JP2018188899A - Screw mechanism and drilling device provided therewith - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a screw mechanism and the like, capable of reducing a load of a motor for driving a screw.SOLUTION: A screw mechanism comprises a screw which rotates at an inner portion of a cylindrical body and which has a screw plate extended to the spiral in the outer periphery and also comprises a supporting mechanism which supports the screw rotatably at a middle portion of the axial direction of the screw.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a screw mechanism, and more particularly to a screw mechanism that can reduce the load on a motor that drives the screw.

  Conventionally, an automatic excavation propulsion apparatus including a screw mechanism that unmannedly excavates the ground in a special environment such as the seabed or the moon surface is known (Patent Document 1). However, since the earth auger (screw) constituting the screw mechanism for excavating the ground in this document is supported only by the motor whose rear end side is fixed to the casing pipe, the tip side is pivoted by the excavation resistance received from the ground. There is a problem of swinging. Since the earth auger comes into contact with the casing pipe due to the shaft runout, rotation resistance is further added to the excavation resistance, which causes an unnecessary load on the motor.

JP 2011-169056 A

  Therefore, an object of the present invention is to provide a screw mechanism or the like that can reduce the load of a motor that drives a screw in order to solve the above-described problems.

As a configuration of a screw mechanism for solving the above-mentioned problem, a screw mechanism having a screw having a screw plate that rotates inside an outer cylinder and extends in a spiral shape on the outer periphery, and in the middle of the axial direction of the screw It was set as the structure provided with the support mechanism which supports the said screw rotatably. According to this configuration, since the axial runout of the screw is suppressed, the screw can be rotated without the screw plate coming into contact with the cylindrical body, and as a result, the load on the motor can be reduced.
In addition, the screw can be rotatably supported while the support mechanism is fixed to the cylinder, or the support mechanism can be rotatably supported together with the screw by the cylinder, so that the shaft can be swung with respect to the cylinder. Can be suppressed.
Further, the support mechanism includes a power transmission mechanism, and a driving force input via the power transmission mechanism is transmitted to the screw, whereby a large rotational torque can be applied to the screw.
Further, even if the screw is rotatably supported in a state where the support mechanism is fixed to the cylindrical body, the axial deflection of the screw with respect to the cylindrical body can be suppressed.
An excavator provided with the screw mechanism according to any one of claims 1 to 4, wherein the screw includes an excavating means on a tip end side and a support mechanism is provided on the tip end side of the screw. Even if resistance is applied, the shaft runout of the screw can be suppressed.
Further, since the screw further includes excavation means on the rear end side and the support mechanism is provided on the rear end side of the screw, excavation can be performed in both directions.

It is sectional drawing which shows the structure of one Embodiment of an excavation propulsion apparatus. It is a figure which shows a screw. It is a top view of a turntable. It is the elements on larger scale of a skirt part. It is a figure which shows the relationship between a skirt part and a drilling screw. It is a figure which shows evaluation of a screw support mechanism. It is a figure which shows an expansion-contraction unit. It is a figure which shows the propulsion operation | movement of an automatic propulsion excavator. It is a figure which shows the other form of a screw support mechanism. It is a figure which shows the other form of a digging apparatus. It is a figure which shows the other form of a digging apparatus. It is a figure which shows the other form of a digging apparatus. It is a figure which shows the other form of a screw and a casing pipe. It is a figure which shows a bending apparatus. It is a figure which shows the other form of a casing pipe and a propulsion apparatus. It is a figure which shows operation | movement of a propulsion apparatus.

Embodiment 1
FIG. 1 is a cross-sectional view showing an excavation propulsion apparatus 1 including a screw mechanism according to the present embodiment. As shown in FIG. 1, the excavation propulsion device 1 generally includes an excavation device 2 as a screw mechanism, a propulsion device 5, and a control device 10. In FIG. 1, reference numeral 31 denotes a starting base (launcher) of the excavator 2, and the launcher 31 is constituted by, for example, a cylindrical body with a sharp opening edge.
The excavator 2 includes a screw 21 that excavates the ground E and transports and discharges the excavated earth and sand, a motor 22 that drives the screw 21 to rotate, covers the outer periphery of the screw 21, and rotates the screw 21. A casing pipe 50 that guides the transport of earth and sand and a screw support mechanism 80 that supports the tip side of the screw 21 are provided.

  FIG. 2 is a view showing the screw 21. The screw 21 includes an excavating screw 23 excavating the ground E, a conveying screw 24 conveying the earth and sand excavated by the excavating screw 23, a rotating disk 81 constituting a screw support mechanism 80, an excavating screw 23, an conveying screw 24, And a connecting shaft 30 that connects a rotating plate 81 that constitutes the screw support mechanism 80.

  The excavation screw 23 includes a screw shaft 25 and a screw plate 26 protruding in the radial direction from the outer periphery of the screw shaft 25. The screw shaft 25 is, for example, a shaft body having a constant outer diameter and a circular cross section, and includes a connecting portion 25H for connecting the conveying screw 24 to the rear end. The connecting portion 25H extends from the rear end surface of the screw shaft 25 along the axial direction, and is provided as a hole having a cross-sectional shape corresponding to a cross-sectional shape of the connecting shaft 30 described later. The corresponding cross-sectional shape refers to a shape that can be inserted in accordance with the cross-sectional shape of the connecting shaft 30.

  The screw plate 26 extends spirally while drawing a spiral along the axial direction from the front end side to the rear end side of the screw shaft 25. In the present embodiment, the screw plate 26 terminates at a position where the rear end is flush with the rear end of the screw shaft 25. The outer diameter of the screw plate 26 is such that the radius from the tip to the rear end is R1 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. It is designed with a reduced diameter so that R1> R2> R3, and the outer diameter gradually decreases in a taper shape from the front end toward the rear end. Further, the screw plate 26 is formed so that the front end side is dense and the rear end side is sparse so that the pitch on the front end side is small and the pitch gradually increases toward the rear end side. At the tip of the screw plate 26, a plurality of excavation bits 23k that function as substantial excavation means are provided.

  The conveying screw 24 includes a screw shaft 27 and a screw plate 28 protruding in the radial direction from the outer periphery of the screw shaft 27. The screw shaft 27 is a shaft body having the same cross-sectional shape as the screw shaft 25 of the drilling screw 23, for example, and includes a connecting portion 27H for connecting the drilling screw 23 to the tip. The connecting portion 27H is provided as a hole extending in the axial direction from the end surface on the distal end side of the screw shaft 27, and the cross-sectional shape is set to a shape corresponding to the cross-sectional shape of the connecting shaft 30 described later.

