown in Figure 6(D), due to a positional shift of the pile P, the current position of the first clamp 11A has shifted to the right and rear from its original position (see Figure 6(A)). This positional shift is detected by the first clamp front / rear sensor 54A and the first clamp left / right sensor 55A. The current position of the first clamp 11A is the position of the existing pile P, to which the second clamp 11B will be moved.

[0070] The control unit 60 calculates the amount of movement of the second clamp 11B based on the current position of the second clamp 11B and the position of the existing pile P to which the second clamp 11B is to be moved. This provides the left-right movement distance (F) of the second clamp 11B and the front-rear movement distance (G) of the second clamp 11B in the movement process (see FIG. 4).

[0071] The current position of the second clamp 11B is the position of the existing pile P to which the third clamp 11C is to be moved (the existing pile P adjacent to the rear of the existing pile P that is the current position of the first clamp 11A). As with the second clamp 11B, the control unit 60 calculates the amount of movement of the third clamp 11C based on the current position of the third clamp 11C and the position of the existing pile P to which the third clamp 11C is to be moved. This allows the left-right movement distance (H) of the third clamp 11C and the front-rear movement distance (I) of the third clamp 11C in the movement process to be obtained (see FIG. 4).

[0072] As shown in Figure 4, the movement distance (A) of the mast 20 in the front-to-rear direction is set based on the center-to-center distance between adjacent piles P, etc. The swivel angle (B) of the mast 20 is set based on the arrangement direction of the piles P, etc. The rotation angle (C) of the chuck 25 is set based on the arrangement direction of the piles P, etc.

[0073] In step S3, it is determined whether the calculation has been completed. If the calculation has been completed, the process proceeds to the next step. If the calculation has not been completed, the process returns to step S1.

[0074] In step S4, after the clamp 11 releases its grip on the existing pile P, the chuck 25 is lowered relative to the main body of the pile driving and extraction machine 1 (saddle 10, clamp 11, slide frame 12 and mast 20), thereby raising the main body of the pile driving and extraction machine 1 (raising process).

[0075] In step S5, the tilt angle of the main body (mast 20, etc.) is detected using an inclinometer attached to the mast 20, and it is determined whether this tilt angle is within a preset value (i.e., within a preset range). If the tilt angle is within the set value, the process proceeds to the next step. In step S6, if the tilt angle of the mast 20 is outside the set value (that is, outside the preset range), the tilt of the mast 20 is adjusted, and the process returns to step S5.

[0076] Steps S7 to S15 are an example of a "moving step." In steps S10 and S11, the first clamp 11A is moved based on the calculation result obtained in step S2. More specifically, the first clamp 11A is moved based on the left-right movement distance (D) of the first clamp 11A and the front-back movement distance (E) of the first clamp 11A obtained in step S2. This allows the first clamp 11A to securely grip the existing pile P at its destination.

[0077] In steps S12 and S13, the second clamp 11B is moved based on the calculation result obtained in step S2. More specifically, the second clamp 11B is moved based on the left-right movement distance (F) of the second clamp 11B and the front-back movement distance (G) of the second clamp 11B obtained in step S2. This allows the second clamp 11B to securely grip the existing pile P at its destination.

[0078] In steps S14 and S15, the third clamp 11C is moved based on the calculation result obtained in step S2. More specifically, the third clamp 11C is moved based on the left-right movement distance (H) of the third clamp 11C and the front-back movement distance (I) of the third clamp 11C obtained in step S2. This allows the third clamp 11C to securely grip the existing pile P at its destination.

[0079] In steps S7 to S9, the position in the front-rear direction and the turning angle of the mast 20 and the rotation angle of the chuck 25 are determined based on (A) to (C) set in step S2. Steps S7 to S15 may be executed simultaneously in parallel.

[0080] In step S16, the chuck 25 is raised relative to the body of the pile driving-in and pulling-out machine 1, thereby lowering the body of the pile driving-in and pulling-out machine 1. The existing piles P, P1 are gripped by the clamps 11 (lowering step).

[0081] In step S17, the tilt angle of the main body (such as the mast 20) is detected using an inclinometer, and it is determined whether or not this tilt angle is within a preset value (i.e., within a preset range). If the tilt angle is within the set value, the process proceeds to the next step. In step S18, if the tilt angle of the mast 20 is outside the set value (ie, outside the preset range), the tilt of the mast 20 is adjusted, and the process returns to step S17.

[0082] In step S19, the clamp 11 grips the pile P. In step S20, it is determined whether the safety lamp of the clamp 11 is lit or not, and if it is confirmed that the safety lamp is lit, the process ends. If it is not confirmed that the safety lamp is lit, the process returns to step S19.

[0083] After step S20, the position of the mast 20 and the rotation angle of the mast 20 at that time are detected by the mast forward / backward sensor 50 and the mast rotation sensor 51. The position of the mast 20 and the rotation angle of the mast 20 are written to a memory area in the control unit 60. These data are used to identify the position of the existing pile P1 in step S2 of the next self-propelled process.

