JPH0527751B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention excavates by connecting drilling rods one after another, advances a predetermined distance, returns half of that distance, excavates, and excavates a predetermined distance again. This invention relates to a double-action mode excavation method in which propulsion excavation and return excavation are repeated in this way.

[Conventional technology]

In order to drill deeply, it is necessary to connect the drilling rods one after another. On the other hand, when excavating hard strata, the excavation is carried out by a certain amount, then the excavation is carried out half way back, and then the excavation is carried out by a certain amount, and the excavation is repeated by going back again, so-called double-action mode excavation.

In this way, when drilling by adding drilling rods one after another and drilling in double-acting mode, if the drilling rod is to be connected in the middle of propulsion excavation, the drilling is interrupted and the drilling rod is connected. After that, the propulsion excavation continues until the propulsion excavation reaches a predetermined value and return excavation is performed. The drilling rod is retrieved, and the return digging is continued, and when the return drilling is finished, propulsion excavation is performed again, but in the middle of the process, it becomes necessary to connect the drilling rod again, so the propulsion excavation is interrupted and the drilling rod is connected. After that, the propulsion excavation will continue.

In other words, in double-acting mode drilling, it is necessary to connect the drilling rod twice and once to disconnect and recover the drilling rod in order to excavate the part that includes the depth position where the drilling rod needs to be connected. It is necessary to interrupt excavation, and it takes time and effort to connect and disconnect the drilling rod, resulting in poor workability.

[Means for solving problems]

In this invention, it is constantly checked during propulsion excavation whether or not the condition requires connection of the excavation rod, and if this condition occurs, the switch to return excavation is made at that point even if propulsion excavation is in the middle of a predetermined distance. The return excavation is carried out to the starting position of the previous return excavation, and then when propulsion excavation is performed and it becomes necessary to connect the excavation rod in the middle of the excavation, the excavation is interrupted here and the excavation rod is connected. Then, from this state, a new double-action mode excavation is started. By doing this, you can perform double-acting mode excavation, and when excavating parts that include positions that require rod connection, you only need to connect the rod once, and therefore you only have to interrupt the excavation once. The number of rod connections and excavation interruptions required in single-acting mode excavation where only propulsion excavation is performed is the same, and therefore excavation work can be carried out efficiently.

“Example” Pile Burying Procedure Before explaining the excavating/pile burying machine according to the present invention, the first step is to explain the procedure of digging a hole and burying a pile in the hole.
This will be explained with reference to the figures. First, as shown in Figure 1A, a hole 12 is dug in the surface soil using an auger 11.
Then, the casing 1 is attached to the periphery of the entrance of the hole 12.
3 to prevent the hole 12 from collapsing, and in this state, the hole 12 is dug while rotating the drilling rod 16 with the pit 14 attached to the lower end, and at the same time, a high viscosity drilling fluid, generally an appropriate thickener for muddy water, is poured into the hole 12. Excavation is performed using drilling fluid by spraying a mixture of adhesive and other substances at high pressure. As the excavation progresses, the drilling rods 1
While adding 6, excavate, suck up the excavated liquid from hole 12 and take out the excavated soil.
In addition, the inside of the hole 12 is filled with drilling fluid 17. When the hole 12 is excavated to a predetermined depth in this manner, the lowermost end of the hole 12 is expanded to form a bulbous portion 18. For a certain period of time at the beginning of the recovery of the drilling rod, the pit 14 is raised and rotated, and the drilling fluid is injected to perform drilling.After forming the bulbous portion 18 with an enlarged hole diameter in this way, the drilling rod is removed. 16
are collected 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 FIG. 1D. 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. Once the piles 19 have been immersed, cement is poured through the connected piles 19 in sequence as shown in FIG.

Outline The excavating/pile burying machine of the present invention is mounted on a movable body 31 as shown in FIG. 2. The movable body 31 is a tracked vehicle, and a skid (frame) 32 is attached to the movable body 31.
The skit 32 can be held on the ground by outriggers 33.

An excavation tower 34 is erected on top of the skid 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. That is, a drilling rod is attached to the rotating shaft of the power swivel 35 to rotate the power swivel 35, and the power swivel 35 is pushed down by the feeding device 36 to excavate, or a pile is attached to the power swivel 35 and the pile is sunk into the hole.

Furthermore, a feeding mechanism 37 is provided on the skid 32, and the feeding mechanism 37 can hold a drilling rod or pile and rotate it in a substantially horizontal plane, and the rotation causes the drilling rod or pile to swivel 3.
It can be brought directly under 5. skit 3
An operation room 38 is provided above the vehicle 2 for an operator to operate the vehicle. Furthermore, a crane 39 is mounted on the skid 32, and by means of the crane 39, piles and drilling rods can be attached to and removed from the supply mechanism 37. Further, various control valves for controlling various cylinders and the like are housed in a valve accommodating portion 41 on the skid 32, and an oil tank 40 for controlling them is provided.

Excavation Position Alignment When excavating, it is necessary to correctly position the excavation rod at the excavation position, but it is difficult to align the excavation rod with high precision only by controlling the movement of the movable body 31. The position of the excavation tower 34 can be precisely controlled within the horizontal plane. Further, in order to perform the excavation correctly and vertically, it is necessary to hold the skit 32 accurately horizontally. 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 disposed above it, and each of these skits 32a, 3
As shown in FIGS. 6 and 7, 2b has a substantially rectangular shape, and is made into a frame shape to reduce weight. An excavation tower 34 is attached to one end of the upper skid 32b, and the end of the upper skid 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 digging 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 skid 32a as shown in FIGS. 4 and 7. These guide rods 44a, 44b extend in the front-rear direction, and their rear ends are pivotable about shaft pins 45a, 45b in a substantially horizontal plane. These guide rods 44a, 44b are disposed within holes 46a, 46b formed in the lower skid 32a, and are held in the lower skid 32a so that their front ends can pivot in the left-right direction in FIG. 4 within the holes.

The upper skid 32b is connected to these guide rods 44.
a, 44b and is movable along these guide rods. That is, the retaining rings 47a and 47b are passed over these guide rods 44a and 44b, respectively.
An upper skid 32b is fixed on top of a and 47b. A moving cylinder 49 is attached between a reinforcing piece 48 provided in the middle of the lower skid 32a in the longitudinal direction and the front part of the upper skit 32b, and by expanding and contracting the moving cylinder 49, the upper skid 32b moves to the lower part. It can be moved on guide rods 44a, 44b relative to the skid 32a. In other words, 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 skid 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 pivoted in a horizontal plane. The upper skid 32b rotates about the pin 45b, and therefore the upper skid 32b rotates relative to the lower skid 32a, which means that the excavation tower 34 can be moved in the left-right direction in FIG.

Further, in this example, rings 52a, 52b (52a not shown) are inserted through guide rods 44a, 44b at the rear end of the upper skit 32b, and these rings 52a, 52b are attached to the rear end of the upper skit 32b. cylinder 53
a, 53b, these cylinders 53a,
By strongly pulling up the rod 53b, the positions of the guide rods 44a, 44b can be fixed.

With such a configuration, by expanding and contracting the moving cylinder 49, the excavation tower 34 can be moved and adjusted in the front and back direction, and by expanding and contracting the rotation cylinder 51, the position of the excavating tower 34 in the left and right direction can be adjusted. can be adjusted.

As shown in FIG. 3, the excavation tower 34 is configured so that it can be tilted backwards into a nearly horizontal state as indicated by a dotted line 34' by means of a cylinder 54. In this state, a pin 55 can be inserted to stably hold the upright state. The crane 39 can also be tilted forward in the figure by the cylinder 56, so that it can be tilted almost horizontally. Crane 3
9 can extend and contract its length and can rotate through 360 degrees. The operating chamber 38 is provided on the upper skid 32b, and the crane 39 is mounted on the lower skid 32a. A configuration for holding the skit 32 horizontally for vertical digging with the drilling rod will be described later.

Supply Mechanism A drilling rod or pile is brought under the rotating shaft 57 of the power swivel 35 and connected to it to perform excavation or sinking of the pile.The supply mechanism 37 supplies the drilling rod or pile to the position of the power swivel 35. do it like this. The supply mechanism 37 can rotate the drilling rod or pile in a horizontal plane from a position below the power swivel 35, and at the appropriately rotated position, the drilling rod or pile can be removed from the supply mechanism by a crane. 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 feeding and recovering the drilling rods.

For this reason, the rod holding mechanism 58 is
As shown in the figure, it is provided on the upper skid 32b so as to be rotatable in a horizontal plane. For example, as shown in FIG. 4, the excavation tower 34 has two guide columns 34a, 3
4b is erected in parallel on the upper skit 32b,
Both ends thereof are connected by a connecting portion 34c, and a swing shaft 59 is rotatably held on one of the guide columns 34b substantially parallel to the guide column 34b as shown in FIG. Holding arms 61a and 61b are attached to the upper and lower ends of the swing shaft 59, respectively, and the rotating shaft 62 is rotatably held between the holding arms 61a and 61b. 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 at an intermediate portion of this rotating shaft 62. As shown in FIG. 10, in the temporary fixing mechanism 66, a fixing plate 68 having a claw 67 projecting obliquely with respect to the circumferential direction is fixed to the rotating shaft 62, and a rotating plate 69 rotates in close opposition to the fixing plate 68. It is freely held on the rotating shaft 62. The rotating plate 69 has protrusions 71 at equal angular intervals as shown in FIG. As shown in FIGS. 9 and 11, a fixed plate 68 and a rotating plate 69
A cylinder 72 is installed between the cylinder 7 and
2, the rotating plate 69 can be rotated by a certain angle with respect to the fixed plate. Can be canceled.

As shown in FIG. 9, positioning recesses 73 are formed on the support plate 63 at equal angular intervals, into which the lower end of the excavation rod 16 can be inserted and positioned. Further, a peripheral flange 74 is formed on the lower side of the peripheral edge of the holding plate 64. Furthermore, the retaining plate 64
A clutch cylinder 75 extending vertically is attached to the clutch cylinder 75, 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. In other words, when the rod of the clutch cylinder 75 is moved upward, the retaining plate 64 is connected to the retaining arm 61a, and is disconnected from the clutch plate 77, and vice versa.
When the rod 5 is moved downward, the clutch plate 77
The holding arm 61a is inserted into the hole 78 and connected to the clutch plate 77, and then disconnected from the holding arm 61a.

As shown in FIG. 12, the holding arm 61b and the rotating shaft 6
A rotating cylinder 79 is connected between the two. 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 and 82 have engaging holes 83 formed at equal angular intervals under the support plate 63, as shown in FIG.
can be selectively engaged with. The number of pawls 68, protrusions 71, positioning recesses 73, holes 78 in the clutch plate 77, engagement holes 83, etc. that can be held by the drilling rod, 12 in this example, are provided.