  The screw plate 28 extends while drawing a spiral along the axial direction from the front end side to the rear end side of the screw shaft 27. In the present embodiment, the screw plate 28 is provided on the outer periphery with a constant radius and pitch so that the tip end of the screw shaft 27 is flush with the tip of the screw shaft 27 and terminates leaving a surplus on the rear end side of the screw shaft 27. It is done. The radius of the screw plate 28 is set to be the same as the radius at the rear end of the screw plate 26 of the excavating screw 23, for example.

  FIG. 3 is a plan view of the turntable 81 as viewed in the axial direction from the rear end side. The turntable 81 includes a center shaft 82, a screw piece 83, a support piece 84, and an outer ring plate 85, and the center shaft 82, the screw piece 83, the support piece 84, and the outer ring plate 85 are integrated. The central shaft 82 is a shaft body having a circular section having the same diameter as the screw shaft 25 and includes a through hole 82H extending in the axial direction from the front end surface to the rear end surface. The through-hole 82H is formed in a shape corresponding to the cross-sectional shape of the connecting shaft 30 so that the connecting shaft 30 described later can pass therethrough.

  The screw piece 83 and the support piece 84 extend radially from the outer periphery of the central shaft 82 to the outer ring plate 85 in a plane orthogonal to the axial direction of the central shaft 82. The screw piece 83 has a predetermined length on the outer periphery of the central shaft 82 so that the screw plate 26 and the screw plate 28 form a continuous spiral when the excavating screw 23 and the conveying screw 24 are connected by the connecting shaft 30. Extend in a spiral. In the present embodiment, the screw piece 83 extends so as to be flush with each axial end surface of the central shaft 82 so that the rear end of the screw plate 26 and the front end of the screw plate 28 are smoothly continuous. Each end is formed. For example, the support piece 84 is set to have a thickness that is the same as or smaller than the axial length of the central shaft 82, and the strength at which the connection between the central shaft 82 and the outer ring plate 85 is not broken during the excavation operation of the screw 21. Is set to have. Further, the support piece 84 is provided at a position that does not hinder the transport of earth and sand by the screw piece 83. For example, when the screw piece 83 is formed so as to extend the outer periphery of the central shaft 82 by a half or more, the support piece 84 can be omitted.

  The outer ring plate 85 is an annular disk having an inner diameter larger than the outer diameter of the conveying screw 24, and is arranged concentrically with the center of the central shaft 82 on the outer periphery of the central shaft 82. For example, the inner diameter of the outer ring plate 85 is set to be the same as the inner diameter of a cylindrical body 52 in a casing pipe 50 described later, and the outer diameter is set smaller than the outer diameter of a skirt portion 51 described later.

  As shown in FIG. 2, the connecting shaft 30 is formed of a prism having a cross-sectional shape set to a square. Accordingly, the cross-sectional shapes of the connecting portion 25H of the excavating screw 23, the through hole 82H of the rotating disk 81, and the connecting portion 27H of the conveying screw 24 are formed in a square shape. Further, the connecting portion 25H of the excavating screw 23, the through hole 82H of the rotating disc 81 and the connecting portion 27H of the conveying screw 24 are connected to the connecting portion 25H of the excavating screw 23, the through hole 82H of the rotating disc 81, and the conveying screw 24. When the screw 21 is configured by being inserted into the connecting portion 27H, the screw shaft so that the rotation center axis of the excavating screw 23, the rotation center axis of the rotary plate 81, and the rotation center axis of the conveying screw 24 are coaxial. 25, the central shaft 82, and the screw shaft 27. That is, the connecting shaft 30 and the connecting portion 25H of the excavating screw 23, the through hole 82H of the rotating disk 81, and the connecting portion 27H of the conveying screw 24 constitute a shaft connecting mechanism.

  Thus, by using the connecting shaft 30 as a prism, the rotational driving force of the motor 22 can be transmitted from the conveying screw 24 to the rotating disk 81 and the excavating screw 23. Further, the position of the rear end of the screw piece 83 of the rotary disk 81 with respect to the position of the front end of the screw plate 28 of the conveying screw 24, and the position of the rear end of the screw plate 26 of the excavating screw 23 with respect to the position of the front end of the screw piece 83 of the rotary disk 81. Since the position can be determined, the continuity of the helical body of the screw 21 when the conveying screw 24, the rotating disk 81, and the excavating screw 23 are integrated via the connecting shaft 30 can be ensured.

  The connecting shaft 30 is not separated from the excavating screw 23, the rotating disc 81, and the conveying screw 24, and penetrates the central shaft 82 of the rotating disc 81 at the tip of the conveying screw 24 to connect the excavating screw 23. It may be integrally formed with a length that can be inserted into 25H, and it can be inserted into the connecting portion 25H of the excavating screw 23 and the connecting portion 27H of the conveying screw 24 from both ends of the central shaft 82 of the rotating disk 81. It may be formed integrally with the central shaft 82, and is formed integrally with a length that penetrates the central shaft 82 of the rotating disk 81 and can be inserted into the connecting portion 27 </ b> H of the conveying screw 24 at the rear end of the excavating screw 23. Also good. Further, the cross-sectional shape of the connecting shaft 30 is not limited to the above-mentioned square, and any shape may be used as long as the rotational driving force of the motor 22 can be transmitted, such as a rectangle and other polygonal shapes. Needless to say, the cross-sectional shapes of the connecting portion 25H, through-hole 84A, and connecting portion 27H through which are inserted or penetrated correspond to each other.

  As shown in FIG. 1, the casing pipe 50 includes a skirt portion 51 that covers the excavating screw 23, a cylindrical body 52 that covers the conveying screw 24, and a motor fixing portion 53. The skirt portion 51 is formed with a size such that a part of the tip side of the drilling screw 23 is exposed to the outside from the outer periphery. The radius on the outer peripheral side of the skirt portion 51 is set to be smaller than the radius R1 on the distal end side of the excavating screw 23 and equal to or slightly smaller than the maximum diameter of the expansion / contraction unit 60 that moves after excavation described later.

  FIG. 4 is a partially enlarged view of the skirt portion 51. As shown in FIG. 4, the skirt portion 51 includes a drilling screw storage portion 54 that covers a drilling screw 23 conically recessed from the front end side to the rear end side, and a turntable 81 in the hollow screw 21 cylindrically from the rear end side. And a turntable housing portion 55 for housing. The excavation screw accommodating portion 54 has a conical inner wall 54s that is opposed to the outer peripheral edge of the screw plate 26 with a slight gap when the excavation screw 23 is rotated and is parallel to the contour line of the outer peripheral edge. Yes.

