JPH05133181A - In-pit self-advancing device - Google Patents

Abstract

PURPOSE:To allow the self-advancing device to advance accurately at a fixed distance while various probes are held in a boring pit, etc., and to correspond even to not only a vertical pit but also an inclined pit and a horizontal pit. CONSTITUTION:The self-advancing device is composed of first and second blocks 10, 12 and an expansion drive section 14 connecting the blocks. A plurality of stages of a plurality of leaf spring-shaped leg piece sections 16 are all protruded to the outer circumferential surfaces of both blocks uniformly in the same oblique outward direction. The expansion drive section is expansion-contraction- moved in the axial direction. The front ends of the leg piece sections reach a boring pit wall. Since the front ends of the leg piece sections push the pit wall, the device is held in the pit. Since each leg piece section is directed in the same oblique upward direction, resistance at the front ends of the leg piece sections is increased in the upward direction, thus alternately moving both blocks only in the downward direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled device for moving various equipment in a hole.
Plural leaf spring-shaped leg pieces reaching the hole wall are arranged diagonally outward in each block, and by expanding and contracting between both blocks, both blocks move alternately in one direction and travel. In addition, the present invention relates to a self-propelled device in a hole that can be stopped at any position. The in-hole self-propelled device according to the present invention is suitable for inserting a measuring device such as a logging probe into a boring hole formed in the ground.

[0002]

2. Description of the Related Art Conventionally, when logging is performed in a boring hole formed on the ground, various probes are hung from the hole on the surface of the ground with cables and wires, and they are moved by winding them with a winch installed on the surface of the ground. Then, it is held at a predetermined position and the measurement is performed. Therefore, the position of the probe or the like in the boring hole is controlled by the winding amount of the cable or the like.

[0003]

However, in the prior art,
In the case of logging in the deep part of the boring hole, it becomes difficult to move the probe accurately by a certain distance, so that the measurement accuracy is lowered and the reliability of the measurement result is lacking. Further, in the deep part of the boring hole, the weight of the cable and the wire becomes large, and therefore, there is a problem that a very strong and thick object is required and the apparatus becomes large in size.

Further, when the boring hole is formed in an oblique direction or in a horizontal direction, it is necessary to push a probe or the like with a rod, and it becomes impossible to cope with the deepening. In addition, unlike a pipe or the like, the wall surface of the boring hole is not smooth, so that a normal wheel type self-propelled device cannot be used.

The object of the present invention is to solve the above-mentioned drawbacks of the prior art and to accurately move a certain distance while holding various probes in a boring hole or the like. It is also an object of the present invention to provide a self-propelled device in a hole which is compatible with a horizontal hole and has a relatively simple structure and has good operability.

[0006]

The self-propelled device in the hole according to the present invention has a first block 10 and a second block 12, and an expansion / contraction drive unit 14 for connecting them, as shown in the schematic configuration of FIG. Composed of. The first block 10 and the second block 12 may have substantially the same structure, in which the plurality of leaf spring-like leg pieces 16 are substantially evenly arranged on the outer peripheral surface so as to project in the same oblique outward direction. It is arranged.
Leaf spring-like leg pieces 16 protruding from both blocks 10 and 12
Are preferably arranged in plural stages.
In the example shown in FIG. 1, four leaf spring-shaped leg pieces 16 are circumferentially arranged at the same level and at equal intervals in each of the first block 10 and the second block 12, and they are arranged in two stages. It is installed in. The extension / contraction drive unit 14 includes a mechanism that extends / contracts in the axial direction.

It is preferable that the leaf spring-shaped leg portion is formed in an elongated thin plate shape which is slightly curved in the width direction, and is attached so that the concave surface side faces the outside. In addition, it is preferable that a plurality of leg pieces having different lengths are combined, laminated so that the shorter one is located on the outer side, and the base ends are aligned and attached to both blocks.

Further, in practice, such a hole self-propelled device body is inserted into a tubular casing having through windows formed at positions corresponding to the leaf spring-shaped leg pieces, and the tubular casing and A displacement generating mechanism for relatively displacing them in the axial direction is incorporated between the device main body and the displacement, and the leaf spring-shaped leg piece is bent at the edge of the through window to be narrowed by the displacement.

