JP2016113796A - Automatic excavation propulsion device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic excavation propulsion device which enables stable drilling by an earth auger.SOLUTION: An automatic excavation propulsion device comprises a propulsion unit having a hollow part penetrating in the axial direction and generating propulsive power by performing peristaltic movement against the wall surface of an excavation hole, a drilling unit which is housed in the hollow part of the propulsion unit and which has a screw for drilling a foundation by rotating relatively to the propulsion unit, and a skirt part for guiding the approach of sediment when sediment drilled by the screw is transported to the rear side of the hollow part, and the radius of the screw on the tip side is larger than that of the skirt part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic excavation propulsion device, and more particularly to an automatic excavation propulsion device that unmannedly excavates the ground in a special environment such as the moon surface.

Conventionally, Patent Document 1 discloses an automatic excavation propulsion device that unmannedly excavates the ground in a special environment such as the moon surface. The automatic excavation propulsion device disclosed in Patent Document 1 includes a propulsion mechanism and a control device that controls operations of the excavation mechanism. The propulsion mechanism arranges three or more expansion / contraction units whose outer diameters are reduced / expanded in a line in the axial direction, and controls the order of diameter reduction / expansion of the expansion / contraction units individually to expand / contract the diameter. The axial length of the unit is extended, and the axial length of the telescopic unit that expands the diameter is shortened to obtain a propulsive force by a peristaltic motion.
The propulsion mechanism is configured to form a hollow portion penetrating in the axial direction. A casing pipe is provided in the hollow portion, and an earth auger of the excavation mechanism is accommodated in the casing pipe. The earth auger is composed of a drilling screw for excavating the ground and a transport screw for transporting earth and sand excavated by the drilling screw to the rear. The drilling screw has a larger diameter on the tip side so that the outer diameter gradually decreases from the tip toward the rear. The drilling screw is covered with a skirt provided at the tip of the casing pipe. The skirt portion is formed to have a larger outer diameter than the casing pipe so as to be smaller than the outer diameter when the expansion unit of the propulsion mechanism is expanded and larger than the outer diameter when the diameter is reduced. On the opposite side of the casing pipe of the skirt portion, a conical inner wall is formed facing the outer peripheral edge of the drilling screw and parallel to the contour line of the outer peripheral edge. The excavated earth and sand are accommodated in the inner wall so that the excavated earth and sand can easily move from the excavated screw to the transport screw.

JP 2011-169056 A

However, in the above automatic excavation propulsion device, every time the propulsion mechanism performs the propulsion operation, the earth and sand of the excavation wall collapses little by little and accumulates on the upper part of the skirt part, and does not hinder the expansion of the expansion unit of the propulsion mechanism. Since a sufficient amount of propulsion for propelling the earth auger cannot be obtained, there arises a problem that the excavation efficiency is deteriorated.
Accordingly, an object of the present invention is to provide an automatic excavation propulsion device that enables stable excavation by an earth auger so as to solve the above-described problems.

As a configuration of an automatic excavation propulsion device for solving the above-described problem, a propulsion device that includes a hollow portion that penetrates in the axial direction and generates a propulsive force by performing a peristaltic motion with respect to the wall surface of the excavation hole, and the hollow of the propulsion device A drilling device having a screw that is housed in the unit and that rotates relative to the propulsion device to excavate the ground, and a skirt portion that guides the entry of the sand and sand when transporting the earth and sand excavated by the screw to the rear in the hollow part Because the radius of the screw tip side is made larger than the radius of the skirt part, the broken earth and sand is dropped by dropping the earth and sand that has collapsed from the wall surface of the drilling hole due to the peristaltic motion of the propulsion device, etc. Stable excavation can be performed while giving a stable driving force by the excavator without disturbing the peristaltic movement of the apparatus.
As another configuration of the automatic excavation propulsion device, the screw extends along the outer peripheral edge for a predetermined length from the tip and has a rising portion that rises along the axial direction, so that the earth and sand collapsed from the wall surface of the excavation hole can be surely secured. Can be recovered.
Further, the propulsion device includes a casing pipe having a discharge port for receiving the screw and discharging the earth and sand conveyed backward by the rotation of the screw in the hollow portion, and cleans the sediment deposited on the edge of the screw discharge port. Since the cleaning means is provided, the earth and sand conveyed by the screw can be efficiently discharged from the discharge port.