  FIG. 5 is a diagram illustrating the relationship between the skirt 51 and the excavating screw 23. As shown in the figure, 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 of the skirt portion 51 when viewed in the axial direction. Thus, by exposing the outer periphery of the tip side of the excavation screw 23 in the radial direction from the outer periphery 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 peripheral 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, earth and sand that have fallen from the inner wall of the excavation hole can also be collected and conveyed to the conveyance screw 26, so that excavation can be efficiently performed.

  As shown in FIG. 4, the rotating disk housing portion 55 is provided coaxially with the drilling screw housing portion 54, and includes a cylindrical surface 55 a that extends along the axial direction and a planar bottom surface 55 b that is orthogonal to the axial direction. Have. The diameter of the cylindrical surface 55a is set to a dimension that can accommodate the rotating disk 81. The turntable accommodating portion 55 is provided with a cylindrical member 87A as a friction reducing member for smoothly supporting the rotation of the turntable 81 in the turntable accommodating portion 55, and a plurality of disk members 87B.

The cylindrical member 87A and the disk member 87B are made of a synthetic resin having a solid lubricating performance such as high molecular weight polyethylene, for example. For example, the cylindrical member 87A is formed in a cylindrical shape so as to be in close contact along the cylindrical surface 55a of the rotating disk housing portion 55, and the inner periphery is disposed so that the outer periphery of the rotating disk 81 can slide. Further, the disk member 87B is formed in a flat plate ring shape. For example, the outer diameter of the disk member 87B can be disposed on the inner peripheral side of the cylindrical member 87A disposed in the rotating disk housing portion 55, and the inner diameter of the rotating disk 81 is The dimension is set equal to the inner diameter of the outer ring plate 85. When the disc member 87B accommodates the rotary disc 81 in the rotary disc accommodating portion 55, the disc member 87B is disposed on the inner peripheral side of the cylindrical member 87A, with two disc members 87B stacked on the bottom surface 55b. 81 is disposed, and two disk members 87B are further stacked thereon, and then closed by a lid 51j that constitutes the skirt portion 51.
In this way, by accommodating the rotating disk 81 with the cylindrical member 87A and the disk member 87B interposed in the rotating disk accommodating part 55, the screw 21 is rotatably supported by the skirt part 51 in the axial direction and the radial direction. Can do.

  The axial dimension from the bottom surface 55b of the rotating disk housing 55 to the lid 51j is such that the rotating disk 81 does not rattle in the axial direction and the radial direction in the rotating disk housing 55. The thickness may be set in consideration of the thickness of the plate 85 and the thickness of the four disc members 87B. As described above, the rotating disk 81 is smoothly rotated without being shaken by arranging the cylindrical member 87A and the disk member 87B, which are constituted by the friction reducing members, in the axial direction and the circumferential direction. be able to. Moreover, although the cylindrical member 87A and the disk member 87B are made of synthetic resin made of high molecular polyethylene, the present invention is not limited to this, and synthetic resin having solid lubricating performance such as high molecular polyethylene may be formed of a material. Further, instead of the cylindrical member 87A, the outer periphery of the rotating disk 81 is supported by a bearing such as a cylindrical roller, a tapered roller, or a sphere, and the rotating disk 81 is accommodated by a bearing such as a thrust bearing instead of the disk member 87B. You may make it support in the part 55. FIG.

  As shown in FIG. 1, the cylindrical body 52 has a cylindrical shape having an inner diameter that can accommodate the conveying screw 24 and an outer diameter that can be accommodated in a hollow portion 5 </ b> A formed in the propulsion device 5 described later. It is a cylinder. The front end side of the cylindrical body 52 is fixed to the skirt 51 (lid 51j) coaxially with the central axis of the skirt 51 by fixing means not shown. The rear end side of the cylindrical body 52 is provided with a rear end opening 50 e for discharging the earth and sand conveyed by the conveying screw 24 and a motor fixing portion 53 for fixing the motor 22.

  As shown in FIG. 1, a discharge path 41 that guides the excavated soil discharged rearward from the rear end opening 50 e of the casing pipe 50 is connected to the rear end of the casing pipe 50. A communication hole 50 f that connects the rear end opening 50 e of the casing pipe 50 and the discharge path 41 is formed in the support portion 53 </ b> A that connects the motor fixing portion 53 to the rear end of the casing pipe 50. By rotating the screw 21 by driving the motor 22, the excavated soil excavated by the excavating bit attached to the tip of the excavating screw 23 rotates the screw plate 26 of the excavating screw 23 and the screw plate 28 of the conveying screw 24. Thus, it is conveyed to the rear of the casing pipe 50, discharged from the rear end opening 50e, and discharged to the discharge path 41 through the communication hole 50f.

  Behind the discharge path 41, an unillustrated excavated soil container is provided. That is, the unloading device 4 includes at least a excavated soil container that accommodates excavated soil that passes through the communication hole 50f and is conveyed rearward, and a discharge path 41 for excavated soil from the communication hole 50f to the excavated soil container. It is the structure provided with. Note that the size of the excavated soil container is configured to be changeable according to the amount of excavated soil required for the survey, for example. That is, the unloading device 4 includes a drilling soil container that stores the drilled soil that is drilled by the drilling bit 23k of the screw 21 and is conveyed rearward by the spiral rotation of the spiral blade 21B. It is configured to be detachable behind 41.

For example, the motor fixing portion 53 is fixed by a fixing means (not shown) provided at the rear end of the casing pipe 50. The motor fixing portion 53 is fixed to the casing pipe 50 so as to completely receive the motor 22 protruding from the rear end of the cylindrical body 52 and to fix the driving reaction force.
The output shaft of the motor 22 is connected in series via a shaft connecting member 33 (see FIG. 1) provided at the rear end of the screw 21 (rear end of the conveying screw 24).

  According to the excavator 2 configured as described above, the screw 21 is supported at the rear end side of the casing pipe 50 via the motor 22 and supported at the front end side of the casing pipe 50 via the screw support mechanism 80. As a result, even if the excavation resistance is received from the ground E, the rotation center axis can rotate with the center axis of the casing pipe 50 aligned. Thereby, the load of the motor 22 that rotationally drives the screw 21 can be reduced.

  FIG. 6 is a diagram showing the results of examining the effect on the shaft runout of the screw support mechanism 80 when the screw 21 is rotated in an unloaded state. The trajectory line shown in FIG. 6 is a trajectory when the tip of the screw 21 shown in FIG. A locus s1 shown in dark gray indicates a locus when a conventional screw without the screw support mechanism 80 is rotated, and a locus s2 indicated in light gray indicates a locus when a screw provided with the screw support mechanism 80 is rotated. Is shown. As shown in the figure, it can be seen that the shaft runout is suppressed by providing the screw support mechanism 80 on the screw 21. Based on this result, a rotation test of the excavator 2 is performed, and a gap larger than the obtained amplitude of shaft runout is set between the rotary screw 21 and the casing pipe 50, so that the screw 21 and the casing pipe 50 can be connected to each other. Contact can be reliably avoided.

