JP2004176290A - Automotive stair-running boring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automotive stair-running boring apparatus which automotively runs stairs upward/downward with a boring machine mounted on a truck thereof, automotively runs to a survey location, carries out a necessary survey at the survey location by the boring machine mounted on the truck, and automotively runs out of the location after completion of the survey. <P>SOLUTION: The automotive stair-running boring apparatus includes the caterpillar type automotive truck 12 with a driving unit 10 driven by an internal combustion engine, position adjusting outriggers 14 set in the vicinity of four corners of the truck, and the boring machine 18 mounted on a mount 16 which is movable forward/backward. The boring machine consists of a boring machine body 32 and a hydraulic system instrument 30 arranged in parallel with the same, and has its height suppressed. Crawlers 20 of the apparatus is formed of a rubber material. The apparatus is comprised of inclined position control mechanisms 40 each for holding an auxiliary wheel 42 formed of the rubber material mounted on the tip of an arm 46 in a manner being displaceable downward from a crawler lower side and at an arbitrary protruded location. Thus the position control mechanism 40 adjusts the inclined position of the truck in a transient period before/after running the stairs upward/downward. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a self-propelled boring device capable of climbing up and down stairs. More specifically, the present invention aims to stabilize the running posture by reducing the height and controlling the position of the center of gravity, and to provide an inclination posture control mechanism on the side of the bogie. The present invention relates to a self-propelled stair climbing boring apparatus in which a tilt angle and a position of a bogie can be adjusted according to a change in a stair climbing state.
[0002]
[Prior art]
[Patent Document 1]
JP 2001-65280 A
Ordinary boring machines have a stationary structure. A solid scaffold is built at the survey point, and a boring machine is installed and fixed on the scaffold to carry out boring surveys. The loading and unloading of the boring machine is carried out by transporting it by truck to the vicinity of the survey point and lifting and suspending it with a crane.However, at survey points where the loading path is restricted and trucks cannot be transported, irregular terrain vehicles or monorails are used. Sometimes used. In any case, ordinary boring machines are not equipped with self-propelled functions.
[0004]
However, in recent years, several types of self-propelled boring devices have been manufactured and marketed for use in soil contamination-related investigations and the like. These boring devices have a structure in which a boring machine is mounted on a self-propelled bogie. With the development of these self-propelled boring machines, self-propelled transport on rugged terrain and constricted parts in factory premises is possible.
[0005]
As a known document relating to this type of self-propelled boring device, Patent Document 1 presented above is disclosed. This patent document 1 discloses a self-propelled boring device for sampling a geological sample, which is equipped with a rotary drill unit that is driven and controlled by a power unit and a control unit with respect to a self-propelled body body equipped with a drive unit. It has been disclosed.
[0006]
[Problems to be solved by the invention]
Recently, the demand for boring surveys in places where it is difficult to carry a boring machine is increasing due to the presence of stairs along the transportation route, such as in station yards, factories, and underground buildings. For example, in the station premises, installation work of escalators and elevators is being carried out at a rapid pace because of barrier-free. The foundations of these facilities need to be supported by solid ground, and therefore a drilling survey at the installation site is essential.
[0007]
However, in a boring survey in a station yard, there are stenosis portions and stairs in the transport route, and existing self-propelled boring equipment cannot pass up and down stairs even though the stenosis portion can be passed. Incidentally, the maximum inclination angle of the stairs in the station yard is about 35 degrees. Considering that escalators and elevators are often installed on platforms, stairs must be used as the transport route for boring machines in most cases. For this reason, the actual situation is that the boring machine is once disassembled, transported to the survey point by a human shoulder, and reassembled and fixed on the scaffold.
[0008]
In particular, in the work at the station premises as described above, there is a time limit for loading and unloading of the boring machine (from about 1 o'clock to 3 o'clock in the middle of the night). Very bad. For example, in a typical example, even a small boring machine requires about 10 workers and takes about 2 hours to carry in the work. Moreover, the work is complicated, and there are many safety management problems such as the occurrence of injury accidents.
[0009]
By the way, electric stair climbing vehicles are used on a daily basis for carrying drinking water and the like to vending machines and shops installed on platforms. However, their maximum loading capacity is usually about 100 kg, and most of them are intended for light cargo transportation. Due to the heavy weight and special shape of the boring machine, it is difficult to install it on this type of electric stair climbing and transporting vehicle. Can not. Therefore, even in the case of using these electric stair-climbing transport vehicles, the disassembling and assembling work of the boring machine is inevitable.