It is sectional drawing which shows the structure of one Embodiment of an automatic excavation propulsion apparatus. It is a figure which shows a drilling screw. It is a figure which shows a conveyance screw. It is the top view and perspective view of a discharge cover. It is AA sectional drawing of the cleaning means in FIG.4 (b). It is a figure which shows the relationship between a skirt part and a drilling screw. It is an enlarged view which shows a discharge port and a cleaning means. It is the top view and sectional drawing of the expansion-contraction unit which comprise a propulsion unit. It is a figure which shows the structure of a discharge device. It is a figure which shows the propulsion operation | movement of an automatic propulsion excavator. It is a figure which shows operation | movement of the cleaning means. It is a figure which shows operation | movement of a discharge device. It is a figure which shows the other form of a drilling screw.

FIG. 1 is a cross-sectional view showing a configuration of an embodiment of an automatic excavation propulsion apparatus 1. Hereinafter, the automatic excavation propulsion apparatus 1 will be described with reference to FIG. The automatic excavation propulsion apparatus 1 generally includes an excavation apparatus 2, a propulsion apparatus 5, a discharge apparatus 7, and a control apparatus 10.
The excavator 2 includes a so-called earth auger, and includes a screw 21 for excavating the ground and a drilling motor 22 for rotationally driving the screw 21. The screw 21 is rotated by the rotational drive of the screw motor 22 to excavate the ground.・ Transport and discharge of excavated earth and sand is performed by a single mechanism.

  The screw 21 includes an excavating screw 23 for excavating the ground, and a conveying screw 24 for conveying the earth and sand excavated by the excavating screw 23. The drilling screw 23 includes a spiral blade 26 on the outer periphery of the screw shaft 25, and the spiral blade 26 reduces the diameter in a spiral shape while drawing a spiral from the front end side to the rear end side of the screw shaft 25.

  FIG. 2 is a view showing the excavating screw 23. As shown in the figure, the drilling screw 23 is formed so that the pitch of the spiral blades 26 is small at the tip and gradually increases toward the rear end. That is, it is formed so that the front end side is dense and the rear end side is sparse. Further, the outer diameter of the excavating screw 23 is formed so as to gradually decrease in a taper shape from the front end toward the rear end. That is, the outer diameter of the spiral blade 26 is from the tip to the rear end when the tip radius is R1, the radius when rotated 180 degrees from the tip is R2, and the radius when rotated 360 degrees from the tip is R3. The diameter is reduced so that R1> R2> R3.

FIG. 3 is a view showing the transport screw 24. As shown in the figure, the conveying screw 24 includes a spiral spiral blade 28 on the outer periphery of the screw shaft 27. The spiral blades 28 of the conveying screw 24 are provided on the outer periphery of the screw shaft 27 so that the outer diameter and pitch are constant.
A joint portion 29 for connecting the excavation screw 23 is provided on the front end side of the screw shaft 27, and a joint portion 30 for transmitting the driving force of the excavation motor 22 is provided on the rear end side.

  The radius of the spiral blade 28 of the conveying screw 24 is the same as the radius R3 of the rear end of the spiral blade 26 of the excavating screw 23. The screw shaft 27 of the conveying screw 24 is formed longer than the axial length of the spiral blade 28, and the rear end protrudes a predetermined length from the spiral blade 28. A discharge cover 32 for controlling discharge of earth and sand transported by the spiral blade 28 is attached to the rear end side of the transport screw 24.

FIG. 4 is a plan view and a perspective view of the discharge cover 32.
As shown in FIGS. 3 and 4, the discharge cover 32 is provided at two locations on the outer periphery of the screw shaft 27 so as to face each other with a predetermined angle, for example, an interval of 100 °. The discharge cover 32 includes a fan-shaped top plate 33 and an arc-shaped wall 34 that extends toward the tip end side along the outer periphery of the top plate 33. The top plate 33 is formed in a flat fan shape extending from the outer periphery of the screw shaft 27 on the rear end side of the spiral blade 28 in the direction orthogonal to the axis. The radius of the outer peripheral edge of the top plate 33 is formed with a dimension substantially equal to the radius of the spiral blade 28. Each arcuate wall 34 extends toward the tip side. In the present embodiment, the arc-shaped wall 34 of one discharge cover 32 extends so as to overlap the spiral blade 28 once, and the arc-shaped wall 34 of the other discharge cover 32 extends so as to overlap the spiral blade 28 twice. . That is, the arc-shaped walls 34 of the discharge cover 32 are formed with different lengths in the axial direction. The outer diameter of the discharge covers 32, 32 formed by one arcuate wall 34 and the other arcuate wall 34 is set to the same dimension as the outer diameter of the spiral blade 28. That is, in the overlap of the spiral blade 28 and the arc-shaped wall 34, the spiral blade 28 and the arc-shaped wall 34 are integrally formed. Moreover, the circumferential direction length of the outer periphery of the arc-shaped wall 34 is set, for example to the same length. When the earth and sand discharged from between the discharge covers 32 and 32 are discharged from the discharge port 56 of the casing pipe 50 described later, the long arcuate wall 34 accumulates on the lower edge portion 56D of the discharge port 56. Cleaning means 35 is provided for removing earth and sand.

