JP6856189B2 - Excavator, excavator using excavator - Google Patents

Description

The present invention relates to an excavator and the like configured to be bendable.

Conventionally, an excavation propulsion device for unmanned excavation of an excavation target portion such as the ground has been known (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-169506

However, the conventional excavation propulsion device has a configuration in which the earth auger as an excavator goes straight to excavate, and the earth auger cannot be bent.
The present invention provides a bendable excavator and the like.

According to the excavator according to the present invention, a rotating shaft, a spiral body provided around the rotating shaft so as to extend spirally in a direction along the rotating shaft, and the rotating shaft and the tip side of the spiral body are provided. The rotating shaft is bendable and capable of transmitting rotational force via a shaft connecting portion formed of a material in which the ends of a plurality of rigid shafts are made of a flexible material. The spiral body is provided with a bendable rubber spiral portion provided so as to wrap around the axial connection portion, so that a bendable excavator can be provided.
Further, since the rotating shaft is configured so that the ends of a plurality of rigid shafts can be bent via the shaft connecting portion and the rotational force can be transmitted, the shaft connecting portion is bent. And can provide a bendable excavator.
Further, since the spiral body is provided with a bendable spiral portion provided so as to cover the periphery of the shaft connecting portion, the excavated soil can be continuously and smoothly transported backward by the continuous spiral body. Therefore, it is possible to suppress an increase in torque for rotating the rotating shaft, and it is possible to reduce the load on the drive source that drives the rotating shaft.
The excavating device according to the present invention is an excavating device including the excavating tool according to any one of the above and a tubular body bent in advance with the excavating tool installed inside. The axis of rotation is placed inside the tubular body so that it extends along the central axis of the tubular body, and the excavator bends along the bend of the tubular body and excavates by rotating the excavator. Since the course can be changed, it is possible to provide an excavation device capable of curved excavation.
Further, the excavating device according to the present invention is an excavating device including the excavating tool according to any one of the above and a tubular body configured to be bendable with the excavating tool installed inside. In the tubular body, the ends of a plurality of tubular bodies are connected to each other via a bendable tubular connecting portion, and the excavator and the tubular connecting portion of the tubular body are configured to be bendable, or both of them. The excavator is provided with a folding device that bends the excavator, and the excavator is arranged inside the tubular body so that the axis of rotation extends along the central axis of the tubular body, and the folding device is the excavator or the tubular body. Since it is possible to change the excavation course by rotating the excavator by bending the cylinder connecting portion or both of them, it is possible to provide an excavation device capable of curved excavation.
Further, as another excavating device, since a plurality of propulsion mechanisms that contract when the diameter of the rotating shaft of the excavator expands in the radial direction and expand when the diameter is reduced are provided around the tubular body, the operation of the plurality of propulsion mechanisms is provided. Therefore, it is possible to obtain a close contact force with the excavation surface and a propulsive force in the excavation direction.

The cross-sectional view which shows the schematic structure of the excavation propulsion device. The figure which shows the excavator. The figure which shows the tubular body. The figure which shows the example 1 of the folding apparatus. The figure which shows the example 2 of the folding apparatus. The figure which shows the example 3 of the folding apparatus. The figure which shows the example 4 of the folding apparatus. The figure which shows the example 5 of the folding apparatus. The figure which shows the example 6 of the folding apparatus. Sectional drawing which shows an example of a propulsion unit. The schematic diagram which shows an example of a propulsion unit. Schematic diagram showing the operation of the propulsion unit.

As shown in FIG. 1, the excavation propulsion device 1 using the excavator according to the embodiment has a configuration including an excavation device 2, a propulsion device 3, an extraction device 4, and a control device 5. 3 is a device for propelling the excavation device 2 and the excavator 20 of the excavation device 2 for excavating, for example, the ground E as an excavation target portion.

The excavator 2 is a so-called earth auger, which includes an excavator 20, a motor 51 as a drive source for driving the excavator 20, a freely bendable tubular body (casing) 6, and a tubular body 6. It is configured to include a skirt portion 7 provided at the tip of the.

As shown in FIG. 2, the excavator 20 rotates with a rotating shaft 21 and a spiral blade 22 as a spiral body provided around the rotating shaft 21 so as to extend spirally in a direction along the rotating shaft 21. A shaft 21 and an excavation bit 23 as an excavation means provided on the tip end side of the spiral blade 22 are provided, and the rotary shaft 21 is configured to be bendable.
That is, the excavator 20 has a configuration in which an excavation bit 23 is provided at the tip of a screw 24 having a configuration in which spiral blades 22 are attached around the rotating shaft 21 so as to extend spirally in a direction along the rotating shaft 21. Is.

The screw 24 is composed of, for example, one screw (in other words, the rotation axis is the rotation center axis of the spiral blade), which is configured by attaching spiral blades 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 above is divided into a plurality of divided screws 24A, 24B, 24C so that the length of the shaft becomes a predetermined length.

That is, in the screw 24, the ends of the rotating shafts of the plurality of split screws 24A, 24B, 24C are connected to each other via the shaft connecting portion 26, and the drilling bit 23 is provided at the tip of the split screw 24A located on the tip side. The shaft connecting portion 26 is formed so as to be bendable.

The screw 24 includes a tip side screw 24A as a split screw forming the tip portion of the screw 24, one or more intermediate side screws 24B as a split screw forming an intermediate portion of the screw 24, and a rear end portion of the screw 24. It is provided with a rear end side screw 24C as a split screw forming the above.