[0010]
An object of the present invention is to be able to move up and down stairs while a boring machine is mounted on a bogie, to be able to carry in the self-propelled to a survey point, and to conduct a boring survey by a boring machine on a bogie at the survey point, An object of the present invention is to provide a stairs self-propelled ascent / descent boring device that can be carried out as it is after the investigation.
[0011]
[Means for Solving the Problems]
The present invention provides a truck having a drive unit by an internal combustion engine and capable of self-propelling in an endless track system, an outrigger for posture adjustment that can be moved up and down and installed near four corners of the truck, and is movable in the front-rear direction on the truck. In a self-propelled boring apparatus comprising a boring machine mounted on a base, the mounted boring machine has a hydraulic system device juxtaposed to the boring machine body to reduce the height, and the bogie crawler Is made of a rubber material, and an auxiliary wheel made of a rubber material rotatably attached to the tip of an arm can be displaced from above to below the crawler lower side at any of the protruding positions on both sides of the cart. A staircase self-propelled lifting and lowering boring, which is provided with a tilting attitude control mechanism capable of holding and enabling adjustment of a tilting posture and a position of a bogie during transition before and after ascending and descending stairs. Is grayed apparatus. With this inclination attitude control mechanism, the transition from the flat ground to the stairs and from the stairs to the flat ground can be smoothly performed.
[0012]
Here, the tilt attitude control mechanism includes, for example, an arm that has an auxiliary wheel at the distal end, is supported by a pivot at the base end, and is swingable from a substantially horizontal state to an obliquely downward state, a position near the distal end of the arm, and a bogie. And a hydraulic cylinder provided between the auxiliary cylinder and the hydraulic cylinder.
[0013]
In addition, a pantograph type hydraulic lifting mechanism is installed on the bogie, and a base that can move in the front-rear direction is provided on it, and the boring machine is lowered when running the bogie, and the boring machine can be moved to any position during boring work It is preferable to be able to maintain the state of being raised to the maximum. As a result, the distance from the ground to the boring machine main body (particularly, a chuck for gripping a boring rod) can be increased in boring work while securing stability during traveling, thereby improving workability.
[0014]
The height of the boring mast, which is a part of the boring machine, can be adjusted by a raising / folding method, an extension / removal method, a telescopic rod method, or a combination thereof. This makes it possible, for example, to pass through low-ceiling passages (especially stairs) in a building, at work points, to freely adjust the height according to the height restriction in the sky, and to work without height restrictions. Can be set to the most convenient height.
[0015]
Such a staircase self-propelled ascent / descent type boring device constitutes a boring system as a pair of a stairway self-propelled elevating / boring support device equipped with a muddy water pump and a set of materials related to boring on a similar bogie. Is preferred. With such a two-unit system, at least two workers can carry in and out a set of equipment necessary for boring.
[0016]
Also, the present invention uses the above-mentioned stairs self-propelled ascent / descent boring device, moves the boring machine inward, folds the boring mast, achieves a low profile and high stability, and runs with the auxiliary wheels raised. In the transitional period of stairs ascent and descent, the auxiliary wheels are protruded to adjust the tilt posture and position of the bogie according to the stair inclination, the stairs are self-propelled up and down, and are carried to the survey point. Maintain the level, move the boring machine outward on the bogie, raise the boring mast, adjust the height, perform ground survey work in that state, release the outrigger for posture adjustment after completion of excavation work, This is a boring method in which the boring mast is moved inward and the boring mast is folded out. Therefore, the boring method is particularly useful for work in a building such as a station.
[0017]
In this case, using a set of two boring systems combining a stair self-propelled lifting boring support device equipped with a mud pump and a set of boring-related materials on a bogie similar to the stair self-propelled lifting boring device, The installation work of the pump becomes unnecessary, and the boring excavation by the circulation of the muddy water can be performed only by installing the muddy water tank on the ground and connecting the hose between the muddy water pump and the boring machine main body, thereby further improving the workability.
[0018]
【Example】
FIG. 1 is an explanatory view showing an embodiment of a self-propelled ascending and descending boring apparatus according to the present invention, in which A is a side view, B is a detail of a crawler portion, and C is a front view (where a boring machine body is installed). Side surface). FIG. 1 shows a running state.
