JP7627403B2 - Civil Engineering Equipment - Google Patents

Description

The present invention relates to a civil engineering work device that transmits the rotational force of a cylindrical casing tube to an attachment for civil engineering work inside the casing by engaging with the casing tube. In particular, the present invention relates to a civil engineering work device that can actively cancel the rotational force transmitted from the casing tube via an engaging body. In the following explanation, names using numbers such as first, second, etc. are used for the convenience of explanation to avoid confusion with the same names, and do not affect the interpretation of the rights.

In the first prior art, civil engineering work equipment including a control frame device, an engagement device, an engagement body interlocking device, and an attachment is suspended within a casing tube. The engagement body constituting the engagement device is raised by hydraulic oil from a hydraulic pump, which pulls up the piston rod of the hydraulic cylinder, and is moved in the radially expanding direction by a truncated cone-shaped drive cam constituting the engagement body interlocking device, and is pressed against the inner peripheral surface of the casing tube. The rotation of the casing tube rotates the engagement body interlocking device via the engagement body, and operates the civil engineering attachment. A civil engineering work equipment is known in which the drive cam is rotatably supported on the drive shaft via a bearing, and is raised by a hydraulic cylinder (see Patent Document 1).

As a second prior art, a casing-driven excavation device is known, which is characterized by having a stopper on the inner peripheral surface of a cylindrical casing that penetrates the ground and is driven to rotate, a protrusion that moves outward under its own weight on the excavation device body arranged inside the casing and engages with the stopper to transmit the rotational force of the casing to the excavation device body, and a digging blade on the lower end of the excavation device body (see Patent Document 2).

Patent No. 7116973 JP 5-59879

In the first conventional technique, since torque acts on the drive shaft via frictional force in the bearing, torque also acts on the control frame device supporting the drive shaft, causing the control frame device to rotate around the axis of the casing tube, and there is a concern that the wires may get tangled in the crane wires. For this reason, it has been proposed to provide a reaction force canceling device for the drive shaft.
However, the reaction force canceling device disclosed in the first prior art is a passive reaction force canceling device, and the concern that wires may become entangled in the crane wires cannot be eliminated.
In the casing-driven excavation device in the second prior art, a protrusion that is engaged with a stopper on the inner periphery of the casing and transmits the rotational force of the casing to the excavation device body is moved toward the inner periphery of the casing by a hydraulic cylinder, so that the hydraulic cylinder, and therefore the excavation device body, rotates integrally with the casing, and the wire rope of the crane that suspends the excavation device body is twisted, and it is necessary to use a twist-relieving mechanism such as a swivel joint to prevent twisting. Also, because the stopper is engaged with the protrusion, the excavation device cannot be configured to fill the inner diameter of the casing, which causes a problem of reduced work efficiency.

The object of the present invention is to provide a civil engineering work device that can actively maintain the drive device supporting the drive shaft in a stationary state even when the rotational force of the casing tube acts on the drive device supporting the drive shaft via a locking body.

In order to achieve the above object, a first aspect of the present invention is configured as follows.
A civil engineering work device in which an engagement body arranged inside a cylindrical casing tube is engaged with an inner peripheral surface of the casing tube to be integrated with the casing tube, and an attachment for civil engineering work is operated via the engagement body, the device being provided with a drive unit and an engagement unit, the engagement unit being an engagement body interlocking device that moves the engagement body toward and away from the inner peripheral surface of the casing tube, and the engagement body interlocking device moves the engagement body toward and away from the inner peripheral surface by a drive shaft that is moved along the axis of the casing tube via a bearing, the drive unit being rotatable around the axis of the drive shaft, and the drive shaft is moved along the axis of the casing tube, the drive unit and the engagement unit are drivingly connected to each other so as to be rotatable relative to each other about the axis by a stationary state maintaining device, the stationary state maintaining device including a rotation drive unit provided on the drive unit, a driven body provided on the engagement device for rotating the engagement device in the opposite direction about the axis relative to the drive unit, a relative rotation sensor that detects deviation between the drive unit and the driven body about the axis, and a control device that rotates the rotation drive unit in a predetermined direction at a predetermined speed based on the output of the relative rotation sensor, and the drive unit is held stationary by the stationary state maintaining device.

In order to achieve the above object, the second aspect of the present invention is configured as follows.
In the civil engineering work device of the first invention, the rotation drive device includes a pinion gear, the driven body includes an internal gear, and the pinion gear rotates and drives the internal gear.

The third aspect of the present invention is configured as follows.
In a second aspect of the present invention, there is provided a civil engineering work device, wherein the relative rotation sensor includes a tooth sensor that detects the teeth of the internal gear.

The fourth aspect of the present invention is configured as follows.
The civil engineering work device according to the first or second invention is characterized in that the rotary drive device and the drive body are housed in a drive device housing which is a sealed container.

The fifth aspect of the present invention is configured as follows.
The civil engineering work device according to the first or second invention further comprises a depth sensor.

In the first aspect of the present invention, the engagement device is provided to the drive device via the drive shaft.
The drive shaft can be moved along the axis of the casing tube by the driver. The movement of the drive shaft along the axis causes the engagement body to be pressed against the inner circumferential surface of the casing tube via the engagement body interlocking device. As a result, the rotation of the casing tube causes the engagement body interlocking device to rotate around the axis of the casing tube via the engagement body. The rotation of the engagement body interlocking device causes the attachment to perform excavation or the like. The drive shaft is attached to the engagement body interlocking device via a bearing. Therefore, when the engagement body interlocking device rotates, a torque acts on the drive shaft in the rotation direction of the casing tube due to the frictional force of the bearing. When a torque acts on the drive shaft, the drive device and the engagement device to which the drive shaft is attached are rotated relatively. The relative rotation sensor detects this relative rotation. Based on the output of this relative rotation sensor, the control device drives the rotation drive device so as to eliminate the relative rotation, and rotates the drive device relatively via the driven body.
This rotates the drive unit in the opposite direction to the engagement body, eliminating the difference in relative rotational position, and the drive unit is thus held substantially stationary.