As shown in FIG. 2, for example, the screw 24 includes a front end side screw 24A, two intermediate side screw 24B, a rear end side screw 24C, and an intermediate side screw 24B located at the rear end and the front end side of the front end side screw 24A. A shaft connecting portion 26 that connects the front end of the screw 24B, and a shaft connecting portion 26 that connects the rear end of the intermediate screw 24B located on the front end side and the front end of the intermediate screw 24B located on the rear end side, and the rear end side. A shaft connecting portion 26 for connecting the rear end of the intermediate screw 24B and the front end of the rear screw 24C located at the rear end side screw 24C is provided, and the rear end of the rear end side screw 24C and the output shaft of the motor 51 are coupled to each other. It is configured by being connected by a shaft connecting member 27.

In other words, the screw 24 has a plurality of divided rotating shafts (for example, as shown in FIG. 2, tip side divided rotating shafts 21A, two) obtained by dividing one rotating shaft formed of a rigid shaft made of metal or the like into a plurality of divided rotating shafts. The ends of the intermediate side split rotary shaft 21B and the rear end side split rotary shaft 21C) are connected to each other via the shaft connecting portion 26 so that the rotational force can be transmitted, and around each split rotary shaft. Spiral blades formed of a rigid body such as metal that extends spirally in the direction along the split rotation axis (for example, as shown in FIG. 2, tip side spiral blade 22A, two intermediate side spiral blades 22B, rear end side) The spiral blade 22C) is attached.

The shaft connecting portion 26 is composed of, for example, a universal joint that connects the ends of the above-mentioned divided rotating shafts so as to be bendable and transmit rotational force.

The screw 24 may be configured so that nothing is provided around each shaft connecting portion 26. However, in the case where nothing is provided around each shaft connecting portion 26 and the spiral blade is missing around each shaft connecting portion 26, the portion where the spiral blade is missing is excavated as an excavated object, for example. When the soil passes, the torque for rotating the screw 24 increases, which may increase the load on the motor 51.
Therefore, the screw 24 is configured to include, for example, a rubber spiral blade portion 28 as a spiral portion having flexibility that can be bent around each shaft connecting portion 26, so that the spiral blade is not missing. It is preferable to have a continuous configuration. As shown in FIG. 2, for example, the spiral blade portion 28 is formed in a cylindrical shape having substantially the same diameter as the shaft of the shaft connecting portion 26, and is formed with a rubber cylindrical body 28a that covers the outer peripheral surface of the shaft connecting portion 26. The structure is provided with a rubber spiral blade 28b provided so as to project from the outer peripheral surface of the rubber cylinder 28a. In the screw 24 configured to be continuous without missing the spiral blades in this way, the excavated soil is crushed by the rubber spiral blades 28b on the outside of the shaft connecting portion 26, and the excavated soil is crushed along the rotating shaft 21. Since the excavated soil is continuously and smoothly transported to the rear by the spiral blades provided continuously, it is possible to suppress an increase in torque for rotating the screw 24 and reduce the load on the motor 51. Become. Further, by providing the rubber cylindrical body 28a that covers the outer peripheral surface of the shaft connecting portion 26, it is possible to follow the bending of the shaft connecting portion 26 and also obtain a dustproof effect on the shaft connecting portion 26.

As described above, since the screw 24 is provided with the shaft connecting portion 26, the rotational force of the motor 51 can be transmitted from the rear end side to the front end side, and the screw 24 is configured to be bendable.
That is, the excavator 20 is configured to be able to bend and proceed while excavating the ground E with the excavation bit 23, and the excavated soil excavated by the excavation bit 23 is conveyed rearward by the spiral rotation of the spiral blade 22. ing.

The tubular body 6 in which the screw 24 is arranged is configured by using a plurality of divided cylinders obtained by dividing one cylinder formed of, for example, a rigid body made of metal or the like into a plurality of divided cylinders. That is, in the tubular body 6, the ends of the plurality of divided cylinders 62A, 62B, 62C are connected to each other via a tubular connecting portion 61 formed so as to be bendable, and the tubular connecting portion 61 can be bent. It is configured to include a formed cylindrical body 62 and a folding device 63 that is controlled by a control device 5 to bend each cylinder connecting portion 61.

The cylinder 62 includes a tip-side cylinder 62A as a split cylinder forming the tip of the cylinder 62, one or more intermediate-side cylinders 62B as a split cylinder forming an intermediate portion of the cylinder 62, and a cylinder 62. A rear end side cylinder 62C is provided as a split cylinder forming the rear end portion. The details of the configuration of the front end side cylinder 62A, the intermediate side cylinder 62B, and the rear end side cylinder 62C will be described later.

As shown in FIG. 3, the tubular body 6 connects the front end side cylinder 62A, the intermediate side cylinder 62B, the rear end side cylinder 62C, the rear end of the front end side cylinder 62A, and the front end of the intermediate side cylinder 62B. A cylinder connecting portion 61 and a cylinder connecting portion 61 for connecting the rear end of the intermediate side cylinder 62B and the front end of the rear end side cylinder 62C are provided, and the front end of the tip side cylinder 62A has a skirt portion 7 via the cylinder connecting portion 61. It is a configuration connected to the rear end. As shown in FIG. 1, a bending device 63, which will be described later, is arranged on the outer peripheral side of each cylinder connecting portion 61, and the cylinder connecting portion 61 bends independently by driving the bending device 63. As a result, the whole can be bent freely.
Although not shown, when two or more intermediate cylinders 62B are provided, the rear end of the intermediate cylinder 62B close to the front end side and the front end of the intermediate cylinder 62B close to the rear end side are connected via a cylinder connecting portion 61. The bending device 63 may be arranged at a position corresponding to the cylinder connecting portion 61 which is connected.