  FIG. 7 is a plan view and a 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.

  As shown in FIG. 7 (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. Sealing the rear end side of the casing pipe 50 in the hollow portion 5A by packing such as an O-ring (not shown) prevents the excavated earth and sand from entering the inside of each expansion unit 60 from the inside of the propulsion device 5.

  Further, as shown in FIG. 7C, the outer periphery of the propulsion device 5 is covered with a dustproof sheet 6 </ b> X that prevents dirt and dust from entering the propulsion device 5. As shown in FIG. 7A, the propulsion device 5 includes a front end side expansion unit 60 and a rear end side expansion unit 60 sealed with the outer periphery of the casing pipe 50 by packing such as an O-ring (not shown). The adjoining expansion / contraction units 60 are sealed with a packing such as an O-ring (not shown) to prevent the entry of earth and sand from the inner peripheral side. On the other hand, as shown in FIG. 7C, 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. 8A to 8D are diagrams illustrating the propulsion operation of the automatic propulsion excavator 1. As shown in the figure, by driving the motor 22 and rotating the screw 21 in the excavation direction, the ground (for example, the regolith layer or the sea floor on the moon surface) is excavated by the excavating screw 23 at the tip. At this time, in the excavation process by the rotation of the screw 21, the control device 10 reduces or expands 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.

  The operation of the excavation propulsion apparatus 1 will be described. The launcher 31 is placed on the ground E. Next, as shown in FIG. 8A, after arranging the excavation propulsion device 1 in the launcher 31, the expansion devices 60 </ b> A to 60 </ b> C are first expanded in diameter so that the propulsion device 5 is placed on the inner wall of the launcher 31. Fix (step 1). 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. 8B, the diameter of the expansion / contraction unit 60A on the front end side is reduced while the diameter of the expansion / contraction unit 60A on the front end side is reduced, while the expansion / contraction unit 60A on the rear end side is expanded. The excavator 2 is propelled by extending in the direction (step 2). That is, the screw 21 and the casing pipe 50 are advanced by an amount corresponding to the axial extension of the telescopic unit 60A. Next, as shown in FIG. 8C, 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. Implement (Step 3). Next, as shown in FIG. 8 (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 (step 4). And the propulsion amount can be given to excavation of the excavator 2 by causing the propulsion device 5 to sequentially repeat the propulsion operations of the above steps 1 to 4. Further, in the propulsion operation by the propulsion device 5 after moving from the launcher 31 to the ground E, the anchor effect is obtained by always expanding the diameter of the two expansion / contraction units 60 and press-contacting the inner wall of the excavation hole. It is possible to prevent the screw 5 from rotating together with the screw 21 and to appropriately maintain the posture of the screw 21 in the excavator 2.

  The earth and sand excavated by the excavating screw 23 is moved to the conveying screw 24 side via the rotating plate 81 along the inner wall 54s of the skirt portion 51 by the rotational force of the excavating screw 23, and conveyed to the rear of the conveying screw 24. The The earth and sand that has reached the rear end of the casing pipe 50 by being conveyed rearward is discharged from a discharge mechanism (not shown).

  As explained above, in the excavation propulsion device 1 according to the present embodiment, the tip end side of the screw 21 constituting the excavation device 2 is supported rotatably with respect to the casing pipe 50, so that the ground E Even if it receives excavation resistance, since the center axis | shaft does not shake with respect to the center axis | shaft of the casing pipe 50, even if it receives excavation resistance, the increase in the rotation resistance which the casing pipe 50 contacts can be prevented. Thereby, since a load other than ground excavation is not applied to the motor 22, a stable rotational force can be obtained.

Embodiment 2
FIG. 9 is a view showing another form of the screw support mechanism 80. In the first embodiment, the rotating plate 81 that supports the position of the screw 21 with respect to the casing pipe 50 is configured to rotate together with the screw 21. However, the rotating plate 81 is fixed to the casing pipe 50 and the screw 21 is rotatably supported. You may make it do.

  The screw support mechanism 80 according to the second embodiment includes a bearing 90 and a support body 91 in which the bearing 90 is accommodated. The bearing 90 is configured such that an inner ring and an outer ring are relatively rotatable, such as a ball bearing or a cylindrical roller bearing, and a seal type can be applied. As the inner diameter of the bearing 90, for example, a bearing corresponding to the outer diameter of the rotating shaft 21A of the screw 21 is applied. For example, the bearing 90 preferably has an inner diameter that allows the screw shaft 27 of the conveying screw 24 to pass therethrough, and more preferably has no backlash or an interference fit.

  The support body 91 includes a bearing housing portion 92, an outer ring 94, and a plurality of support pieces 93 that connect the bearing housing portion 92 and the outer ring 94. The bearing accommodating portion 92 is a cylindrical body having an inner diameter large enough to accommodate the outer ring of the bearing 90, and the inner diameter dimension is such that there is no backlash with the outer ring, or a dimension that provides an interference fit. . For example, the outer ring 94 is configured to be able to use the turntable housing portion 55 provided in the skirt portion 51 in the first embodiment. That is, the outer ring 94 is formed in a cylindrical shape having the same outer diameter as the inner diameter of the rotating disk housing portion 55 and the same inner diameter as the inner diameter of the cylindrical body 52 in the casing pipe 50, and is concentric with the bearing housing portion 92. It is formed. The plurality of support pieces 93 extend radially in a plane orthogonal to the axial direction of the bearing housing portion 92, and fix the outer ring 94 to the bearing housing portion 92.

  The support 91 is formed so that the rotation center of the bearing 90 is positioned on the central axis of the casing pipe 50 when the support 91 is disposed in the rotating disk housing 55, and the screw shaft 27 of the conveying screw 24 can be inserted. Has been. The conveying screw 24 in the second embodiment is such that the tip of the screw plate 28 is positioned on the rear end side of the tip surface of the screw shaft 27 so that the tip side of the screw shaft 27 can be inserted into the bearing 90. It is formed. The dimension is set so that the tip of the screw plate 28 does not contact the support 91, for example. Thus, even if it comprises the screw support mechanism 80, the axial runout of the screw 21 can be suppressed.