  FIG. 5 is a cross-sectional view taken along line AA of the cleaning unit 35 in FIG. As shown in FIG. 4 (b), the cleaning means 35 urges the fin 36 protruding and protruding from the arcuate wall 34, the shaft 38 that serves as a fulcrum for the fin 36 to protrude, and the fin 36 to protrude from the arcuate wall 34. And an urging means 37 for performing. The fins 36 are accommodated in an accommodating portion 39 formed so as to be recessed from the outer peripheral surface of the arcuate wall 34. The fin 36 is made of a flat plate component and includes a door portion 41 and a hinge portion 42. The door portion 41 and the hinge portion 42 are integrally formed, and are curved so that the outer peripheral surface forms the same cylindrical surface as the outer peripheral surface of the arc-shaped wall 34 when the door portion 41 and the hinge portion 42 are accommodated in the accommodating portion 39 of the arc-shaped wall 34. It is formed. The door part 41 is formed in a rectangular shape extending in the axial direction in plan view. The hinge portion 42 is formed integrally with the side surface of the door portion 41 and is smaller than the door portion 41. The hinge portion 42 is formed with a through-hole 43 that penetrates along the axial direction from the front end side end surface to the rear end side end surface when the hinge portion 42 is received in the storage portion 39.

The accommodating portion 39 of the arc-shaped wall 34 is formed in a shape capable of accommodating the above-described fin 36, for example, substantially the same shape as the fin 36 and recessed from the outer peripheral surface. A through hole 44 that communicates with the through hole 43 of the hinge portion 42 when the fin 36 is accommodated in the accommodating portion 39 is formed in the arc-shaped wall 34 along the axis.
Therefore, the cleaning unit 35 inserts the shaft 38 into the through hole 44 of the arcuate wall 34 and the through hole 43 of the hinge part 42 in a state where the fin 36 is housed in the housing part 39 of the arcuate wall 34, and the back side of the fin 36. 5, the fin 36 rotates the shaft 38 as shown in FIG. 5 by seating the spring of the urging means 37 on the spring receiving portion (not shown) provided in FIG. By projecting from the urging force of the spring as a center, it protrudes from the outer peripheral surface of the arc-shaped wall 34. In addition, the hinge part 42 is set so that it may be located in the rotation direction side of the screw 21.

  The excavation motor 22 is connected via a joint portion 29 (see FIG. 3) provided at the rear end of the screw shaft 27. The excavation motor 22 is fixed by a motor cover 53 described later. The excavation motor is connected to the control device 10 and is driven to rotate based on a signal output from the control device 10.

  Returning to FIG. 1, the propulsion device 5 will be described. A casing pipe 50 is provided on the outer periphery of the screw 21 of the excavator 2. The casing pipe 50 includes a skirt portion 51 that covers the excavating screw 23, a cylindrical portion 52 that covers the conveying screw 24, and a motor cover 53. The skirt portion 51 is formed with a dimension such that a part of the tip side of the excavation screw 23 is exposed to the outside from the outer periphery. The skirt portion 51 has a conical inner wall 54 facing the outer peripheral edge of the spiral blade 26 of the drilling screw 23 with a slight gap and parallel to the contour line of the outer peripheral edge. A radius R5 on the outer periphery 51a side of the skirt portion 51 is set to be smaller than a radius R1 on the distal end side of the excavating screw 23.

  FIG. 6 is a diagram illustrating a relationship between the skirt portion 51 and the excavation screw 23. As shown in the drawing, the skirt portion 51 and the excavation screw 23 have the outer periphery on the tip side of the excavation screw 23 exposed from the outer periphery 51a of the skirt portion 51 when viewed in the axial direction. Thus, by exposing the outer periphery on the tip side of the excavation screw 23 in the radial direction from the outer periphery 51 a of the skirt portion 51, the hole diameter of the excavation hole excavated by the excavation screw 23 is larger than the outer diameter of the skirt portion 51. Therefore, even if the earth and sand collapses from the inner wall of the already excavated hole, the broken earth and sand can be dropped to the outer periphery 51a side of the skirt portion 51 and recovered again by the excavating screw 23. That is, in addition to the excavation operation of the excavation screw 23, the earth and sand that has fallen from the inner wall of the excavation hole can also be collected and conveyed to the conveyance screw 24, so that excavation can be efficiently performed.

