JPH02256797A - Driving device for driving method - Google Patents

Abstract

PURPOSE:To drive an accurate course through a ground by connecting a plurality of driving bodies so that they are capable of bending, providing an inclined pressure receiving plane lengthwise to the end, and providing a means to adjust a coupling angle freely in a device driving an arc shaped course. CONSTITUTION:A driving head 1 is constituted of a head body 1A, an excavation section 3 capable of swiveling around the axial center P, a control device 4 of the swivel, and a water jet nozzle 5. Then, an inclined pressure receiving plane F for setting a driving direction by the earth pressure is formed in the excavation section 3. After that, a plurality of driving pipes 2 are connected with a joint section J so that they are capable of bending and, at the same time, lock nuts 15A and 15B are provided, then their positions are adjusted to make it free to adjust a joint bending angle. The bending angle is set in advance to drive along a required circular arc shaped course. In case of advancing forward, the bending angle is set to 0 deg., and the excavation section is rotated to drive. According to the constitution, a driving device can drive a required course accurately.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is characterized in that a plurality of propellants are connected in a bendable manner, and the tips of the propellants are inclined with respect to the longitudinal direction of the propellants. The present invention relates to a propulsion device for a propulsion method in which a pressure receiving surface is formed.

[Conventional technology]

The method of propelling the propulsion device is to push the propellant from behind while rotating the part where the pressure receiving surface is formed around the axis along the longitudinal direction of the propellant, and propel it linearly into the soil. In addition, the propeller is pushed in with the direction of the pressure-receiving surface fixed at a predetermined position, and the direction of the pressure-receiving surface is gradually changed by the earth pressure, creating an arcuate path in the soil in the opposite direction to the direction of the pressure-receiving surface. There are construction methods that promote construction along the following lines.

With propulsion devices for conventional propulsion methods, the maximum bending angle between adjacent propulsion bodies is maximized from the manufacturing stage so that it can be propelled through the soil even along arc-shaped paths with as small a radius as possible. It was secured.

[Problem to be solved by the invention]

In the above-mentioned propulsion device, each propellant can bend freely as long as it is within the maximum bending angle, so for example, when propelling linearly through the soil, the leading propellant When it hit hard soil and became difficult to propel, the propelling body would sometimes bend involuntarily due to the pushing force from behind. In other words, there was a risk that it would buckle in the soil and become unable to propel itself in the target direction.

In addition, when the above-mentioned propulsion device propels the propellant through the soil along an arcuate path with the minimum radius, the bending angle between adjacent ones is maintained at the maximum state and the propellant is pushed in.
The attitude of the propelling body is stable and it can be propelled while drawing a smooth arc, but if you try to propel it through the soil along an arcuate path with a radius larger than that, the bending angle will be smaller than the maximum bending angle. Since it is necessary to push the propellant at the bending angle, it becomes difficult to maintain the bending angle,
It was not possible to propel it in a smooth arc.

Therefore, when propelling underground along an arc-shaped path with a radius larger than the arc-shaped path with the minimum radius, a construction method is used in which the propeller is pushed into the soil while the direction of the pressure-receiving surface is fixed at a predetermined position. Sometimes, the propulsion direction is adjusted by pushing the propeller while rotating the part where the pressure-receiving surface is formed, so that it is propelled through the soil along a desired arcuate path. However, this construction method requires great skill as it relies heavily on human intuition, and it also has the disadvantage that it cannot be carried out very precisely.

An object of the present invention is to enable a propulsion device to be easily and accurately propelled along a desired route.

[Means to solve the problem]

In order to achieve the above object, the present invention is provided with a plurality of angle adjustment means that can be individually and freely changed and adjusted to change and adjust the maximum bending angle between adjacent ones of the plurality of propellant bodies. The features are as follows.

[For production]

When the propulsion device is propelled linearly (in this case, the maximum bending angle of adjacent propellants is set to 0 degrees by the angle adjustment means), and the part where the pressure receiving surface is formed is set in the longitudinal direction of the propellant. Push the propellant forward while rotating around the axis along the axis.