As the configuration of the cylinder connecting portion 61, for example, a flexible bellows-shaped member (for example, a rubber bellows) or the like is preferably used.

Hereinafter, an example of the folding device 63 will be described through a plurality of forms.
Example of folding device 1
The folding device 63 in this example is composed of, for example, the telescopic unit 63A shown in FIG. The telescopic unit 63A is between the flanges 65; 65 provided by the propulsion unit 8 (see FIG. 10) constituting the propulsion device 3 described later, which is provided corresponding to the front end side cylinder 62A, the intermediate side cylinder 62B, and the rear end side cylinder 62C, respectively. It is a stretchable body connected to. A fluid such as air can be introduced into the telescopic unit 63A, and the control device 5 controls the amount of fluid supplied to and discharged from the telescopic unit 63A so that the telescopic unit 63A expands and contracts in the axial direction and is connected in a cylinder. The portion 61 can be bent freely (see FIG. 4B). The expansion / contraction unit 63A is provided around the cylinder connecting portion 61 at three or more locations at equal intervals (preferably, at intervals of 90 degrees in the circumferential direction of the cylinder connecting portion 61 with the central axis of the cylinder connecting portion 61 as the center). Units 63A are provided at four locations), and by controlling each telescopic unit 63A with the control device 5, the cylinder connecting portion 61 can be bent in all directions. As shown in FIG. 4, the expansion / contraction unit 63A is composed of an expansion / contraction body 63b made of an elastic body such as a tubular rubber whose ends are closed by lid members 63a and 63a, respectively, and a cylinder of the expansion / contraction body 63b. It is provided with a ring 63c which is provided so as to surround the outer periphery on the central side and limits the expansion of the stretchable body 63b. A fiber layer 63d formed of a plurality of carbon roving fibers extending along the axial direction is interpolated inside the elastic body constituting the stretchable body 63b, and both ends of the fiber layer 63d are elastic. It is restrained by the lid members 63a and 63a together with the body. When a fluid is introduced into the telescopic body 63b of the telescopic unit 63A configured in this way through a flow path such as a fluid supply port and a rubber tube (not shown) formed on the lid member 63a, the stretchable body As a result of the expansion of 63b being restricted only in the radial direction by the restraint of the fiber layer 63d, the total length thereof contracts in the axial direction. On the other hand, when the fluid is discharged through the fluid supply port and the flow path (not shown) formed on the lid member 63a, the total length of the stretchable body 63b is extended by the elastic force and returns to the natural length. A plurality of rings 63c are provided at equal intervals in the length direction of the stretchable body 63b, and suppress the expansion of the stretchable body 63b in the radial direction. Therefore, the number can be appropriately set according to the usage environment.
The expansion / contraction unit 63A may be configured by connecting a plurality of individually formed expansion / contraction bodies 63b in the axial direction. When this configuration is adopted, each stretchable body 63b is individually closed by the lid members 63a and 63a. Then, each stretchable body 63b is independently stretched by connecting the individually closed stretchable bodies 63b in the axial direction and connecting a tube or the like capable of supplying and discharging a fluid to each stretchable body 63b individually. Can be made to. Then, by controlling the expansion / contraction body 63b to be supplied / discharged and the amount of fluid supplied / discharged by the control device 5, the cylinder connecting portion 61 can be bent more finely in all directions. Although omitted in the drawing, a flexible dustproof cover 66 that covers the outer peripheral side of the bending device 63 is arranged on the radial outer side of the flange 65 as shown in FIG.

Example of folding device 2
As shown in FIG. 5, for example, the folding device 63 may be configured by using a contraction mechanism 63B in which a balloon B that contracts by supplying and discharging a fluid is interposed. The contraction mechanism 63B is attached around the flexible tubular connecting portion 61, and includes a plurality of (four in the drawing) torus 64a surrounding the tubular connecting portion 61. The plurality of torus 64a are arranged between the flanges 65; 65 along the axial direction of the tubular connecting portion 61, and a balloon support portion 64b protruding outward in the radial direction is formed on the peripheral surface thereof. A plurality of balloon support portions 64b are formed at equal intervals (for example, 90 degree intervals, the same applies to the following description) along the circumferential direction of the cylinder connecting portion 61, and the balloon support of the annular body 64a adjacent in the axial direction is formed. A balloon B is inserted between the portions 64b. The balloon B is attached to the balloon support portion 64b so as not to fall off, and the plurality of torus 64a are connected to each other in the axial direction by the balloon B inserted between the balloon support portions 64b. ..
Fluid can be supplied and discharged to each balloon B through a flow path such as a tube (not shown), and the balloon B to be expanded by the control device 5 and the fluid supplied and discharged to each balloon B. By controlling the above, the balloon support portions 64b on the side where the balloon B is inflated are separated from each other in the axial direction, and the balloon support portions 64b on the side where the balloon B is contracted are close to each other in the axial direction. It can be bent (see FIG. 5 (b)). As the number of balloon support portions 64b is increased and the number of intervening balloons B is increased, the degree of freedom in the bending direction of the cylinder connecting portion 61 can be increased, and the cylinder connecting portion 61 can be bent in all directions as much as possible.