As shown in FIG. 1, the cylindrical portion 52 includes a discharge port 56 for discharging the earth and sand conveyed by the conveying screw 24 on the rear end side. The discharge ports 56 are formed as rectangular openings at positions facing each other along the circumferential direction of the cylindrical portion 52 across the axis. In the present embodiment, the discharge ports 56 are provided at two locations so as to correspond to the discharge cover 32 provided in the above-described transport screw 24. The circumferential length of the discharge port 56 is set to be equal to or shorter than the circumferential length of the outer periphery of the arc-shaped wall 34 of the discharge cover 32. By setting the circumferential length of the discharge port 56 in this way, when the discharge port 56 and the discharge cover 32 coincide with each other, the two discharge ports 56 are closed and the earth and sand from the conveying screw 24 are closed. Can be controlled.
FIG. 7 is an enlarged view showing the discharge port 56 and the cleaning means 35. As shown in the figure, the discharge port 56 has edges 56A and 56B extending in the vertical direction in the axial direction of the casing pipe 50, and edges 56C and 56D extending in the circumferential direction in the circumferential direction of the casing pipe 50. And the edge portion 56D is formed in the cylindrical portion 52 of the casing pipe 50 so as to have a gap of a predetermined distance in the axial direction from the lower surface 36A of the fin 36 of the cleaning means 35 provided in the discharge cover 32. Provided. In the discharge port 56, at least the length along the circumferential direction of the edges 56 </ b> C and 56 </ b> D is larger than the circumferential dimension of the fin 36, and the length of the edges 56 </ b> A and 56 </ b> B is the height of the fin 36. It is set larger than the dimension.

  The motor cover 53 is fixed by a fixing means (not shown) provided at the rear end of the casing pipe 50, for example. The motor cover 53 is fixed to the casing pipe 50 so as to completely receive the excavation motor 22 protruding from the rear end of the cylindrical portion 52 and to support the driving reaction force.

FIG. 8 is a plan view and a cross-sectional view of the telescopic unit 60 constituting the propulsion device 5.
The propulsion device 5 includes a plurality of expansion / contraction units 60 arranged in a line in the axial direction and individually reducing and expanding the outer diameter. Each expansion / contraction unit 60 has an annular shape, and has a configuration in which the axial length is elongated when the diameter is reduced and the axial length is shortened when the diameter is increased. The telescopic unit 60 includes a pair of axially movable members 61, a plurality of link mechanisms 62 that connect the pair of axially movable members 61, and a motor 63 that serves as a drive source for bringing the pair of axially movable members 61 close to and away from each other And a transmission mechanism 69 that transmits the rotational drive of the motor 63 to the pair of axially movable members 61.

  A plurality (six in this example) of link mechanisms 62 are provided at predetermined intervals along the circumferential direction of the axially movable member 61. The link mechanism 62 has a support member 64 projecting from the opposing surface of each axially movable member 61, two shaft portions 65 provided on each support member 64, and one end rotated by each shaft portion 65. It consists of a four-bar parallel link mechanism composed of a pair of parallel arms 66 that are freely supported. The other end of each arm 66 is pivotally supported by a shaft 68 with respect to a radially movable member 67. The link mechanism 62 operates the axially movable member 61 and the radially movable member 67 in conjunction with each other.

  The motor 63 is provided on one of the axially movable members 61, and the drive is controlled by the control device 10. For example, at least one motor 63 is mounted on one axially movable member 61, for example, two in this embodiment. For example, a stepping motor is applied to the motor 63. The transmission mechanism 69 includes a screw hole 69A formed in the above-described axially movable member 61 and a ball screw 69B screwed into the screw hole 69A. The ball screw 69B is connected to the motor 63 directly or via a power transmission mechanism such as a gear mechanism or a pulley mechanism.

  According to the above configuration, the expansion / contraction unit 60 rotates the motor 63 to move the one axial movable member 61 to which the motor 63 is fixed and the other axial movable member 61 into which the ball screw 69B is screwed. When the axially movable members 61 are relatively close to each other, the arms 66 constituting the link mechanism 62 move radially outward when the axially movable members 61 are close to each other, and when the axially movable members 61 are separated from each other, The arm 66 moves radially inward. Therefore, as the expansion / contraction unit 60, the axial direction movable members 61 are brought close to each other so that the axial length dimension is shortened and the radial length dimension is increased, and the axial direction movable members 61 are separated from each other. In this way, the axial length is extended and the radial length is reduced. That is, by rotating the motor 63 in the forward and reverse directions, the radial movable members 67 supported by the link mechanisms 62 simultaneously appear and disappear in the inner and outer radial directions.