  In the second embodiment, it has been described that the turntable accommodating portion 55 that accommodates the screw support mechanism 80 is provided in the skirt portion 51 to support the tip of the conveying screw 24, but the position where the support 91 is provided, that is, The position where the screw support mechanism 80 is provided is not limited to this, and can be appropriately changed as long as it is an intermediate portion in the axial direction excluding the end portion. In this case, for example, the outer ring 94 of the support body 91 has the same dimensions as the inner diameter and outer diameter of the cylindrical body 52, and the support body 91 is sandwiched between the skirt portion 51 and the cylindrical body 52, or the cylindrical body 52 is divided. The supporting member 91 is provided between them, the screw 21 is divided so that the rotating shaft 21A of the screw 21 is inserted into the bearing 90 of the supporting member 91, and is connected by the above-described shaft connecting mechanism or the like. It ’s fine. In addition, although the position where the support body 91 is provided may be any, it is preferable that the support body 91 is provided on the distal end side from the viewpoint of suppressing the shaft runout.

  The excavator 2 described in the second embodiment includes the screw plate 26 of the excavating screw 23 and the screw plate 28 of the conveying screw 24 by the thickness of the screw support mechanism 80, specifically, the thickness of the bearing accommodating portion 92. However, since the earth and sand are continuously pushed up to the rear end side by the excavating screw 23, the substantial influence when transporting the earth and sand to the rear end side is small. In order to minimize the discontinuity between the excavation screw 23 and the conveying screw 24, for example, the thickness of the support 91, for example, the thickness of the bearing accommodating portion 92 and the support piece 93, or the excavation screw with respect to the support 91 is reduced. The relationship between the screw plate 26 of the screw 23 and the screw plate 28 of the conveying screw 24 may be changed.

Embodiment 3
In the first and second embodiments, the rear end side of the screw 21 has been described as being fixed to the casing pipe 50 by the motor fixing portion 53 via the motor 22, but the screw support mechanism 80 shown in the first and second embodiments. It may be configured to be provided and supported.

Embodiment 4
FIG. 10 is a diagram showing another form of the excavator 2 in the excavation propulsion apparatus 1 shown in FIG. The excavator 2 according to the fourth embodiment has been described on the assumption that the motor 22 is disposed at the rear end of the screw 21 and the screw 21 is supported from the rear end side by the motor fixing portion 53 that fixes the motor 22. You may comprise as shown in.

  The excavator 2 shown in FIG. 10 is configured to directly rotate the rotary plate 81 of the screw support mechanism 80 shown in the first embodiment. That is, the excavator 2 is provided with a gear 81k constituting a power transmission mechanism on the outer periphery of the rotating disc 81 constituting the screw support mechanism 80 shown in the first embodiment, and the rotating disc 81 is provided on the lid 51j of the skirt portion 51. The motor 22A to be rotated is fixed, the gear 22k attached to the rotation output shaft of the motor 22A is meshed with the gear 81k, and the screw 21 is rotated by inputting the driving force to the rotating plate 81 by rotating the motor 22A. Configured as follows. Each motor 22 </ b> A is covered with a cover 56 fixed to the skirt portion 51. The cover 56 may be formed integrally with the casing pipe 50, for example.

In the screw 21 shown in the first embodiment, a rotating disk 81 that supports the tip side is sandwiched by disk members 87B and supported in the axial direction by a skirt portion 51. Since this position is close to the excavation part, the influence of excavation resistance received from the ground E during excavation of the ground E is small, and the shaft does not run out easily. That is, by configuring in this way, stable rotation can be obtained without the support on the rear end side of the screw 21. In this case, the position of the propulsion device 5 provided on the outer periphery of the casing pipe 50 may be moved to the rear end side and fixed to the casing pipe 50 so as not to contact the motor 22A. Needless to say, the rear end side of the screw 21 may be supported by the screw support mechanism 80 shown in the first and second embodiments.
In addition, the mechanism for rotating the rotating disk 81 is not limited to the above-described mechanism, and a planetary gear or a harmonic drive (registered trademark) mechanism may be provided between the motor 22A and the rotating disk 81. A direct drive system in which a function as a motor is incorporated in the rotating plate 81 or an ultrasonic motor can be used as appropriate according to required functions and performance.

Embodiment 5
FIG. 11 is a diagram showing another form of the excavator 2 of the excavation propulsion apparatus 1. The excavation propulsion apparatus 1 according to the fourth embodiment is configured to excavate in only one direction, but can be configured to excavate in two directions. The screw 21 according to the fifth embodiment includes a conveying screw 24, a drilling screw 23A; 23B provided at both ends of the conveying screw 24, a rotating plate 81A provided between the drilling screw 23A and the conveying screw 24, and a drilling screw. A rotating disk 81B provided between 23B and the conveying screw 24 is provided. The drilling screw 23A; 23B and the rotating disk 81A; 81B have the same configuration as the drilling screw 23 shown in the fourth embodiment. The conveying screw 24 according to the fifth embodiment is provided with connecting portions 27 </ b>H; 27 </ b> A (see Embodiment 1) for connecting the excavating screws 23 </ b>A; 23 </ b> B with the connecting shaft 30 at both ends of the screw shaft 27. Further, the conveying screw 24 includes a screw plate 28 that extends from the one end of the screw shaft 27 to the other end in a spiral shape with a constant radius and pitch. When the excavating screws 23A and 23B are connected to both ends of the conveying screw 24 by the connecting shafts 30 and 30, the screw plate 28 is connected to the rear end of the screw plate 26 of the excavating screw 23A and the rear end of the screw plate 26 of the excavating screw 23B. It is formed so as to constitute a continuous spiral. The radius of the screw plate 28 is set to be the same as the radius at the rear end of the screw plate 26 of the excavating screw 23A; 23B.

  The casing pipe 50 includes skirt portions 51A and 51B at each end. The skirt portions 51A and 51B have the same configuration as the skirt portion 51 in the fourth embodiment. Each skirt portion 51A includes a rotating plate 81A; 81B and a screw support mechanism 80, a disk member 82B that rotatably supports the rotating plate 81A; 81B, and a plurality of motors that rotationally drive the rotating plate 81A; 81B. 22A is provided. The plurality of motors 22 </ b> A are connected to the control device 10.

  When excavating with the excavating screw 23A, the control device 10 drives the motor 22A connected to the rotating disk 81A to rotate, and controls the propulsion device 5 so that the excavating device 2 advances toward the excavating screw 23A. Further, when excavating with the excavating screw 23B, the motor 22A coupled to the rotating disk 81B is driven to rotate, and the propulsion device 5 is controlled so that the excavating apparatus 2 advances toward the excavating screw 23B.

  According to the fifth embodiment, excavation can be performed at both ends. Further, a large excavation torque can be obtained by simultaneously driving the motor 22A connected to the turntable 81A and the motor 22A connected to the turntable 81B. Further, since excavation is possible in either of two directions, for example, when the excavation propulsion apparatus 1 is moved in the opposite direction after digging in one direction, the wall surface of the excavated hole is broken. Even so, it can move while excavating, so the direction of travel can be easily changed.