Example of folding device 3
The folding device 63 may be configured by using the ball screws 63D and 63E, for example, as shown in FIG. In the figure, the ball screw 63D is a left-hand screw, the ball screw 63E is a right-hand screw, and 63F is a nut housing formed on the propulsion unit 8, which is screwed with the ball screw 63D and the ball screw 63E, respectively. The flange 65 is formed with a circular hole through which the ball screws 63D and 63E can be inserted. The ball screws 63D and 63E are connected to each other by a universal joint 63C. For example, a motor (not shown) driven and controlled by a control device is connected to one end of the ball screw 63D, and the rotational force generated by driving the motor is the ball screw 63E connected by the ball screw 63D and the universal joint 63C. Is also transmitted to. Such a ball screw mechanism is arranged around the cylinder connecting portion 61 at equal intervals (for example, at 90 degree intervals) as in the above-described embodiment, and as shown in FIG. 6B, the ball screw mechanisms are evenly spaced. By driving the motor in the forward direction for some of the ball screw mechanisms arranged in the above and driving the motor in the opposite direction for the other ball screw mechanisms, the tubular bodies 6 connected by the cylinder connecting portion 61 are connected to each other. Can be separated or brought close to each other, and the cylinder connecting portion 61 can be bent.

Example of folding device 4
The folding device 63 may be configured using a cylinder piston 63G, for example, as shown in FIG. In FIG. 7, reference numeral 63H is a bowl-shaped receiving portion arranged on the flange 65. The receiving portions 63H arranged on the flanges 65; 65 sandwiching the cylinder connecting portion 61 are provided with ball portions 64I at both ends, which are prevented from falling off by the receiving portion 63H and are allowed to rotate inside. 63G is arranged. The cylinder pistons 63G are arranged at equal intervals in the circumferential direction of the cylinder connecting portions 61 as in the above mechanism, and the cylinder connecting portions 61 are controlled by the control device 5 to control the extension of each cylinder piston 63G. It can be bent in all directions.

Example of folding device 5
As shown in FIG. 8, for example, the folding device 63 may be configured to bend the cylinder connecting portion 61 by pulling the wire 63I connected to the telescopic unit 63A described above. Specifically, one end of the telescopic unit 63A is fixed to the flange 65, and one end of the wire 63I is connected to the other end of the telescopic unit 63A. Around the cylinder connecting portion 61, wire insertion portions 63K projecting in the radial direction are formed at equal intervals (for example, 90 degree intervals) in the circumferential direction. The wire insertion portions 63K adjacent to each other in the axial direction are separated from each other with a predetermined interval in the axial direction, and the wire 63I is inserted through an insertion hole (not shown). A fixing portion 63J is attached to the other end of the wire 63I and is fixed to the wire insertion portion 63K located at the position farthest from the telescopic unit 63A located above. As shown in FIG. 8B, in the mechanism, the control device 5 controls the supply and discharge of fluid to the expansion / contraction unit 63A, contracts a part of the expansion / contraction unit 63A, and pulls the wire 63I toward the expansion / contraction unit 63A. By extending the telescopic unit 63A of the other portion and pushing the wire 63I away from the telescopic unit 63A, the wire insertion portions 63K are brought close to each other or separated from each other, so that the tubular connecting portion 61 can be bent in all directions. It becomes.

Example of folding device 6
Regarding the bending device 63 that bends the cylinder connecting portion 61 on the tip side that connects the skirt portion 7 and the cylinder portion 62A on the tip side, as shown in FIG. 9, the spherical portion 64I is used in the same manner as in Example 4 of the bending device described above. A spherical joint that is rotatably restrained by the receiving portions 63H of the cylinder pistons 63G provided at both ends may be used. According to this configuration, the cylinder connecting portion 61 can be bent in all directions, and the skirt portion 7 can be freely bent according to the excavation direction.

The skirt portion 7 is formed so that the diameter of the rear end opening corresponds to the diameter of the tip opening of the cylindrical body 62, the diameter of the tip opening is formed to be larger than the diameter of the rear end opening, and the skirt portion 7 is formed. The screw 24 is composed of a cylinder formed to a size smaller than the rotation diameter of the tip of the spiral blade 22. That is, the diameter of the tubular hole of the skirt portion 7 is formed so as to gradually increase from the rear end opening side toward the front end opening side. That is, the inner peripheral surface of the tubular hole of the skirt portion 7 is formed on the surface corresponding to the outer peripheral surface of the truncated cone.

As shown in FIG. 1, the motor 51 connected to the rear end of the screw 24 which penetrates the tubular hole of the tubular body 6 and the skirt portion 7 and projects rearward from the rear end opening 6e of the tubular body 6 is a motor. It is fixed to the fixing portion 52. Then, since the motor fixing portion 52 is connected to the flange at the rear end of the tubular body 6 via the support portion 53, the central axis of the tubular body 6 and the central axis of the screw 24 coincide with each other. The screw 24 is arranged so that the tip side of the screw 24 is located in front of the tip opening 7e of the skirt portion 7. Further, the tip side of the screw 24 is located in front of the tip opening 7e of the skirt portion 7, and the rotation diameter of the tip of the spiral blade 22 of the screw 24 is formed to be larger than the outer diameter of the outer circumference of the tip opening 7e of the skirt portion 7. Therefore, even if the excavated soil collapses from the inner wall of the excavated hole that has already been excavated and falls to the bottom side of the hole, the collapsed excavated soil is transported to the rear by the screw 24, so that excavation can be performed efficiently. it can.