In the second invention, since it has the same configuration as the first invention, the object of the present invention can be achieved. Furthermore, in the second invention, the rotation drive device includes a pinion gear, the driven body includes an internal gear, and the internal gear is rotationally driven by the pinion gear.
This configuration has the advantage that it can be constructed inexpensively because it is simple.

The third invention has the same configuration as the first or second invention, and therefore the object of the present invention can be achieved. Furthermore, in the third invention, the relative rotation sensor includes a tooth sensor that detects the teeth of the internal gear. Therefore, there is an advantage in that it can be constructed inexpensively by using the internal gear as the drive means.

The fourth invention has the same configuration as the first or second invention, and therefore can achieve the object of the present invention. Furthermore, in the fourth invention, the rotary drive device and the drive body are housed in a drive device housing, which is a sealed container, and therefore has the advantage that it can be used in muddy conditions or underwater.

The fifth invention has the same configuration as the first or second invention, and therefore can achieve the object of the present invention. Furthermore, the fifth invention includes a depth sensor, which has the advantage that the amount of movement of the attachment can be known and the civil engineering work equipment can be appropriately managed based on that amount of movement.

FIG. 1 is a schematic explanatory diagram of a civil engineering work device according to a first embodiment of the present invention. FIG. 2 is a vertical sectional view of the civil engineering work device according to the first embodiment of the present invention. FIG. 3 is a perspective view of the civil engineering work device according to the first embodiment of the present invention. FIG. 4 shows a civil engineering work device according to a first embodiment of the present invention, in which (A) is a vertical cross-sectional view and (B) is an explanatory diagram of a relative rotation sensor. FIG. 5 is a block diagram of a control device for a civil engineering work device according to the first embodiment of the present invention. FIG. 6 shows a display screen of a terminal used in the civil engineering work device of the first embodiment according to the present invention. FIG. 7 is a control flowchart of the civil engineering work device according to the first embodiment of the present invention. FIG. 8 is a partial cross-sectional view of the guide for the civil engineering work device of the first embodiment according to the present invention taken along line AA in FIG. FIG. 9 is a vertical sectional view of a civil engineering work device according to a second embodiment of the present invention. FIG. 10 is a plan view of a support body in a civil engineering work device according to a second embodiment of the present invention.

The civil engineering work device according to the present invention is a civil engineering work device in which an engagement body arranged inside a cylindrical casing tube engages with the inner peripheral surface of the casing tube to be integrated with the casing tube, and an attachment for civil engineering work is operated via the engagement body, the civil engineering work device being provided with a drive unit and an engagement unit, the engagement unit being an engagement body interlocking device that moves the engagement body toward and away from the inner peripheral surface of the casing tube, and the engagement body interlocking device moves the engagement body toward and away from the inner peripheral surface by a drive shaft that is moved along the axis of the casing tube via a bearing, the drive unit being rotatable around the axis of the drive shaft, and the drive shaft is connected to the casing tube via a bearing. It is preferable that the stationary state maintaining device includes a drive body for moving the tube along the axis, the drive body and the engagement device being drivingly connected to each other so as to be rotatable relative to each other around the axis by a stationary state maintaining device, the stationary state maintaining device including a rotation drive body provided on the drive body, a driven body provided on the engagement device for rotating the engagement device in the opposite direction around the axis relative to the drive body, a relative rotation sensor for detecting deviation between the drive body and the driven body around the axis, and a control device for rotating the rotation drive body in a predetermined direction at a predetermined speed based on the output of the relative rotation sensor, and the drive body is held stationary by the stationary state maintaining device.
It is also preferable that the rotation drive device includes a pinion gear, the driven body includes an internal gear, and the pinion gear rotates and drives the internal gear.
Furthermore, it is preferable that the relative rotation sensor includes a tooth sensor that detects the teeth of the internal gear.
It is also preferable that the rotation drive device, the drive body, and the control device are housed in a sealed container.
It is also preferable to include a depth sensor.

First Embodiment A civil engineering work apparatus 100 according to a first embodiment of the present invention will be described with reference to FIGS.
A civil engineering work device 100 according to the present invention is inserted into a casing tube 102 and has a function of performing civil engineering work such as excavation together with the casing tube 102.

First, the casing tube 102 will be described mainly with reference to FIG.
As is well known, the casing tube 102 is a metal cylinder having a predetermined length LC (height) and diameter DC, and a drilling bit 104 is attached to the lower end thereof. The casing tube 102 is rotated around the casing tube axis CLC by the tubing device 106 while being pushed into the soil 108. Thus, the casing tube 102 has an outer peripheral surface 102o, an inner peripheral surface 102i, a lower end opening 102b, and an upper end opening 102u. The tubing device 106 is equipped with a casing rotation speed sensor 106S for detecting the rotation speed of the casing tube 102. The casing rotation speed sensor 106S outputs casing rotation number information 290. If the amount of pushing into the soil 108 exceeds a predetermined ratio to the length LC of the casing tube 102, the casing tube 102 of the same configuration is connected in series to extend it. The civil engineering work device 100 is suspended from a rope 120 that is hooked onto a hook 110 at the tip of a hanging body 116 that hangs down from the tip of a boom 114 of a crane 112 , and is disposed within the casing tube 102 .

Next, the construction work device 100 will be described mainly with reference to FIG.
The civil engineering work device 100 has a function of receiving a rotational force by engaging with an inner circumferential surface 102i of the casing tube 102 within the casing tube 102, and actuating the attachment 118. In this embodiment 1, the civil engineering work device 100 includes a drive device 122, an engagement device 124, an engagement body interlocking device 126, a stationary state maintaining device 128, a control device 262, and the attachment 118.