Embodiment 6
FIG. 12 is a diagram showing another form of the excavator 2 of the excavation propulsion apparatus 1. The excavator 2 according to the sixth embodiment is configured to be bendable.
The screw 24 according to the sixth embodiment is configured by, for example, one screw (in other words, the rotation axis is a spiral blade) that is configured to have a spiral blade attached around the rotation axis so as to extend spirally in a direction along the rotation axis. (A single screw composed of a rigid body forming the rotation center shaft) is divided into a plurality of divided screws 24A, 24B, 24C so that the length of the shaft is a predetermined length. .
That is, in the screw 24, the ends of the rotation shafts of the plurality of divided screws 24 </ b> A, 24 </ b> B, and 24 </ b> C are connected via the shaft connecting portion 29. Further, the excavating screw 23 is coupled to the distal end of the split screw 24 </ b> A located on the distal end side of the screw 24 via the shaft coupling portion 29. Each shaft connecting portion 29 is formed to be bendable.

  FIG. 13 is a view showing another form of the screw 21 and the casing pipe 50. As shown in FIG. 13, the screw 21 connects the excavation screw 23, the front end side screw 24 </ b> A, the intermediate screw 24 </ b> B, the rear end side screw 24 </ b> C, the rear end of the excavation screw 23, and the front end of the front end screw 24 </ b> A. The shaft connecting portion 29, the shaft connecting portion 29 that connects the rear end of the front screw 24A and the front end of the intermediate screw 24B, and the shaft connecting portion 29 that connects the rear end of the intermediate screw 24B and the front end of the rear screw 24C. With. The output shaft of the motor 22 is coupled to the rear end of the rear end screw 24C by a shaft coupling member 33 such as a coupling.

  Screw plates 28A to 28C are attached to the outer circumferences of the screw shafts 27A to 27C of the screws 24A to 24C so as to extend spirally in a direction along the center line of the screw shafts 27A to 27C.

  The shaft connecting portion 29 is configured by, for example, a universal joint that connects the end portions of each of the divided rotating shafts so that the end portions can be bent and can transmit a rotational force.

  The screw 21 is formed in a cylindrical shape having a diameter substantially the same as the diameter of the shaft of the shaft coupling portion 29 around each shaft coupling portion 29 and covers the outer peripheral surface of the shaft coupling portion 29. Screw 23 connected by shaft connecting portion 29; screw plates 26 of 24A to 24C; and spiral blade 29b connected to 28A to 28C. The spiral blade 29b is made of a flexible material such as rubber or metal such as a thin plate spring. For example, when the spiral blade 29b is made of rubber, it can be formed so as to protrude from the outer peripheral surface of the cylindrical body 29a. Moreover, when it is made of metal such as a thin plate spring, they are connected by the adjacent screw plates 26; 28A to 28C.

  The excavation screw 23 and the split screws 24A, 24B, and 24C include screw support mechanisms 80Z; 80A; 80B; 80C, respectively. A rotating disk 81 shown in the first embodiment is provided at the rear end of the excavation screw 23 and is configured to be supported by the skirt portion 51 by the screw support mechanism shown in the first embodiment. Moreover, screw support mechanism 80A; 80B; 80C is provided in the axial direction middle part of division screw 24A, 24B, 24C, respectively. The screw support mechanisms 80A; 80B; 80C are constituted by, for example, rotating plates each including a screw piece that constitutes a part of the screw plates 28A to 28C in the same manner as the rotating plate 81 illustrated in the first embodiment. Further, the turntable 81 is fitted on the inner periphery of the bearing. The rotating plate 81 is rotatably attached to the casing pipe 50 by fixing the bearings to the divided cylinders 52A; 52B; 52C described later.

  In this way, the screw plates 26; 28A to 28C in the screw 21 are configured to be continuous by the spiral blade 29b, whereby the excavated soil is crushed by the spiral blade 29b outside the shaft connecting portion 29, and the rotary shaft 21A is formed. Since the excavated soil is continuously and smoothly conveyed backward by the spiral blades provided continuously along, the increase in torque for rotating the screw 21 can be suppressed, and the load on the motor 22 can be reduced. It becomes like this. Furthermore, since each screw 23; 24A-24C is rotatably supported by the casing pipe 50 by the screw support mechanism 80Z; 80A-80C, respectively, even in a bent state, the shaft 23 does not run out, and the inside of the casing pipe 50 Therefore, the increase in torque for rotating the screw 21 can be suppressed, and the load on the motor 22 can be further reduced. Further, by providing the rubber cylindrical body 29 a that covers the outer peripheral surface of the shaft coupling portion 29, it is possible to follow the bending of the shaft coupling portion 29 and to obtain a dustproof effect on the shaft coupling portion 29.

Further, the screw 21 includes a bendable shaft coupling portion 29, so that the rotational force of the motor 22 can be transmitted from the rear end side to the front end side and can be bent.
That is, the screw 21 can bend and advance while excavating the ground E with the tip of the excavating screw 23 so that the excavated soil excavated with the tip of the excavating screw 23 is conveyed backward by the rotation of the spiral blade 21B. It is configured.

  The casing pipe 50 in which the screw 21 is disposed is configured by using a plurality of divided cylinders obtained by dividing one cylinder into a plurality of parts. That is, the casing pipe 50 is configured such that the ends of the plurality of divided cylinders 52A, 52B, and 52C are connected to each other via a tube connecting portion 58 that is foldable, and can be bent at the tube connecting portion 58. And a bending device 73 that is controlled by the control device 10 to bend each tube connecting portion 58.

  The cylindrical body 52 includes a distal end side cylinder 52A as a divided cylinder that forms the distal end portion of the cylindrical body 52, an intermediate cylinder 52B as a divided cylinder that forms an intermediate portion of the cylindrical body 52, and a rear end portion of the cylindrical body 52. And a rear end side cylinder 52C as a divided cylinder to be formed.

  As shown in FIG. 13, the cylindrical body 52 includes a front end side cylinder 52A, an intermediate cylinder 52B, a rear end side cylinder 52C, and a cylinder connecting portion that connects the rear end of the front end side cylinder 52A and the front end of the intermediate cylinder 52B. 58 and a cylinder connecting portion 58 that connects the rear end of the intermediate cylinder 52B and the front end of the rear end side cylinder 52C, and the front end of the front end side cylinder 52A is connected to the rear end of the skirt portion 51 via the tube connecting portion 58. It is a connected configuration. A bending device 73, which will be described later, is disposed on the outer peripheral side of each tube connecting portion 58. The tube connecting portion 58 is bent independently by driving the bending device 73, so that the whole can be freely set. It can be bent.

  As the configuration of the tube connecting portion 58, for example, a flexible bellows-like member (for example, a rubber bellows) or the like is preferably used.

