JP3390739B2 - Direction correction device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction correcting device for changing the propulsion direction when propelling in the ground so as to construct a tunnel such as a horizontal hole or a vertical hole in the ground.

[0002]

2. Description of the Related Art As a construction method for burying a pipe in the ground, a static press-fitting construction method is used in which a tip device is simply pressed by an extruding device installed in a vertical shaft to press it into the ground without excavating earth and sand, An excavation method for excavating earth and sand with an excavator and propelling the excavator in the ground while discharging the excavated earth and sand, the construction method shown in JP-A-60-148997.
As shown in FIGS. 7 and 8 of the present application, the vibration exciter a is operated to vibrate the front part c of the vibration generator b, and the soil d around the vibration generator b is vibrated to be fluidized, There is a dynamic press-fitting construction method in which the vibration generator b is press-fitted without excavating the earth and sand by being pressed by the original pushing device f installed in the vertical shaft e.

Further, in each of the above construction methods, when there is an obstacle such as a buried object in the ground, it is necessary to change the propulsion direction.
A device for correcting the propulsion direction is disclosed in Japanese Patent Laid-Open No. S58-222.
There is a device disclosed in Japanese Patent No. 291. This JP-A-58-22
As shown in FIG. 9 of the present application, the device disclosed in Japanese Patent No. 2291 pushes the wedge surface of the passive wedge member i via the driving wedge member h by a positioning jack g that extends in parallel with the propelling direction of the device as a boosting mechanism. , A drilling head j in front of the passive wedge member i,
The propulsion jack k is tilted via a ball bearing m to change the propulsion direction of the device and avoid obstacles.

[0004]

However, in the device for changing the propulsion direction so as to avoid the obstacle as described above, the stroke of the positioning jack g for pushing the wedge surface of the passive wedge member i through the driving wedge member h is propelled. Since it becomes longer in the direction, the total length in the propulsion direction of the device becomes longer, and it becomes difficult to carry it into the vertical shaft that is the starting point, and the controllability for controlling the direction of the device is poor. Further, the positioning jack g must be large in size so as to support the thrust of the positioning jack g in the extending direction and to withstand the radial load generated by pushing the wedge surface of the passive wedge member i, and therefore the installation space for the device is reduced. There is a problem that it is difficult to effectively use the space inside the device because the space is occupied. Further, when the positioning jack g is extended, the wedge surface of the passive wedge member i is changed from surface contact to point contact, which causes a problem that the wedge surfaces of the positioning jack g and the passive wedge member i are easily damaged.

In view of the above situation, the present invention has as its object the provision of a direction correcting device which has a shorter overall length in the propelling direction and which is smaller in size, and which has good durability and operability.

[0006]

A direction correcting device according to claim 1 of the present invention is a direction correcting device mounted in a tip device for propelling in the ground, the direction correcting device extending in a propulsion direction. A convex spherical seat formed on the existing inner cylinder, a concave spherical seat that is slidably fitted on the convex spherical seat and receives a thrust applied to at least the tip device, and the inner cylinder is pressed in the radial direction. the sphere center of the convex spherical seat example Bei a pressing means for rotating the rotation center Te, and after the first part of the bent portion in which the tip device is flexed
Prevents the front step from rotating in the circumferential direction between the steps.
This is provided with a detent member for rotation .

According to a second aspect of the present invention, the direction correcting device is provided with a spherical seat on the pressing means, with a slide bearing plate interposed between the inner cylinder and the pressing means.

According to a third aspect of the present invention, there is provided a device for correcting the direction in which a solid lubricating coating is provided on the sliding surfaces of the convex spherical seat and the concave spherical seat.

According to a fourth aspect of the present invention, in the direction correcting device, a pressing means for rotating the inner cylinder in the radial direction is provided at a position away from the center of rotation of the convex spherical seat toward the rear in the propulsion direction.

[0010]

According to a fifth aspect of the present invention, in the direction correcting device, packing is provided so as to prevent dirt and sand from entering the inside of the bent portion between the front portion and the rear portion.

According to a sixth aspect of the present invention, there is provided a direction correcting device provided with a stroke detector which is in contact with the inner cylinder so as to detect the tilting angle of the front portion of the bent portion.

According to a seventh aspect of the present invention, in the direction correcting device, the pressing means is provided with a pressure sensor so as to detect the moment generated by the tilting of the front portion.