[0019]
This staircase self-propelled ascent / descent type boring device includes a carriage 12 having a drive unit 10 driven by an internal combustion engine (diesel engine) and capable of self-propelled in an endless track system, and a vertically movable posture adjustment device installed near four corners of the carriage 12. The vehicle includes an outrigger 14 and a boring machine 18 mounted on a base 16 movable in the front-rear direction on the carriage 12.
[0020]
The carriage 12 is basically equipped with crawlers (seamless belt-like traveling bodies extending over a driving wheel and a number of slave wheels) 20 on both sides, and is supplied from a drive unit 10 installed at one end. Driven and steered by power. In this embodiment, in consideration of the safety of the operator, the operator is configured to walk on the side and steer without riding while traveling. Here, the crawler 20 of the carriage 12 is made of a rubber material, and while keeping sufficient strength, not to damage the floor surface or the stairs (especially corners) of the building, and traveling in the building, particularly in the building. The structure is suitable for going up and down using stairs. The ridge portions are arranged substantially parallel to the crawler width direction, and have a surface shape that does not bite the corners of the steps and does not slip down.
[0021]
The stairs in the station premises have almost the same step structure, and the maximum inclination angle is about 35 degrees. The lower side of the crawler 20 is preferably dimensioned so that the three corners of the stairs can be engaged at all times. In the embodiment, the length L of the bottom portion is 965 mm, the pitch of the ridges is p = 70 mm, the height of the ridges is h = 23 mm, and the width of the ridges is w = 10 mm. The carriage 12 is set to have a total width of 960 mm and a total length (during traveling) of 2000 mm so that it can pass through a luggage station ticket gate (a narrow portion having a width of 1 m).
[0022]
Two guide rails 22 are installed in parallel on the carriage 12 in the front-rear direction, and the base 16 is supported by the front and rear slide members 24 guided by the guide rails 22, and the boring machine 18 is mounted on the base 16. Mount. The base 16 can be fixed (locked) at both ends in the front-rear direction (the left-right direction in FIG. 1A). In the running state, as shown in FIG. Stabilization is performed with the center of gravity of the machine 18 as close to the center as possible. During boring, the swivel or the like of the boring machine 18 protrudes outward, so that a boring operation can be performed (see FIG. 4).
[0023]
By the way, the stairs self-propelled ascent / descent type boring device of the present embodiment is aimed at grasping the basic supporting force of the escalator and the elevator, so the required basic performance is that the boring excavation length is about 50 m, Therefore, a disturbance sample can be collected and the N value can be measured in order to grasp the ground strength. It is desirable to use a boring machine having such performance and as small and light as possible.
[0024]
A commercially available boring machine that can satisfy such requirements has a structure as shown in FIG. 2A, for example. In order to minimize the installation space, a vertical arrangement structure in which the boring machine main body 32 is located above the hydraulic system device 30 is adopted. In a boring operation, a certain height from the ground to a boring machine (specifically, a chuck for gripping a boring rod) is required. Therefore, in the case of an installation type, this vertical arrangement structure is preferable. However, if such an existing boring machine is directly mounted on a bogie, running stability is poor due to a high center of gravity, and it becomes extremely unstable particularly when climbing up and down stairs due to inclination. Therefore, as shown in FIG. 2B, the hydraulic system device 30 is improved to be juxtaposed to the boring machine body 32 to reduce the height. Therefore, a commercially available boring machine body 32 can be used as it is. As a result, the height of the boring machine 18 is reduced to about 2/3 of the conventional height, the center of gravity is lowered, and the boring machine 18 can be moved toward the center of the bogie as described above. become.
[0025]
A boring prime mover (diesel engine) 34 is also mounted on the base 16 (see FIG. 1A). It is possible to use the power from the drive unit of the bogie as boring power.However, since the boring machine itself moves on the bogie, the power transmission system becomes complicated. A drive unit and a motor for boring are provided separately.
[0026]
Further, in the present invention, the carriage 12 is provided with a special mechanism used at the time of transition between the flat ground and the stairs (specifically, at the beginning and end of ascending, and at the beginning and end of descending). As shown in FIG. 1A, it is a tilt attitude control mechanism 40 provided on both sides of the carriage 12. The tilt attitude control mechanism 40 can freely protrude the auxiliary wheel 42 made of a rubber material from a position above the crawler lower side to an arbitrary position below the crawler with a large pressure (a pressure that can tilt the boring device). The mechanism can be held at any position.