First, the driving device 122 will be described with reference to FIGS.
The driving device 122 is suspended from the hanging body 116 via the rope 120, and has a function of supporting the engagement body interlocking device 126 so as to be movable in the vertical direction. Furthermore, the driving device 122 has a function of being maintained in a stationary state by a stationary state maintaining device 128. Therefore, the driving device 122 is not limited to this embodiment 1, and other structures having similar functions can be adopted. In this embodiment 1, the driving device 122 includes a driving device housing 132, a driving body 134, and a rotation driving device 136.

First, the drive unit housing 132 will be described.
The driving device housing 132 has a function of accommodating at least the driving body 134 and the rotation driving device 136. In the first embodiment, a control device 262 is further provided.
In the first embodiment, the drive unit housing 132 is formed into a cylindrical shape as a whole, and includes a top plate 138, a side plate 142, and a bottom plate 144.

The top plate 138 is in the shape of a thick disk, and has a base plate 146 fixed to its upper surface for connection to the cables 120. In this embodiment 1, through holes 148 are drilled in the top plate 138 and the base plate 146. A flexible pipe 152 for supplying compressed air and a power cable 154 are passed through the through hole 148. In this embodiment 1, the power cable 154 is disposed inside the flexible pipe 152.
A hole 158 for passing the cable 120 is formed in the upper end of the base plate 146 on the housing axis CLF.

The side plate 142 is formed into a vertical cylindrical shape using a plate-like body having a predetermined thickness. The upper end of the side plate 142 is fixed to the disk-shaped top plate 138, and the lower end is fixed to the disk-shaped bottom plate 144, forming a cylindrical housing space 156 within the drive unit housing 132.

A hydraulic pump 162, a hydraulic tank 164, and an electric motor 166 are arranged in the housing space 156. The hydraulic pump 162 is driven by the electric motor 166, which receives power via a power cable 154 drawn in from the through hole 148, and sends hydraulic oil stored in the hydraulic tank 164 at a predetermined pressure to the driver 134, which will be described later.

The bottom plate 144 is a disk-shaped plate with a predetermined thickness, which is fixed to the lower end of the side plate 142 and closes the lower end of the housing space 156. A through hole 168 is formed in the center of the bottom plate 144.

The housing space 156 is sealed and configured to prevent fluid from entering from the outside. In addition, compressed air is supplied via flexible pipe 152, actively preventing fluid from entering from the outside. Therefore, compressed air exceeding the pressure applied from the outside is supplied to the housing space 156.

Next, the driver 134 will be described.
The driver 134 has a function of driving the engagement body interlocking device 126. Therefore, the driver 134 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the driver 134 is a hydraulic cylinder 172 serving as a hydraulic actuator 170. The hydraulic cylinder 172 is attached to a mounting mechanism 174, the upper end of which is attached to the lower surface of the top plate 138, so as to be able to swing. The axis of the hydraulic cylinder 172 is installed so as to coincide with the housing axis CLF of the drive device housing 132. The hydraulic cylinder 172 moves a piston rod 178 in and out by hydraulic oil pumped from the hydraulic pump 162 through a hydraulic hose 176. In other words, the piston rod 178 is selectively moved up and down by the hydraulic oil. A connecting portion 180 for operating the engagement body interlocking device 126 is provided at the lower end, which is the tip of the piston rod 178. In the first embodiment, the hydraulic pump 162 and the electric motor 166 are installed in the drive unit 122, but the hydraulic oil may be pumped from the hydraulic pump 162 installed outside the casing tube 102 to the hydraulic cylinder 172 via a hydraulic hose (not shown). When the hydraulic pump 162 is installed in the drive unit housing 132, the pressure loss of the hydraulic oil is reduced and the hydraulic hose 176 can be shortened, resulting in a low-cost configuration.

Next, the side plate 142 will be described.
As described above, the side plate 14 is a cylindrical body whose upper end is fixed to the top plate 138 and whose lower end is fixed to the bottom plate 144, and which can rotate around the housing axis line CLF. The housing axis line CLF of the side plate 14 is approximately coaxial with the casing tube axis line CLC.

Next, the engagement device 124 will be described.
The engagement device 124 has a function of receiving power by engaging the engagement body 184 with the inner peripheral surface 102i of the casing tube 102. Therefore, the engagement device 124 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the engagement device 124 includes the engagement body 184 indirectly attached to the engagement base 182 and the back surface protrusion 202. In this embodiment 1, a total of four engagement bodies 184 are arranged point symmetrically with respect to the engagement device axis CLB, which is the axis of the drive shaft 226, but the same parts are given the same reference numerals and description thereof will be omitted.

First, the engagement base 182 will be described.
The engagement base 182 has a function of supporting the engagement body 184 movably in the radial direction of the casing tube 102 via the engagement body interlocking device 126. Therefore, the engagement base 182 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the engagement base 182 is a thick-walled cylindrical shape, and a base through hole 192 having a predetermined diameter is formed in the center. Furthermore, base protrusions 194 for supporting the operating link 190 and the engagement body guide 188 constituting the engagement body interlocking device 126 are formed radially from the circumferential surface of the engagement base 182 with a predetermined length. It is preferable that at least two or more base protrusions 194 are formed at equal angles to the engagement device axis CLB of the engagement base 182. That is, the number of engagement bodies 184 is determined so that the power transmission force determined by the contact area, pressure contact force, and friction coefficient between the engagement body 184 and the inner circumferential surface 102i is sufficient, and therefore the number of base protrusions 194 is set corresponding to the number of the engagement bodies 184. In the first embodiment, the base ribs 194 are four in number, and are ribs extending along the engagement device axis CLB and having a square horizontal cross section. As will be described later, the engagement base 182 is rotatably provided on the lower end of the drive shaft 226 via a second bearing 218. The housing axis CLF and the engagement device axis CLB are substantially coaxial.