[0009]

The leaf spring-shaped leg piece 16 has a length such that its tip reaches the hole wall of the boring hole 18, as shown in the operation explanatory view of FIG. And the first block 10 and the second
The block 12 is held in the boring hole 18 by pressing the hole wall 18a by the tips of the projecting leaf spring-like leg pieces 16. One of the axial directions (the direction from the tip end side of the leg piece portion 16 toward the base end mounting portion side, that is, downward in FIG. 2) is provided by the leaf spring-shaped leg piece portions 16 protruding in the same oblique direction. Although it is slidable along the hole wall 18a, even if it is attempted to move it in the opposite direction (upward in FIG. 2), the tip end of the leaf spring-shaped leg piece 16 hits the hole wall 18a and cannot move. Becomes Therefore, the in-hole self-propelled device located in the boring hole 18 can move only downward in FIG. The hole wall surface of the boring hole 18 is generally not smooth but has irregularities, but both blocks 10, 1
Since 2 has a large number of leaf spring-like leg pieces 16, the blocks 10 and 12 are supported by their contact with the hole wall without being substantially displaced from the hole axis direction. Each block 10, 12
When the leaf spring-shaped leg pieces 16 are arranged in a plurality of stages, the holding action of the leg pieces 16 is further increased, so that a larger weight can be supported.

The operation of the device of the present invention will be described with reference to FIG. 2. First, when the telescopic drive portion 14 is deformed to extend from the state A, the upper first block 10 has its leaf spring-shaped leg piece portion 1.
6 hits the hole wall 18a and does not move in a stretched manner, but the second block 12 below does not move downward by a certain distance (extension drive unit 14).
(Extended length) moves (state B). Next, when the expansion / contraction drive unit 14 is deformed so as to contract, the second block 1 below is expanded.
2, the leaf spring-shaped leg pieces 16 are stretched and do not move, but the upper first block 10 moves downward by a certain distance (the length shortened by the expansion / contraction drive unit 14) (state C). When the extension drive unit 14 is further deformed to extend, the upper first block 10 is stretched and does not move, but the lower second block 12 moves downward by a certain distance (state D). In this way, the self-propelled device in the hole according to the present invention can move in the boring hole 18 by a predetermined distance in a predetermined direction (the expansion / contraction drive unit 14).
The distance corresponding to the amount of expansion and contraction) moves.

If the leaf spring-shaped leg portion 16 is formed in an elongated thin plate shape slightly curved in the width direction and is arranged so that the concave side faces the outside, it is relatively easy to bend to the inside, but difficult to bend to the outside. As a result, the function of easily sliding in one direction in the boring hole and the function of holding the bracing in the opposite direction is increased. Also, if multiple leg pieces with different lengths are stacked and attached so that the shorter one is located on the outer side, even if the boring hole diameter changes, the tip of one of the long and short leg pieces hits the hole wall and stretches, The range of application expands.

Such an in-hole self-propelled device main body is inserted into a cylindrical casing having a through window formed at a position corresponding to each leaf spring-shaped leg piece, and between the cylindrical casing and the device main body. In addition, if a displacement generating mechanism that relatively displaces them in the axial direction is provided, and the displacement causes the leaf spring-shaped leg pieces to bend at the edge of the through window to enable constriction, this device makes the boring hole unidirectional. After moving to, by narrowing the leaf spring-shaped leg piece, the tip ends away from the hole wall surface and loses the supporting force, so use the suspended cable, etc.
It can be easily pulled up to the surface and collected.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 3 is an explanatory view showing one embodiment of the self-propelled device in the hole according to the present invention. The in-hole self-propelled device body basically includes an upper block 20, a lower block 30, and a telescopic drive unit 40 connecting them. This embodiment shows a state in which the in-hole self-propelled device body is incorporated into a long tubular casing 50.

In the upper block 20, the leg piece holders 22 are fixed in three stages on the upper mandrel 21 located at the center, and each of the leg piece holders 22 has an inclined pedestal formed at equal intervals in four directions on the outer peripheral surface thereof. This is a structure in which the base end portions of the leaf spring-shaped leg pieces 24 are attached in the upward opening direction. Similar to the upper block 20, the lower block 30 is formed by fixing the leg piece holders 32 to the lower mandrel 31 located at the center in four stages and equidistantly in four directions on the outer peripheral surface of each leg piece holder 32. On the tilted pedestal,
In this structure, the base ends of the leaf spring-shaped leg pieces 34 are attached in the upward opening direction.

The expansion / contraction drive unit 40 located between the two blocks 20 and 30 is mainly composed of a motor 42 and a reduction gear 43 incorporated in a motor housing 41, a cylindrical cam 45 fixed to its output shaft 44, and surrounding it. It comprises a cam cylinder 46, a cam shaft 47 with a bearing provided on the inner surface of the cam cylinder 46, and the like. The upper end of the motor housing 41 is connected to the lower end of the upper mandrel 21, and the lower end of the cam cylinder 46 is connected to the upper end of the lower mandrel 31 via a spline mechanism 48.