[0027]
Here, the tilt attitude control mechanism 40 has an auxiliary wheel (for example, a metal wheel body whose outer periphery is covered with a rubber material) 42 at the distal end, is supported by a pivot 44 at a proximal end, and is inclined from a substantially horizontal state. An arm 46 swingable to a lower position and a hydraulic cylinder 48 provided between the carriage 12 and a position near the tip of the arm 46 are provided. This is a structure that changes the protruding position. FIG. 3 shows a change in the position of the auxiliary wheel 42 due to the expansion and contraction of the hydraulic cylinder 48. Since the auxiliary wheel 42 comes into contact with the floor and is stretched by the arm 46 and the hydraulic cylinder 48, the bogie 12 is actually moved from the point a to the drive unit 10 according to the length of the auxiliary wheel 42 protruding from the lower side of the crawler. Slowly tilt as the side rises.
[0028]
When the tilt attitude control mechanism 40 is operated, the auxiliary wheels 42 rotate according to the protruding length. Therefore, even when the tilt angle of the carriage 12 is changed, there is no possibility that the floor of the building or the corner of the stairs will be damaged. Further, if the crawler 20 is slightly moved in the required inclined state, the carriage 12 can move while being supported by the auxiliary wheel 42 and the point a of the crawler 20. Thereby, at the time of the transition of the stairs ascent and descent (up and down and up and down and down and up and down), the carriage 12 can be controlled to an appropriate posture and the position with respect to the stairs can be changed. Will be able to do it.
[0029]
This is shown in FIG. A indicates the posture at the bottom of the stairs, B indicates the posture at the center of the stairs, and C indicates the posture at the top of the stairs. First, to climb the stairs, gradually lower the auxiliary wheel 42 under the stairs, incline the trolley 12 so that the side of the drive unit 10 is lifted, advance the crawler 20 toward the stairs, and move the tip of the crawler 20 to the stairs. Place on the first stage (see FIG. 4A). Once the auxiliary wheel 42 is pulled up, the crawler 20 is driven. Then, the auxiliary wheel 42 is gradually pushed down on the first step of the stairs, and the carriage 12 is tilted until the drive unit 10 is further lifted up to substantially match the inclination angle of the stairs. The crawler 20 is advanced and the tip of the crawler 20 is placed on the second step of the stairs. In this state, the auxiliary wheel 42 is pulled up. When the crawler 20 is driven, as shown in FIG. 4B, the trolley 12 (accordingly, the self-propelled boring device for stairs) goes up the stairs. In order to stably climb the stairs, it is preferable that the crawler should have such a length that it always spans three steps. In this way, the vehicle gradually ascends the general staircase at an inclination angle of 35 degrees by itself. The stair running speed can be several meters per minute (for example, about 6 m). When the vehicle reaches the upper part of the stairs, the auxiliary wheels 42 are lowered again so that the trolley 12 keeps the inclined position even without the steps, and then the auxiliary wheels 42 are gradually raised to lower the drive unit 10 side. First, the inclination of the carriage 12 is reduced (see FIG. 4C). In this way, the trolley 12 (therefore, the stairs self-propelled boring device) is completely raised upstairs, and the crawler 20 can travel normally in a horizontal state.
[0030]
When descending the stairs, the state shown in FIG. 4C is changed from the state shown in FIG. 4B to the state shown in FIG. The drive unit 10 is located on the upper side both when going up and down the stairs, so that the worker always operates on the upper side, so that safety can be ensured even in the event of slippage. The maneuvering can be performed by one worker even when going up and down the stairs.