In addition, when the propulsion device is propelled while turning along an arc-shaped or elliptical arc-shaped path with a predetermined radius, when the propulsion devices of adjacent ones are bent at the maximum bending angle, , the maximum bending angle of the propelling body is set in advance by each angle adjusting means so that the propelling body follows a circular arc corresponding to a predetermined arc-shaped or elliptical arc-shaped path. Then, the propellant is pushed in with the pressure-receiving surface oriented so that it receives pressure in the direction of rotation. As it is pushed in in this way, the pressure-receiving surface receives the tonosho and gradually changes its direction from the leading propelling body, and the propelling body connected to the rear thereof bends and follows suit. When the bending angle between adjacent propellants reaches the maximum bending angle, the propellants that can no longer bend maintain their bent state and follow a predetermined arc-shaped or elliptical arc-shaped path. It will be promoted along the lines of

Furthermore, when the propulsion device is first propelled linearly and then rotated when it reaches a predetermined position, the maximum bending angle of the propellants between adjacent ones located on the tip side is 1. The maximum bending angle is set by the angle adjusting means so that when the propellant is bent at the maximum bending angle, the propellant follows an arc corresponding to a predetermined circular arc or elliptical arc path. , the maximum bending angle of the propelling bodies located on the rear end side is set to 0 by the angle adjustment means.
Set once. Initially, the part on which the pressure receiving surface is formed is pushed in by rotating it around the axis along the longitudinal direction of the propellant, thereby propelling the propellant in a straight line.

Once it reaches a predetermined position, the direction of the pressure-receiving surface is fixed at a position where it receives pressure in the direction of rotation, and the propelling body is pushed in. When pushed in this way, the propelling body will gradually change direction as the pressure receiving surface receives the tonosho from the predetermined position, and the propellant connected to the rear will also reach the predetermined position. It bends at the maximum bending angle and follows it, propelling itself along a predetermined arc-shaped or elliptical path, but the propelling body behind it will propel straight ahead until it reaches a predetermined position. .

〔Effect of the invention〕

According to the present invention, even on harder soil than before, the propulsion device can be propelled linearly without buckling. Furthermore, even if the radius is larger than the conventional minimum radius arcuate path or an elliptical arcuate path, the propelling body can be easily and accurately propelled along the arcuate path or elliptical arcuate path. It became possible. Furthermore, even in an irregular case where the propulsion device initially propels the vehicle in a straight line and then rotates when it reaches a predetermined position, it is possible to propel the vehicle easily and accurately. It became.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIGS. 2 to 4, a propulsion head (1) as a propulsion body with a cylindrical outer surface and a plurality of propulsion tubes (2) are bendably connected via a joint (J). , constitutes a propulsion device for a propulsion method that can be propelled while bending in the soil.

As shown in Fig. 1, the propulsion head (1) is rotatable around an axis (P) along the longitudinal direction of the tubular propulsion head body (IA) and the propulsion head body (IA). It consists of an excavating part (3) and an operating device (4) for rotating the excavating part (3).

The excavation part (3) is provided with a pressure receiving surface (1) for receiving a tonosho as the propulsion pipe (2) is propelled underground and for orienting the propulsion direction of the propulsion head (1) in the direction in which the tonosho is received. F) is formed on an inclined surface intersecting the longitudinal direction, and a water injection nozzle (5) is further provided to inject water to soften the soil on the side in the direction of turning propulsion and improve turning propulsion. be. Although not shown, for example, a weight-type sensor may be built into the excavation part (3) to detect pressure on the pressure receiving surface (F) even in the soil.
It is now possible to detect which direction the camera is facing (up, down, left, right, left, right). This detection information is used to change the orientation of the pressure receiving surface (F).

The operating device (4) includes a cylindrical hydraulic piston (7) that is fitted into the propulsion head main body (IA) and that reciprocates while its rotation is restricted by a key (6), and an excavating portion (3). ) is connected to the rear part of the hydraulic piston (
7) is provided with a threaded groove into which it is externally fitted, and a pair of pressure oil supply parts (9A) and (9B) that suck and discharge pressure oil and reciprocate the hydraulic piston (7). It has A pipe (10) for supplying water to the water injection nozzle (5) is passed through the interior of the rotating shaft (8), and this pipe (10) is connected to the pressure oil supply parts (9A) and (9B). The rear propulsion pipe (2) is passed through the joint part (J) together with the two connected hydraulic pipes (IIA) and (IIB).
).