The directional correction device according to the eighth aspect of the present invention comprises an electromagnetic control valve for controlling the pressing means inside the device.

According to a ninth aspect of the present invention, in the direction correcting device, the inner cylinder is arranged so that the center of the convex spherical seat is hollow.

When the tip device propels in the ground, a thrust force applied to the tip device is received by the concave spherical seat through the convex spherical seat of the front portion, and when the tip device changes the propelling direction, The inner cylinder is pressed in the radial direction by the expansion of the pressing means, and the front stage is tilted around the spherical center of the convex spherical seat as the center of rotation so that the tip device bends, and the propulsion direction of the tip device is changed to the desired direction. To do.

As described above, according to the present invention, since the direction of the stroke of the pressing means required for the tilting of the front portion is not the propelling direction of the tip device but the radial direction of the inner cylinder, the total length of the propulsion direction of the device is The length can be shortened, and as a result, it can be easily carried into the vertical shaft that is the starting point, and the controllability for controlling the direction of the device can be improved. Further, since the thrust force applied to the tip device is supported by the convex spherical seat, the pressing means can be downsized, the occupation of the installation space can be reduced, and the space inside the device can be effectively used. In addition, the front part has a circle
Since it does not rotate in the circumferential direction, the front and rear stages
Twisting may occur in the wiring and piping stored in the hollow part.
As a result, durability can be improved.

According to the second aspect of the present invention, even when the pressing means expands and the contact angle between the inner cylinder and the pressing means changes, the pressing means becomes the inner cylinder of the front part by the spherical seat and the slide bearing plate. On the other hand, since the surface contact is maintained instead of the point contact, it is possible to prevent the peripheral surfaces of the pressing means and the inner cylinder of the front part from being damaged.

In the third aspect of the present invention, since the solid lubricating coating on the sliding surface makes it unnecessary to supply grease or the like,
The convex spherical seat and the concave spherical seat do not need a member such as an oil seal to simplify the structure of the device. In the case of claim 4 of the present invention, the pressing means is driven from the rotation center of the convex spherical seat in the propulsion direction. Since it is provided at a position distant to the rear, the tilting moment for tilting the inner cylinder, that is, the front stage portion can be increased to easily tilt the front stage portion.

Further, in the case of the fifth aspect of the present invention, the packing can prevent dirt and sand from entering from between the front stage portion and the rear stage portion, and as a result, the durability can be improved.

Further, in the case of claim 6 of the present invention, the direction control of the tip device is appropriately performed in order to detect the tilting angle of the front stage portion in the bending portion from the detection value of the stroke detector in contact with the inner cylinder. According to the seventh aspect of the present invention, since the pressing means is provided with the pressure sensor to detect the moment generated by the tilting of the front stage portion, the direction control of the tip device can be performed more accurately.

The directional correction device according to claim 8 of the present invention is
Since the electromagnetic control valve for controlling the pressing means is provided inside the device, the conduits are gathered inside the device to minimize the conduits extending to the outside of the device, resulting in good operability of the device. According to the direction correcting device of claim 9 of the present invention, since the wiring and the piping can be passed inside the inner cylinder, the wiring and the piping are not taken out of the tip device, and the front of the tip device is prevented. It is possible to supply necessary electrical signals, fluids, etc. to the section.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 are examples of embodiments for carrying out the present invention.

A pipe embedding device to which the direction correcting device of the present invention is applied is shown in FIG. 6, in which 1 is a tip device.

The tip device 1 is connected to the front part 4 located on the front side of the propulsion direction D1 and behind the front part 4 of the tip device 1 in the propulsion direction D1 and for correcting the propulsion direction D1 during propulsion. A direction correcting device 6 having a bent portion 5 is provided, and 7 is an insertion tube disposed behind the direction correcting device 6 in the propulsion direction D1 of the tip device 1, and 8 is disposed in a vertical shaft 9 and is provided with a pressing plate 10. It is an original pushing device such as a jack that pushes the rear end of the insertion tube 7 via the.

In the pipe burying device, the original pushing device 8 is extended to press the insertion pipe 7 into the ground through the pressing plate 10,
The tip device 1 is pushed by the insertion tube 7 to propel the tip device 1.