Next, the engagement body 184 will be described.
The engaging bodies 184 come into contact with the inner circumferential surface 102i of the casing tube 102, receive a rotational force about the casing tube axis CLC of the casing tube 102, and transmit the rotational force to the engaging body interlocking device 126, and therefore to the attachment 118. Therefore, the engaging bodies 184 are not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the engaging bodies 184 are provided in four individually corresponding to the four base protrusions 194, and the structures of the engaging bodies 184 are configured identically. Identical parts of the engaging bodies 184 will be described with the same reference numerals.
3, the engaging body 184 is rectangular in front view and has a predetermined thickness, and an engaging surface 196 facing the inner peripheral surface 102i of the casing tube 102 is formed as an arcuate surface having the same curvature as the inner peripheral surface 102i. The engaging body 184 is attached to the engaging base 182 by the engaging body interlocking device 126 so as to be movable toward and away from the engaging base 182 while maintaining a state approximately parallel to the engaging device axis CLB. The rear surface protrusion 202 is common to the structure of the engaging body interlocking device 126, and will be described in detail in the description of the engaging body interlocking device 126.

Next, the engagement body interlocking device 126 will be described with reference mainly to FIGS.
The engagement body interlocking device 126 has a function of supporting the engagement body 184 so that the engagement body 184 moves substantially parallel to the inner peripheral surface 102i side by the engagement body interlocking device 126. Therefore, the engagement body interlocking device 126 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, an engagement body interlocking device 126 is provided for each of the four engagement bodies 184. The four engagement body interlocking devices 126 have the same configuration.
In the first embodiment, the engagement body interlocking device 126 includes an engagement base 182 , an operating link 190 , a base rib 194 , a first support shaft 198 , a back rib 202 , a second support shaft 204 , and an engagement body guide 188 .

Next, the engagement base 182 will be described.
The engagement base 182 has a function of moving the engagement body 184 of the engagement device 124 toward the inner peripheral surface 102i of the casing tube 102 or moving it away from the inner peripheral surface 102i. Therefore, the engagement base 182 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the engagement base 182 is cylindrical, and a hole is formed in the bearing storage chamber 224. The engagement base 182 is supported on the lower end of the drive shaft 226 via the second bearing 218 so as to be rotatable around the engagement device axis CLB and immovable in the axial direction. A vertical base protrusion 194 is integrally formed on the outer peripheral surface of the engagement base 182. When the engagement base 182 is moved upward, the engagement body 184 is brought into surface contact with the inner peripheral surface 102i via the operating link 190. When the engagement base 182 moves downward, the engagement body 184 is moved via the operating link 190 in a direction away from the inner circumferential surface 102i.
An attachment mounting portion 234 is provided on the lower surface of the engagement base 182 .

Next, the base ridge 194 will be described.
The base protrusions 194 have the function of supporting the operating link 190 rotatably relative to the engagement base 182. Therefore, the base protrusions 194 are not limited to the first embodiment, and other structures having a similar function may be adopted. In the first embodiment, the base protrusions 194 are vertical protrusions formed radially on the outer circumferential surface of the engagement base 182 and having a rectangular cross section.

Next, the actuation link 190 will be described.
The operating link 190 has a function of moving the engaging body 184 toward or away from the engaging device axis CLB by the vertical movement of the engagement base 182, and therefore the base protrusion 194, along the engaging device axis CLB. Therefore, the operating link 190 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the operating link 190 is a flat plate disposed on both sides of the base protrusion 194 and the back surface protrusion 202.

Next, the first support shaft 198 will be described.
The first support shaft 198 has a function of rotatably supporting the operating link 190 on the base ridge 194. Therefore, the first support shaft 198 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the first support shaft 198 is a cylindrical support shaft that protrudes from the base ridge 194.

Next, the rear surface protrusions 202 will be described.
The rear protrusion 202 has a function of supporting the operating link 190 rotatably relative to the engagement body 184. Therefore, the rear protrusion 202 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the rear protrusion 202 is a protrusion formed vertically on the rear surface of the engagement body 184 and having a square cross section.

Next, the second support shaft 204 will be described.
The second support shaft 204 has a function of supporting the operating link 190 on the rear ridge 202 so as to be rotatable. Therefore, the second support shaft 204 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the second support shaft 204 is a cylindrical support shaft protruding from the rear ridge 202, and is disposed above the first support shaft 198. Therefore, when the engagement base 182 is moved upward, the first support shaft 198 is also moved upward, and the operating link 190 is rotated clockwise around the first support shaft 198, so that the second support shaft 204, and therefore the engagement body 184, are moved in a direction away from the engagement device axis CLB.

Next, the engagement body guide 188 will be described with reference to FIG.
The engaging body guide 188 has a function of guiding the engaging body 184 so as to linearly approach and separate from the inner peripheral surface 102i of the casing tube 102, and a function of preventing the back surface protrusion 202 from being significantly twisted with respect to the link bearing 208 when the engaging body 184 is rotated by the casing tube 102. Therefore, the engaging body guide 188 is not limited to the first embodiment, and other structures having similar functions can be adopted. In the first embodiment, the engaging body guide 188 is composed of a pair of plate-like bodies having one end fixed to both sides of the base protrusion 194, and is disposed above the base protrusion 194. In detail, the engaging body guide 188 is composed of a right engaging body guide 188R fixed to the right side surface of the base protrusion 194, and a left engaging body guide 188L fixed to the left side surface. In other words, the engaging body guide 188 is disposed in a fixed state on both sides of the base protrusion 194.