With this structure, one pressure oil supply section (9A or 9B)
Pressure oil is supplied from the propulsion head body (IA) to the propulsion head body (IA) to the other pressure oil supply part (9B or 9A).
), the hydraulic piston (7) moves back and forth, and the rotary shaft (8) screwed into this hydraulic piston (7) rotates in forward and reverse directions, causing the excavation part (3) to move around the shaft. Core (P)
It is designed to be rotated by the surroundings. Excavation department (3)
is at least 3 times during the reciprocation of the hydraulic piston (7)
It is designed to rotate more than 60 degrees.

By the way, although not explained in detail, when the excavation part (3) is rotated in hard soil, the propulsion head main body (IA) tends to rotate in the opposite direction due to reaction force.

In order to prevent this, it is necessary to provide a protrusion on the outer circumferential surface of the propulsion head main body (IA), or to
Two hydraulic pipes (IIA) connected to.

It is preferable to prevent the propulsion head body (IA) from rotating by making (IIB) strong.

Next, a joint part (J) that connects the propulsion head (1) and the propulsion tube (2), and an angle adjustment means that changes and adjusts the maximum bending angle of the propulsion head (1) and the propulsion tube (2). The structure of (S) will be explained. In addition, the joint part (J) that connects other propulsion pipes (2) and the angle adjustment means (S) of that part
Since they have the same structure, we will omit their explanation.

In the joint portion (J), the front end portion of the propulsion tube (2) is formed to have a small diameter, and a spherical member (12) is externally fitted and fixed to this small diameter portion (2a). The spherical member (12) is fitted into a receiving part (13) built into the propulsion head (1), and the receiving part (13) slides on the outer peripheral surface of the spherical member (12). Accordingly, within the range where the rear end of the propulsion head (1) does not come into contact with the front end of the propulsion tube (2),
It has a ball joint structure that allows it to be bent in any direction, up, down, left, or right.

Further, in the angle adjusting means (S), a small-diameter stepped portion is formed at the rear end of the propulsion head (1), and a screw (14) is formed in this stepped portion. Then, attach the two lock nuts (15A) of the propulsion head (1) to this screw (14).
, (15B) are screwed together, and two lock nuts (
By adjusting the positions of 15A) and (15B), the joint part (
The structure allows the maximum bending angle of J) to be set. If these lock nuts (15A) and (15B) are moved forward and fixed, the propulsion head (1) and propulsion tube (2)
) becomes larger, and the maximum bending angle of the propulsion head (1) is set larger.

Conversely, if the propulsion head (1) and the propulsion tube (2) are moved backward and fixed, the gap between the propulsion head (1) and the propulsion tube (2) becomes smaller, and the propulsion head (1)
) will be set to a small maximum bending angle (minimum angle is 0 degrees).

Next, a propulsion method using the propulsion device having the above-described structure will be explained.

When the propulsion device is to move straight, the maximum bending angle is preset to 0 degrees by moving and fixing the lock nuts (15A) and (15B) of each joint (J) to the rearmost position. In other words, the joint part (J) should not be bent. Then, push the propulsion tube (2) into the propulsion head main body (IA) while rotating the excavation part (3) (second
(see figure).

In addition, when the propulsion device is turned along an arcuate path having a predetermined radius, when each joint (J) is bent at the maximum bending angle, the propulsion tube (2) The maximum bending angle is set in advance by adjusting the lock nuts (15A) and (15B) of each joint (J) so as to follow the arcuate path. Then, position the pressure-receiving surface (F) so that it receives the tonosho toward the side to be rotated, and move the propulsion pipe (2)
Push in. In this way, the water injection nozzle (
5), the soil on the turning direction side is softened and the resistance received from the soil is reduced, and the pressure receiving surface (F) is receiving earth pressure in the turning direction side, and the propulsion head (1) gradually changes its direction, and the propulsion tube (2) connected to its rear part follows suit while bending.

When the bending angle of each joint (J) reaches the maximum bending angle, the propulsion head <1) and the propulsion tube (2), which cannot be bent any further, maintain their bent state and are set in advance. The robot will now be propelled along a predetermined arc-shaped path (see Figure 3).