The tubular connecting portion 61 of the tubular body 6 and the shaft connecting portion 26 of the excavator 20 are provided on the same plane orthogonal to the central axis of the tubular body 6 and the excavator 20, or at a position near the same plane. Is preferable. By doing so, the followability of the shaft connecting portion 26 that bends following the bending of the cylinder connecting portion 61 is improved, and the traveling direction of the drilling device 2 can be accurately controlled.

That is, the excavator 2 of the first embodiment includes the excavator 20, a tubular body 6 configured to be bendable with the excavator 20 installed in the cylinder, and a motor as a drive source for the excavator 20. The tubular body 6 includes the 51 and the control device 5, and the ends of the plurality of divided cylinders 62A, 62B, 62C are connected to each other via a bendable tubular connecting portion 61, and the tubular connecting portion 61 is connected. The excavator 20 is provided with a folding device 63 for bending the excavator, the rotating shaft 21 is arranged inside the tubular body 6 so as to extend along the central axis of the tubular body 6, and the control device 5 is a motor. By controlling 51 to rotate the rotating shaft 21 of the excavator 20 and controlling the bending device 63 to bend the cylinder connecting portion 61, the excavator 20 follows the bending of the cylinder connecting portion 61. Since the shaft connecting portion 26 is configured to be bent, the excavation device 2 is capable of curved excavation.

Returning to FIG. 1, the propulsion device 3 will be described.
The propulsion device 3 includes a plurality of propulsion units 8 provided around the tubular body 6. Each propulsion unit 8 is arranged on the outer peripheral surface of the cylinders of the front end side cylinder 62A, the intermediate side cylinder 62B, and the rear end side cylinder 62C.

FIG. 10 is a schematic cross-sectional view showing an example of the propulsion unit 8. Since the configuration of each propulsion unit 8 is the same, the propulsion unit 8 arranged in the intermediate side cylinder 62B will be described as an example. As shown in FIG. 10, the propulsion unit 8 is arranged on the outer peripheral surface side of a substantially cylindrical intermediate side cylinder 62B having a space on the inner peripheral surface side through which the screw 24 can be inserted. The propulsion unit 8 connects the cylindrical outer cylinder 81A; 81B extending in the axial direction so as to surround the intermediate cylinder 62B and the outer cylinder 81A; 81B in the axial direction, and expands and contracts the outer cylinder 81A; 81B. 81C is provided with an elastic expansion body 82 that extends in the axial direction of the outer cylinder 81A; 81B and surrounds the outer cylinder 81A; 81B. The above-mentioned flange 65 is provided on one end side of each of the outer cylinders 81A; 81B. The telescopic portion 81C is composed of, for example, a flexible member, and is formed in a bellows shape that can be stretched along the axial direction thereof. The inner peripheral surfaces of both ends of the telescopic portion 81C are liquidtightly and firmly fixed to the outer peripheral surfaces of both ends of the outer cylinder 81A; 81B. Similar to the above-mentioned stretchable body 63b, the elastic expansion body 82 has a fiber layer formed of a plurality of carbon roving fibers extending along the axial direction interpolated therein, and both ends of the fiber layer are interpolated. , Together with the elastic expander 82, is firmly fixed to the outer peripheral surface of the outer cylinder 81A; 81B. With this configuration, an air chamber S capable of introducing a fluid is formed in the propulsion unit 8 between the outer cylinder 81A; 81B and the elastic expansion body 82. In the air chamber S, under the control of the control device 5, a flow path such as a tube (not shown) is provided in the supply / discharge hole 83a provided as a through hole that penetrates the flange 65 in one outer cylinder 81B and reaches the air chamber S. By connecting the above, fluids such as oil and air can be supplied and discharged. When a fluid is introduced into the air chamber S, the elastic expansion body 82 expands (diameters) in the radial direction and expands and contracts by restricting the extension in the axial direction in the same manner as the above-mentioned expansion and contraction body 63b. In a state where the portion 81C is contracted and contracted in the axial direction, it is possible to make close contact with the launcher 31 and the wall surface of the excavation hole described later shown in FIG. Then, when the fluid is discharged from the expanded state, the expanded elastic expander 82 contracts in diameter and extends in the axial direction. A plurality of propulsion units 8 capable of such operations of diameter expansion and contraction, diameter reduction and extension are provided, and the diameter expansion operation and diameter reduction operation are repeated for each propulsion unit 8 at a predetermined cycle by the control device 5. By executing this, the reaction force required for excavation is obtained in a state where one of the propulsion units 8 is expanded in diameter and is in contact with the outer peripheral surface, and the increased diameter propulsion unit is reduced in diameter and separated from the outer peripheral surface. Since it extends in the excavation direction (tip side in FIG. 1) in the state, it is possible to obtain propulsive force by the peristaltic motion. The length of the screw 24 in the axial direction is set in consideration of a change in the length in the axial direction due to the peristaltic movement of the propulsion device 3.