  FIG. 14 is a diagram illustrating an embodiment of the bending device 73. As shown in the figure, the bending device 73 is configured using ball screws 73D and 73E (ball screw mechanism). In the drawing, the ball screw 73D is a left screw, the ball screw 73E is a right screw, and 73F is a nut housing formed in the telescopic unit 60, and is screwed into the ball screw 73D and the ball screw 73E. The flange 75 is formed with a circular hole through which the ball screws 73D and 73E can be inserted. Ball screws 73D and 73E are connected to each other by a universal joint 73C. For example, a motor (not shown) that is driven and controlled by a control device is connected to one end of the ball screw 73D, and the rotational force generated by driving the motor is a ball screw 73E coupled by the ball screw 73D and the universal joint 73C. Also communicated. Such a ball screw mechanism is arranged at equal intervals (for example, at an interval of 120 degrees) around the cylinder connecting portion 58 as in the above-described embodiment, for example, and as shown in FIG. The cylindrical bodies 6 connected by the cylindrical connecting portion 58 are driven by driving the motor in the forward direction for some of the ball screw mechanisms disposed in the cylinder and driving the motor in the reverse direction for the other ball screw mechanisms. Can be separated or close to each other, and the tube connecting portion 58 can be bent.

  In the propulsion device 5 according to the sixth embodiment, each telescopic unit 60 shown in the first embodiment is disposed on the outer peripheral surfaces of the front end side cylinder 52A, the intermediate cylinder 52B, and the rear end side cylinder 52C.

  In addition, the axial direction movable member 61; 61 in this embodiment respond | corresponds to the flange 75; 75 in the said embodiment. Even when such an expansion / contraction unit 60 is employed, one of the expansion / contraction units 60 is expanded by repeatedly performing the diameter expansion operation and the diameter reduction operation on each expansion / contraction unit 60 at a predetermined cycle. The reaction force required for excavation can be obtained in a state where the diameter is in contact with the outer peripheral surface, and the expanded telescopic unit 60 is reduced in diameter and extends in the excavating direction in a state where the expanded unit 60 is away from the outer peripheral surface. You can gain power.

  In addition, when using the excavator without the telescopic unit 60 and digging the ground E just by rotating the rotary shaft of the excavator, there is a possibility that the excavation by the excavator will not proceed as the earth pressure overcomes gravity as the digging progresses. There is. However, if the excavation propulsion apparatus 1 provided with the expansion / contraction unit 60 is used, the excavation propulsion apparatus 1 excavates by a peristaltic motion using the friction between the expansion / contraction unit 60 and the wall, so that the curved excavation is possible regardless of the earth pressure. It becomes.

Embodiment 7
FIG. 15 is a view showing another embodiment of the propulsion device 5. As shown in the figure, the propulsion device 5 includes a plurality of expansion / contraction units 160. The expansion / contraction unit 160 is provided to be movable along the axial direction on the outer periphery of each cylindrical body 52 constituting the casing pipe 50.
The cylindrical body 52 according to the seventh embodiment includes a cylindrical portion 52a, a flange portion 52b; 52b, and a guide rod 52j. The cylinder part 52a is a cylinder having an inner diameter around which the screw rotates. The flange portions 52b; 52b are disk bodies provided at both ends of the tube portion 52a, and are connected to the tube connecting portion 58, the skirt portion 51, and the like via the flange portions 52b; 52b. The outer diameter of the flange portion 52 b is set to be smaller than the outer diameter of the skirt portion 51. The guide rod 52j extends along the axial direction of the cylindrical portion 52a and connects between the flange portions 52b and 52b. For example, the guide rods 52j are provided at a plurality of locations such that the positions in the radial direction are located between the outer periphery of the flange portion 52b and the outer periphery of the cylindrical portion 52a.

The expansion / contraction unit 160 generally includes a pair of disk bodies 162A; 162B, an air cylinder 164, a cylindrical wall 166, and an air tube 168.
Each of the disc bodies 162A and 162B is formed of an annular plate body through which the cylindrical portion 52a of the cylindrical body 52 passes and which can slide on the outer periphery of the cylindrical portion 52a. The outer diameter of the disc bodies 162A and 162B is larger than the outer diameter of the flange portions 52b and 52b. Are formed to have the same outer diameter with a small diameter. In addition, the disc body 162A; 162B is provided with a through hole through which the guide rod 52j penetrates and forms a predetermined gap with the outer periphery of the guide rod 52j. In the seventh embodiment, the disc bodies 162A and 162B are integrated with a predetermined distance apart in the axial direction of the cylindrical portion 52a by the air cylinder 164.

  The air cylinder 164 is connected to a tube extending from a supply / discharge device (not shown) that can supply and discharge air based on a signal output from the control device 10, and the rod 164B is connected to the cylinder portion 164A by supplying and discharging air. It is configured to be able to advance and retreat. One end side of the cylinder portion 164A is fixed to the disc body 162A and the other end side thereof is fixed to the disc body 162B so that the advancing / retreating direction of the rod 164B is along the axial direction of the cylinder portion 52a. In the present embodiment, two air cylinders 164 are provided at positions facing each other across the central axis of the cylindrical portion 52a, but the quantity may be changed as appropriate. The air cylinder 164 is fixed to the disc body 162A; 162B, and the rod 164B penetrates through the hole provided in the disc body 162B and is fixed to the flange portion 52b.

The cylindrical wall 166 is fixed to the outer periphery of the disk body 162A; 162B so as to cover the gap on the outer periphery of the disk body 162A; 162B integrated by the air cylinder 164. The outer diameter of the cylindrical body 166 is set to be smaller than the outer diameter of the flange portion 52b, for example. An air tube 168 is provided on the outer periphery of the cylindrical wall 166.
The air tube 168 includes a ring-shaped air chamber S like a tire tube, and is formed of a material that allows expansion and contraction such as a synthetic rubber. The air tube 168 is fixed so that the inner peripheral side is in close contact with the outer periphery of the cylindrical wall 166. The air tube 168 includes a supply / discharge unit 168A that enables supply / discharge of air to / from the air chamber S, and extends from an unshown supply / discharge device that can supply / discharge air based on a signal output from the control device 10. Connected to the tube. 15A shows a state when air is supplied to the air chamber S of the air tube 168 to expand the diameter of the air tube 168, and FIG. 15B shows a state where the air chamber S of the air tube 168 is expanded. This shows a state when the air tube 168 is shrunk and the diameter is reduced by discharging air from the air. As shown in FIG. 15A, by supplying air to the air chamber S, the air tube 168 has an inner circumferential side linearly along the outer circumference of the cylindrical wall 166 in the axial section of the cylindrical wall 166. The outer peripheral side expands in a semicircular shape. FIG. 15B shows that when the air tube 168 is contracted by exhausting air from the air chamber S of the air tube 168, the air tube 168 contracts so as to be in close contact with the outer periphery of the cylindrical wall 166. To do.