The casing 50 has an elongated circular tubular shape, and four through windows 51 are formed on the peripheral wall surface at equal intervals in three stages above and four stages below. The positions where these through windows 51 are formed exactly correspond to the mounting positions of the leaf spring-shaped leg pieces 24 and 34, and in a normal operating state, each leaf spring-shaped leg piece 2 is formed.
4 and 34 are sized so as to project through the corresponding through windows 51 and not hinder the vertical movement thereof. The electromagnetic actuator 5 is provided above the casing 50.
2 is attached, and the upper mandrel 21 is fixed to the lower end of the movable shaft 53. Therefore, the in-hole self-propelled device main body including the upper block 20, the lower block 30, and the expansion / contraction drive unit 40 connecting them is preferably suspended by the movable shaft 53 of the electromagnetic actuator 52. The upper end of the casing 50 is covered with a cap 54 to protect the connector 55 provided therein during transportation or the like. At the time of use, the cap 54 is removed, and the connector 55 allows connection to an external cable (not shown) to supply power to the motor 42 and the electromagnetic actuator 52. Since groundwater usually exists in the boring hole, O-rings are attached at various places and sealed with a rubber tube 56 or the like to fill oil 57 in order to prevent the groundwater from entering the device.

During normal use in the boring hole,
As shown in FIG. 3, the leaf spring-shaped leg pieces 24 and 34 are open upward. As described with reference to FIG. 2, the tip ends of the leaf spring-shaped leg pieces 24 and 34 reach the boring hole wall (not shown). Since each of the leaf spring-shaped leg pieces 24 and 34 is opened upward, it can be displaced while being moved downward, but the resistance cannot be increased in the upward direction. The leaf spring-shaped leg pieces 24 and 34 are the upper block 2.
0 and the outer peripheral surface of the lower block 30 are arranged at equal intervals, and since there are a plurality of steps, the tip ends of the leaf spring-like leg pieces bite into the hole wall to securely hold both blocks 20 and 30.

The telescopic drive mechanism 40 operates as follows.
When the motor 42 rotates and the output shaft 44 rotates, the cylindrical cam 45 also rotates. Then, the cam shaft 47 engaged with the cam groove is reciprocally driven in the vertical direction, and as a result, the lower block 30 relatively vertically reciprocates with respect to the upper block 20. The spline mechanism 48 has a function of restricting the lower block 30 so that it does not rotate together with the rotation of the motor 42 but moves only in the axial direction. As a result, the self-propelled device in the hole moves downward by a constant distance, as described with reference to FIG. In the prototype, the output shaft 44 of the motor with reduction gear is rotated about 200 times / minute,
Approximately 2 m by making the stroke of reciprocating motion approximately 1 cm
It was possible to move inside the boring hole at a speed of / minute.

FIG. 4 shows the case where the self-propelled device in the hole is pulled up from the boring hole to the surface of the earth and recovered after the logging work is completed. When power is supplied to the electromagnetic actuator 52, the movable shaft 53 extends. Since the in-hole self-propelled device main body including the upper block 20, the lower block 30, and the expansion / contraction drive unit 40 connecting them is preferably suspended by the movable shaft 53 of the electromagnetic actuator 52, the movable shaft 53 faces downward. When it protrudes, the entire self-propelled device body in the hole shifts downward with respect to the casing 50. At that time, the leaf spring-shaped leg pieces 24, 34 are bent upward because their movement is hindered at the lower edge of each through window 51 of the casing 50. In other words, all the leaf spring-shaped leg pieces 24, 34 have their tips narrowed and drawn into the casing 50, and the tips separate from the wall surface of the hole and lose the supporting force. It can be easily pulled up to the surface and collected. In FIG. 4, the positions of the leaf spring-shaped leg pieces in a normal use state are shown by imaginary lines, and the positions of the leaf spring-shaped leg pieces in a state of being narrowed and collected are shown by solid lines.

When actually performing logging in the boring hole, a necessary logging probe (not shown) is attached to the bottom 58 at the lower end of the casing 50, and is suspended and supported in the boring hole. It will be.