If a drilling device without a propulsion unit 8 is used and the ground E is dug down simply by rotating the rotation axis of the drilling tool, the earth pressure may overcome the gravity and the drilling by the drilling device may not proceed as the drilling progresses. There is. However, if the excavation propulsion device 1 provided with the propulsion unit 8 is used, the excavation propulsion device 1 excavates by the peristaltic motion utilizing the friction between the propulsion unit 8 and the wall, so that the excavation propulsion device 1 can excavate regardless of the earth pressure. It becomes.

In FIG. 1, reference numeral 31 denotes a starting base (launcher) for an excavator, and the starting base (launcher 31) is composed of, for example, a cylindrical body having a sharply formed tip opening edge.

Further, as shown in FIG. 1, a discharge path 41 for guiding the excavated soil discharged rearward from the rear end opening 6e of the tubular body 6 is connected to the rear end of the tubular body 6. The support portion 53 that connects the motor fixing portion 52 to the rear end of the tubular body 6 is formed with a communication hole 54 that connects the rear end opening 6e of the tubular body 6 and the discharge path 41.
Therefore, by driving the motor 51 to rotate the screw 24, the excavated soil excavated by the excavation bit 23 at the tip of the screw 24 is formed in the tubular hole of the tubular body 6 by the spiral motion of the spiral blade 22 of the screw 24. It is configured to be conveyed rearward, discharged from the rear end opening 6e, and discharged to the discharge path 41 through the communication hole 54.

An excavated soil accommodating portion (not shown) is provided behind the discharge path 41. That is, the extraction device 4 has at least an excavated soil accommodating portion for accommodating excavated soil that has passed through the communication hole 54 and is transported rearward, and an excavated soil discharge path 41 from the communication hole 54 to the excavated soil accommodating portion. It is a configuration with and. The size of the excavated soil accommodating portion can be changed according to, for example, the amount of excavated soil required for the survey.
That is, the extraction device 4 includes an excavated soil accommodating portion for accommodating excavated soil excavated by the excavation bit 23 of the excavator 20 and conveyed rearward by the spiral rotation of the spiral blade 22, for example, the excavated soil accommodating portion discharges. It is configured to be removable behind the road 41.
Therefore, the excavated soil excavated by the excavation bit 23 of the excavator 20 and transported backward by the spiral rotation of the spiral blade 25 is housed in the excavated soil accommodating portion, and after the excavation is completed, the excavated soil accommodating portion is removed and the excavated soil is excavated. Is configured to be recoverable.

The excavation propulsion device 1 according to the embodiment is used, for example, in an undersea survey. In this case, the excavation propulsion device 1 of the first embodiment is remotely controlled to excavate the seabed ground. Further, in this survey, it is preferable that the fluid supplied to the propulsion unit 8 is oil because of the earth pressure, and the diameter is expanded or reduced by hydraulic pressure. Specifically, first, the drilling propulsion device 1 provided with the drilling device 2 and the propulsion device 3 is submerged in the launcher 31, and the tip opening edge of the launcher 31 is pierced into the seabed ground. Then, the control device 5 controls the motor 51 and the propulsion unit 8 to dig the excavation propulsion device 1. In this case, first, the drilling device 2 and the propulsion device 3 start digging the seabed ground by the rotation of the screw 24 and the peristaltic motion utilizing the friction between the propulsion unit 8 and the inner wall of the launcher 31. Then, when the propulsion unit 8 enters the excavation hole excavated from the seabed ground, the excavation device 2 is propelled by the rotation of the screw 24 and the peristaltic movement utilizing the friction between the propulsion unit 8 and the inner wall of the excavation hole. The device 3 and the extraction device 4 further excavate the seabed ground. In order to generate the peristaltic motion, the propulsion units 8 arranged in the front end side cylinder 62A, the middle side cylinder 62B, and the rear end side cylinder 62C are sequentially expanded and reduced in diameter at a predetermined cycle from the state shown in FIG. Just make it work. Further, when changing the drilling direction of the drilling device 2, the control device 5 controls the bending device 63 shown using the plurality of embodiments to bend the cylinder connecting portion 61 so as to follow the cylinder connecting portion 61. This is done by bending the shaft connecting portion 26.
Then, after performing the work of digging in the seabed ground along the seabed, the excavation device 2 and the propulsion device 3 are controlled to bend toward the seabed, and the excavation device 2 and the propulsion device 3 are returned to the seabed. , The excavation device 2, the propulsion device 3, and the extraction device 4 are floated on the sea surface and collected. Then, the excavated soil contained in the excavated soil accommodating portion of the extraction device 4 is collected and a desired survey is conducted.

According to the excavation propulsion device 1 according to the above embodiment, the control device 5 controls the bending device 63 of the tubular body 6 to connect the cylinders 6 as a structure for bending the tubular body 6 arranged around the excavator 20. By bending the portion 61, the shaft connecting portion 26 of the excavator 20 is also configured to follow and bend, so that curved excavation is possible, and a wide range of ground surveys and the like are possible.

Further, according to the excavator 20 according to the above embodiment, the rotating shaft 21 and the spiral blade 22 as a spiral body provided around the rotating shaft 21 so as to extend spirally in the direction along the rotating shaft 21. Since the rotating shaft 21 and the excavating bit 23 as an excavating means provided on the tip end side of the spiral blade 22 are provided and the rotating shaft 21 is configured to be bendable, a bendable excavator can be obtained.