[0084] [Effects of the control method of the pile driving / pulling machine according to the embodiment] The control method for the pile driving-in and extraction machine 1 includes a movement amount calculation step of calculating the movement amount of the clamp 11 based on the current position of the clamp 11 and the position of the existing pile P to which it is to be moved. Therefore, even if the relative positions of adjacent piles are not constant (for example, if the center-to-center distance or arrangement direction of adjacent piles P is not constant), the clamp 11 can reliably grip the existing pile P to which it is to be moved. Therefore, the pile driving-in and extraction machine 1 can be self-propelled to efficiently drive in the pile P.

[0085] For the clamps 11 after the second clamp 11B, the position of the existing pile P to which the clamps 11 are to be moved can be determined from the current position of the adjacent clamp 11 in front, making it possible to calculate the amount of movement with high accuracy. For example, for the second clamp 11B, the position of the existing pile P (PB) to which the clamps 11 are to be moved is the current position of the first clamp 11A, so its position can be determined accurately.

[0086] According to the pile pressing-in construction method described above, since the movement amount calculation step is included in which the movement amount of the clamp 11 is calculated based on the current position of the clamp 11 and the position of the existing pile P to which the clamp 11 is to be moved, the clamp 11 can reliably grip the existing pile P to which the clamp 11 is to be moved even if the relative positions of adjacent piles are not constant. Therefore, the pile P can be pressed-in efficiently.

[0087] Although an example of an embodiment of the present invention has been described above, the present invention is not limited to the illustrated embodiment. Modifications of the present invention will be described below.

[0088] (Modification of the present invention) In the above-described embodiment, the pile driving-in and extraction machine 1 is basically driven in a straight line (so-called straight line driving) as a self-propelled process. However, the pile driving-in and extraction machine 1 can also drive in piles P in a curved line (so-called curved self-propelled). This type of pile driving-in and extraction machine 1 will now be described.

[0089] 7(A) and 7(B) are schematic explanatory views of a second example of the self-propelled process of the pile driving-in and pulling-out machine. As shown in Figures 7(A) and 7(B), in this example, by tilting the movement direction of the pile driving / pulling machine 1 relative to the movement direction in the previous self-propelled process, the piles P can be self-propelled so that their arrangement direction follows a curve (so-called curved self-propelled).

[0090] To tilt the moving direction of the pile driving / pulling machine 1 relative to the moving direction in the previous self-propelled step, the swivel angle of the mast 20 and the rotation angle of the chuck 25 are adjusted based on the calculation results in the movement amount calculation step. This will be explained in detail below.

[0091] The rotation angle of the mast 20 is detected by a mast rotation sensor 51 (see FIG. 3). The rotation angle of the chuck 25 is detected by a chuck rotation sensor 53 (see FIG. 3). The position of the mast 20 in the fore-and-aft direction is detected by a mast fore-and-aft sensor 50 (see FIG. 3).

[0092] As shown in FIG. 4, in step S2, the turning angle (B) of the mast 20 can be calculated based on the current turning angle of the mast 20 and the turning angle of the mast 20 required for self-traveling around a curve. In step S2, the rotation angle (C) of the chuck 25 can also be calculated based on the current rotation angle of the chuck 25 and the rotation angle of the chuck 25 required for curve self-travel. In step S2, the moving distance (A) of the mast 20 in the longitudinal direction can also be calculated based on the longitudinal position of the mast 20 and the longitudinal position of the mast 20 required for self-traveling around a curve.

[0093] In steps S7 to S9, the longitudinal position and rotation angle of the mast 20 and the rotation angle of the chuck 25 are determined based on (A) to (C) obtained in step S2. In this way, by adjusting the longitudinal position and rotation angle of the mast 20 and the rotation angle of the chuck 25, the moving direction of the pile driving / pulling machine 1 can be tilted relative to the moving direction in the previous self-propelled step. Therefore, self-propelled piles P can be arranged in a curved line (so-called curved self-propelled piles).

[0094] In the above-described embodiment, the number of clamps 11 is three, but the number of clamps may be any number equal to or greater than two. For example, the number of clamps may be two, or may be four or more. In the above-described embodiment, in step 3), the main body of the pile driving and extraction machine 1 is raised until the clamp 11 reaches a position higher than the multiple existing piles P, but in this step, it is also possible to stop the main body just before the clamp 11 reaches a position higher than the existing piles P and perform a safety confirmation step.