[0031]
FIG. 5 shows the state at the survey point. The outrigger 14 for posture adjustment is lowered to bring the lower support plate 50 into contact with the ground, thereby supporting the carriage 12 horizontally. The attitude adjusting outrigger 14 may be a hydraulic jack type, but a screw jack type is more preferable in order to reduce the size at low cost. The screw is manually rotated (in the case of a hydraulic jack type, hydraulic pressure is applied) to support and fix the carriage 12 at the four corners so as to maintain a horizontal state. As a result, the bogie 12 can be used as a scaffold for boring as it is, and there is no need to construct a new scaffold or to install it on the scaffold. Here, the upper mast 52 is attached to the mast intermediate portion 54 (addition), a pin is inserted into a hole formed on the side of the mast, and the upper mast 52 is fixed to the mast intermediate portion 54 at an arbitrary position, and is raised almost vertically. Fixed. Even when the height of the sky is restricted in the building, the total height can be adjusted by changing the position where the upper mast 52 is fixed to the mast intermediate portion 54. The minimum height is 2.5m. The higher the mast, the better the workability since a longer boring rod (usually 3 m long) can be lifted and added. Then, the base 16 is moved so that the swivel head 56 and the like of the boring machine main body 18 are set to protrude outward from the carriage 12. Of course, the mast may be raised after the boring machine body is moved first. The height adjustment mechanism of the mast is optional, and may be a telescopic rod type or the like. The mast can be used not only for lifting a boring rod but also for dropping a weight in a standard penetration test. The order of lowering the attitude adjustment outriggers 14 may be changed as appropriate.
[0032]
In the actual geological survey, although not shown in the figure, a mud pump and a set of drilling-related materials (mast, hose, mud tank, It is preferable to use a stairs self-propelled ascent / descent type boring support device equipped with a boring rod, etc., and to configure a boring system for a building with one set of these two. Since the stairs self-propelled ascent / descent type boring support device also has a similar bogie structure, the stairs can be self-propelled up / down. At the investigation point, the posture adjustment outrigger is lowered, and the lower support plate abuts on the ground and is fixed. Then, the mud tank is placed on the ground, and the mud pump on the trolley and the boring machine body of the stairs self-propelled boring apparatus are connected by a hose. In this way, it is possible to more easily and quickly construct a boring facility at the survey point than in the case where the stairs self-propelled ascent / descent boring device is used alone.
[0033]
With this boring system, boring excavation by muddy water circulation can be easily performed, the capability of the boring machine can be fully exhibited, and the present invention can be applied to a collapsed ground. The boring procedure itself is basically the same as that of the prior art, and a description thereof will be omitted. For example, for the purpose of grasping the basic supporting force of the escalator and the elevator, the excavation ability of about 50 m is sufficient as described above. Since the formation of the stratum can be grasped by collecting the disturbance sample by boring and the strength (N value) of the ground can be grasped by the standard penetration test, it has a sufficient function as a survey method for the foundation ground of general civil engineering building structures. Will be.
[0034]
When the boring system is removed from the survey point, the installation procedure may be reversed.
[0035]
FIG. 6 is an explanatory view showing another embodiment of the self-propelled stair climbing type boring apparatus according to the present invention. Here, a boring excavation state is shown. Since the basic configuration is the same as that shown in FIG. 1, corresponding portions are denoted by the same reference numerals for simplification of description. Moreover, the stairs traveling up and down operation of the bogie is the same as that shown in FIG. In this embodiment, a pantograph-type hydraulic lifting mechanism 60 is installed on a carriage 12, and a base 16 that can move in the front-rear direction is provided thereon. Then, the boring machine 18 is lowered during bogie traveling by the pantograph-type hydraulic lifting mechanism 60, and the boring machine 18 can be held at an arbitrary position during boring work. This is a point different from the above embodiment. This makes it possible to increase the distance (spacing) between the ground and the boring machine (specifically, the chuck that grips the boring rod), making it easier to connect and disconnect boring rods and installing a mud tank on the ground surface. However, the muddy water discharge part of the boring hole can be installed at a position higher than the tank wall height. Therefore, since it is not necessary to bury a mud tank in the ground, preparation work can be simplified. In this case, as shown in the figure, the attitude adjusting outrigger 14 is supported by a lifting platform of a pantograph-type hydraulic lifting mechanism 60 in order to stably maintain the boring machine 18 during boring.
[0036]
FIG. 7 is an explanatory diagram showing an embodiment of the present invention. In this embodiment, a track wheel 70 can be attached to the lower end of the posture adjusting outrigger 14 instead of the support plate, and the axle 72 of the driving wheel for driving the crawler 20 is driven by a belt (or chain) and a gear device 76 via the gear unit 76. The power is transmitted to the track wheels 70. Others may be the same as the above-mentioned embodiment. Since the width and height of the outrigger 14 can be adjusted, if the track wheel 70 is detachable from the lower end of the outrigger 14, the track wheel 70 can be accurately placed on the rail rail 78. it can. This makes it possible for this type of boring device to run on the rail rails 78 as well. For example, if the user enters a railroad track using a railroad crossing and runs on a railroad rail, a boring survey near the rail can be easily performed. In addition, in order to run on a railroad rail, it may be configured to be towed by another railcar or the like.