Insert the lower end of the excavating rod 16 into one of the positioning recesses 73 of the support plate 63 at the position of the insertion/removal notch 65, and then press the claw 6 of the temporary fixing mechanism 66.
7 and the protrusion 71. In this state, the cylinder 72 is controlled to hold the excavating 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
4, the rod of the cylinder 81 provided on the lower side is projected upward and inserted into the supply hole 83, and the rod of the cylinder 82 is retracted. In this state, when the rotating cylinder 79 is controlled, the rotation cylinder 79 is supported. Board 6
3. The rotating shaft 62 is rotated by a certain angle, for example, 30 degrees,
Since the holding plate 64 is fixed to the holding arm 61a as described above, the excavating rod 16 placed on the supporting 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 engagement hole 83, and in this state, when the rotating cylinder 79 is reversely controlled, only the rotating arm 80 on the rotating shaft 62 returns. The previously rotated rotational position of the excavation rod 16 can be maintained. In this way, by controlling the cylinders 81 and 82 in the opposite direction and controlling the rotating cylinder 79, the drilling rod 16 disposed on the support plate 63 is rotated to the inner side of the flange 74 of the holding plate 64. let Even if the holding by the temporary fixing mechanism 66 is released in this state, the upper end of the excavating rod 16 will not fall down due to the presence of the periphery 74 of the holding plate 64.
The drilling rod 16 is held between the support plate 63 and the support plate 63. In this way, for example, twelve drilling rods 16 can be held around the rotating shaft 62 at 30° angle intervals.

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 pile 19 can be held in place. With the lower end of the clutch cylinder 75 inserted into the hole 78 of the clutch plate 77 as shown in FIG. 9, the rod holding mechanism is activated by controlling the cylinders 81, 82 and the cylinder 79 as described above. 58 as a whole can be rotated around a rotation axis 62. In other words, the angular position of the insertion/removal notch 65 can be arbitrarily set with respect to the holding arm 61a.

As shown in FIGS. 9 and 12, a swinging cylinder 86 is installed between the guide column 34b of the excavation tower and the end of the holding arm 61b, and by controlling the swinging cylinder 86, the rod is The entire holding mechanism 58 can be rotated around a swing shaft 59. In other words, the rod holding mechanism 58 can be rotated, for example, about 90 degrees within a substantially horizontal plane.
This rotation allows the rod holding mechanism 58 to be rotated to a position directly below the swivel 35 as shown in FIGS. 4 and 5, or to a position away from it, that is, toward the crane 39 side. I can do it. Therefore, the drilling rod 16 and the pile 19 can be held by the rod holding mechanism 58 from any position (direction), not only from the front end of this machine, that is, from the excavation position by the drilling rod or from the position where the pile is sunk. let me,
Further, a crane can be used to remove the pile from the rod holding mechanism 58 or to hold the stake in the rod holding mechanism.

Chucking Furthermore, in this machine, the digging 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.
As shown in FIGS. 3 and 4, a power swivel mount 88 is installed between the guide columns 34a and 34b so that it can be moved up and down while being guided by the guide columns 34a and 34b.
is installed. Below the power swivel mount 88, a tracking mount 89 is connected to the power swivel mount 8 by cylinders 91a and 91b.
It is installed so that it can be moved up and down relative to 8.
The tracking mount 89 also has guide columns 34a, 3
4b and is guided and held so as to be able to move up and down.

Chat King mount 89 and Chat King 91
is held, and the rod holding mechanism 58 is moved to the power swivel 3 as shown in FIGS. 15, 16, and 16A.
5, one drilling rod can be inserted through the chucking 91, and the drilling rod 16 can be gripped by the chucking 91.
The chucking mount 89 is a rod holding mechanism 58
It is located on the outer periphery so as not to get in the way.

The chuck 91 can be rotated while gripping the excavation rod 16. That is, the cylindrical rod guides 90a, 90b are arranged vertically and coaxially and attached to the chucking mount 89, and the cylinder 92 and the engaging piece 94 are arranged vertically in the openings formed in the rod guides 90a, 90b. The cylinder 9 is held rotatably around the
2 is a rod guide 90a, 90b through the opening.
In other words, the rod guide 90a,
The excavating rod inserted through 90b can be held by the cylinder 92 against the engagement piece 94 and gripped. The engagement piece 94 protrudes forward and engages the movable cylinder 9.
It engages with a protrusion 96 fixed to the tube of No. 5. 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, if hydraulic pressure is supplied to the rod 95a side of the movable cylinder 95 in the figure, and the hydraulic pressure is reduced to the rod 95b side, the tube of the movable cylinder 95 moves to the right in the figure, and the excavating rod 16 gripped by the cylinder 92b moves to the right in the figure. It will rotate counterclockwise.
To rotate the excavating rod in the opposite direction, hydraulic pressure may be supplied to the rod 95b side of the cylinder 95.
Note that the tracking mount 89 has a hole 97 through which a chain, which will be described later, passes.

Therefore, one of the excavating rods 16 is positioned directly below the rotating shaft 57 of the swivel, and in 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 is . 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 cylinders 91a and 92b.
91b to bring it closer to the swivel mount 88, that is, bring one of the drilling rods 16 gripped by the chucking 91 closer to the rotating shaft 57 of the swivel 35, and by rotating the swivel 35, the lower end of the swivel rotating shaft 57 A male thread 99 formed at the top of the drilling rod 16 is screwed into a female thread 101 (FIG. 17) formed at the upper end of the drilling rod 16 to connect the drilling rod 16 to the swivel rotating 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 remove the male screw formed at the lower end of the newly connected drilling rod. 102 (FIG. 17) is screwed and connected to the upper female thread 101 of the uppermost excavation rod that has already been inserted into the ground. In this case, in order to complete the connection, the excavation rod located underground is held by a rod clamp.

Rod Clamp As shown in FIGS. 3 and 4, the rod clamp 103 has cylinders 104a and 104b attached to the upper skid 32b on both sides of the notch 43 shown in FIG. 7 at the front end position of the upper skid 32b (see FIG. 18). , see FIG. 19), the rods of the cylinders 104a and 104b are equipped with a presser 105.
a, 105b are attached, and these pressers 105
The opposing surfaces of a and 105b form a substantially common cylindrical surface, and the axial direction of the cylindrical surface is the vertical direction of the swivel rotation axis. There is a guide piece 1 on the upper side of the pressers 105a and 105b.
06a and 106b are fixed respectively, and a drilling rod suspended from a swivel rotation shaft 57 is guided between these guide pieces 106a and 106b so that it can descend.

Further, each tube of the cylinders 104a, 104b is extended toward the pressers 105a, 105b, respectively, to form extensions 107a, 107b, and the pressers 105a, 105b are fitted into these extensions and guided thereto. In this case, the extension portions 107a and 107b facing the guide pieces 106a and 106b are provided with the grooves shown in FIG.
As shown in FIG. 18A and FIG. 19A, the notch 10
8 is formed. The guide pieces 106a and 106b are guided by the notch 108, and the cylinder 1
Even when the rods 04a and 104b are expanded and contracted, the rods do not rotate, and the guide pieces 106a and 106b always face each other and are located on the upper side. Presser 105
A drilling rod is located between a and 105b,
The drilling rod 16 is connected to the cylinders 104a, 104.
b can be held and fixed by controlling
In this fixed state, the swivel 35 can be rotated to connect the excavating rod connected to the swivel rotating shaft 57 above and the excavating rod held by the rod clamp 103 through a screw connection. At this time, the rod clamp 103 receives the rotational force, but the rotational force is applied to the holding tools 105a and 105.
b and the extensions 107a, 107b, and hardly reach the rods of the cylinders 104a, 104b, so there is no risk that the seals of the cylinders will be deteriorated by the rotational force. In this example, the fixed pieces 110a, 110b of the guide pieces 106a, 106b are located in the notch 108, and the rotation of the guide pieces is prevented.

As shown in FIGS. 3 and 19, an elastic ring 109 made of rubber is attached to the holding tool 1 directly below the holding tools 105a and 105b of the rod clamp 103.
11 is fitted and held. The elastic ring 10
A drilling rod held by a swivel 35 is positioned within the drill rod 9 so as to be inserted therethrough in resilient contact. Therefore, when the drilling rod 16 is recovered, the drilling rod passes through the elastic ring 109, so the mud adhering to the drilling rod 16 is removed, and the chuck 91 and the rod clamp 10 are removed.
3 can be reliably maintained.

The excavating rod is held by the rod clamp 103, and the swivel 35 is made freely rotatable, and the chuck 91 grasps the excavating rod connected to the swivel rotating shaft to control the movable cylinder explained in FIGS. 15 and 16. This allows the upper drilling rod to be rotated, ie the threaded connection between the upper drilling rod and the drilling rod held by the rod clamp 103 to be loosened. In the loosened state, the holding by the chuck 91 is also loosened, and by rotating the swivel 35 in the opposite direction, the excavating rod held by the rod clamp 103 and the swivel rotating shaft 5 are removed.
7, and then connect the excavating rod to the swivel rotation shaft 57 by performing the reverse operation of connecting the excavation rod from the rod holding mechanism 58 to the swivel rotation shaft 57. By holding the excavating rod in the rod holding mechanism 58, the excavating rod can be recovered.

Since the rod clamp 103 becomes an obstacle when burying the pile, the rod clamp 103 is made 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 (cylinder 104a,
104b) is mounted on the movable plate 301, and the movable plate 301 has guide rails 302a, 3 on both sides thereof.
02b and is held so that it can move back and forth on the upper skid 32b, and the movable plate 301
By controlling the cylinder 303 connected between the upper skid 32b and the upper skid 32b, 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 the drilling rod is attached to a power swivel with an elastic ring 109 passed through it.
is positioned at the height of the holder 111, move the rod clamp 103 forward, and
An elastic ring 109 can be fitted within 1. Furthermore, when the excavation rod is recovered, the elastic ring 109 can also be recovered by performing the reverse operation.

As shown in FIGS. 3 to 5, the excavation tower 34
A feeding device 36 is attached above, that is, on the connecting portion 34c, and the feeding device 36 has a sprocket 114 attached to the rotating shaft of a hydraulic motor 113, for example, and the sprocket 114 is a large sprocket attached to a drive shaft 115. The drive shaft 115 is connected to the sprocket 116 by a chain 117 to reduce the speed, and the sprocket 1 is attached to both ends of the drive shaft 115.
Chains 119a and 119b are attached to these sprockets 118a and 118b, respectively, to further reduce the speed. One end of each of the chains 119a, 119b is fixed to the swivel mount 118, and the other end goes around the sprockets 121a, 121b attached to the lower ends of the guide columns 34a, 34b, respectively, and further extends through the hole 97 of the tracking mount 89. through which it is fixed to a swivel mount 88. Therefore, the hydraulic motor 113 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. A rotary encoder 122 is mounted, for example, on the rotating shaft of the hydraulic motor 113 in order to measure the vertical amount of the swivel 35 and to measure the depth of excavation by the excavation rod.