Next, the engagement body support device 206 will be described mainly with reference to FIGS.
The engagement body support device 206 has a function of supporting the engagement body interlocking device 126. Therefore, the engagement body support device 206 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the engagement body support device 206 is disposed on the lower side of the bottom plate 144 opposite to the upper part of the drive shaft 226, fixed to the outer ring of the first bearing 228, and supported so as to be rotatable around the engagement device axis CLB via the first bearing 228 and relatively movable in the axial direction of the drive shaft 226. Specifically, the engagement body support device 206 includes a support body 210, a link bearing 208, a first link shaft 212, a link body 214, a second link shaft 216, and a first bearing 228.

Next, the support 210 will be described.
The support 210 has a function of supporting the link bearing 208, and therefore the engagement body 184, in a floating state with respect to the drive shaft 226. Therefore, the support 210 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the support 210 is a cylindrical body that is fitted around the drive shaft 226 and is fixed to the outer ring of the first bearing 228. The inner ring of the first bearing 228 is fixed to a sleeve 222 that is slidably fitted around the upper part of the drive shaft 226. This allows the engagement body support device 206 to rotate around the drive shaft 226 and to slide in the axial direction. In other words, the engagement body support device 206 can rotate relatively to the drive device 122, but cannot move relatively in the thrust direction.

Next, the link bearing 208 will be described.
The link bearing 208 has a function of supporting the link body 214, and therefore the engagement body 184, so that they can move toward and away from each other in the radial direction with respect to the engagement device axis CLB. In this embodiment 1, the link bearing 208 is a vertically oriented trapezoidal block body with a rectangular cross section fixed to the outer surface of the support body 210 supported by the outer ring of the second bearing 218 attached to the drive shaft 226.

Next, the first link shaft 212 will be described.
The first link shaft 212 has a function of supporting the link body 214 on the link bearing 208 so that the link body 214 can freely swing.
In the first embodiment, the first link shaft 212 is a known cylindrical pin.

Next, the link body 214 will be described.
The link body 214 has a function of pivotally supporting the engagement body 184. In this embodiment 1, the link body 214 is H-shaped in a front view, and has an upper end portion rotatably supported on a link bearing 208 by a first link shaft 212, and an upper end portion of the back surface protrusion 202 of the engagement body 184 is pivotally supported on a lower end portion by a second link shaft 216.

Next, the second link shaft 216 will be described.
The second link shaft 216 has a function of supporting the engagement body interlocking device 126 so as to be rotatable about the engagement device axis CLB and to be movable toward and away from the engagement device axis CLB in the radial direction. In the first embodiment, the second link shaft 216 is a known cylindrical pin.
In the first embodiment, the second link shaft 216 rotatably supports the upper end of the rear surface protrusion 202 on the lower end of the link body 214 .

With this configuration, when the engagement base 182 is moved upward, the first support shaft 198 moves upward, so that the operating link 190 rotates around the first support shaft 198, and the second support shaft 204 is pushed in a direction away from the engagement device axis CLB. As a result, the back surface protrusion 202 is guided by the engagement body guide 188 and pushed in a direction away from the engagement device axis CLB. At this time, since the back surface protrusion 202 is also supported by the second link shaft 216, it is moved toward and away from the engagement device axis CLB while maintaining a substantially vertical state. As a result, the engagement body 184 is moved upward or downward with the first support shaft 198 as a fulcrum, and is brought into and out of contact with the inner peripheral surface 102i in a floating state. Therefore, when the engagement base 182 is moved upward, the engagement surface 196 is in surface contact with the inner peripheral surface 102i. The floating state of the engagement body 184 refers to a state in which the engagement body 184 can move freely in two dimensions.

When the engagement base 182 is moved downward, the base ridge 194, and therefore the first support shaft 198, are also moved downward, causing the operating link 190 to rotate relative to the first support shaft 198. As a result, the second support shaft 204 is moved closer to the engagement device axis CLB, and the back ridge 202, and therefore the engagement body 184, are also moved in the same direction and separated from the inner circumferential surface 102i.

Next, it includes an attachment mounting portion 234 .
The attachment mounting portion 234 has a function to mount the attachment 118. Therefore, the attachment mounting portion 234 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the attachment mounting portion 234 is provided on the engagement base 182. In other words, the upper end of the attachment 118 is fixed to the lower end of the engagement base 182.
In this embodiment, the attachment 118 is an excavation bucket 220. The attachment 118 can be appropriately replaced with an earth auger, a hammer grab, or other attachments for civil engineering work.

Next, the drive shaft 226 will be described.
The drive shaft 226 has a function of pressing the engagement body 184 against the inner peripheral surface 102i or moving it away from the inner peripheral surface 102i. Therefore, the drive shaft 226 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the drive shaft 226 is attached to the connecting portion 180 at the lower end of the piston rod 178 of the hydraulic cylinder 172, which is the hydraulic actuator 170 serving as the driver 134, and has a function of supporting the engagement base 182 so as to be relatively rotatable around the engagement device axis CLB. Therefore, the drive shaft 226 is not limited to this embodiment 1, and other structures having a similar function can be adopted. In this embodiment 1, the drive shaft 226 is a straight round rod having a predetermined diameter, and is attached so as to be freely swingable by a connecting pin 238 inserted through a pin hole 236 at the upper end. A second bearing 218 is attached to the lower end of the drive shaft 226.

Next, the second bearing 218 will be described.
The second bearing 218 has a function of supporting the engagement base 182 rotatably around the engagement device axis CLB with respect to the drive shaft 226. Therefore, the second bearing 218 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the second bearing 218 is preferably a rolling bearing, for example, a thrust bearing, and an inner ring of the second bearing 218 is fixed to the lower end of the drive shaft 226, and an outer ring is fixed to the engagement base 182. In other words, the engagement base 182 is attached to the lower end of the drive shaft 226 via the second bearing 218 so as to be rotatable and immovable in the thrust direction.

