Piling machine
A piling machine includes a main body unit including a traveling device, a pile driver that performs piling, and a moving device that is connected to the main body unit and moves the pile driver. A control device performs piling while the traveling device is traveling (e.g., while the main body unit is moving). This reduces the number of times the traveling device stops, and thus, the number of times of acceleration and deceleration can also be reduced. In this way, energy efficiency can be improved.
1 . A piling machine, comprising:
a main body unit including a traveling device that travels in a first direction on a ground; wherein the traveling device moves the main body unit in the first direction; a pile driver that performs piling into the ground;
a moving device that is connected to the main body unit and the pile driver, wherein the moving device moves the pile driver in a second direction that opposes the first direction so as to offset movement of the main body unit in the first direction; and
a control device that, while the traveling device is traveling in the first direction, controls the moving device so that a position of the pile driver relative to the ground is kept unmoved, and that causes the pile driver to perform the piling and thereby drive a pile while the traveling device moves the main body unit.
2 . The piling machine according to claim 1 , wherein, while the pile driver performs the piling, the control device controls the moving device such that a speed at which the traveling device moves in the first direction is equal to a speed at which the moving device moves in the second direction.
3 . The piling machine according to claim 1 , wherein the control device controls the moving device such that a speed at which the main body unit moves in the second direction is determined based on at least one of a distance between two piles to be consecutively driven by the pile driver, a driving length of the piles, or a pile driving speed of the pile driver.
4 . The piling machine according to claim 3 , wherein the control device determines the speed at which the main body unit moves in the second direction based on a time until the pile driver returns to an initial position after performing the piling while moving in the first direction from the initial position and a time until a next pile is set in the pile driver that has returned to the initial position.
5 . The piling machine according to claim 1 , wherein the moving device is a linkage mechanism including a mechanism that converts a rotational motion into a linear motion.
6 . The piling machine according to claim 1 , wherein the moving device is a sliding mechanism that linearly moves the pile driver with respect to the main body unit.
7 . The piling machine according to claim 6 , wherein the pile driver is provided on a table configured to change an attitude with respect to the sliding mechanism using an actuator.
8 . The piling machine according to claim 1 , wherein the pile driver includes a maintenance mechanism that maintains perpendicularity of the pile driver.
9 . The piling machine according to claim 1 , comprising:
a detection device that detects a state of a pile driven by the pile driver; and
an adjustment device that adjusts a way of driving a pile to be driven, based on a detection result of the detection device.
10 . The piling machine according to claim 1 , comprising:
a detection device that detects a state of a pile driven by the pile driver; and
a display device that displays information regarding correction of the pile driven by the pile driver, based on a detection result of the detection device.
11 . The piling machine according to claim 1 , wherein the main body unit includes a suction unit that sucks a pile, a gripping unit that grips the pile, and a first supply device that supplies the pile to the pile driver.
12 . The piling machine according to claim 1 , comprising:
a holding unit that holds a pile in an upright state, the holding unit being movable between a first position and a second position, wherein the holding unit receives supply of the pile in the upright state when located at the first position, and supplies the pile held by the holding unit to the pile driver when located at the second position.
13 . The piling machine according to claim 12 , comprising:
an inclined platform that sequentially supplies the pile to a vicinity of the first position along an inclined surface; and
a supply mechanism that supplies the pile supplied to the vicinity of the first position to the holding unit while raising the pile to the upright state.
14 . The piling machine according to claim 2 , wherein the control device determines the speed at which the main body unit moves in the second direction based on at least one of a distance between two piles to be consecutively driven by the pile driver, a driving length of the piles, or a pile driving speed of the pile driver.
15 . The piling machine according to claim 1 , wherein the control device does not stop the traveling device while the piling is being performed.
16 . The piling machine according to claim 14 , wherein the control device is configured to move the traveling device in a first direction at a constant speed.
17 . A method of piling, comprising:
moving a main body in a first direction with a traveling device that travels in the first direction on a ground;
moving a pile driver that performs piling into the ground, wherein a moving device is connected to the main body and the pile driver, and wherein the moving device moves the pile driver in a second direction that opposes the first direction so as to offset movement of the main body in the first direction; and
driving a pile by the pile driver while the traveling device moves the main body in the first direction, wherein the pile driver is moved by the moving device so that a position of the pile driver relative to the ground is kept unmoved, wherein a control device controls the moving device while the traveling device is traveling in the first direction to perform the piling.
18 . The method of piling according to claim 17 , wherein driving the pile by the pile driver does not stop movement of the main body in the first direction while the pile is being driven.
19 . The method of piling according to claim 17 , wherein the main body moves in the first direction at a constant speed.
20 . The method of piling according to claim 17 , wherein, while the pile driver performs the piling, a speed at which the main body moves in the first direction is equal to a speed at which the pile driver moves in the second direction.