The power swivel swivel 35 has a hydraulic motor 124 mounted on a swivel mount 88, and a gear 125 mounted on its rotating shaft as shown in FIG.
The gear 125 is meshed with a large gear 126, and the rotating shaft on the large gear 126 is a swivel rotating shaft 57.
is connected to. Therefore, the rotation of the hydraulic motor 124 causes the swivel rotating 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, excavation is performed by rotating the pit 14 (FIG. 1B) and at the same time by injecting a high pressure drilling fluid. For that purpose, the swivel rotation axis 5
7 is a double tube as shown in FIG. 20, and an inner tube 129 with a hole in the center passes through it.
A cylindrical passage 132 is formed between the outer tube 131 and the outer tube 131, and the outer tube 131 protrudes upward from the case 133 of the large gear 126, and a joint portion 134 rotatably covers the protruding end thereof. . Passage 1
A high pressure pipe connection part 135a is provided at the upper end of the joint part 134 and a low pressure pipe connection part 13 is provided at the side of the joint part 134 in order to supply liquid from the outside into each of the joint parts 32 and 32.
5b are provided 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. High-pressure drilling fluid and cylindrical passage 13 from inside the inner pipe 129 of the swivel rotating shaft inside
Drilling rod 16 is also connected to the first
As shown in Figure 7, it is a double pipe.

Pile Connection Jig In order to connect the pile to the power swivel 35, a pile connection jig is connected to the power swivel 35. The pile connecting jig 137 has a substantially cylindrical shape as shown in FIG.
39, and a connecting female screw 141 is fixed at the center of the upper plate 139.
1 allows the male screw 99 of the rotating shaft of the power swivel or the male screw 102 of the lower end of the drilling rod to be screwed together. Furthermore, in this example, this jig 1
37 can also be used to connect the final pile and the power swivel, and a cylindrical female screw 142 is removably attached to the inner peripheral surface of the cylindrical body 138 with a screw 143. The cylindrical female thread 14
2 can be screwed to the male thread 144 at the upper end of the pile 19. In other words, as shown in FIG. 22, the pile 19 has a male thread 144 formed at its upper end, a female thread 145 that can be screwed together with this male thread 144 at its lower end, and has a central hole through it.

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 at a distance of 180 degrees from the side surface of. In the pile connection jig 137, an inner cylinder 148 is attached concentrically to the inside of a cylindrical body 138.
As shown in FIG.
The pin 147 of the final stake 19 can be inserted into and connected to the pin 147 (which has a letter shape).

Pile Clamp As shown in FIGS. 3, 4, and 23, a stake clamp 151 is provided below the rod clamp 103. This pile clamp 151 is provided with a rotating arm 153 that is rotatable around a shaft 152.
One end of the arm 153 is connected to a cylinder 154, and a pile presser 155 is attached to the other end of the arm 153. The pile presser 155 is shaped to follow the circumferential surface of the pile 19. Such a rotating arm 15
3. A pair of cylinders 154 and pile pressers 155 are provided facing each other. Both cylinders 154
By controlling this, the stake 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 excavation rod 16 to the swivel rotation shaft 57, attach the pile connection jig 13 to the rotation shaft 57 in advance.
7 is connected, and in this state, the pile 19 is held by the pile presser 84 of the rod holding mechanism 58, and in this state, the pile connecting jig 137 is rotated and held by the rotation of the swivel 35. Connect by screwing to. After that, the lower stake is held by the stake clamp 151, and in this state, the swivel is lowered and rotated, and the upper stake connected to the swivel is screwed to the lower stake.

Horizontal Control Next, control for holding the skit 32 horizontally will be explained. For example, as shown in FIG. 24, the outriggers holding the skit 32 are the front outriggers 33a, 33b and the rear outriggers 3.
Let us take as an example the case where it is held by four outriggers 3c and 33d. An inclinometer is provided at the intersection of two intersecting straight lines, but in this example, the inclinometer 1 is installed on the line 161 connecting the outriggers 33a and 33d.
62 is provided, and the straight line 16 is determined by the inclinometer 162.
1 to detect the inclination angle with respect to the horizontal plane,
Further, the inclination of a line 163 perpendicular to this line 161 with respect to the horizontal plane is detected by an inclinometer 162. Inclinometer 16
The support section 2 is provided within the operation chamber 38 in FIG. 3, for example.

The outriggers 33a and 33d are controlled to be horizontal by the inclinometer 162 in accordance with the detected inclination angle of the straight line 161 with respect to the horizontal plane, but in this case, the outriggers 33a and 33d are controlled to be horizontal. Then, by controlling one of the outriggers 33a and 33d such that, for example, one of the outriggers 33a and 33d is raised and the other is lowered using the ratio a: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, a line connecting the outriggers 33b and 33c is drawn as a straight line 163.
Outriggers 33b, 33c when projected on 63
Similarly, the outriggers 33b and 33c are controlled in opposite directions corresponding to the distances b and c between the inclinometer 163 and the inclinometer 163. In other words, the intersection between the line connecting the outriggers 33b and 33c and the straight line 161 and the outriggers 33b, 3
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 3c.

These outriggers 33a to 33d are controlled at high speed when the outriggers are initially extended, and correction control for slight deviations for horizontal maintenance is performed little by little with high precision. From this point of view, the drive cylinders 164a to 164d (25th
In the figure), switching valves 165a to 165d for raising and lowering the respective outriggers are provided in the hydraulic passages for each cylinder, and these valves 165a to 165d for raising and lowering the outriggers.
A high-speed control valve 166 is inserted into a common hydraulic passage, and a low-speed control valve 167 is provided in parallel with this valve 166. Furthermore, a pressure switch 16 is installed in the hydraulic passage on the switching valves 165a to 165d side of the high-speed control valve 166 to detect the hydraulic pressure.
8 is provided. The pressure switch 168 closes the valve 166 when the detected hydraulic pressure is above a predetermined value.
The control is switched from the control by the valve 167 to the control by the valve 167.

Control over the drive cylinders 164a-164d will be explained with reference to the flowchart of FIG. First, when automatic leveling, that is, a routine for leveling the skid 32, is started, initial automatic leveling is checked (S ₁ ). Initial automatic leveling,
That is, when the skid 32 is driven by the movable body 31 and the outriggers 33a to 33d are first extended to level the skid, the pressure switch 168 is checked to be OFF, and if it is ON, that is, the low speed control valve 167 has already been checked. If it is in the controlled state, it is considered abnormal, and if it is OFF, all switching valves 165a to 165d are turned ON.
Then, the high-speed control valve 166 is turned ON (S ₃ ), and all outriggers 33a to 33d are extended 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 168
turns ON (S ₄ ). This pressure switch 168
When turned ON, switching valves 165a to 165d
is turned off, and the high-speed control valve 166 is turned off.
Turn it OFF.

In this example, each outrigger is then extended a little further, that is, gradually extended to the extent that the balance is not lost, to ensure that each outrigger is firmly grounded. To perform this slight overhang, the low speed control valve 16 is
7, and each switching valve 165a to 16
This is done by supplying hydraulic pressure through 5d one by one. In this example, if 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 switching valve 165a for the front right outrigger 33a is
ON (S ₆ ), the outrigger 33a is gradually extended, and a check is made to see if a certain period of time Δt ₁ has elapsed (S ₇ ). When the certain period of time Δt ₁ has elapsed, the switching valve 165b for the left front outrigger 33b is then turned on.
ON (S ₈ ), then checks whether a predetermined time Δt ₁ has elapsed (S ₉ ), and when Δt ₁ has elapsed, the switching valve 165c for the rear right outrigger 33c is turned on.
ON (S ₁₀ ), and similarly checks whether a certain period of time Δt ₁ has elapsed (S ₁₁ ), and if the certain period of time has elapsed, the switching valve 1 for the rear left outrigger 33d is turned on.
65d is turned ON (S ₁₂ ), and it is checked whether a certain period of time Δt ₁ has elapsed (S ₁₃ ), and when that time has elapsed, each outrigger 33a to 33d is firmly grounded by the gradual extension of each outrigger. This means that it came into contact with.

Next, using the inclinometer 162 at this time, the straight line 161,
Each inclination of the skid 163 with respect to the horizontal plane is detected, and correspondingly, control amounts, correction amounts, for the outriggers 33a to 33d required to level the skid 32 are calculated (S ₁₄ ). As a result of the correction calculation, it is determined whether or not the front right outrigger 33a should be raised ( _S15 ), and if it is to be raised, the switching valve 165a is turned on ( _S16 ), the outrigger 33a is gradually raised, and the outrigger 33a is raised by the correction value. Check whether the lift has been completed (S ₁₇ ). When the correction value is increased, the switching valve 165d of the rear left outrigger 33d is turned on, and in this case, the valve 165d is turned on in the direction of lowering the outrigger 33d (S ₁₈ ). It is checked whether this lowering amount has reached the corrected value ( _S19 ), and if it has reached the calculated value, it is checked whether or not to raise the front left outrigger 33b ( _S20 ). When raising this outrigger 33b, correspondingly turn on the switching valve 165b ( _S21 ), check whether this raised amount has reached the correction value ( _S22 ), and if it matches this correction value, the rear right outrigger The switching valve 165c for the outrigger 33c is turned on to lower the outrigger 33c (S ₂₃ ). It is checked whether the lowered value is the set correction value (S ₂₄ ), and if it matches, the detection state of the inclinometer 162 is checked, that is, it is checked whether both straight lines 161 and 163 are in a horizontal state (S 24 ). ₂₅ ), and if both are horizontal, a lamp is lit to indicate that the automatic centering, that is, the horizontality of the skit 32 has been maintained ( _S26 ), and this automatic horizontal control process is terminated.

When the horizontal correction calculation is completed, that is, when it is necessary to lower the front right outrigger 33a in step _S15 , the switching valve 165d of the rear left outrigger 33d is turned ON to raise this outrigger 33d ( _S27) . ). It is checked whether the rise of this outrigger 33d has reached the correction value ( _S28 ), and when it reaches a predetermined value, the switching valve 16 for the front right outrigger 33a is then activated.
5a is ON, in this case outrigger 33a
( _S29 ). It is checked whether the operation of lowering the outrigger has reached a predetermined value, that is, whether it has reached the corrected value (S ₃₀ ), and if it has reached the corrected value, the process moves to step S ₂₀ . In this step _S20 , if it is necessary to correct the front left outrigger to lower it, first turn on the switching valve 165c for the rear right outrigger 33c.
Then, raise the outrigger 33c (S ₃₁ ), check whether it has reached the predetermined correction value (S ₃₂ ), and if it has reached the predetermined value, turn on the switching valve 165d for the front left outrigger 33d to lower it. (S ₃₃ ). It is checked whether the ability to lower or retract the outrigger 33 has reached a predetermined value (S ₃₄ ), and if it has reached the predetermined value, the process moves to step S ₂₅ .