Next, the stationary state maintaining device 128 will be described.
The stationary state maintaining device 128 has a function of maintaining the drive device 122 substantially stationary by rotating the drive device 122 in the opposite direction by the rotation drive device 136, while the drive device 122 is rotated about the engagement device axis CLB by a torque in a predetermined direction acting on the drive shaft 226 from the casing tube 102 via the engagement body 184, the first bearing 228 and the second bearing 218. Therefore, the stationary state maintaining device 128 is not limited to the first embodiment, and other structures having a similar function can be adopted.
In the first embodiment, the stationary state maintaining device 128 includes a rotation driving device 136 , a moved body 256 , a relative rotation sensor 258 , and a control device 262 .

First, the rotation drive device 136 will be described.
The rotation drive device 136 has a function of rotating the drive device 122 relatively to the engagement body interlocking device 126, and therefore the engagement device 124, about the engagement device axis CLB via the driven body 256, and maintaining the drive device 122 substantially stationary. In the first embodiment, the rotation drive device 136 includes a motor 264 and a transmission device 266.

Next, the motor 264 will be described.
The motor 264 has a function of rotating the pinion gear 274 at a predetermined speed. Therefore, the motor 264 is not limited to the motor of the first embodiment, and other structures having similar functions can be adopted. In the first embodiment, a servo motor, which is an AC or DC electric motor capable of controlling the rotation speed, stop position, etc., is used, and the start/stop of the rotation and the rotation speed are controlled by the control device 262. As the motor 264, a stepping motor, which is a type of servo motor, a hydraulic motor, or an air motor can be used.

Next, the transmission device 266 will be described.
The transmission device 266 has a function of transmitting the rotation of the motor 264 to the driven body 256. Therefore, the transmission device 266 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the transmission device 266 includes a reducer 268, an output shaft 272, and a pinion gear 274.

Next, the reducer 268 will be described.
The reducer 268 has a function of reducing the rotation speed of the motor 264 to rotate the output shaft 272. Therefore, if the function of the reducer 268 can be performed by the motor 264, it is not necessary to use the reducer 268. In the present embodiment 1, a gear reducer is used.

Next, the output shaft 272 will be described.
The output shaft 272 has a function of transmitting the rotation of the reducer 268 to the pinion gear 274. In the first embodiment, a known rotating shaft is used.

Next, the pinion gear 274 will be described.
The pinion gear 274 has a function of rotating the driven body 256. Therefore, the pinion gear 274 is not limited to the first embodiment, and other structures having a similar function can be adopted. In the first embodiment, the pinion gear 274 is a known gear.

Next, the moved body 256 will be described.
The driven body 256 has a function of receiving a driving force from the transmission device 266 to rotate the engagement body support device 206. In other words, it has a function of rotating the driving device 122 in the opposite direction to the rotation of the engagement device 124. In this embodiment 1, the driven body 256 is an internal gear 276 that is fixed to the upper surface of the support body 210 that constitutes the engagement body support device 206 and meshes with the pinion gear 274. However, when a chain is used as the transmission device 266, a sprocket can be used.

Next, the relative rotation sensor 258 will be described with reference to FIG.
The relative rotation sensor 258 has a function of detecting a deviation in the positional relationship between the engagement body support device 206 and the drive device 122. In the present embodiment 1, the relative rotation sensor 258 has a function of detecting a difference in the number of rotations between the engagement body support device 206 and the drive device 122. Therefore, the relative rotation sensor 258 is not limited to the present embodiment 1, and other structures having a similar function can be adopted. In the present embodiment 1, the relative rotation sensor 258 is composed of a tooth sensor 278 provided on the drive device 122 side and an internal gear 276 which is a locking device detected body 280.
The tooth sensor 278 detects the teeth 276T of the internal gear 276, which is the locking device detection object 280, and outputs a tooth detection signal RS. For example, the tooth sensor 278 outputs the tooth detection signal RS every time it detects the tooth 276T, and does not output the tooth detection signal RS while it does not detect the tooth 276T. Therefore, the tooth detection signal RS is output as a pulse signal, and the number of tooth detection signals RS in a predetermined time can be counted to detect the number of rotations of the internal gear 276. The state in which the internal gear 276 rotates is a state in which the locking body 184 is in pressure contact with the inner peripheral surface 102i of the casing tube 102 and the engagement body support device 206 is rotated together with the engagement body 184. Therefore, by detecting the rotation speed of the internal gear 276, the difference in the relative rotation speed between the driver 134 and the engagement body support device 206 can be detected.

Next, the gyro sensor 130 will be described mainly with reference to FIG.
The gyro sensor 130 has a function of detecting the acceleration acting on the driving device 122. The gyro sensor 130 is preferably capable of detecting three-dimensional acceleration in the X, Y, or Z directions of the driving device 122, and therefore the driving device housing 132. The X direction is the horizontal direction, the Y direction is the vertical direction, and the Z direction is the depth direction. The gyro sensor 130 is only required to be able to detect acceleration in at least the X direction. The X direction is a direction perpendicular to the engagement device axis CLB (housing axis CLF). In this embodiment 1, the gyro sensor 130 is appropriately selected from among the known rotation type using the gyro effect, the vibration type or gas type using the Coriolis force, or the optical type using the Sagnac effect. In this embodiment 1, the gyro sensor 130 is disposed in the housing space 156. The gyro sensor 130 is preferably disposed on the housing axis CLF. In this embodiment 1, the gyro sensor 130 is attached to the upper end of the mounting portion 172U of the hydraulic cylinder 172.
By the rotation of the casing tube 102, the engagement device 124, the engagement body interlocking device 126, and the engagement body support device 206 are rotated around the engagement device axis CLB in the same direction as the casing tube 102. This rotation is caused by frictional contact at the first bearing 228 and the second bearing 218, and a torque in the same direction acts on the drive shaft 226 around the engagement device axis CLB via the sleeve 222, etc. Therefore, since the upper end of the drive shaft 226 is connected to the drive device 122 via the connecting portion 180, the drive body 134, the mounting portion 172U, and the mounting mechanism 174, the drive device 122 is rotated in the same direction.
Therefore, the gyro sensor 130 can output the direction of rotation from the detected acceleration.
Based on the output of the gyro sensor 130, the control device 262 controls the rotation of the rotation drive device 136 based on the output related to the number of rotations from the relative rotation sensor 258 so that the drive device 122 maintains a stationary state, thereby maintaining the stationary state of the drive device 122. When a gyro sensor 130 that outputs three-dimensional acceleration is used as the gyro sensor 130, it is possible to output acceleration in the X-direction, Y-direction, and Z-direction, and therefore the three-dimensional attitude of the drive device 122 can be detected.