  In this embodiment, three expansion / contraction units 60 are arranged in series on the outer periphery of the casing pipe 50, and the expansion / contraction of each expansion / contraction unit 60 is individually controlled by the control device 10 so that the three expansion / contraction units 60 cause the peristaltic motion of earthworms. Propulsive force is given to the excavator 2 by controlling to. That is, the control device 10 reproduces the peristaltic motion similar to the earthworm movement method by propelling the excavating device 2 by controlling the expansion or contraction of each expansion / contraction unit 60 individually at a predetermined timing. Create a driving force.

  When the other axially movable member 61 is in the axial position closest to the one axially movable member 61 due to the rotation of the ball screw 69B in the contracted direction by driving the motor 63, the link mechanism 62 is in the contracted state. Thus, each radially movable member 67 is in a pressurizing position projecting radially outward. Further, when the other axially movable member 61 is in the axial position farthest from the one axially movable member 61 due to the rotation of the ball screw 69B in the opposite direction, the link mechanism 62 is in the expanded state, thereby causing the radial direction. The movable member 67 is in a non-pressurized position retracted to the inner diameter side. That is, the radius at the time of maximum expansion of the telescopic unit 60 is larger than the tip diameter (radius R1) of the drilling screw 23, and the radius at the time of maximum contraction is smaller than the tip diameter (radius R1) of the drilling screw 23.

  As shown in FIG. 8 (c), the adjacent expansion / contraction units 60 have the axially movable member 61 of one expansion / contraction unit 60 facing each other and the fitting portions formed on the opposing surface of the other expansion / contraction unit 60. It is fitted and detachably fixed by fixing means such as a bolt not shown. For example, in the fitting portion, a convex portion is formed on one axial movable member 61, and a concave portion is formed on the other axial movable member 61, and the adjacent expansion units 60; Are concatenated.

  In the propulsion device 5, a casing pipe 50 is mounted in a hollow portion 5 </ b> A formed by three expansion / contraction units 60 connected in series, and the excavation device 2 is disposed inside the casing pipe 50. In the telescopic unit 60 located on the distal end side, the axially movable member 61 is fixed to the upper surface of the skirt portion 51. Excavation from the inside of the propulsion device 5 to the inside of each expansion / contraction unit 60 by sealing the rear end side of the casing pipe 50 inside the hollow portion 5A or the lower winding device 74 by packing such as an O-ring (not shown). Prevent infiltration of earth and sand.

  Further, as shown in FIG. 8C, the outer periphery of the propulsion device 5 is covered with a dustproof sheet 6 that prevents entry of earth and sand and dust into the propulsion device 5. As shown in FIG. 8 (a), when the propulsion device 5 is sealed with the outer periphery of the casing pipe 50 by the packing such as an O-ring (not shown), the front-end-side expansion unit 60 and the rear-end-side expansion unit 60 are sealed. At the same time, the adjacent expansion and contraction units 60 are sealed by packing such as an O-ring (not shown), thereby preventing the entry of earth and sand from the inner peripheral side. On the other hand, as shown in FIG. 8 (c), the sand and sand entering from the outside of the propulsion device 5 is formed on the outer surface of the cylindrical dustproof sheet 6 having both ends opened across the expansion and contraction units 60 constituting the propulsion device 5. It is prevented by closing both ends to cover. The dustproof sheet 6 is, for example, flexible and dustproof while reducing the frictional resistance against the inner wall of the excavation hole by applying aluminum vapor deposition to the surface of the vinyl sheet that is not stretchable. Can be obtained. For example, in the process in which the propulsion device 5 moves forward through the excavation hole, the forward movement becomes smoother because the frictional resistance of the surface of the dustproof sheet 6 is low. The opening on the outer surface of each expansion / contraction unit 60 is sealed with the dustproof sheet 6 by fitting an O-ring in an annular locking groove formed on the outer peripheral surface of the axially movable member 61 constituting each expansion / contraction unit 60. Thus, the entry of earth and sand into the telescopic unit 60 is prevented.