In this step _S25 , if the detected inclination by the inclinometer is not zero, that is, each straight line 161, 16
3 does not match the horizontal, it is checked whether correction is necessary again, that is, it is checked whether the deviation from the horizontal is more than a predetermined value ( _S35 ), and if it is necessary to correct again step
Proceed to _S14 , perform correction calculations corresponding to the slope,
Perform the processing from step _S15 described above. Furthermore, when the automatic leveling process is set to orbit, if the initial automatic leveling is not performed (S ₁ ), that is, if the skid 32 becomes slanted for some reason during excavation work, generally the skid 32 is not horizontally adjusted. Although the deviation is small, if the detected output of the inclinometer 162 exceeds a predetermined value, that is, if the deviation is from the horizontal by more than a predetermined value, an alarm is issued and automatic horizontal control processing is performed. If you have made a withdrawal, proceed from step S ₁ .
The process moves to _S36 , and it is checked whether automatic leveling is being performed during the work. If not, this is determined to be an error and the process returns. If the leveling is being controlled during excavation work, the process moves to step _S14 and corrective sales processing is performed. Execute more. The skit horizontal correction control after step _S14 in which the above-mentioned correction calculation is performed can be performed accurately by gradually raising and lowering each outrigger one by one through the low-speed control valve 167.

Overall control In order to automatically control this excavation/pile burying machine, for example, the rotary encoder 122 is provided to control the vertical movement distance of the swivel 35 and its speed as necessary. A rotary encoder 128 is also provided to detect the rotational speed or number of rotations of the rotating shaft 59 of the swivel 35. Further, a pressure sensor, not shown, is provided to detect the hydraulic pressure in the hydraulic passage of the hydraulic motor 124 of the swivel 35. In FIG. 10, there are proximity switches 171a on both sides of the insertion/removal notch 65,
171b are provided, and when the excavating 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 a limit switch that detects that the rod holding mechanism 58 is in the return position, a limit switch that detects that the rod clamp 103 is in the return position, and a holding plate 64 of the rod holding mechanism.
A limit switch that detects that the notch 65 for loading and unloading is at a predetermined angular 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 chuck 91 with respect to the swivel mount, Limit switches and the like are provided to detect the origin position and the lowest point position, respectively.

Next, the control for automatically operating this excavation/pile burying machine will be explained with reference to the flowcharts of FIGS. 27A to 27M. Processes with two lines attached to the frame in FIG. 27 indicate that they are automatically performed. First, start the engine of the movable body 31 (S ₁ ), turn on the operation control switch (S ₂ ), and start the engine of the movable body 31 (S 1 ).
(S ₃ ), operate the switch to raise the excavation tower 34 (S ₄ ), move the movable body 31 near the position to be excavated, and turn the swivel 3
5 is located almost directly above the excavation position (S ₅ ). Next, when the switch for automatic vertical centering of the excavation tower is turned on (S ₆ ), the skit 32 is automatically set in the horizontal position as explained with reference to FIG. Furthermore, as explained with reference to FIGS. 6 and 7, the upper skit 32b is advanced and rotated relative to the lower skit 32a, so that the rotating shaft 57 of the swivel is positioned directly above the point to be excavated (S ₇ ). Thereafter, it is automatically checked again whether the excavation tower is properly aligned vertically, that is, whether vertical centering is required ( _S8 ). As mentioned earlier, if the inclination detected by 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. (S ₉ ), and when the control is completed, the centering completion lamp is displayed. Next, the switch for returning the rod holding mechanism 58 is turned on (S ₁₀ ). 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 temporary tightening mechanism 66 of the rod holding mechanism 58 is tightened. carried out (S ₁₁ ). When the return of the rod holding mechanism 58 is confirmed by, for example, a limit switch (S ₁₂ ), it is then checked by, for example, a limit switch whether the rod clamp 103 has returned or is retracted rearward (S ₁₃ ). . If the rod clamp has not returned, rod clamp 1
03 is moved backward and returned. ( _S14 ). 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 ₁₅ ). This check is performed by a limit switch, and if the clutch cylinder 75 is not in the normal angular position, the limit switch checks whether the clutch cylinder 75 is lowered ( _S16 ), and if it is not lowered, the clutch cylinder 75 is lowered. That is, in FIG. 9, the holding arm 61a is disengaged and the clutch plate 77 is engaged (S ₁₇ ). In this state, operate the switch to rotate the rod mechanism 58, that is, in FIG. 61a, and checks whether the notch 65 is at the normal angular position again ( _S18 ), and if it is at the normal angular position, is there another excavating rod at the position of the notch 65 for taking in and out? If it is, check whether the clutch cylinder 75 is up (S ₂₀ ), and if _it is not, raise the clutch cylinder 75 and connect it to the holding arm 61a. are connected (S ₂₁ ), and then the temporary fixing mechanism 62 is tightened (S ₂₂ ), and the rod holding mechanism 58 is rotated, that is, the rod holding mechanism 5 is fixed with the holding plate 64 fixed to the holding arm 61a.
8 (S ₂₃ ) and step S ₁₉ again to cut out the notch 6.
A check is made to see if there is a drilling rod in position 5. 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 is removed. 61a (S ₂₅ ). After that, operate the switch and turn the rod holding mechanism 58 to 30°N.
Rotate it to the right or left by twice as much (S ₂₆ ). This N is set as a coefficient in a counter. In this state, the auger 11 (FIG. 1A) is attached and held by the rod holding mechanism 58. When the attachment is completed (S ₂₇ ), the temporary fixing mechanism 66 is tightened by operating a switch (S ₂₈ ), and then the switch for setting the rod holding mechanism 58 is operated (S ₂₉ ), and then the rod holding mechanism 58 is set. Turn to the left or right by 30°×(N+1) (S ₃₁ ). When the completion of setting the rod holding mechanism is detected (S ₃₂ ), the rod holding mechanism is rotated to the right by 30 degrees, that is, directly below the swivel (S ₃₃ ), and the chuck 91 is lowered (S 32 ). ₃₄ ), tighten the chuck, that is, grasp the rod part of the auger with the chuck 91 (S ₃₅ ), and tighten the temporary fastening mechanism 6.
6 (S ₃₆ ), rotate the swivel 35 in the normal direction, and raise _the chuck 91 (S ₃₇ ) to check whether the hydraulic pressure of the swivel 35 is below a predetermined value k ₁ . When it is determined that the auger is securely screwed into the female thread at the upper end of the auger (S ₃₈ ), the connection of the auger is completed (S ₃₉ ).

When the auger excavation switch that connects the auger is turned ON (S ₄₀ ), the holding of the chuck 91 is released (S ₄₁ ), and the chuck 9 is turned on.
1 rises (S ₄₂ ), the rod holding mechanism 58 returns to rotation (S ₄₃ ), and further tightens the temporary fixing mechanism 66 (S ₄₄ ).
The power swivel 35 is lowered to the zero depth point (S ₄₅ ). From this point, the auger excavates by manual operation (S ₄₆ ), during which time the excavation torque (rotational force of the auger), auger feeding force (that is, the descending force of the auger, the excavation rotation speed, etc.) are monitored, and the surface soil is Excavation is performed while manually adjusting the excavation torque and feeding force according to the conditions. During this excavation, the verticality of the excavation tower is checked ( _S47 ), and when the verticality becomes, for example, 1/200 or more, the excavation is stopped, but the power swivel continues to rotate intermittently ( _S48 ),
The vertical centering switch is turned ON, and vertical centering is automatically performed (S ₄₉ ), followed by horizontal centering, that is, checking whether the excavation position is correct (S ₅₀ ). If so, perform horizontal centering in the same way as step S ₇ (S ₅₁ ) and repeat the step.
Return to S ₄₆ and perform auger excavation using 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 k ₄ (S ₅₂ ). This depth is determined by the integrated value of the encoder of the feeding device 36. Excavation automatically stops when the set depth is reached (S ₅₃ ), and the power swivel continues to rotate intermittently. Then, when the auger digging stop switch is turned on ( _S54 ), the power swivel is automatically raised, and when the auger is withdrawn, this is done by detecting the position of the power swivel by the limit switch ( _S55 ), and the rotation of the power swivel is automatically started. (S ₅₆ ). Then, when the switch to set the rod holding mechanism 58 is turned on (S ₅₇ )
The rod holding mechanism 58 rotates. The notch 65 for loading and unloading is checked to see if it is in the correct position ( _S58 ), and if it is in the correct position, it is checked to see if there is another rod in that notch 65 ( _S59 ), and if there is another rod, the cylinder for the clutch is checked. 75 is raised (S ₆₀ ), and if it is not raised, the clutch cylinder 7
5 (S ₆₁ ), rotate the rod holding mechanism 58 by operating the switch (S ₆₂ ), and return to step S ₅₈
Check if the notch 65 is in the correct position, and if it is not in the correct position, check if the clutch cylinder 75 is lowered ( _S63 ), and if it is not lowered, lower the clutch cylinder 75 and engage it with the clutch plate. (S ₆₄ ), then return to step S ₆₂ and rotate the rod holding mechanism 58 by operating the switch.
Returning again to step _S58 , it is checked whether the position of the notch 65 is correct, and if it is, it is checked whether there is another rod in the notch, and if not, the temporary fixing mechanism 66 is loosened ( _S65 ).

The setting of the rod holding mechanism 58 is completed (S ₆₆ ),
In other words, after the rod holding mechanism has turned to the auger position, when the release switch is operated to disconnect the power swivel and the auger (S ₆₇ ), the chuck 91 is lowered (S ₆₈ ), and the chuck 91 causes the auger to be released. The rod is grasped (S ₆₉ ), the chuck 91 starts to descend (S ₇₀ ), the power swivel is reversed, and the screw-connected power swivel is disconnected from the auger (S ₇₁ ).
When the limit switch detects that the rod 1 has been lowered to a predetermined position, that is, when the auger is placed on the rod holding mechanism 58 (S ₇₂ ), the temporary fixing mechanism 66 is tightened to hold the auger (S ₇₃ ). , cancels chatking 91 (S ₇₄ ), and then cancels chatting 9
1 is raised (S ₇₅ ). Then, when the rod holding mechanism return switch is operated ( _S76 ), the clutch cylinder 75 descends and it is checked whether it is connected to the clutch plate ( _S77 ).If the clutch cylinder 75 is not connected to the clutch plate, it is checked. The clutch cylinder is lowered (S ₇₈ ), the temporary fixing mechanism 66 is tightened (S ₇₉ ), and the rod holding mechanism 58 is turned to the right by 30 degrees (S ₈₀ ). When the rod holding mechanism 58 returns to rotation,
This is detected by the limit switch (S ₈₁ ), and the switch for rotating the rod holding mechanism 58 is operated (S ₈₂ ), that is, the auger is rotated to the position of the notch 65, and the switch for loosening the temporary fixing mechanism 66 is operated (S 82 ). S ₈₃ ), and the auger is removed from the rod holding mechanism 58 (S ₈₄ ).