The control device 262 will now be described with reference to FIG.
The control device 262 has a function of receiving outputs from the relative rotation sensor 258 and the gyro sensor 130 described later, and rotating the drive device 122 in the opposite direction by the rotation drive device 136, thereby substantially keeping the drive device 122 stationary. Therefore, the relative rotation sensor 258 is not limited to the first embodiment, and other structures having similar functions can be adopted. In the first embodiment, the control device 262 further has a function of estimating the amount of excavation by the attachment 118 by calculation using the depth sensor 282 and outputting the amount, and a function of outputting the excavation position using the positioning sensor 284.
In the first embodiment, the control device 262 is configured by a microcomputer and is controlled by a program based on a predetermined algorithm. In the first embodiment, the control device 262 is disposed in the housing space 156, but it can also be disposed on the ground outside the casing tube 102. When the control device 262 is disposed outside the casing tube 102, it is connected to the gyro sensor 130 and the rotary drive device 136 by wire or wirelessly. Power is supplied to each device installed in the drive device 122 and signals are communicated via electric wires disposed in the flexible pipe 152.
In the first embodiment, the control device 262 receives outputs from the gyro sensor 130, the relative rotation sensor 258, the depth sensor 282 and the positioning sensor 284, outputs a control signal to the motor 264, and outputs the excavation volume and the excavation position to the terminal device 286. The terminal device 286 displays the estimated excavation volume and the excavation position on a display device 288. The control device 262 and the terminal device 286 can exchange information using, for example, an Internet line.

Next, the depth sensor 282 will be described with reference to FIG.
The depth sensor 282 has a function of detecting the depth excavated by the attachment 118. Therefore, the depth sensor 282 is not limited to the embodiment 1, and other structures having similar functions can be adopted. In the embodiment 1, the depth sensor 282 detects the rotation angle of the winding reel 292 of the flexible pipe 152 by the rotation angle sensor 294, and indirectly outputs the excavation depth, which is the excavated length. In other words, when the excavation of the attachment 118 progresses, the flexible pipe 152 is pulled out in association with the excavation. Since the winding reel 292 is rotated by the pulling out of the flexible pipe 152, the pulled out length of the flexible pipe 152 can be calculated by detecting the rotation angle of the winding reel 292, and output as the excavation depth information 302.

Next, the positioning sensor 284 (Global Positioning System) will be described.
The positioning sensor 284 is a known positioning sensor capable of three-dimensional positioning (X latitude, Y longitude, and Z height). In this embodiment 1, the positioning sensor 284 is disposed on the upper surface of the top plate 138 and on the housing axis CLF. This can improve the accuracy of civil engineering work. However, the positioning sensor 284 can be attached to the top plate 138 or the bottom plate 144. It is preferable that the construction position information 304 from the positioning sensor 284 is transmitted to the terminal device 286 wirelessly or by wire, and the three-dimensional positioning information is visualized. There is an advantage that abnormal signs or abnormal conditions of excavation can be quickly grasped from the construction position information 304 as the three-dimensional positioning information. In addition, the construction position information 304 from the positioning sensor 284 can obtain information on the excavation position and excavation direction, etc., so that the accuracy of civil engineering work can be improved. For example, by measuring the excavation direction of the attachment 118, an abnormality in the excavation direction can be immediately detected. It is preferable that the construction position information 304 from the positioning sensor 284 be recorded in chronological order in an information recording device so that it can be reconfirmed.

Next, the terminal 286 will be described with reference to FIG.
The terminal 286 has a function of receiving an output from the control device 262 and displaying predetermined information. Therefore, the terminal 286 is not limited to the present embodiment 1, and other devices having similar functions can be adopted. In the present embodiment 1, the terminal 286 is a smartphone, and its display device 288 displays, for example, the casing tube rotation speed 290 from the casing rotation speed sensor 106S, relative rotation speed information 298 output from the relative rotation sensor 258, excavation depth information 302 output from the depth sensor 282, construction position information 304 of western longitude and northern latitude output from the positioning sensor 284, date and time information 306 at the time of positioning by the gyro sensor 130, and altitude information 308 in meters output from the positioning sensor 284, as well as the construction plan position and construction position information 306. It is preferable to display the construction position set difference information 326, which is the difference in latitude and longitude from the information 304, the zero set depth difference information 328, which is depth information in meters from the time when the depth sensor 282 was reset to zero, the corrected rotation speed 332, which is the unit of rotation/minute obtained by subtracting the relative rotation speed information 298 from the casing tube rotation speed 290, and the attitude information 334, which is calculated from the gyro acceleration information 296, which is the acceleration information in the X, Y, and Z directions from the gyro sensor 130, to calculate the attitude information (coordinates) in the X, Y, and Z directions. However, it is possible to select and display one or more of these pieces of information. The administrator can determine abnormalities, etc. from these pieces of information displayed on the display device 288 and take appropriate action.