Further, according to the tubular body 6 according to the above embodiment, the ends of the plurality of divided cylinders 62A, 62B, 62C are connected to each other via the bendable tubular connecting portion 61, and are connected by the control device 5. A folding device 63 that is controlled and bends at least one of the cylinder connecting portions 61 is provided, and the cylinder connecting portion 61 is configured to bend by controlling the folding device 63 by the control device 5. A tubular body 6 that can be bent and whose bending angle can be adjusted can be obtained under the control of the control device 5.
Then, the excavating tool 20 is arranged inside the tubular body so that the rotating shaft 21 extends along the central axis of the tubular body 6, and the excavating device 2 is configured, so that curved excavation is possible. Excavation device 2 can be obtained.
That is, the excavator 20 is installed in the tubular body 6 configured to be bendable, and the shaft connecting portion 26 of the excavating tool 20 is bent by controlling the tubular body 6 to bend the tubular connecting portion 61. As a result, it has become possible to realize an excavation method that performs curved excavation.
In the above example, the tubular body 6 is connected to a plurality of divided cylinders 62A, 62B, 62C formed of a rigid body such as metal by a tubular connecting portion 61 so that the tubular body 6 can be bent. The body 6 may be formed of, for example, flexible rubber, a coil spring, or the like, and the cylinder connecting portion 61 may be omitted.

In the above embodiment, a method in which all the bending devices 63 of the tubular body 6 are controlled by the control device, that is, all the tubular connecting portions 61 of the tubular body 6 are made active and bent by control is exemplified. However, only the folding device 63 that bends the tubular connecting portion on the leading side of the tubular body 6, that is, the tubular connecting portion 61 on the leading side that connects the front end of the distal cylindrical 62A and the rear end of the skirt portion 7. Controlled by the control device 5, the cylinder connecting portion 61 other than the cylinder connecting portion 61 on the leading side may be configured to bend following the bending of the cylinder connecting portion 61 on the leading side. That is, only the tubular connecting portion 61 on the leading side of the tubular body is formed into an active structure provided with the bending device 63 so as to be bent under the control of the control device 5, and the tubular connecting portion 61 other than the tubular connecting portion 61 on the leading side is May be a method in which the folding device 63 is not provided and the passive structure is formed so as to follow.

Further, in the above embodiment, the tubular connecting portion 61 of the tubular body 6 has an active structure and is bent by control, and the shaft connecting portion 26 of the excavator 20 has a passive structure to follow the bending of the tubular body 6. An example of the excavation propulsion device 1 having a configuration in which the excavation tool 20 is used is illustrated. The excavation propulsion device 1 may be configured to follow the bending of the excavator 20. When the excavator 20 has an active structure, for example, the bending device 63 illustrated in FIGS. 4 to 8 may be housed inside the hollow rotating shaft 21. With such a configuration, the folding device 63 provided on the tubular body 6 can be omitted, and the tubular body 6 can be made to follow the bending of the excavator 20. Further, by disposing either of the bending devices 63 on both the tubular body 6 and the excavator 20, both configurations can be made into an active structure.

Further, the excavator 20 may have a structure in which the shaft connecting portion 26 is formed of a flexible material, for example, rubber or an elastic body such as a coil spring.

Further, the excavator 20 is not provided with the shaft connecting portion 26, and all of the rotating shafts are formed of a flexible material, for example, rubber or an elastic body such as a coil spring, and the excavator 20 is formed of the rubber. A spiral body may be provided around a rotating shaft formed by a coil spring or a rotating shaft formed by a coil spring.

Further, the tubular body 6 may be formed as a rigid body and may be pre-bent. According to the excavator 20 according to the present embodiment, since the excavator 20 can be arranged on the bent tubular body 6, the excavator 20 rotates to excavate along the bent shape of the tubular body 6. It becomes possible. When this configuration is adopted, the excavation course is defined by the tubular body 6.

Further, it is attached to the outer peripheral surfaces of the above-mentioned tubular body 6, the control device 5, and each tubular portion (divided cylinders 62A, 62B, 62C) of the tubular body 6, and expands and contracts in the direction along the central axis of the tubular portion. A propulsion unit 8 (expansion / contraction unit) configured to be possible is provided, and the control device 5 controls the expansion / contraction of the propulsion unit 8, so that the propulsion unit 8 moves by performing a peristaltic movement utilizing friction with the contact surface. It is possible to obtain a tubular moving body configured to do so. For example, if a tubular moving body having the above configuration is used instead of the tubular moving body disclosed in Japanese Patent Application Laid-Open No. 2015-152169, which is the invention of the present applicant, the control device 5 can be used to bend the tubular body 6. It is possible to control the 63 to bend the tubular connecting portion 61, and for example, it is possible to provide a tubular moving body capable of smoothly moving a curved path in a pipe in an in-pipe inspection or the like. That is, it is possible to provide a tubular moving body that has a tubular body 6 that can be bent under the control of the control device 5 and whose bending angle can be adjusted, and that can smoothly move the curved path.

Further, by further increasing the number of tubular portions and configuring each tubular connecting portion 61 for connecting the end portions of the tubular portions with a bending device 63, the bending angle of the tubular body 6 can be adjusted more finely. It becomes possible to provide a possible excavator or a tubular moving body, and to provide an excavating device or a tubular moving body that can perform curved excavation or smooth bending.