FIG. 16 is a diagram illustrating an operation of the propulsion device 5 configured by the expansion / contraction unit 160 illustrated in FIG. 15. In addition, in the same figure, it has abbreviate | omitted about the cylinder connection part 58 which connects the expansion / contraction unit 160, the skirt part 52, and a screw. Further, in order to distinguish the cylindrical body 52 in the casing pipe 50, the front end side cylinder 52A, the intermediate cylinder 52B, and the rear end side cylinder 52C are shown. In order to distinguish the expansion / contraction unit 160, the front end unit 160A, the intermediate unit 160B, and the rear end unit 160C are shown.
Hereinafter, the mechanism of the driving force by the expansion / contraction unit 160 according to the seventh embodiment will be described.
As shown in FIG. 16 (a), the air cylinder 168 of the front end unit 160A and the intermediate unit 160B is driven to move to the opposite side in the traveling direction with respect to the front end side cylinder 52A and the intermediate cylinder 52B, and The air cylinder 168 is driven, and the rear end unit 160C is moved to the middle position in the axial direction of the rear end side cylinder 52C. All the air in the front end unit 160A, the intermediate unit 160B, and the rear end unit 160C Tube 168 is inflated (step 1). Thereby, for example, the excavator 2 can be fixed to the above-described launcher 31 or the hole wall of the excavated hole.
Next, as shown in FIG. 16B, the intermediate unit 160B and the rear end unit 160C exhaust air from the air tube 168 of the front end unit 160A while maintaining the state of Step 1, and the front end unit 160A is removed. The diameter is reduced (step 2).
Next, as shown in FIG. 16 (c), the intermediate unit 160B and the rear end unit 160C drive the air cylinder 168 of the front end unit 160A while maintaining the state of step 2 to move the front end unit 160A to the front end. The side cylinder 52A is moved in the direction of travel (step 3).
Next, as shown in FIG. 16D, the rear end unit 160C exhausts air from the air tube 168 of the intermediate unit 160B while maintaining the state of step 3, and reduces the diameter, while the front end unit 160A is While maintaining the position of step 3, air is supplied to the air tube 168 of the tip unit 160A, and the tip unit 160A is expanded to expand the diameter (step 4).
Next, as shown in FIG. 16 (e), the rear end unit 160C and the front end unit 160A drive the air cylinder 168 of the intermediate unit 160B while maintaining the state of step 4, and thereby move the intermediate unit 160B to the intermediate cylinder. 52B is moved to the traveling direction side (step 5).
Next, as shown in FIG. 16 (f), the rear end unit 160 C and the front end unit 160 A maintain the intermediate unit 160 B while maintaining the position of Step 5 while maintaining the state of Step 5. Air is supplied to the tube 168, and the intermediate unit 160B is expanded to expand its diameter (step 6).
Next, as shown in FIG. 16 (g), the intermediate unit 160B and the front end unit 160A maintain the rear end unit 160C while maintaining the state of step 6, while maintaining the position of step 6. Air is exhausted from the air tube 168 to reduce the diameter of the rear end unit 160C (step 7).
Next, as shown in FIG. 16 (h), the rear end unit 160C keeps the intermediate unit 160B while maintaining the state of step 7 and maintaining the expanded diameter state of the intermediate unit 160B and the front end unit 160A. The air cylinder 168 of each unit 160A; 160B is driven so as to move the tip unit 160A to the opposite side in the moving direction of the tip side cylinder 52A on the opposite side of the moving direction in the intermediate cylinder 52B (step 8).
The excavation propulsion apparatus 1 moves forward by repeating the above steps 1 to 8.
As a result, the casing pipe 50 is pushed in the traveling direction by a distance X (for the stroke of the air cylinder), and a driving force for the excavator 2 is obtained. That is, in a state where the tip unit 160A and the intermediate unit 160B are positioned on the traveling direction side of the tip side cylinder 52A and the intermediate cylinder 52B, respectively, the air cylinder 168 of the tip unit 160A and the intermediate unit 160B is changed to the tip side cylinder 52A and the intermediate cylinder 52B. By driving so as to move to the opposite side in the traveling direction, the casing pipe 50 is relatively pushed forward as a reaction force of the driving force, and a propulsive force is obtained.
In the operation of the propulsion device 5 described above, the rear end unit 160C is maintained in the state of being moved to the axially intermediate position in the rear end side cylinder 52C. For example, from the rear end unit 160C to the air cylinder 168. And may be fixed to the rear end side cylinder 52C. Further, although the rear end unit 160C is fixed to the axially intermediate position in the rear end side cylinder 52C, the axial position where the rear end unit 160C is fixed to the rear end side cylinder 52C is any. Also good.
Further, although it has been described that the propulsive force is obtained by the air cylinder 168, the propulsive force may be obtained by another driving mechanism such as a ball screw mechanism without being limited to the air cylinder.

In the above embodiment, the case where the screw mechanism is propelled in the vertical direction has been described as an example. However, the present invention is not limited to this, and the screw mechanism can be propelled in other directions such as the lateral direction.
In the above embodiment, the case where the screw mechanism is applied to the excavator has been described. However, the present invention is not limited to this, and a screw type pump or screw type for conveying powder, fluid, liquid, solid-liquid mixed fluid, etc. Application to other devices such as a conveyor is also possible.

DESCRIPTION OF SYMBOLS 1 Excavation propulsion apparatus, 2 Excavation apparatus, 5 Propulsion apparatus, 5A Hollow part, 21 Screw,
50 casing pipe, 51 skirt, 59 outlet,
80 Screw support mechanism.

Claims (6)

A screw mechanism provided with a screw that has a screw plate that rotates inside the cylinder and extends spirally on the outer periphery,
A screw mechanism comprising a support mechanism for rotatably supporting the screw in an axially intermediate portion of the screw.   The screw mechanism according to claim 1, wherein the support mechanism is rotatably supported by the cylindrical body together with the screw.   The screw mechanism according to claim 2, wherein the support mechanism includes a power transmission mechanism, and the driving force input via the power transmission mechanism is transmitted to the screw.   The screw mechanism according to claim 1, wherein the screw is rotatably supported in a state where the support mechanism is fixed to the cylindrical body. A drilling device comprising the screw mechanism according to any one of claims 1 to 4,
The screw comprises a drilling means on the tip side;
The excavator characterized in that the support mechanism is provided on the tip side of the screw. The screw further comprises a drilling means on the rear end side,
The excavator according to claim 5, wherein the support mechanism is provided on a rear end side of the screw.