In this way, when the auger is used to perform excavation as shown in FIG. 1A and the auger is pulled up and removed, the casing 13 is inserted into the excavated hole as shown in FIG. 1B. Make sure the area around the hole does not collapse. That is, when the auger removal is completed in this way (S ₈₅ ), it is checked whether the rod holding mechanism needs to be swiveled in order to attach the casing (S ₈₆ ), and if it is necessary to swivel, the swivel switch is turned on. When the clutch cylinder 75 is operated ( _S87 ), it is checked whether the clutch cylinder 75 is lowered ( _S88 ), and if the clutch cylinder 75 is not lowered, it is lowered and combined with the clutch plate ( _S89 ), and then the rod is lowered. A pivoting of the holding mechanism 58 takes place (S ₉₀ ) and it is checked again whether it is still necessary to pivot. If this is not necessary, the casing attachment is attached 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 (S ₉₂ ), the temporary fixing mechanism 66
Tighten it by operating a switch (S ₉₃ ), and then operate a switch to set the rod holding mechanism (S ₉₄ ). Then, the rod holding mechanism rotates by -30°×(N+1) (S ₉₅ ), and when the rod holding mechanism rotates and is located above the excavation position, it is detected by the limit switch (S ₉₆ ), and the rod holding mechanism rotates by 30° It is turned to the right by 0.degree. ( _S97 ), and the routine R _a of steps _S34 to _S39 is further executed ( _S98 ), and the rod of the casing attachment is connected to the power swivel. Then, when the casing push switch is operated (S ₁₀₄ ), the holding of the chucking 91 is loosened, and the chucking 9
1 rises, the rod holding mechanism automatically returns (S ₁₀₇ ), and after tightening the temporary fixing mechanism 66, the power swivel descends to zero depth (S ₁₀₉ ). In this state, adjust the position of the tongue of the casing. (S ₁₁₀ ), and if it is necessary to make an adjustment, turn the power swivel to set the casing tongue to the required angular position (S ₁₁₁ ), and operate the switch to push the casing (S ₁₁₂ ). The casing is pushed in ( _S113 ), that is, the power swivel is lowered by the feeding device 36, and it is checked whether it has reached the specified depth ( _S114 ), and when the casing is pushed to the specified depth, the power swivel is lowered by 1/4. The rotation is reversed (S ₁₁₅ ) and the power swivel is raised (S ₁₁₆ ). The connection between the casing and the casing attachment is performed in the same way as the connection between the final pile and the pile connection jig, as previously explained with reference to Fig. 21, and therefore the power swivel is rotated in the opposite direction by 1/4 turn. As it rises, the casing and casing attachment are uncoupled. The power swivel is in the highest position, this is detected by the limit switch ( _S116 ), and then when the switch that sets the rod holding mechanism is pressed ( _S117 ), the routine R _b of the previous steps _S58 to _S65 is executed and the rod is The holding mechanism is set correctly ( _S118 ). When the setting of the rod holding mechanism is completed ( _S119 ) and the rod disconnection switch is operated ( _S120 ), the routine of steps _S68 to _S75 is performed.
R _c is executed (S ₁₂₁ ), and the rod of the casing attachment is disconnected from the power swivel, and the casing attachment is held by the rod holding mechanism. When the switch for returning the rod holding mechanism is operated ( _S129 ), routine _Rd of steps _S77 to _S80 is entered ( _S130 ), and the return of the rod holding mechanism is completed ( _S131 ). Then, operate the swing switch of the rod holding mechanism to position the casing attachment at the position of the insertion/removal notch 65 (S ₁₃₂ ), operate the switch to release the temporary fixing mechanism (S ₁₃₃ ), and then remove the casing attachment. (S ₁₃₄ ).

Next, connect the drilling rod, but the first drilling rod to be connected should have a bit 14 attached to the bottom. Therefore, it is checked whether this has already been attached to the rod attachment mechanism 58 ( _S135 ), and if it is not attached, it is checked whether it is necessary to rotate the rod holding mechanism for its attachment ( _S136 ), and the rod is rotated. Operate the swivel switch if necessary (S ₁₃₇ ). Then, it is checked whether the clutch cylinder 75 is connected to the clutch plate ( _S138 ), and if not, the clutch cylinder is lowered and connected to the clutch plate ( _S139 ).
Thereafter, the rod holding mechanism is rotated (S ₁₄₀ ), and it is checked again whether the rotation is still necessary. If it is not necessary, the drilling rod with a bit is attached to the rod holding mechanism (S ₁₄₁ ). Thereafter, tighten the temporary fixing mechanism 66 by operating a switch (S ₁₄₂ ), check whether the rod with a bit is located in the notch 65 (S ₁₄₃ ), and if it is located in the notch 65, raise the clutch cylinder 75. Operate the switch (S ₁₄₄ ), then operate the switch that rotates the rod holding mechanism to rotate it (S ₁₄₅ ) so that the rod with the bit is not in the notch 65 position, and then the clutch cylinder 75 is lowered. Check whether the clutch is in place ( _S146 ), and if it is not, lower the clutch cylinder ( _S147 ) and operate the switch to set the rod holding mechanism ( _S148 ). Then, it is checked whether the clutch cylinder 75 is lowered ( _S149 ),
If it has not been lowered, it is lowered (S ₁₅₀ ), the rod holding mechanism is rotated by -30° x (N+1) (S ₁₅₁ ), and then the rod holding mechanism is rotated and brought to the set position (S ₁₅₂ ). . The rod holding mechanism is then pivoted by 30° to the right (S ₁₅₃ ). Then, when the rod sustain switch is operated ( _S154 ), routine R _a is executed ( _S155 ), and the rod with the bit is connected to the power swivel. Then, when the rod holding mechanism return switch is operated ( _S161 ), the holding by the chuck 91 is released ( _S162 ), the chuck 91 is raised ( _S163 ), and the rod holding mechanism rotates to return ( _S164 ). , the temporary fixing mechanism 66 is tightened (S ₁₆₅ ). Thereafter, the power swivel is lowered to a depth of N _n , that is, it is lowered by the amount excavated by the auger (S ₁₆₆ ).

After that, when you operate the excavation start switch (S ₁₆₇ ),
Rotation of the power swivel 35 is started (S ₁₆₈ ), and feeding by the feeding device 36 is started (S ₁₆₉ ).
In this state, the drilling rod is excavating, but during this time it is checked whether the feeding force is smaller than k ₂ , that is, whether the digging is progressing smoothly (S ₁₇₀ ), and if it is not, the feeding force is checked. advance device 36
is stopped ( _S171 ), the power swivel is increased by a predetermined value ( _S172 ), the feeding speed is lowered ( _S173 ), and the process returns to step _S169 to perform feeding again. If the feeding force is smaller than k ₂ , it is checked whether the digging torque is smaller than k ₃ (S ₁₇₄ ), and if the digging torque is larger than k ₃ , the process moves to step S ₁₇₁ to stop feeding and start feeding. The forward speed is reduced. If the excavation torque is less than _k3 , it is checked whether the verticality is less than a predetermined value ( _S175 ), and if it is more than the predetermined value, the routine _Re of steps _S48 to _S51 is executed ( _S176 ); After that, operate the excavation start switch (S ₁₇₇ ). Then, the process moves to feeding start step _S169 .

If the verticality is within a predetermined value, it is checked whether the excavation has reached the desired final depth (S ₁₈₁ ), and if it has not been excavated that far, it is checked whether the power swivel is at the lowest position (S ₁₈₂ ). ,
When it reaches the lowest position, the feeding device 36 is stopped, and the rotation by the power swivel 35 is also stopped (S ₁₈₃ ). It is checked whether the rod clamp 103 is set, that is, moved forward ( _S184 ), and if it is not set, the rod clamp 103 is set by controlling the cylinder 303 in FIG. 18 ( _S185 ), and then The excavation rod is held during excavation by the rod clamp 103 (S ₁₈₆ ),
While raising the power swivel slightly (S ₁₈₇ ), reverse the power swivel to remove the power swivel from its drilling rod (S ₁₈₈ ), then raise the power swivel to its uppermost position (S ₁₈₉ ), and then turn the switch to set the rod retention mechanism. operate (S ₁₉₀ ).

Then, the rod holding mechanism 58 rotates by -30°×N (S ₁₉₁ ), and then checks whether there is a digging rod at the position of the notch 65 (S ₁₉₂ ), and if there is no rod, the clutch cylinder 75 is Check whether it is raised and engaged with the holding arm (S ₁₉₃ ), and if it is not engaged, raise the clutch cylinder 75 (S ₁₉₄ ), then turn the holding mechanism (S ₁₉₅ ) and disengage it again. It is checked whether there is a drilling rod in the notch (S ₁₉₂ ) and, if so, the rod holding mechanism is set in rotation, ie positioned over the drilling rod during excavation (S ₁₉₆ ). Further, routine R _a is executed (S ₁₇₀ ), and the drilling rod in the rod holding mechanism is screwed to the power swivel. After that, when the switch for returning the rod holding mechanism is operated (S ₂₀₃ ), the holding of the excavating rod by the chuck is released (S ₂₀₄ ), the chuck 91 is raised (S ₂₀₅ ), and the rod holding mechanism is rotated to return. After that, the temporary fixing mechanism was tightened (S ₂₀₇ ), and then the power swivel was lowered (S ₂₀₈ ), and the power swivel was lowered to the connection position of the excavation rod held by the rod clamp 103 _. (S ₂₀₉ )
When the power swivel descends to the connection position, the power swivel is lowered while rotating, and the drilling rod connected to the power swivel is screwed to the lower drilling rod fixed to the rod clamp 103 (S ₂₁₀ ), and the power swivel is lowered. It is checked that the pressure has reached a predetermined pressure _k1 ( _S211 ), and when the predetermined pressure is reached, the rod connection is completed ( _S212 ). Thereafter, the rod clamp 103 is opened ( _S213 ), the process returns to step _S68 , the power swivel is rotated, and the feeding device is fed again to perform the excavation work in the same manner as described above.