In the pipe burying device, the front part 4 of the tip device 1 is tilted by the bent portion 5 of the direction correcting device 6, and the original pushing device 8 is further extended so that the pushing plate 10 and the insertion pipe 7 are inserted. The tip device 1 is pressed to drive the tip device 1 in the driving direction D1.
I am trying to promote while changing.

Details of such a direction correcting device 6 are shown in FIGS.
As shown in FIG. 4, the direction correcting device 6 includes a direction correcting unit 11 having a bent portion 5 including a front cylindrical portion 12 of a front portion and a rear cylindrical portion 13 of a rear portion.

The front cylindrical portion 12 has a front wall 15 arranged on the front portion 4 of the tip device 1 through a detachable connection portion 14, and behind the front wall 15 in the propelling direction D1 is the front portion of the tip device 1. 4, a first outer cylinder 16 formed to have substantially the same diameter as the first outer cylinder 16, and a first outer cylinder 16
And a cylindrical inner cylinder 17 formed concentrically with the inner cylinder 1
7 is longer than the length of the first outer cylinder 16 in the direction parallel to the driving direction D1.

In the vicinity of the front wall 15 of the inner cylinder 17, there is provided a convex spherical seat 18 centered on the axis of the inner cylinder 17, and the surface of the convex spherical seat 18 is made of carbon or the like. Solid lubricant film 19 is formed.

Next, the rear cylindrical portion 13 located rearward of the front cylindrical portion 12 in the propulsion direction D1 is provided with a second outer cylinder 20 having a diameter substantially the same as that of the first outer cylinder 16 of the front cylindrical portion 12. At the tip of the second outer cylinder 20, a convex spherical seat 18 located between the first outer cylinder 16 and the inner cylinder 17 of the front cylindrical portion 12 and having the propulsion direction D is formed.
1 is provided with a concave spherical seat 21 which is widely received, and a solid lubricating coating 2 such as carbon similar to the convex spherical seat 18 is provided on the inner peripheral surface of the concave spherical seat 21 which is in contact with the convex spherical seat 18.
2 and a plurality of annular grooves 2 are provided on the outer peripheral surface of the concave spherical seat 21.
3 (two in FIG. 1) are provided, and the annular groove 23 is designed to prevent U from entering between the first outer cylinder 16 of the front cylindrical portion 12 and the concave spherical seat 21 of the rear cylindrical portion 13 so as to prevent the inflow of earth and sand. A letter-shaped packing 24 is fitted.

Further, an annular groove 23 is formed on the outer peripheral surface of the concave spherical seat 21.
The propulsion direction D1 of the first outer cylinder 16 of the front cylindrical portion 12 when the front cylindrical portion 12 tilts.
1 A groove 25 of a predetermined size is provided so that the rear end thereof does not contact the outer peripheral surface of the concave spherical seat 21.

As shown in FIGS. 1 and 3, behind the concave spherical seat 21 of the second outer cylinder 20 of the rear cylindrical portion 13 in the propelling direction D1, the convex spherical seat 18 of the inner cylinder 17 is propelled from the center of rotation. The position farthest to the rear in the direction D1, that is, the inner cylinder 1
Four hydraulic jacks 26 as a pressing means are provided so as to be located at the rear end of the driving direction D1 of 7, and four hydraulic jacks 2 are provided.
6 encloses the inner cylinder 17 at equal intervals in the circumferential direction, and
Two of them sandwiching 7 in the radial direction are configured as a pair.

The structure of the outer peripheral surface of the inner cylinder 17 and the hydraulic jack 26 will now be described. As shown in FIG.
A plurality of flat surfaces (four locations in FIG. 3) extending in the tangential direction are formed on the outer peripheral surface of the sliding bearing plate 27, and the sliding bearing plate 27 is provided with the tip of the hydraulic jack 26. The hydraulic jack 26 is provided with a spherical seat 28 so as to be adjacent to the tip end that makes surface contact.

Subsequently, the second outer cylinder 20 of the rear cylindrical portion 13
Two stroke detectors 29 extending in the radial direction of the inner cylinder 17 are provided between the plurality of hydraulic jacks 26 in FIG.
Are arranged at a substantially right angle after being displaced in the circumferential direction of the inner cylinder 1 between the remaining hydraulic jacks 26, like the stroke detector 29.
Two earth pressure detectors 30 extending in the radial direction of 7 are arranged in the circumferential direction of the inner cylinder 17 so as to be substantially perpendicular to each other.