[0037]
【The invention's effect】
As described above, the present invention runs on a crawler made of a rubber material, and is equipped with a tilt attitude control mechanism on both sides, so that stairs can be smoothly and stably while a boring machine is mounted on a bogie. It can be moved up and down stably, so that it can be carried in by self-running through the stairs to the survey point. At the survey point, a boring survey can be performed by a boring machine on a bogie, and after the survey is completed, it can be unloaded. This greatly improves workability, such as minimizing the number of personnel and time required for transporting a boring machine or the like, thereby contributing to economy and enabling safe transport work.
[Brief description of the drawings]
FIG. 1 is an explanatory view showing an embodiment of a stairs self-propelled elevating boring apparatus according to the present invention.
FIG. 2 is an explanatory diagram of a mounted state of a boring machine.
FIG. 3 is a diagram illustrating the operation of a tilt attitude control mechanism.
FIG. 4 is an explanatory diagram of a stair climbing state.
FIG. 5 is an explanatory view showing a boring excavation state.
FIG. 6 is an explanatory view showing another embodiment of the present invention.
FIG. 7 is an explanatory view showing still another embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Drive unit 12 Dolly 14 Attitude adjusting outrigger 18 Boring machine 20 Crawler 22 Base 24 Slide member 30 Hydraulic system equipment 32 Boring machine main body 42 Auxiliary wheel 44 Axis 46 Arm 48 Hydraulic cylinder

Claims (6)

A truck having a drive unit by an internal combustion engine and capable of self-propelling in an endless track system, an outrigger for posture adjustment that can be moved up and down and installed near four corners of the truck, and a base that can move in the front-rear direction on the truck In a self-propelled boring device equipped with a boring machine mounted on
The boring machine to be mounted has a hydraulic system device juxtaposed to the boring machine body to reduce the height,
The crawler of the cart is made of a rubber material. On both sides of the cart, auxiliary wheels made of a rubber material rotatably attached to the tip of an arm can be displaced from above to below the lower side of the crawler and optionally. A staircase self-propelled ascent / descent boring apparatus characterized in that an inclination posture control mechanism capable of being held at a protruding position of the stairs is provided, and the inclination posture and position of the bogie can be adjusted during transition before and after ascending and descending the stairs. The tilt attitude control mechanism has an auxiliary wheel at the distal end, is supported by a pivot at the base end, and is capable of swinging from a substantially horizontal state to an obliquely downward state, and a position between a position near the distal end of the arm and the bogie. The self-propelled stair climbing and lowering boring apparatus according to claim 1, further comprising a hydraulic cylinder provided on the staircase, wherein the protruding position of the auxiliary wheel is changed by the expansion and contraction operation of the hydraulic cylinder. A pantograph type hydraulic elevating mechanism is installed on the bogie, and a base that can move in the front-rear direction is installed on it.The boring machine is lowered when running the bogie, and the boring machine can be moved to any position during boring work The stairs self-propelled elevating boring device according to claim 1 or 2, wherein the boring device can be held in a raised state. The boring mast, which is a part of the boring machine, has a height adjustable by a raising / folding method, a replenishing / removing method, a rod expanding / contracting method, and a combination thereof. Stairs self-propelled lifting boring device. A boring system comprising two sets of the stairs self-propelled elevating boring device according to claim 4 and a stair self-propelled elevating boring support device on which a mud pump and a set of boring-related materials are mounted on a bogie similar thereto. . Using the stairs self-propelled ascent / descent boring device according to claim 4, the boring machine is moved inward, the boring mast is folded, the height and height are reduced, and the running is performed with the auxiliary wheels raised. In the transitional period of stairs ascent and descent, the auxiliary wheels are projected to adjust the inclination posture and position of the bogie according to the stair inclination, the stairs are self-propelled up and down, and are carried to the survey point. Maintain, move the boring machine outward on the bogie, raise the boring mast, adjust the height, perform ground survey work in that state, release the outrigger for attitude adjustment after excavation work is completed, and move the boring machine inside A boring method that moves in the direction and folds out the boring mast.

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