FIG. 5 shows an example of a leaf spring-shaped leg piece portion used in the hole self-propelled device of the present invention. A is a sectional view, B
FIG. 4 is a perspective view showing a bent state of a tip portion (phantom line shows a state not bent). Leaf spring-shaped leg piece 60
Is made of an elastic metal plate or the like, has an elongated thin plate shape slightly curved in the width direction, and the leaf spring-shaped leg pieces 60 are arranged so that the concave side faces outward. When it is bent slightly in the width direction, when it is tried to bend in the longitudinal direction, it is difficult to bend on the concave side (direction of arrow a), but it is easy to bend on the convex side (direction of arrow b). Also, the springiness is increased. Therefore, if the concave surface side is arranged so as to face outward, both blocks are likely to move downward in the device as shown in FIG. 3, but the upward tension holding force becomes very strong.

FIG. 6 shows another example of the leaf spring-shaped leg pieces used in the apparatus of the present invention. A shows the case where the boring hole diameter is large, and B shows the case where the boring hole diameter is slightly smaller. As the leaf spring-shaped leg piece 70, a plurality of (three in this case) leg piece portions 70a, ..., 70c having different lengths are laminated so that the shorter one is located outside, and the leg piece portion holder 7 is provided.
Align the base ends with 2 and fasten with screws. In this way, even if the diameter of the boring hole changes, the tip of either the long or short leg piece portion abuts against the hole wall and is stretched, so that the range of application is expanded.
If the boring hole diameter is large (D ₁ ), the long leg piece 7
When the tip of 0a hits the hole wall (see A in FIG. 6) and the bore diameter is slightly small (D ₂ ), the intermediate leg piece 70b
The tip of the blade hits the hole wall to support the block (see B in FIG. 6). Therefore, even if the boring hole diameter changes in the range of D ₁ > D ₃ depending on the length of the leg piece, it is possible to sufficiently cope with the change.

The above embodiment is an example of self-propelled in the boring hole formed in the ground. However, the self-propelled device in the hole according to the present invention is used in the case where various kinds of observation equipment etc. are carried into a pipe or the like. It is also applicable to.

[0024]

As described above, according to the present invention, the expansion and contraction drive is performed between the two blocks, which are arranged substantially evenly on the outer peripheral surface so that the plurality of leaf spring-like leg pieces all project obliquely outward. Since it is an in-hole self-propelled device connected by a part, it can be moved in a fixed direction in a fixed distance in a fixed distance by its expansion and contraction operation, while holding various equipment such as logging probe at a predetermined position in the boring hole. , Can be moved accurately within a certain distance. Since this device is supported by the hole wall, it can handle not only vertical holes but also oblique holes and horizontal holes, and has a relatively simple structure and good operability.

[Brief description of drawings]

FIG. 1 is a basic configuration diagram of an in-hole self-propelled device according to the present invention.

FIG. 2 is an operation explanatory diagram thereof.

FIG. 3 is an explanatory view during operation showing an embodiment of the self-propelled device in a hole according to the present invention.

FIG. 4 is an explanatory view at the time of pulling and collecting an embodiment of the self-propelled device in the hole according to the present invention.

FIG. 5 is an explanatory view showing an example of a leaf spring-shaped leg piece portion used in the device of the present invention.

FIG. 6 is an explanatory view showing another example of the leaf spring-shaped leg pieces used in the device of the present invention.

[Explanation of symbols]

 10 1st block 12 2nd block 14 Expansion-contraction drive part 16 Leaf-spring-shaped leg piece part 18 Boring hole

Claims (5)

[Claims] 1. A first block in which a plurality of leaf spring-shaped leg pieces are arranged substantially evenly on the outer circumference so that they all project in the same oblique outward direction, and a plurality of leaf spring-like leg pieces are all provided. The second, which is arranged substantially evenly on the outer periphery so as to project outward in the same diagonal direction
An in-hole self-propelled device comprising a block and a telescopic drive unit that connects the first and second blocks and expands and contracts in the axial direction. 2. The apparatus according to claim 1, wherein the leaf spring-shaped leg pieces protruding from the first block and the second block are arranged in a plurality of stages for each block. 3. The apparatus according to claim 1, wherein the leaf spring-shaped leg portion has an elongated thin plate shape slightly curved in the width direction, and is arranged such that the concave side faces the outside. 4. The leaf spring-shaped leg piece has a structure in which a plurality of leg pieces having different lengths are laminated so that the shorter one is located on the outer side, and the base ends are aligned and attached. Claims 1 and 2
Or the apparatus according to 3. 5. The apparatus main body according to claim 1 is inserted into a cylindrical casing having a through window formed at a position corresponding to each leaf spring-shaped leg piece, and the cylindrical casing and the apparatus main body are separated from each other. A displacement generating mechanism that relatively displaces them in the axial direction is provided between them, and the displacement causes the leaf spring-shaped leg pieces to be bent at the edge of the through window so that the tip narrows. apparatus.