On the other hand, as shown in FIGS. 1 and 4, the rear cylindrical portion 1
At the rear end of the propulsion direction D1 of 3, that is, at the rear end of the propulsion direction D1 of the direction correcting portion 11, the second outer cylinder 20 of the rear cylindrical portion 13 is provided.
Is connected to a hollow rear cylindrical portion 32, which is concentric and has substantially the same outer diameter, and a lid 31 is attached to the rear end of the driving direction D1. Various models of the hydraulic circuit and various devices of the control system necessary for tilting the front cylindrical portion 12 of the correction unit 11 are housed.

The equipment housed in the rear tubular portion 32 includes a solenoid control valve 34, which is a three-position switching valve forming a hydraulic circuit, a pressure sensor 35 corresponding to each hydraulic jack 26, bentonite in the soil, etc. Lubricant supply nozzle 36 formed on the circumferential surface of the rear cylindrical portion 32 so as to supply the lubricant, the amplifier for the stroke detector 29 in the control system, and the driving direction D
A gyro 37 for controlling 1, a magnetic coil 38 for detecting a position on the ground by a generated magnetic field, a battery 39 for supplying power to each member, a wire-saving unit, and the like. Further, the two pairs of hydraulic jacks 26 each including two are connected to the respective electromagnetic control valves 34 corresponding to each pair via the conduit 40 extending rearward of the propulsion direction D1 of the tip device 1. And the conduits 4 in FIG. 4 to be described later, which are connected to the respective electromagnetic control valves 34.
The rear ends of 1, 42 are connected to a feed pipe line 47 and a return pipe line 48 formed through couplers 43, 44 of the lid 31 and couplers 45, 46 connectable to the front part 4 of the tip device 1. ing.

A tip of a pipe line 49 is connected to the lubricant supply nozzle 36, and the pipe line 49 extends rearward through a hollow portion of the rear tubular portion 32 and is connected to a coupler 50 attached to the lid 31. Has been done. Further, a branch portion (not shown) is provided at an intermediate position of the pipe 49, and the rear tubular portion 32 is provided from the branch portion.
The conduit 52 extending through the hollow portion of the front portion to the front side is connected to the coupler 51 that is detachable from the front portion 4 of the tip device 1.

In FIG. 2, reference numeral 53 denotes a key-shaped detent member projecting at the rear end of the first outer cylinder 16 of the pre-stage cylindrical portion 12 in the propulsion direction D1. The detent member 53 is a rear-stage cylindrical portion. The guide member 54 of the notch provided at the tip of the second outer cylinder 20 in the propulsion direction D1 of the second outer cylinder 13 causes the front cylindrical portion 1 during propulsion.
The 2 is guided so as not to rotate in the circumferential direction.

A hydraulic circuit for changing the direction of the front-stage cylindrical portion 12 by the hydraulic jack 26, that is, the propulsion direction D1 of the tip device 1, is shown in FIG. 4, where 60 is a hydraulic unit and 61 is a hydraulic pressure for tilting. Circuit.

The hydraulic unit 60 is installed on the ground, and on the discharge side of the hydraulic pump 63 driven by the electric motor 62, a check valve 64 and a check valve 65 with a variable throttle are provided midway.
And a pipe line 67 to which a coupler 66 is connected at the tip of the oil flow direction D2. Further, the hydraulic unit 60 is provided with a return pipe 70 for connecting the coupler 68 to the rear end of the oil flow direction D2 and for returning the oil to the tank 69, and the hydraulic pump 63 sends the oil sucked from the tank 69. The suction pipe line 71 to be supplied is connected.

Further, on the downstream side of the check valve 64 in the oil flow direction D2 in the conduit 67, the other end of the conduit 73 whose one end is connected to the return conduit 70 is connected to the switching valve 72 in the middle. It is connected. 74 of the equipment of the hydraulic unit 60 is a relief valve.

Each device constituting the hydraulic circuit 61 is housed in the rear tubular portion 32, and the coupler 43 which can be connected to the coupler 66 of the hydraulic unit 60 via the pipe line 75 has the tip device 1. And a coupler 68 of the hydraulic unit 60 as well as a feed pipe line 47 communicating with a coupler 45 connectable to a hydraulic unit (not shown) of the front portion 4 of the hydraulic unit 60.
And a coupler 44 adapted to be connected via a pipe line 76
Includes a hydraulic unit (not shown) in the front portion 4 of the tip device 1.
A return line 48 leading to a coupler 46 connectable therewith.