Further, in the above embodiment, the launcher 31 extending linearly has been described as setting the initial excavation direction of the excavation propulsion device 1, but the inclination angle of the launcher 31 with respect to the ground can be changed or the launcher can be set. By making the shape of 31 a pre-bent shape and piercing it to an arbitrary depth, excavation can be started in an arbitrary direction.

FIG. 11 is a diagram showing another embodiment of the propulsion unit 8. The propulsion unit 8 roughly includes a pair of axially movable members 91; 91, which are formed so as to be slidable in the axial direction along the outer circumference of the tubular body 6 through which the tubular body 6 penetrates, and a pair of each. A plurality of radially movable members 100 arranged between the axially movable members 91; 91 and supported radially in a radial direction, and the axially movable member 91 and the radially movable member 100 are operated in conjunction with each other. A link mechanism 92 for this purpose, a motor 93 as a drive source for separating the pair of axially movable members 91 from each other, and a transmission mechanism 99 for transmitting the rotational drive of the motor 93 to the pair of axially movable members 91 are provided.

The link mechanism 92 is formed by a support member 94 projecting from each of the facing surfaces of the axially movable members 91; 91, two shaft portions 95 provided on each support member 94, and one end of each shaft portion 95. Is provided with two parallel arms 96 rotatably supported by the shaft portion 97; 97 with respect to the radial movable member (pressurizing member) 100 at the other end of each arm 96; 96. It is composed of a four-node parallel link mechanism that is rotatably supported.

The motor 93 is provided on one of the axially movable members 91, and its drive is controlled by the control device 5. At least one or more motors 93 are mounted on one of the axially movable members 91, and in this embodiment, two motors 93 are mounted. The transmission mechanism 99 is formed by a ball screw mechanism, and is formed by a ball nut 99A provided on the top of a pillar 91A extending from the facing surface 91a of the other axially movable member 91 toward the one axially movable member 91, and a motor. It is configured by screwing a ball screw 99B which is connected to 93 and extends from one axially movable member 91 toward the other axially movable member 91.

FIG. 12 is a diagram showing an expansion / contraction operation of the propulsion unit 8. As shown in FIG. 12A, for example, when the control device 5 rotates the motor 93 clockwise, the ball screw 99B is screwed into the ball nut 99A, the axially movable members 91; 91 are close to each other, and the radial direction is large. The movable member 100 moves outward in the radial direction, the axial length of the propulsion unit 8 contracts, and the outer diameter increases. Further, as shown in FIG. 12B, when the control device 5 rotates the motor 93 counterclockwise, the ball screw 99B is screwed into the ball nut 99A, the axially movable members 91; 91 are separated from each other, and the axially movable members 91; 91 are separated from each other in the radial direction. The movable member 100 moves inward in the radial direction, the axial length of the propulsion unit 8 is extended, and the outer diameter is reduced.

The axially movable member 91; 91 in this embodiment corresponds to the flange 65; 65 in the above embodiment. Even when such a propulsion unit 8 is adopted, one of the propulsion units 8 is expanded by repeatedly executing the diameter-expanding operation and the diameter-reducing operation for each propulsion unit 8 at a predetermined cycle. The reaction force required for excavation is obtained when the diameter is in contact with the outer peripheral surface, and the diameter-expanded propulsion unit is reduced in diameter and extends in the excavation direction when it is away from the outer peripheral surface. Can be obtained.

2 Excavator, 5 Control, 6 Cylindrical, 20 Excavator, 21 Rotating Shaft,
22 Spiral blade (spiral body), 23 Excavation bit (excavation means), 26-axis connection,
28 Spiral blade (spiral), 51 Motor (drive source) 61 Cylinder connection,
63 Folding device.

Claims (4)

Rotation axis and
A spiral body provided around the rotation axis so as to extend spirally in a direction along the rotation axis, and an excavation means provided on the rotation axis and the tip end side of the spiral body are provided.
The rotating shafts are connected so that the ends of a plurality of rigid shafts can be bent and the rotational force can be transmitted via a shaft connecting portion formed of a flexible material.
The excavator is characterized in that the spiral body is provided with a bendable rubber spiral portion provided so as to cover the periphery of the shaft connecting portion. The excavator according to claim 1 and
A tubular body that has been bent in advance with the excavator installed inside,
It is a drilling device equipped with
The excavator is arranged inside the tubular body so that the axis of rotation extends along the central axis of the tubular body.
An excavator that allows the excavator to bend along the bend of the tubular body so that the course of excavation can be changed by the rotation of the excavator. The excavator according to claim 1, and a tubular body configured to be bendable with the excavator installed inside.
It is a drilling device equipped with
The tubular bodies are connected to each other via a tubular connecting portion in which the ends of the plurality of tubular bodies are bendable.
The excavator configured to be bendable, the tubular connecting portion of the tubular body, or a folding device for bending both of them.
The excavator is arranged inside the tubular body so that the axis of rotation extends along the central axis of the tubular body.
An excavation device capable of changing the excavation course by rotation of the excavator by bending the excavator, the tubular connecting portion of the tubular body, or both of them. The second or third aspect of the present invention, wherein a plurality of propulsion mechanisms that contract when the diameter of the rotating shaft of the excavator is expanded in the radial direction and expand when the diameter is reduced is provided around the tubular body. Excavation equipment.

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