  FIGS. 9A and 9B are diagrams showing the configuration of the discharge device 7. As shown in the figure, the discharge device 7 includes a bucket 71 that receives earth and sand discharged from the discharge port 56 of the casing pipe 50, and a carry-out mechanism 72 that carries out the earth and sand accumulated in the bucket 71. The bucket 71 is an annular container whose upper part is released so as to surround the outer periphery of the cylindrical portion 52 of the casing pipe 50. The inner peripheral wall 71 </ b> A of the bucket 71 is formed in a cylindrical shape so as to have a predetermined gap with the outer periphery of the cylindrical portion 52. The outer peripheral wall 71 </ b> B of the bucket 71 is formed with a dimension that is at least equal to or smaller than the outer diameter of the skirt portion 51.

  The carry-out mechanism 72 includes a suspension member 73, a lower winding device 74, and an upper winding device 75. The suspending member 73 is constituted by, for example, a long belt-like member having flexibility. The suspension member 73 is not limited to a belt-shaped member, and may be a member having a circular cross section such as a wire. However, the bucket 71 is preferably formed by using a flexible metal belt-shaped member. The bucket 71 can be moved up and down in a stable manner during winding by the lower winding device 74 and lifting by the upper winding device 75 when moving up and down. The lower winding device 74 includes a base plate 76 and a winding mechanism 77 that winds the suspension member 73. The base plate 76 is formed of an annular flat plate member, and has an inner diameter that allows the casing pipe 50 to pass therethrough and an outer diameter that is equal to the outer diameter of the skirt portion 51. A pair of winding mechanisms 77 are provided at symmetrical positions across the center of the base plate 76. The winding mechanism 77 includes a spiral spring and a spool 77A that is rotated by the urging force of the spiral spring, and a suspension member 73 is wound around the outer periphery of the spool 77A. The suspension member 73 wound around the spool 77A is always urged in the winding direction by the spool 77A by a spiral spring. The bucket 71 is placed on the winding mechanism 77 of the lower winding device 74.

The upper winding device 75 is supported at a predetermined distance from the excavation motor 22 by support means (not shown). As shown in FIG. 9B, the upper winding device 75 includes a pair of pulleys 78 and a winding motor 79 that drives the pair of pulleys 78 to rotate synchronously. One end of a suspension member 73 unwound from the lower winding device 74 is attached to the pulley 78. The winding motor 79 is connected to the control device 10, and rotates forward or reverse based on a signal output from the control device 10. The midway part of the suspension member 73 passed from the lower winding device 74 to the upper winding device 75 is fixed to the bucket 71 by fixing means (not shown).
Therefore, when the upper winding device 75 operates to wind the suspension member 73, the suspension member 73 is unwound from the lower winding device 74, and the bucket 71 is separated from the lower winding device 74, and the excavation motor By passing the rear end of 22, the excavated earth and sand can be carried out to the outside.

  FIGS. 10A to 10D are diagrams illustrating the propulsion operation of the automatic excavation propulsion apparatus 1. As shown in the figure, the ground (for example, the regolith layer on the lunar surface) is excavated by the excavating screw 23 at the distal end by driving the excavating motor 22 and rotating the screw 21 in the advancing direction. At this time, in the excavation process by the rotation of the screw 21, the control device 10 reduces the diameter of the three expansion / contraction units 60 constituting the propulsion device 5 in a predetermined order. In the following description, it is assumed that the telescopic unit on the front end side is 60A, the telescopic unit located in the middle is 60B, and the telescopic unit on the rear end side is 60C.

As shown in FIG. 10A, the propulsion device 5 is fixed to the inner wall 12 of the excavation hole by first expanding the diameters of all the expansion / contraction units 60A to 60C. Thereby, it can prevent that the propulsion apparatus 5 rotates together with the screw 21, and can rotate the screw 21 stably and efficiently.
Next, as shown in FIG. 10B, the diameter of the telescopic unit 60A on the front end side is reduced while the diameters of the middle telescopic unit 60B and the rear telescopic unit 60C are expanded, and the telescopic unit 60A is pivoted. The excavator 2 is propelled by extending in the direction. That is, the screw 21 and the skirt portion 51 are advanced by the amount X of the expansion / contraction unit 60A in the axial direction.
Next, as shown in FIG. 10C, while maintaining the expansion of the expansion unit 60C on the rear end side, the expansion of the intermediate expansion unit 60B and the expansion of the expansion unit 60A on the front end are performed simultaneously. carry out.
Next, as shown in FIG. 10 (d), the diameter expansion of the intermediate expansion / contraction unit 60B and the diameter expansion of the expansion / contraction unit 60C on the rear end side are simultaneously performed.
Then, the propulsion force can be applied to the excavation of the excavator 2 by causing the propulsion device 5 to sequentially repeat the propulsion operations shown in FIGS.
Further, as shown in FIGS. 10A to 10D, in the propulsion operation by the propulsion device 5, the anchor effect is obtained by always expanding the diameter of the two expansion / contraction units 60 and press-contacting the inner wall 12 of the excavation hole. The propulsion device 5 can be prevented from co-rotating with the screw 21, and the posture of the screw 21 in the excavation device 2 can be appropriately maintained.