The rear end of the pipe 41 connected to the two electromagnetic control valves 34 is connected to the middle of the feed pipe 47.
In the middle of the return conduit 48, the rear ends of the conduits 42 connected to the two electromagnetic control valves 34 are connected together as a single conduit 77, and the combined single conduit 77 is provided with a predetermined relief valve 78.

On the other hand, the electromagnetic control valve 34 is provided with a pipe line 81 which is connected to the pipe line 40 leading to the head side oil chamber 79 of each hydraulic jack 26 and has a variable throttle check valve 80. The check valve 80 with a throttle controls the flow rate of oil returning from the head-side oil chamber 79 of the hydraulic jack 26.

Further, the conduit 8 having a check valve 82 is provided in the middle of the check valve 80 with the variable throttle from the connecting position of the conduit 81.
3 are connected to each other, and the conduit 83 is integrated into one conduit 84 and connected to the return conduit 48 via a predetermined relief valve 85.

Here, the relief valve 78 is a head of the return-side hydraulic jack 26 which is opposed when the predetermined hydraulic jack 26 presses the inner cylinder 17 to press the opposing hydraulic jack 26. Side oil chamber 79, pipeline 40, pipeline 8
1, a predetermined pressure is set so that the pressure in the series of flow paths of the electromagnetic control valve 34 and the pipe 42 does not become zero.

Through the hydraulic jack 26, the front cylindrical portion 12
The control device for tilting the cylinders is shown in FIG. 5, in which the hydraulic jack pressure P1 which is the thrust of each hydraulic jack 26 detected by the pressure sensor 35 and the inner cylinder 17 detected by the stroke detector 29 are extended. Is the displacement direction X1 of the front cylindrical portion 12,
The soil pressure P2 acting on the second outer cylinder 20 of the rear cylindrical portion 13 detected by the soil pressure detector 30 can be given to the arithmetic control unit 91 of the control device 90 installed on the ground as a detection signal. There is.

The selection Sa of the hydraulic jack 26 and the extension amount La of the hydraulic jack 26 when the front cylindrical portion 12 is tilted are set in the arithmetic control unit 91 of the control unit 90 by the host system control unit 92 such as a CPU or the operator. Therefore, the other operation command C1 can also be given to the arithmetic and control unit 91 of the control device 90. In addition, from the arithmetic control unit 91 of the control device 90 to the host control device 92,
The operating state information I can be given.

Further, based on various data provided from the host system control device 92 and the like, the arithmetic control unit 91 in the control device 90 can give a switching command V to the electromagnetic control valve 34. In FIG. 5, reference numeral 93 is a display unit for displaying operation state data from the arithmetic and control unit 91 in the control device 90.

Next, the operation of the illustrated example will be described.

When changing the direction of the tip device 1,
When the set pressure of the relief valve 78 is PO1 and the set pressure of the relief valve 85 is PO2, the relief valve 78 and the relief valve 85 of the hydraulic circuit 61 shown in FIG. 4 are always PO1 <PO2.
The pressure is adjusted so that
Then, the hydraulic pump 63 is driven by the electric motor 62 in a state where the switching valve 72 is switched so that the oil flows, and the oil discharged from the hydraulic pump 63 is transferred to the pipe lines 67, 73, the switching valve 72, and the return pipe. It circulates through the path 70 to the tank 69.

In addition, from the host controller 92 to the tip device 1
That is, signals such as the selection Sa of the hydraulic jack 26 corresponding to the displacement direction and the displacement amount of the front cylindrical portion 12, the extension amount La of the hydraulic jack 26, and other operation commands C1 are transmitted to the control device 9.
0 is given to the arithmetic control unit 91. Therefore, when the operation button for starting the change of the propulsion direction D1 is turned on, the arithmetic control unit 91 of the control device 90 gives a switching command to the switching valve 72 of the hydraulic unit 60, and the conduit 73 is provided.
Oil is switched so as not to pass through the switching valve 72, and at the same time, a switching command is given to at least one of the two electromagnetic control valves 34 of the hydraulic circuit 61, so that the conduit 81 of one of the pair of hydraulic jacks 26 is provided. Is connected to the pipeline 41 on the feeding side and the other pipeline 81 is connected to the pipeline 42 on the return side, or the other pipeline 81 is connected to the pipeline 41 on the feeding side and one pipeline is connected. The line 81 is switched to connect to the return line 42.