In this way, drilling is performed while connecting the drilling rods one after another, and in step _S181 it is constantly monitored to see if the drilling has reached the set depth, and when the set depth is reached, the As explained above, the bottom end of the excavated hole is enlarged to create a bulbous part. In other words, feeding device 3
6 is stopped (S ₂₁₄ ), and the power swivel is raised while rotating (S ₂₁₅ ), and by this operation, that is, by excavation while being raised, the bulb portion enlargement process is performed. During this process, it is checked whether the power swivel has reached the uppermost position, that is, the position where the drilling rod is removed and retrieved (S ₂₁₆ ), and if that position has been reached, the rotation of the power swivel is stopped (S ₂₁₇ ). , the drilling rod immediately below the drilling rod directly connected to the power swivel is fixed by the rod clamp 103 (S ₂₁₈ ), and then the chucking 91 is lowered (S ₂₁₉ ), and is held by the rod clamp 103 by chucking. The drill rod connected to the power swivel above the drill rod is grabbed (S ₂₂₀ ). 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 (S ₂₂₁ ), and when the breakout activation switch is operated (S ₂₂₂ ), the movable cylinder 95 in the chucking 91 is opened. is controlled,
The screw connection between the drilling rod held by the chuck and the drilling rod held by the rod clamp 103 is loosened. Next, operate the switch to release the chuck (S ₂₂₃ ), the power swivel will start rising (S ₂₂₄ ),
Also, the power swivel is reversed, and the threaded connection between the digging rod connected to the power swivel and the digging rod fixed by the rod clamp 103 below is severed (S ₂₂₅ ), and the power swivel is further raised to the uppermost end. (S ₂₂₆ ). Also, the chuck is raised ( _S227 ), and then the switch for setting the rod holding mechanism is operated ( _S228 ).

Then, it is checked whether the insertion/removal notch 65 is in the correct position (S ₂₂₉ ), and if it is not in the correct position, it is checked whether the clutch cylinder 75 is lowered (S ₂₃₀ ), and if it is not, the clutch cylinder 75 is lowered. is lowered and connected to the clutch plate (S ₂₃₁ ), then the rod holding mechanism is rotated by -30°×N (S ₂₃₂ ), and the notch is checked again to see if it is in the correct position (S ₂₂₉ ). If there are other drilling rods in the notch (S ₂₃₃ ),
If there is another digging rod, it is checked whether the clutch cylinder is raised (S ₂₃₄ ), and if the clutch cylinder is not raised, this clutch cylinder is raised and connected to the holding arm (S ₂₃₅ ); The rod holding mechanism is rotated by −30°×N (S ₂₃₆ ), and the notch is checked again for the presence of the drilling rod (S ₂₃₃ ). If there is no excavation rod, the temporary fixing mechanism 66 is loosened ( _S237 ) and the rod holding mechanism is rotated to set ( _S238 ).

Once the rod holding mechanism has been set, the routine
R _c is executed (S ₂₃₉ ), the power swivel is disconnected from the drilling rod, and the drilling rod is held by the rod holding mechanism. When the return switch of the rod holding mechanism is operated (S ₂₄₇ ), the rod holding mechanism rotates, and when the return is completed (S ₂₄₈ ), the power swivel rotates downward (S ₂₄₉ ), and the rod clamp 1
03 is connected to the power swivel, and when the connection is completed (S ₂₅₀ ), the rod clamp 103 is released (S ₂₅₁ ), and if it has not risen to the specified depth (S ₂₅₂ ) Then, the process returns to step _S215 , and the power swivel is rotated upward to perform enlarged excavation of the bulb.

When there is no need to cut off the excavation rod during this bulb enlargement excavation, the process moves from step _S216 to step _S252 , where it is checked whether the power swivel has been raised to a specified depth, that is, whether the bulb enlargement has been completed. When the expansion is completed, the rotation of the power swivel is stopped ( _S253 ), and the process then proceeds to take out the drilling rod one after another.

That is, while the power swivel rotates in the normal direction ( _S254 ), the power swivel is raised ( _8S255 ), and it is constantly checked whether the power swivel is in the drilling rod disconnection position ( _S256 ), and when it is in the disconnection position, steps _S217 to _S227 are performed.
The routine R _f is executed ( _S257 ), and the drilling rod held by the rod clamp 103 and the drilling rod connected to the power swivel are separated. After that, when the switch that returns the rod holding mechanism is controlled ( _S268 ), the routine _Rg of steps _S229 to _S238 is executed ( _S269 ), and the position of the notch 65 is correct and the drilling rod is located at the notch. The empty rod holding mechanism is set to the digging position.
When the rod disconnection switch is operated in this state (S ₂₇₀ ), routine R _c is executed (S ₂₇₁ ).
A drilling rod connected to the power swivel is held by a rod holding mechanism. After that, when you operate the switch that returns the rod holding mechanism (S ₂₇₂ ), the rod holding mechanism returns and the power swivel descends.
Furthermore, a routine R _h for connecting to the drilling rod held by the rod clamp is executed ( _S273 ). Thereafter, a check is made to see if the lowest drilling rod is present ( _S275 ), and if it is not the lowest drilling rod, the process returns to step _S255 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 a depth of M ₂ (S ₂₇₈ ), cleaning fluid is supplied to the drilling rod to clean it, and then the power swivel is raised to the highest position. (S ₂₇₉ ).

Next, when the switch for setting the rod holding mechanism is operated (S ₂₈₀ ), routine R _g is executed (S ₂₈₁ ), and then when the power swivel and excavation rod disconnection switch is operated (S ₂₈₂ ), routine R _c is executed. (S ₂₈₃ ), the drilling rod attached to the power swivel is held by the rod holding mechanism. Thereafter, when the switch for returning the rod holding mechanism is operated ( _S284 ), the rod holding mechanism is rotated back and the rod clamp 103 is retracted and returned ( _S285 ).

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

To sink a pile, first install the pile centering jig (S ₂₈₆ ), then lower the chuck by pressing the chuck lowering switch (S ₂₈₇ ), and then lower the chuck by operating the power swivel (S ₂₈₈ ). , the chuck is opened (S ₂₈₉ ), and the pile setting jig (as explained in connection with FIG. 21) is attached to the rod holding mechanism (S ₂₉₀ ). Next, the chuck is tightened by operating the switch (S ₂₉₁ ), and when the rod connection switch is operated (S ₂₉₂ ), the chuck is raised (S ₂₉₃ ), and the power swivel is rotated (S ₂₉₄ ), so that the tightening is performed to the predetermined pressure k. ₁ (S ₂₉₅ ), and when the predetermined pressure k ₁ is reached and the connection of the pile connection jig to the power swivel is completed (S ₂₉₆ ),
There the hold on the chatking was released (S ₂₉₇ ),
Chatking rises (S ₂₉₈ ).

When the switch for setting the rod holding mechanism is pressed (S ₂₉₉ ), it is determined whether the notch 65 is in the correct position (S ₃₀₀ ), and if it is not in the correct position, it is checked whether the clutch cylinder 75 is lowered (S 300). ₃₀₁ ). If it has not been lowered, after lowering the clutch cylinder 75 (S ₃₀₂ ), the rod holding mechanism is
It is rotated by 30°×N (S ₃₀₃ ) 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 (S ₃₀₅ ), and if it is not the final pile, the power swivel rotates down to connect to the pile held by the rod holding mechanism (S ₃₀₆ , S ₃₀₇ ,
S ₃₀₈ ), and then the pile holding mechanism 84 (FIG. 9) is released from holding the pile (S ₃₀₉ ). The power swivel rises to its home position (uppermost position) (S ₃₁₀ ).
Thereafter, the rod holding mechanism 58 is returned (S ₃₁₁ ),
Sink the piles (S ₃₁₂ ). This pile is installed by remote control while monitoring the verticality, etc. During the installation, it is determined whether the pile is the final pile (S ₃₁₃ ), and if it is not the final pile, the power swivel is set to the lowest position. The pile height is determined (S ₃₁₄ ), and if the pile reaches the bottom, pile sinking is automatically stopped (S ₃₁₅ ).
Pile clamp 1 attached to upper skid 32b
51 clamps the sinking pile (S ₃₁₆ ), then the power swivel is reversed (S ₃₁₇ ),
The connection between the stake and the power swivel is released. After stopping the reverse rotation of the power swivel (S ₃₁₈ ), the power swivel is raised (P ₃₁₉ ), and it is checked whether the lifting force is less than a predetermined value _K3 (S ₃₂₀ ), that is, the connection between the pile and the power swivel is reliably released. Taka is checked. If the pulling force is equal to or greater than the predetermined value _K3 , it is determined that the connection between the pile and the power swivel is not released, and the process returns to step _S317 , where the power swivel is reversed.

With the power swivel disconnected from the pile, the power swivel is stopped at its upper limit (S ₃₂₁ ), and then the switch for setting the rod holding mechanism is operated (S ₃₂₂ ).
As a result, the rod holding mechanism is rotated under the power switch, but at this time, a new stake is already held in the rod holding mechanism. With the stake under this power swivel, step S ₃₀₀ ~ S ₃₀₄
The routine R _i is executed (S ₃₂₃ ), and the routine R _j
(S ₃₂₄ ) to connect the new pile held in the rod holding mechanism to the pile connection fixture of the power swivel, and then connect the new pile to the pile held in the pile clamp, and then 84 is released (S ₃₂₅ ) and the power swivel is raised (S ₃₂₆ ), that is, raised to the origin, the rod holding mechanism is restored (S ₃₂₇ ), after which the process moves to step S ₃₁₂ and the pile sinking work is performed.

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 S ₃₀₅ , and the final pile is installed as described in Fig. 21 above. A pin is attached to the top end of the pile, and correspondingly remove the female screw in the pile connection jig (S ₃₂₉ '). In order to connect the notch of this pile connection jig to the pin, the power swivel is lowered while rotating (S ₃₂₈ ), and the pressing force is set to a predetermined value K ₃
When this happens, it is determined that the lower edge of the inner cylinder of the pile connection jig has contacted the top of the pin (S ₃₂₉ ), and the lowering of the power swivel is stopped (S ₃₃₀ ). In this state, the power swivel is being rotated, and if the power swivel rotates one or more revolutions before its rotational force reaches the predetermined value _K1 (S ₃₃₂ ), in this case, the process returns to step S ₃₂₈ where the power swivel is rotated and lowered again. . When the rotational torque of the power swivel reaches a predetermined value within one rotation, it is determined that the pin has entered the notch, the rotation of the power swivel is stopped (S ₃₃₃ ), and the power swivel is further lowered, that is, in the vertical direction of the notch. When the pressing force of the power swivel reaches a predetermined value _K3 or more (S ₃₃₅ ), the power swivel is rotated (S ₃₃₆ ) to move the pin to the lateral passage of the notch, and its When the rotational torque reaches a predetermined value ( _S337 ), the process moves to step _S308 , where it is determined that the connection between the final pile and the pile connection jig has been completed. After that, carry out the same routine as for laying the intermediate piles.