  Next, the operation of the cleaning unit 35 will be described. FIGS. 11A to 11C are diagrams illustrating the operation of the cleaning unit 35. The earth and sand D excavated by the excavating screw 23 moves to the conveying screw 24 side along the inner wall 54 of the skirt portion 51 by the rotational force of the excavating screw 23 and is conveyed to the rear of the conveying screw 24. The earth and sand D that has reached the transport cover 32 by transporting backward is discharged to the bucket 71 every time the gap between the transport covers 32: 32 coincides with the discharge port 56 of the casing pipe 50.

As shown in FIG. 11 (a), during the rotation of the screw 21, the earth and sand D are discharged to the bucket 71 while the gap between the transport covers 32: 32 coincides with the discharge port 56 of the casing pipe 50. The 11B, when the fins 36 are rotated to the position of the discharge port 56 by the rotation of the screw 21, the urging force of the urging means 37 restrained by the inner peripheral surface of the casing pipe 50 is released. Then, the fin 36 rotates about the shaft 38 and protrudes to the outside of the discharge port 56, whereby the lower surface 36 </ b> A of the door portion 41 of the fin 36 moves along the lower edge portion 56 </ b> D of the discharge port 56. To do. Thereby, the earth and sand D accumulated on the edge 56D of the discharge port 56 at the time of discharging the earth and sand is wiped off to the bucket 71. That is, when the earth and sand D is discharged from the casing pipe 50, the earth and sand D accumulated on the lower edge portion 56 </ b> D of the discharge port 56 that becomes an obstacle is removed, and the earth and sand D can be discharged to the bucket 71.
Then, as shown in FIG. 11C, when the screw 21 further rotates and the hinge portion 42 side of the fin 36 collides with the edge portion 56A (see FIG. 7) extending in the axial direction of the discharge port 56, the fin 36 overcomes the urging force of the urging means 37 and is gradually accommodated in the accommodating portion 39 from the hinge portion 42 side, as shown in FIG. In this way, by causing the fins 36 to appear and disappear depending on the presence / absence of the discharge port 56, earth and sand accumulated automatically on the lower edge portion 56 </ b> D (see FIG. 7) without hindering the rotation of the screw 21. D can be dropped into the bucket 71.

FIG. 12 is a diagram illustrating the operation of the discharge device 7. When the earth and sand discharged from the discharge port 56 by excavation and conveyance of the screw 21 is accumulated in the bucket 71 by a predetermined amount, the earth and sand in the bucket 71 is carried out. When carrying out the earth and sand in the bucket 71, the control device 10 stops the excavation propulsion operation by the excavator 2 and the propulsion device 5 in order to stop the discharge of the earth and sand from the discharge port 56. Specifically, the rotation of the screw 21 is stopped at a position where the discharge cover 32 of the screw 21 closes the discharge port 56 of the casing pipe 50. By operating in this way, when the bucket 71 is raised in the subsequent process, the discharge cover 32 prevents the earth and sand from being discharged from the inside of the casing pipe 50 and guides the raising of the bucket 71 from the bucket 71. Suppresses the fall of earth and sand. By suppressing the fall of the earth and sand below the bucket 71 by this, accumulation of the earth and sand on the winding mechanism 77 of the lower winding apparatus 74 in which the bucket 71 is mounted can be prevented. The position of the discharge cover 32 of the screw 21 with respect to the discharge port 56 of the casing pipe 50 is controlled by the relationship between the rotation angle of the excavation motor 22 and the discharge cover 32 of the screw 21 and the relationship between the discharge port 56 and the screw 21. What is necessary is just to memorize | store in the control apparatus 10 previously.
After the excavation propulsion operation is stopped, the control device 10 outputs a signal to the upper winding device 75 so that the upper winding device 75 performs the winding operation of the suspension member 73 as shown in FIG. . When the bucket 71 is lifted to the outside of the excavation hole by the winding operation of the suspension member 73 and reaches a position at a predetermined distance from the ground surface, the bucket 71 is turned upside down by an overturning means or the like (not shown), and the earth and sand in the bucket 71 is removed. Throw away. After dumping the earth and sand, the control device 10 rotates the winding motor 79 in the direction opposite to the winding to lower the bucket 71 toward the lower winding device 74. At this time, the suspension member 73 unwound by driving of the winding motor 79 is wound around the spool 77 </ b> A by the spiral spring of the winding mechanism 77. When the bucket 71 is placed on the lower winding device 74, the control device 10 outputs a signal to the excavator 2 and the propulsion device 5 to start excavation of the excavation hole.