For this reason, in one of the two electromagnetic control valves 34, one pair of hydraulic jacks 26 is provided in one electromagnetic control valve 34.
When one of the pipelines 81 is connected to the pipeline 41 on the feeding side and the other pipeline 81 is connected to the pipeline 42 on the return side, the discharge is made from the hydraulic pump 63. The oil passes through the pipes 67, 75, 47, 41 and the electromagnetic control valve 34, and is introduced from the pipe 81 through the pipe 40 into the head side oil chamber 79 of the hydraulic jack 26.
The inner cylinder 17 is pressed by extending the same, and at the same time, the oil in the head-side oil chamber 79 of the hydraulic jack 26 which is opposed to the inner cylinder 17 is discharged, and the electromagnetic control valve 3 is passed through the other conduits 40 and 81.
4 through the conduit 42, the conduit 77 and the relief valve 78, the return conduit 48, the conduits 76 and 70, and the return to the tank 69.

Further, in one of the two electromagnetic control valves 34, the other conduit 81 of the pair of hydraulic jacks 26 is connected to the conduit 41 on the feeding side and the other conduit is connected. When 81 is switched to connect to the return-side pipe 42, the oil discharged from the hydraulic pump 63 passes through the pipes 67, 75, 47, 41 and the electromagnetic control valve 34.
Through the other conduit 81 in the above case through the conduit 40 to the head side oil chamber 79 of the hydraulic jack 26 on the opposite side, and by extending the hydraulic jack 26 on the opposite side, the inner cylinder 17 The oil in the head-side oil chamber 79 of the opposing hydraulic jack 26 is discharged at the same time, and the oil passes through the electromagnetic control valve 34 via one of the conduits 40 and 81 in the above case. From line 42, via line 77 and relief valve 78, through return line 48, lines 76, 70, tank 69
Returned to.

Further, in the other electromagnetic control valve 34 of the two electromagnetic control valves 34, another pair of hydraulic jacks 26 is provided.
Is operated in the same manner as the above-mentioned one electromagnetic control valve 34, and when two electromagnetic control valves 34 are simultaneously operated, two pairs of hydraulic jacks 26 extend in the vertical direction with respect to each other. The inner cylinder 17 is pressed in two pairs of hydraulic jacks 2.
The extension directions of 6 are combined.

Here, the tilting angle of the inner cylinder 17 is
It is determined by detecting the tilt data by the two stroke detectors 29 which are shifted in the circumferential direction and arranged substantially at right angles, and the detected values are calculated.

When the predetermined hydraulic jack 26 is extended by a predetermined amount, the hydraulic jack 26 presses the inner cylinder 17 of the front cylindrical portion 12 in the radial direction, and the spherical center of the convex spherical seat 18 is moved. The front cylindrical portion 12 is tilted by a predetermined displacement amount about the center of rotation, and the front portion 4 of the tip device 1 is oriented in a desired direction.

Subsequently, when the propulsion direction D1 of the tip unit 1 is further changed, the hydraulic jack pressure P1 by the pressure sensor 35 and the displacement direction X1 of the front cylindrical portion 12 by the stroke detector 29 are further changed. The earth pressure detector 30 detects the earth pressure P2 acting on the outer peripheral surface of the rear cylindrical portion 13 and supplies the earth pressure P2 to the arithmetic control unit 91 of the control device 90 to perform a predetermined arithmetic operation, whereby the switching command V Thus, the electromagnetic control valve 34 is controlled to an appropriate state.

Therefore, the control device 90 selects the selection Sa of the hydraulic jack 26 corresponding to the displacement direction and the displacement amount of the front cylindrical portion 12 at the time of tilting, the extension amount La of the hydraulic jack 26, and the other operation command C1. The tilting can be performed by arbitrarily setting and controlling the tilting direction of the front-stage cylindrical portion 12 to a predetermined state set in advance based on the above-described detection data.