During the work of sinking this pile, step S ₃₁₃
If it is determined that it is the final pile, the process moves to step _S338 , where it is determined whether the power swivel is at the lowest position,
At the lowest point, the pile is stopped (S ₃₃₉ ).
In order to make the upper end of this final pile coincide with the ground surface or below the ground surface, a digging rod is connected to a pile connecting jig, and the digging rod is further connected to the upper end of the final pile to perform pile burying. That is, the rod clamp 10
3 (S ₃₄₀ ) to move the rod clamp 103 forward and set it at a predetermined position. The rod portion of the pile connection jig is fixed by the rod clamp 103 (S ₃₄₁ ), the power swivel is reversed to disconnect the pile connection jig (S ₃₄₂ ), and the power swivel is raised to the uppermost end (S ₃₄₃ ). When the switch for setting the rod holding mechanism is operated (S ₃₄₄ ), the rod holding mechanism (which already holds the digging rod) rotates and rotates under the power swivel, and routine R _g is executed. (S ₃₄₅ )
The drilling rod is connected to the power swivel. In this state, the chuckking is lowered (S ₃₄₆ ),
The drilling rod is held by the chuck (S ₃₄₇ ), then the temporary fixing mechanism 66 is released (S ₃₄₈ ), and the chuck is raised and the power swivel is rotated (S ₃₄₉ ). When the rotational torque reaches a predetermined value _K2 due to this rotation ( _S350 ), the connection between the excavating rod and the power swivel is completed ( _S351 ).
Therefore, the routine R _k of steps S ₂₀₄ to _{S 213} is executed (S ₃₅₂ ), the excavation rod connected to the power swivel is connected to the pile connection jig, and after the rod clamp 103 is loosened, the pile sinking is performed remotely. It is done by operation (S ₃₆₂ ). During this time, a check is made to see if the final depth of the pile has been reached (S ₃₆₃ ).
If the final depth is not reached, it is checked whether the power swivel has reached its lowest position (S ₃₆₄ );
In other words, if the final pile is placed fairly deep, the power swivel may be at its lowest position. In that case, in order to connect the drilling rod further, in the same way as connecting the drilling rod when proceeding with excavation first,
In other words, the connection of the drilling rod to the power swivel is completed through steps S ₃₆₅ to S ₃₇₂ in the same way as the processing in steps S ₁₈₇ to S ₁₉₇ , and from there, the process returns to step S ₃₅₂ to further connect to the lower drilling rod. After treatment, it will be deposited.

If it is detected in step S ₃₆₃ that the final depth of the deposit has been reached, the process moves to step S ₃₇₇ ;
The power swivel is reversed 1/4 turn, an operation is performed to release the connection between the final pile and the pile connecting jig, a check is performed to see if the rod to be retrieved is the final jig (S ₃₇₈ ), and if not, the power swivel is (S ₃₇₉ ), and if the lifting force is greater than the predetermined value _K5 , that is, the connection between the pile connecting device and the final pile is not released (S ₃₃₀ ), the process returns to step S ₃₇₈ and the power swivel is reversed. I do. If the pulling force is less than K ₅ in step S ₃₈₀ , check whether the power swivel and rod are in the disconnection position (S ₃₈₁ );
At this rod separation position, it is checked whether the rod clamp 103 is set ( _S382 ), and if it is not set, it is set ( _S383 ), and then the rod recovery processing step _S257 shown earlier is performed. Steps _S384 to _S390 are executed in the same manner as the processes from step S273 to step _S273 . In other words, the drilling rod is recovered. Further, the rod clamp 103 is returned to disconnect the lower pile connecting jig and the power swivel (S ₃₉₉ ), and then the switch is operated to raise the power swivel (S ₄₀₀ ).
Furthermore, a switch is operated to lower the chuck (S ₄₀₁ ), a switch is operated to tighten the chuck (S ₄₀₂ ), and a switch is operated to reverse the rise and fall of the power swivel (S ₄₀₃ ). In other words, the pile connecting jig and the power swivel are separated by raising the pile connecting jig, grasping the rod part with a chuck, and reversing the power swivel (S ₄₀₄ ).
After that, after loosening the chuck (S ₄₀₅ ), collect the pile connection jig (S ₄₀₆ ), raise the power swivel (S ₄₀₇ ), and raise the chuck (S ₄₀₈ ).
Finish laying the piles and move on to preparations for the next process (S ₄₀₉ ).

When excavating hard strata, for example, the second
As shown in Figure 8, downward excavation (propulsion excavation) is performed by l ₀ , and then upward excavation (return excavation) is performed by a distance (l ₀ /2) that is 1/2 of the distance l ₀ of the propulsive excavation. 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, the 27th
When the excavation start switch is operated in the process shown in the figure ( _S167 ), it is checked whether or not it is in the double-acting mode as shown in Fig. 29 ( _S500 ), and if it is not in the double-acting mode, the processing is in the single-acting mode (S167). ₅₀₁ ) The power swivel is rotated and feeding is performed again, but at this time, if the feeding force becomes larger than K ₂ (S ₅₀₂ ), it automatically shifts to double-motion mode and executes double-motion mode processing. (S ₅₀₃ ), and similarly, when the excavation torque becomes larger than K ₃ (S ₅₀₄ ), it is also possible to automatically shift to double action mode. In this reciprocating mode (S ₅₀₃ ), the feeding force and digging torque are also investigated.
If the feeding force or excavation torque becomes larger than a predetermined value, the feeding speed can be reduced, that is, the process can be carried out as described in connection with FIG. 27.

Special double action mode As mentioned above, when excavating in the double action mode and supplying drilling fluid, it is preferable to supply a drilling fluid suitable for the stratum being excavated. In this case, when a stratum boundary 171 is reached during descending excavation in Fig. 28, the drilling fluid is switched to one suitable for the stratum below at time t ₁ , and thereafter descending excavation for that l ₀ is performed. At the end, upward excavation (return excavation) is performed, and at time t ₂ during the excavation, when passing through the stratum boundary 171, the drilling fluid is changed to one suitable for the upper stratum and excavation is performed, and descending excavation is performed again to reach the stratum boundary 171. When this point is reached, at that time point _t3 , the drilling fluid will be switched in the same way and drilling will be performed.

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. Although it is possible to prepare a sufficient amount of drilling fluid and also a drilling fluid suitable for the area below the strata boundary, it is difficult to always have several kinds of drilling fluid in sufficient quantities on hand at a small construction site. Become.

In such a case, a special double-movement mode may be used, as shown in FIG. 30, for example. In other words, when descending excavation reaches the strata boundary 171, l ₀
Even if continuous downward excavation is not performed, switch to return excavation, and this return excavation 172
If _the depth of the strata boundary is L ₀ and the depth of the lowest point of the previous downward excavation is L _o , then the difference ΔL Return excavation 172 is performed by =L ₀ −L _o ,
After that, descending excavation 173 is performed. This descending excavation 17
3, the drilling fluid is changed at the stratum boundary 171. This descending excavation 173 is performed at the stratum boundary 17.
After going from 1 to l ₀ /2 depth, return excavation 17
Set it to 4. 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 switched once when passing through the strata boundary 171 during descending excavation 173. Note that the location of stratum boundaries is investigated by drilling 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 (S ₅₁₀ ), downward excavation is first performed (S ₅₁₁ ), and it is checked whether the downward excavation has reached l ₀ /2 (S ₅₁₂ ), and if it becomes l ₀ /2. Upward excavation is carried out (S ₅₁₃ ), and the uphill excavation is l ₀ /
2 has been performed (S ₅₁₄ ), and when this becomes l ₀ /2, downward excavation is performed (S ₅₁₅ ), and it is checked whether this downward excavation has been performed l ₀ (S ₅₁₆ ), and when this becomes l ₀ Returning to step S ₅₁₃ , upward excavation is performed.
This is the control in general double action mode,
In this case, it is checked whether the stratum boundary has been reached during descending excavation in step S ₅₁₂ (S 517), and if the stratum boundary has been reached, the excavation is switched to upward excavation, and upward excavation is performed by ΔL= _{L 0} - Lo (S ₅₁₇ ). ₅₁₈ ). Afterwards, downward excavation is carried out by ΔL (S ₅₁₉ ), i.e. the formation boundary is reached,
Mud water switching is performed ( _S520 ) and the process returns to step _S511 .
In step _S516 , it is checked whether the stratum boundary has been reached during descending excavation ( _S521 ), and if the stratum boundary has been reached, the process moves to step _S518 .

Furthermore, when excavating in the double action mode, as shown in FIG. 32, if the power swivel reaches the lowest end 180 in the middle of downward excavation 180 and it becomes necessary to change the connection of the excavating rod, at that point When the excavation rod is switched and connected (182), descending excavation 181 is completed and ascending excavation 183 begins, the power swivel reaches its uppermost position, at which point the excavating rod is retrieved (184) and ascending excavation is continued. ,
Thereafter, descending excavation 185 is carried out, but since the power swivel reaches its lowest position during this process, the excavation rod must be connected (186). Therefore, it is necessary to connect the excavating 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 the lowest point during the downward excavation 189, the upward excavation 191 is performed by the difference between the maximum movement range of the power swivel during excavation S ₀ and the current amount of descent S _o from the highest point of the power swivel ΔS = S ₀ −S _n Next, descending excavation 192 is performed, but when this is performed by SΔ, the power swivel reaches the lowest position, and the excavation rod is added (193) here, and descending excavation is further performed by l ₀ /2. From this point on, the process will proceed to return excavation in the normal double action mode. In this case, the drilling rod only needs to be connected once, similar to the connection in single-acting mode.

A control flowchart in this case is shown in FIG. Steps _S511 to _S516 are normal double-movement mode processing similar to that described in FIG. 31. Step S ₅₁₂
During descending excavation, it is checked whether the power swivel has reached the bottom end (S ₅₂₅ ), and when it reaches the bottom end, upward excavation is determined by ΔS (S ₅₂₆ ), and then descending excavation is continued by ΔS.
If this is done ( _S527 ), the drilling rod is connected ( _S528 ) and the process returns to step _S511 . In step S ₅₁₆ , it is checked whether the power swivel has reached its lowest position during downward excavation (S ₅₂₉ ), and if it has reached its lowest position, the step
Moving on to S ₅₂₆ .

Drilling fluid treatment It is preferable to use a drilling fluid suitable for the stratum to be excavated.
This is done as shown in Figure 5. That is, powder of a thickener, such as bentonite, is supplied from a tank 201 to a measuring device 103 via a supply control valve 102, and this measured value is led to a computer 205 by a sensor 204 of a load cell, for example, and this measured value is set. When the bentonite reaches the value, the weighed bentonite is supplied to the switching hopper 215, which in turn supplies it to either the mixing tank 206 or 207. CMC which is a thickener from tank 208
is similarly supplied to the measuring device 211 through the valve 209, and the measured output of the sensor 212 is sent to the computer 2.
CMC is supplied to the switching hopper 215 and then supplied to either the mixing tank 206 or 207. Further, the admixture in the admixture tank 216 is supplied to the meter 211 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. Furthermore, cement silo 21
The cement from No. 8 passes through the valve 219 to the meter 22.
1, the measured value is supplied to the computer 205 through the sensor 222, and when the set amount has been measured, the valve 219 is closed and the weighed cement is passed through the switching hopper 215 to the mixing tank 206 or 2.
07.