[0095] The pile driving and extraction machine is also called a "pile driving machine." The method by which the clamp grips the pile includes a method of clamping the pile from both sides, but in the above-mentioned embodiment, a method of gripping the pile from the inside is adopted. [Explanation of symbols]

[0096] 1...Pile pressing and extraction machine (pile pressing machine) 10...Saddle 11...Clamp 11A...First clamp 11B...Second clamp 11C...Third clamp 12...Slide frame 20...Mast 25…Chuck 60...Control unit G...Ground P…Pile P1: First pile (existing pile) P2: Second pile (press-in pile) PA: First existing pile (existing pile) PB: Second existing pile (existing pile) PC…3rd existing pile (existing pile)

Claims

1. a chuck for gripping the press-fit pile; a mast that supports the chuck so that it can be raised and lowered; a saddle that is movable back and forth relative to the mast; A plurality of clamps movably attached to the saddle and gripping the existing pile from the inside; A method for controlling a pile driving-in and extraction machine using a pile driving-in and extraction machine comprising: A press-in process in which the existing pile is gripped by the clamp and the press-in pile gripped by the chuck is pressed into the ground in front of the existing pile; a raising step of releasing the clamp from gripping the existing pile and lowering the chuck relative to the mast to raise the clamp to a position higher than the existing pile; A movement amount calculation step of calculating a movement amount of the clamp based on the current position of the clamp and the position of the existing pile to which the clamp is to be moved; a moving step of moving the clamp based on the calculation result in the movement amount calculation step; a lowering step of lowering the clamp to a position where the clamp can grip the existing pile by raising the chuck relative to the mast, and causing the clamp to grip the existing pile; and The existing pile includes a first existing pile adjacent to the press-in pile and a second existing pile adjacent to the first existing pile, The current position of the first clamp, which is the most forward of the plurality of clamps, is a position where the first clamp grips the second existing pile, The existing pile to which the first clamp is moved is the first existing pile, A current position of a second clamp adjacent to the first clamp among the plurality of clamps is a position where a third existing pile adjacent to the second existing pile is grasped, The existing pile to which the second clamp is moved is the second existing pile, In the movement amount calculation step, the position of the second existing pile is grasped from the current position of the first clamp. Control method for pile driving and extraction machine.

2. a chuck for gripping the press-fit pile; a mast that supports the chuck so that it can be raised and lowered; a saddle that is movable back and forth relative to the mast; A plurality of clamps movably attached to the saddle and gripping the existing pile from the inside; A method for controlling a pile driving-in and extraction machine using a pile driving-in and extraction machine comprising: A press-in process in which the existing pile is gripped by the clamp and the press-in pile gripped by the chuck is pressed into the ground in front of the existing pile; a raising step of releasing the clamp from gripping the existing pile and lowering the chuck relative to the mast to raise the clamp to a position higher than the existing pile; A movement amount calculation step of calculating a movement amount of the clamp based on the current position of the clamp and the position of the existing pile to which the clamp is to be moved; a moving step of moving the clamp based on the calculation result in the movement amount calculation step; a lowering step of lowering the clamp to a position where the clamp can grip the existing pile by raising the chuck relative to the mast, and causing the clamp to grip the existing pile; and The existing pile includes a first existing pile adjacent to the press-in pile and a second existing pile adjacent to the first existing pile, The current position of the first clamp, which is the most forward of the plurality of clamps, is a position where the first clamp grips the second existing pile, The existing pile to which the first clamp is moved is the first existing pile, In the movement amount calculation step, the movement amount is calculated from coordinates based on the chuck that grips the press-fit pile. Control method for pile driving and extraction machine.

3. the chuck is rotatable relative to the mast; the mast is pivotable relative to the saddle; In the moving step, a rotation angle of the chuck and a swivel angle of the mast are adjusted based on the calculation result. A method for controlling a pile driving / pulling machine according to claim 1 or 2.

4. a chuck for gripping the press-fit pile; a mast that supports the chuck so that it can be raised and lowered; a saddle that is movable back and forth relative to the mast; A plurality of clamps movably attached to the saddle and gripping the existing pile from the inside; A pile driving method using a pile driving machine equipped with A press-in process in which the existing pile is gripped by the clamp and the press-in pile gripped by the chuck is pressed into the ground in front of the existing pile; a raising step of releasing the clamp from gripping the existing pile and lowering the chuck relative to the mast to raise the clamp to a position higher than the existing pile; A movement amount calculation step of calculating a movement amount of the clamp based on the current position of the clamp and the position of the existing pile to which the clamp is to be moved; a moving step of moving the clamp based on the calculation result in the movement amount calculation step; a lowering step of lowering the clamp to a position where the clamp can grip the existing pile by raising the chuck relative to the mast, and causing the clamp to grip the existing pile; and The existing pile includes a first existing pile adjacent to the press-in pile and a second existing pile adjacent to the first existing pile, The current position of the first clamp, which is the most forward of the plurality of clamps, is a position where the first clamp grips the second existing pile, The existing pile to which the first clamp is moved is the first existing pile, A current position of a second clamp adjacent to the first clamp among the plurality of clamps is a position where a third existing pile adjacent to the second existing pile is grasped, The existing pile to which the second clamp is moved is the second existing pile, In the movement amount calculation step, the position of the second existing pile is grasped from the current position of the first clamp. Pile press-in construction method.

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