Furthermore, when the propulsion device is initially propelled linearly and then rotated when it reaches a predetermined position, the propulsion head (1) and the propulsion tube (
2) A joint located on the tip side so that when the propulsion head (1) and the propulsion tube (2) are bent at the maximum bending angle, the propulsion head (1) and the propulsion tube (2) follow an arc corresponding to a predetermined arcuate path. Department (J
) to set the maximum bending angle in advance by adjusting the lock nuts (15A) and (15B). In addition, the maximum bending angle of the joint part (J) located on the rear end side can be reduced to 0 degrees by moving the lock nuts (15A) and (15B) of each joint part (J) to the rearmost position. Set in advance.

At first, the propulsion tube (2) is pushed in with the propulsion head main body (IA) at the top while rotating the excavation part (3), and the propulsion device is propelled straight ahead. Once a predetermined position is reached, the direction of the pressure receiving surface (F) is fixed in the direction in which pressure is received in the rotation direction, and the propulsion tube (2) is continued to be pushed in.

When pushed in in this way, the propulsion head (1) gradually changes direction as the pressure-receiving surface (F) receives earth pressure beyond the predetermined position, and the propulsion tube connected to the rear of the propulsion head (1) gradually changes direction as the pressure receiving surface (F) receives earth pressure. When (2) also reaches a predetermined position, it bends at the maximum bending angle and follows it, propelling itself along a predetermined arcuate path.

Then, the propulsion tube (2) on the rear end side advances straight along the previously formed straight path without buckling until it reaches a predetermined position (see Figure 4).

Furthermore, in the previous embodiment, all the joint parts (J) are bent when the propulsion device is rotated along an arcuate path, but it is not necessary to bend all the joint parts (J). . For example, in areas with soft soil, as shown in Figure 5, the maximum bending angle of two joints (J) should be set to 0 degrees, and two propulsion pipes (2) should be used as a - unit. is also possible.

[Another example]

In the previous embodiment, the maximum bending angle is set by adjusting the movement of the lock nuts (15A) and (15B) on the screw (14) formed on the step.
As shown in Figures and Figure 7, the propulsion head body (IA)
3 bolts (16) from the outer circumference to the center at the rear of the
When the joint part (J) is bent, the bolt (16)
If the tip of the bolt (16) is brought into contact with the outer peripheral surface of the small diameter portion (2a), the maximum bending angle can be set by adjusting the degree of threading of the bolt (16).

In addition, as shown in Figure 8, a half spacer (1
7), and then attach this spacer (17) to the C ring (18).
), the maximum bending angle can be set by replacing this spacer (17) with another spacer (17A) having a different length.

Furthermore, although not shown, each joint (J) is provided with an angle adjusting means (J) equipped with an actuator, and each joint (J) is adjusted by remotely controlling each actuator.
) may be freely set in the soil.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the propulsion device for the propulsion method according to the present invention, and FIG. 1 is a longitudinal cross-sectional side view of the propulsion head and the propulsion pipe,
The figure is a plan view when propelled linearly, Figure 3 is a plan view when propelled along an arcuate path, and Figure 4 is a plan view when propelled linearly at first, then along an arcuate path. FIG. 5 is a plan view when the two propulsion tubes are propelled as a unit; FIG. 6 is a vertical sectional side view showing a first alternative embodiment of the angle adjustment means; FIG. 7 is a sectional view taken along the line ■--■ in FIG. 6, and FIG. 8 is a longitudinal sectional side view showing a second alternative embodiment of the angle adjusting means. (1), (2)...Propellant, (F)...
...Pressure receiving surface, (S)...Angle adjustment means.

Claims (1)

[Claims] A plurality of propellant bodies (1) and (2) are connected in a flexible manner,
and a propulsion device for a propulsion method in which a pressure receiving surface (F) inclined with respect to the longitudinal direction of the propellant is formed at the tips of the propellants (1) and (2), wherein the plurality of propellants A propulsion device for a propulsion construction method, in which a plurality of angle adjustment means (S) for changing and adjusting the maximum bending angle between adjacent propulsion bodies (1) and (2) are individually and freely adjustable.