A dispersant tank 223 is provided in the mixing tanks 206 and 207.
The metering pump 224 is then passed through the pipe 225.
A set amount of water can be supplied to the mixing tanks 206 and 207 through the control of valves 226 and 227. Further, fresh water from the fresh water tank 228 is supplied from a pump 229 to the mixing tank 206 or 607 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.

The liquid mixed and stirred in the mixing tanks 206 and 207 is sent to the stirring tank 235 or 236 through valves 237 and 2, respectively.
It is switched and supplied under the control of 40. The drilling fluid and root hardening fluid obtained in the stirring tanks 235 and 236,
Peripheral fixative or cement milk is supplied through valve 241,
242 through a common flow meter 243,
Furthermore, the high pressure pump 24 through valve 245 or 246
7 or to a low pressure pump 248. The drilling fluid guided to the high pressure pump 247 is supplied at high pressure into the inner pipe of the power swivel. Also low pressure pump 2
The root hardening solution, peripheral fixing solution, cement milk, etc. led to 48 are supplied to the cylindrical passage of the power swivel at low pressure. 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, the muddy water 251 in the excavated hole 12 is pumped by the vacuum pump 2.
solid-liquid separator 253
supplied to Here it is separated into solid and liquid,
Furthermore, muddy water containing fine particles below a predetermined value is sent to the muddy water tank 25 through a valve 255 by the cyclone 254.
6. The inside of the muddy water tank 256 is constantly stirred, and the water level of the muddy water 257 inside it is measured by the water level gauge 2.
58, the specific gravity is measured with a hydrometer 259, and the viscosity is further 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 the valve 262, then through the pump 267, again through the valve 268, and then into the valve 2.
31 to a flow meter 232, which can thus lead to a mixing tank 206 or 207. The mud from the pump 267 is returned to the mud tank 256 through the valve 269 as needed, or is discharged to the outside through the valve 271.

The calculator 205 uses a hydrometer 259 to create a drilling fluid with a viscosity suitable for the stratum to be excavated.
The amount and flow rate of various additives such as thickeners to be added to the muddy water are calculated from the measured values of the viscometer 261, etc., and the various materials are metered and supplied to the mixing tank 206 or 207 to prepare the necessary drilling fluid. make.

In order to perform this excavation and pile burying work as efficiently as possible, the drilling fluid suitable for the geological formation is used, for example, in a mixing tank 20.
6, and the drilling fluid is further supplied in a stirring tank 235, and further supplied as drilling fluid from a high-pressure pump.
On the other hand, when the excavation progresses and reaches the next stratum, a drilling fluid suitable for that stratum is mixed in the mixing tank 207, and in response to changes in the stratum, the drilling fluid suitable for that stratum can be immediately switched and supplied. . 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.

When the excavation is completed, the excavation rod is recovered while replacing the drilling fluid in the enlarged part of the bulb with root hardening fluid, and the drilling fluid is replaced with surrounding fixing fluid in the part above the enlarged part of the bulb. However, one of these root hardening liquid and surrounding fixing liquid is prepared in the stirring tank 235 and the other in the stirring tank 236, so that they can be worked continuously. After the excavation rod has been collected in this way, 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 Formation Finally, to make bulbs, a highly viscous fluid such as cement milk or mortar is packed underground, but depending on the burial conditions, it may be possible to fill the bag above ground with the same amount. There are things I can't do. From this point of view, the following processing is performed. That is, as shown in FIG. 1D and F, a bag 21 is placed over the outer periphery of the lowest pile,
The amount of cement milk to be supplied to the bag 21 is determined by the volume of the bag 21, but if it becomes difficult to supply cement milk before reaching that volume, and the cement milk supply pressure reaches a certain value, feed at a lower rate than the feed rate. 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 before reaching the target supply rate, that is, the maximum volume Q ₀ that can be put into the bag 21 on the ground, is Q ₁₁
When 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 decreases and cement milk starts to be supplied, but if the pressure P reaches the set value _P1 again at the supply amount _Q12 before reaching the target value _Q0 , the pump discharges further. The amount is reduced to 30% of the maximum value, and then the supply is stopped, and when the supply force P reaches the set value _P1 again, the supply is stopped.This control is performed, for example, by the process shown in FIG. 37. When the cement milk press-in process is started, the discharge amount of the pump is first set to its maximum value (S ₅₇₁ ), and the discharge amount of the cement milk is integrated by the flow meter. When the cumulative discharge amount Q reaches the scheduled value (target value) Q ₀ , the cement milk supply is stopped (S ₅₇₃ ), but the pressure P on the pressure gauge reaches the set value P ₁ before reaching the scheduled value Q ₀ . The pressure is checked (S ₅₇₄ ), and the discharge of cement milk continues until the pressure P reaches P _1. When the pressure P reaches P ₁ ,
It is checked whether this is the first time that the pressure has reached _P1 (S ₅₇₅ ), and if it is the first time, the pump discharge rate is set to 50% of the maximum value and the pump continues to supply cement ( S ₅₇₆ ). The supply pressure P becomes P ₁ again, and if it is not the first time, the process moves to step S ₅₇₇ , where it is checked whether it is the second time that the pressure P 1 has become P ₁ , and if it is the second time, the pump discharge volume is increased to the maximum value of 30.
% and continue protruding (S ₅₇₈ ). When the supply pressure P reaches _P1 again, the supply of cement milk is stopped in step _S577 since this is not the second time that the pressure has reached _P1 .

By lowering the supply discharge rate in this manner, 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 often. Further, as shown in FIG. 38A, when the supply pressure P first reaches the set value _P1 , the discharge amount is reduced and then the supply is continued until the supply pressure P reaches the set pressure _P2 , which is higher than _P1 . You may also do this. Furthermore, as shown in Figure 38B, the high pressure
When reaching _P2 , the discharge amount may be further reduced and the supply may be started 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.

〔Effect of the invention〕

As described above, according to the double-acting mode excavation method according to the present invention, during propulsion excavation, it is checked whether the excavation rod is always connected, that is, whether the power swivel is at the lowest position, and whether the power swivel is at the lowest position or not is checked. Then, even if the propulsion excavation is in the middle, that is, even if the hydraulic excavation of only l ₀ has not been performed, the return excavation will be performed by switching to return excavation, and the return excavation will continue to the starting position of the return excavation just before that. movement, i.e. the distance the power swivel can move
Return excavation is performed by the remaining amount ΔS obtained by subtracting the amount S _o of the power swivel that was lowered due to the previous propulsion excavation from S ₀ , and then propulsion excavation is performed again, and the state in which it is necessary to connect the excavation rod in the middle, In other words, when the power swivel reaches its lowest position, it is sufficient to stop digging, connect the drilling rod, and then restart double-acting mode digging, that is, proceed to step _S511 in Fig. 34. It is simple, and the number of connections of the drilling rod and the interruption of excavation are the same as in the single-acting mode, so double-acting mode digging can be performed with good work efficiency. Note that this invention can also be applied to excavation that does not use drilling fluid.

[Brief explanation of the drawing]

Fig. 1 is a sectional view for explaining the process of excavation and pile burying, Fig. 2 is a perspective view showing the external appearance of the excavation and pile burying machine according to the present invention, and Fig. 3 is a side view of the excavation and pile burying machine. , FIG. 4 is a right side view of FIG. 3, FIG. 5 is a plan view of FIG. 3, FIG. 6 is a side view showing the connection state of the lower and upper skits, and FIG. Plan view, Figure 8 is a sectional view taken along line AA in Figure 6,
FIG. 9 is a vertical cross-sectional view showing an example of the supply mechanism, and FIG.
The figure is a plan view of Fig. 9, Fig. 11 is a sectional view taken along line BB of Fig. 9, Fig. 12 is a sectional view taken along line CC of Fig. 9, and Fig. 11 is a sectional view taken along line CC of Fig. 9.
Figure 3 is a sectional view taken along the DD line in Figure 9, and Figure 14 is a cross-sectional view of Figure 13.
15 is a plan view of the chucking 91, FIG. 16 is a front view of the chucking 91, FIG. 16A is a sectional view taken along the line PP of the chucking 91, FIG. Figure 18 shows rod clamp 1
Figure 18A is a cross-sectional view of the right half of 03, Figure 18A is a cross-sectional view taken along line HH in Figure 18, Figure 19 is a front view of Figure 18, with a portion of Figure 18 in cross-section, Figure 19A is Figure 19 FIG. 20 is a front view of a half section of the power swivel 35, FIG. 21 is a cross-sectional view of the pile joining jig 137, and FIG. Figure B shows the state of connection with the final pile, and Figure C shows Figure B rotated by 90 degrees.
FIG. 22 is a front view showing the intermediate pile, FIG. 23 is a plan view showing a part of the pile clamp 151, FIG. 24 is a plan view showing the relationship between the outrigger and the inclinometer, and FIG.
The figure shows the relationship between the drive cylinder and the switching valve for the outrigger, Figure 26 is a flowchart showing an example of skit leveling control, and Figure 27 shows the excavation,
A flowchart showing an example of the overall operation of burial, Fig. 28 is a diagram showing the double action mode, Fig. 29 is a flowchart showing the selection process between the double action mode and the single action mode, and Fig. 30 is a flowchart showing the process of selecting the double action mode and the single action mode. 31 is a flowchart showing an example of the operation of the process, FIG. 32 is a diagram illustrating switching of the excavation rod in double action mode, and FIG. 33 is a diagram illustrating switching of the excavation rod. Figure 34 showing the special double-motion mode when
Figure 35 is a flowchart showing an example of its operation, Figure 35 is a block diagram showing the overall configuration of the drilling fluid treatment device, and Figure 36 is a block diagram showing the overall configuration of the drilling fluid treatment device.
The figure shows an example of the relationship between the supply amount and supply pressure during bulb cement supply control, Figure 37 is a flowchart showing an example of the control operation in Figure 36, and Figure 38 shows the supply amount and supply pressure during cement supply control. FIG. 3 is a diagram showing another example of the relationship.

Claims (1)

[Scope of Claims] 1. Automatically performs excavation while connecting the excavation rods one after another, and after propulsive excavation a predetermined distance l _D , returns excavation by half the distance (l _D /2). In the double action mode excavation method, which is repeated repeatedly, if the drilling rod needs to be connected in the middle of the above-mentioned propulsion excavation, it switches to return excavation at that point, and the return excavation is carried out to the starting position of the previous return excavation. A double-action mode excavation method characterized in that the following steps are taken: first, propulsion excavation is then carried out, a drilling rod is connected in the middle of this process, and after the drilling rod is connected, double-motion mode excavation is started again.