On the other hand, when the tip device 1 is pressed by the source pushing device 8 shown in FIG. 6 so as to form a tunnel, the thrust applied to the tip device 1 and the force applied in the radial direction of the tip device 1 are convex spherical surfaces. It is received by the concave spherical seat 21 of the rear cylindrical portion 13 via the seat 18.

Therefore, the direction of the stroke of the hydraulic jack 26 required for tilting the front cylindrical portion 12 is set to the radial direction of the inner cylinder 17 of the front cylindrical portion 12 rather than the propulsion direction D1 of the tip device 1, so that the front end device 1 Can shorten the total length of the driving direction D1 of
As a result, it is possible to easily carry in the shaft 9 which is the starting point, and to improve the controllability of controlling the direction of the tip device 1. Further, since the thrust applied to the tip device 1 is supported by the convex spherical seat 18, the hydraulic jack 26 can be miniaturized, the occupancy of the installation space can be reduced, and the space inside the direction correcting device 6 can be effectively used.

Further, the hydraulic jack 26 is extended so that the inner cylinder 17
Even when the contact angle between the hydraulic jack 2 and the hydraulic jack 26 is changed, the spherical jack 28 and the sliding bearing plate 27 cause the hydraulic jack 2 to move.
Since 6 maintains the surface contact with the inner cylinder 17 of the front cylindrical portion 12 instead of the point contact, it is possible to prevent the hydraulic jack 26 and the peripheral surface of the inner cylinder 17 of the front cylindrical portion 12 from being damaged.

Since the solid lubricating coatings 19 and 22 provided on the sliding surfaces of the convex spherical seat 18 and the concave spherical seat 21 do not require oiling such as grease, the convex spherical seat 18 and the concave spherical seat 21 are provided.
On the other hand, the structure of the device can be simplified by eliminating the need for a member such as an oil seal, and the hydraulic jack 26 is provided at a position away from the center of rotation of the convex spherical seat 18 toward the rear in the propulsion direction D1. That is, the tilting moment for tilting the front cylindrical portion 12 can be increased to easily tilt the front cylindrical portion 12.

The pre-stage cylindrical portion 12 does not rotate in the circumferential direction by the rotation preventing member 53.
Also, the wiring and piping housed in the hollow portion of the rear cylindrical portion 13 are not twisted, and the packing 24 prevents sediment from entering between the front cylindrical portion 12 and the rear cylindrical portion 13. The durability can be improved.

Since the tilting angle of the front cylindrical portion 12 in the bent portion 5 is detected from the detection value of the stroke detector 29 in contact with the inner cylinder 17, the directional control of the tip device 1 can be appropriately performed, and the hydraulic pressure can be controlled. Since the jack 26 is provided with the pressure sensor 35 to detect the moment generated by the tilting of the front cylindrical portion 12, the direction control of the tip device 1 can be performed more appropriately.

Furthermore, since the electromagnetic control valve 34 for controlling the hydraulic jack 26 is provided inside the direction correcting device 6, the pipe lines 40 are gathered inside the direction correcting device 6 and the direction correcting device 6 is integrated.
Therefore, the operability of the tip device 1 can be improved as a result. Furthermore, the inner cylinder 17
Since wiring and piping can be passed inside the tip device 1, the tip device 1 can be installed without wiring or piping outside the tip device 1.
The necessary electrical signals, oil, lubricants, etc. can be supplied to the front part 4 of the.

From the above, according to this illustrated example, it is possible to provide a small-sized direction correcting device having good durability and operability.

The embodiment of the present invention is not limited to the illustrated example, and any number of hydraulic jacks may be used as long as they are at least three or more. It goes without saying that various changes can be made within the range.

[0070]

As described above, the first aspect of the present invention is as described above.
According to the direction correcting device described in any one of claims 9 to 10, the stroke direction of the pressing means required for tilting the front part is not the propelling direction of the tip device but the radial direction of the inner cylinder. As a result, it is possible to easily carry in the shaft to the starting point and to improve the controllability of controlling the direction of the device. Further, miniaturized pressing means for supporting the propulsion given to the tip device convex spherical seat, reduced to unit internal space occupation of installation space can be effectively used, further preceding stage by stopping member Rotate in the circumferential direction
Since it does not occur, it is stored in the hollow part of the front part and the rear part.
The resulting wiring and piping will not be twisted, resulting in
The durability can be improved, and only small size
Also, various excellent effects such as improved durability and operability can be achieved.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of an example of an embodiment of a direction correcting device of the present invention.