  As described above, in the automatic excavation propulsion apparatus 1 according to this embodiment, the radius of the tip end side of the screw 21 of the excavation apparatus 2 is larger than the radius of the outer periphery 51a side of the skirt portion 51. By dropping the earth and sand collapsed from the inner wall of the excavation hole to the outer periphery 51a side of the skirt portion 51 due to movement or the like, the broken earth and sand gives a stable propulsive force by the excavator 2 without hindering the peristaltic movement of the propulsion apparatus 5. be able to. Further, the propulsion device 5 includes a casing pipe 50 that houses the screw 21 and has a discharge port 56 that discharges earth and sand conveyed rearward by the rotation of the screw 21 in the hollow portion 5 </ b> A, and the edge of the discharge port 56 of the screw 21. Since the cleaning means 35 for cleaning the earth and sand accumulated in the portion 56D is provided, the earth and sand conveyed by the screw 21 can be efficiently discharged from the discharge port 56.

  In the above embodiment, the propulsion device 5 is described as being configured by the three expansion / contraction units 60. However, the propulsion device 5 may be configured by connecting two expansion / contraction units 60 in series. As described above, when the propulsion device 5 is configured by the three expansion / contraction units 60, in the peristaltic motion for obtaining the propulsion force, at least one of the three expansion / contraction units 60 is always maintained in a state where the diameter has been expanded. Thus, since the expansion unit 60 in the expanded state presses the inner wall of the excavation hole, the excavation device 2 can be supported by the propulsion device 5 at all times. Thereby, it is possible to continuously perform the excavating operation of the excavating device 2 by applying a stable propulsive force to the excavating device while preventing the propulsion device 5 from rotating together during the excavating operation of the excavating device 2. There is.

  FIG. 13 is a view showing another form of the excavating screw 23. The drilling screw 23 shown in the figure includes an outer peripheral wall 26 </ b> A that extends along the outer peripheral edge of the spiral blade 26. The outer peripheral wall 26A is provided as a rising portion that rises at a predetermined height along the axial direction of the screw shaft, and is formed, for example, by 360 ° from the distal end side of the spiral blade 26 along the outer peripheral edge. By providing the outer peripheral wall 27A on the excavating screw 23 in this way, the earth and sand that has fallen from the inner wall of the excavation hole can be reliably received on the spiral blade 26, so that the recovery rate of the earth and sand that has fallen from the inner wall of the excavation hole is improved. Can be drilled efficiently.

  The configuration of the fin 36 is not limited to the above embodiment, and by attaching a flexible fiber bundle such as a brush to the lower surface 36A of the fin 36 in the extending direction, the edge 56D of the discharge port 56 and the fin 36 Even if the gap between the lower surface 36A of the 36 and the lower surface 36A is increased, the earth and sand of the edge portion 56A can be surely removed.

1 automatic drilling propulsion device, 2 drilling device, 5 propulsion device, 5A hollow part,
21 screw, 27A outer peripheral wall, 35 cleaning means, 50 casing pipe,
51 skirt, 56 outlet.

Claims (3)

A propulsion device including a hollow portion penetrating in the axial direction and generating a propulsive force by peristaltic movement with respect to the wall surface of the excavation hole;
A drilling device comprising a screw housed in a hollow portion of the propulsion device and rotating relative to the propulsion device to excavate the ground;
A skirt portion for guiding the entry of earth and sand when conveying the earth and sand excavated by the screw to the rear in the hollow part,
An automatic excavation propulsion apparatus in which a radius on a tip side of the screw is larger than a radius of the skirt portion.   The automatic excavation propulsion device according to claim 1, wherein the screw includes a rising portion that extends from a tip end along an outer peripheral edge by a predetermined length and rises along an axial direction. The propulsion device is provided with a casing pipe in the hollow portion, which contains the screw and has a discharge port for discharging earth and sand conveyed rearward by rotation of the screw.
The automatic excavation propulsion apparatus according to claim 1 or 2, further comprising a cleaning unit that cleans sediment deposited on an edge of the discharge port of the screw.

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