FIG. 2 is a side view of an example of an embodiment of the direction correcting device of the present invention.

3 is a III-III direction arrow view of FIG. 1. FIG.

FIG. 4 is a hydraulic circuit diagram applied to the direction correcting device of the present invention.

FIG. 5 is a control system diagram applied to the direction correcting device of the present invention.

6 is a side view showing an outline of a pipe burying device to which the direction correcting device shown in FIG. 1 is applied.

FIG. 7 is a side view showing an outline of a vibration generator used in a conventional press-fitting method.

8 is a side view showing an outline of a pipe burying device to which the vibration generating device shown in FIG. 7 is applied.

FIG. 9 is a side view showing an outline of a direction correcting device used in a conventional direction correcting method.

[Explanation of symbols]

1 Advanced equipment 5 Bend 6 direction correction device 12 Front stage cylindrical part (front stage) 13 Rear cylinder part (rear part) 17 Inner cylinder 18 Convex spherical seat 19 Solid lubrication film 21 concave spherical seat 22 Solid lubrication film 24 packing 26 Hydraulic jack (pressing means) 27 Sliding bearing plate 28 Spherical seat 29 Stroke detector 34 Electromagnetic control valve 35 Pressure sensor 53 Anti-rotation member D1 propulsion direction

Front Page Continuation (72) Yuichi Miura, Yuichi Miura, 3-15-15 Toyosu, Koto-ku, Tokyo Ishikawa Shima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Minor Tanaka 2-3-3, Otemachi, Chiyoda-ku, Tokyo No. 1 Inside Nippon Telegraph and Telephone Corporation (72) Inventor Toshihiko Takanashi 2-3-3 Otemachi, Chiyoda-ku, Tokyo No. 1 Inside Nippon Telegraph and Telephone Corporation (72) Hidenori Hino 2-3-3 Otemachi, Chiyoda-ku, Tokyo No. 1 within Nippon Telegraph and Telephone Corporation (56) Reference JP-A-6-158992 (JP, A) Actual development Sho 61-19096 (JP, U) Japanese Patent Publication 5-45760 (JP, B2) (58) Survey Areas (Int.Cl. ⁷ , DB name) E21D 9/06 311

Claims (9)

(57) [Claims] 1. A direction correcting device mounted in a tip device for propelling in the ground, the direction correcting device comprising a convex spherical seat formed on an inner cylinder extending in a propulsion direction, and the convex spherical seat. Concave spherical seat which is slidably fitted to the spherical spherical seat and receives a thrust applied to at least the tip device, and the inner cylinder is pressed in the radial direction to rotate about the spherical center of the convex spherical seat as the rotation center. e Bei and pressing means, between the front and rear stages of the bent portion in which the tip device is flexed
To prevent the front part from rotating in the circumferential direction.
A direction correcting device characterized in that a rotation preventing member is provided . 2. The direction correcting device according to claim 1, wherein a slide bearing plate is provided between the inner cylinder and the pressing means, and the pressing means is provided with a spherical seat. 3. The direction correcting device according to claim 1, wherein the sliding surfaces of the convex spherical seat and the concave spherical seat are provided with a solid lubricating coating. 4. The direction correcting device according to claim 1, 2 or 3, wherein a pressing means for rotating the inner cylinder in the radial direction is provided at a position away from the center of rotation of the convex spherical seat toward the rear in the propulsion direction. 5. Sediment from the front and back of the bend
A packing provided with packing so as not to enter the inside.
Or the direction correcting device according to 4. 6. Detects the tilt angle of the front part at the bend
A stroke detector that contacts the inner cylinder so that
The direction correcting device according to 1, 2, 3, 4 or 5. 7. Moment generated by tilting of the front part
A pressure sensor is provided in the pressing means for detecting
The direction correcting device according to 1, 2, 3, 4, 5 or 6. 8. An electromagnetic control valve that controls the pressing means
Claims 1, 2, 3, 4, 5, 6 or 7 provided inside
Direction correction device. 9. Inner cylinder so that the center of the convex spherical seat is hollow
The claim 1, 2, 3, 4, 5, 6, 7 or 8 in which
Mounted direction correction device.