Next, the operation of the civil engineering work device 100 according to the first embodiment when performing excavation work will be described with reference mainly to the flow chart of FIG.
The civil engineering work device 100 is suspended by pulling the cable 120 through a hole 158 formed in a base plate 146 fixed to the driving device 122 and engaging with the hook 110 at the lower end of the suspension body 116. By lifting the suspension body 116, the civil engineering work device 100 is suspended from the suspension body 116, and then inserted into the casing tube 102 from the upper end opening 102u and lowered until the tip of the attachment 118 lands on the bottom of the excavation hole. In this state, the housing axis CLF of the driving device 122, the engagement device axis CLB of the engagement device 124, and the axis of the attachment 118 are positioned substantially on a straight line. The engagement body 184 is positioned on a circle slightly smaller than the diameter DC (FIG. 2) of the casing tube 102. Therefore, the housing axis CLF, the engagement device axis CLB, and the axis of the attachment 118 substantially overlap with the casing tube axis CLC.

In this state, first, in step S1, the gyro sensor 130 is initialized, and then the process proceeds to step S2. That is, the positional relationship between the drive device 122 and the engagement device 124 immediately before excavation by the attachment 118 is set. Specifically, the accelerations in the X-, Y-, and Z-directions of the gyro sensor 130 are reset to zero. In addition, the relative rotation sensor 258 and the depth sensor 282 are also reset to zero.
Next, in step S2, the drive shaft 226 is raised by the hydraulic cylinder 172 to bring the engagement surface 196 of the engagement body 184 of the engagement device 124 into pressure contact with the inner circumferential surface 102i of the casing tube 102, and then the process proceeds to step S3.

The upward movement of the piston rod 178 in step S2 pulls up the drive shaft 226. The upward movement of the drive shaft 226 moves the engagement base 182, which constitutes the engagement body interlocking device 126, upward. When the engagement base 182, and therefore the first support shaft 198, is moved upward, the operating link 190 is rotated around the first support shaft 198, and the second support shaft 204, and therefore the engagement body 184, is pushed in a direction away from the engagement device axis CLB. This causes the engagement body 184 to be pressed against the inner surface 102i of the casing tube 102. The drive shaft 226 is pulled up by the piston rod 178 of the hydraulic cylinder 172 until this pressure contact force reaches a predetermined value, in other words, until the friction force between the engagement surface 196 and the inner surface 102i becomes a friction force that does not cause slippage.

Next, in step S3, the casing tube 102 is rotated in a predetermined direction around the casing tube axis CLC, and the process proceeds to step S4. When the casing tube 102 is rotated, the engagement body 184, and therefore the engagement base 182, in other words, the attachment 118, are rotated around the casing tube axis CLC (engagement device axis CLB). Similarly, the engagement body support device 206 is rotated around the casing tube axis CLC (engagement device axis CLB) via the second link shaft 216. When a rotational force in the same direction acts on the drive shaft 226 via the second bearing 218 and the support body 210 and the second bearing 218 due to the rotation of the engagement base 182 around the engagement device axis CLB, the drive device housing 132 is rotated in the same direction via the piston rod 178, the hydraulic cylinder 172, and the mounting mechanism 174. As a result, the gyro sensor 130 detects acceleration in a predetermined direction, at least in the X direction, and outputs it as gyro acceleration information 296.
On the other hand, the relative rotation sensor 258 outputs relative rotation speed information 298 between the drive device housing 132 and the engagement body 184. That is, the relative rotation sensor 258 counts the number of tooth detection signals RS per unit time from the tooth sensor 278, thereby outputting the relative rotation speed information 298 between the drive device housing 132 and the engagement body 184. In this embodiment 1, the relative rotation speed information 298 is displayed on the display device 288 in rotations per minute (RPM).

Next, in step S4, the casing rotation speed information 290 is obtained from the casing rotation speed sensor 106S, and the process proceeds to step S5.

In step S5, the relative rotation speed information 298 is acquired from the relative rotation sensor 258, and the process proceeds to step S6.

In step S6, the relative rotation speed information 298 is subtracted from the casing rotation speed information 290. If the difference exceeds a predetermined value, the process proceeds to step S7. If the difference does not exceed the predetermined value, the process proceeds to step S8. The predetermined value can be the absolute value of the rotation speed difference or the ratio of the rotation speed difference.

In step S7, the rotary drive device 136 is rotationally driven to rotate the drive device housing 132 relative to the engagement body 184 at a predetermined speed in a direction that eliminates the difference in rotation speed, and the process proceeds to step S8. The rotation direction of the rotary drive device 136 is determined based on the gyro acceleration information 296 of the gyro sensor 130. By rotating the rotary drive device 136 in a direction that eliminates the difference in rotation speed, the difference between the casing rotation speed information 290 and the relative rotation speed information 298 falls within a predetermined range.

In step S8, it is determined whether the excavation depth information 302 from the depth sensor 282 has reached a predetermined depth or a stop signal has been received. If the predetermined depth has been reached and a stop signal has been received, the process proceeds to step S9. If the predetermined depth has not been reached or a stop signal has not been received, the process returns to step S4. The stop signal is output by pressing a manual stop button (not shown).

In step S9, the rotation of the casing tube 102 is stopped, and the process proceeds to step S10.
When the excavation depth information 302 reaches a predetermined depth, it means that the attachment 118 has excavated a predetermined amount of earth and sand, and excavation must be stopped in order to discharge the earth and sand. Whether the amount of earth and sand excavated reaches the predetermined amount can be detected by an excavation amount sensor arranged in the attachment 118. Also, if a problem occurs, a stop signal is output by manually pressing a stop button.

In step S10, the hydraulic cylinder 172 is operated to move the piston rod 178 downward, and then the process proceeds to step S11. This causes the engagement base 182, and therefore the first support shaft 198, to move downward, and the operating link 190 is rotated counterclockwise around the first support shaft 198, so that the second support shaft 204, and therefore the engagement body 184, moves away from the inner circumferential surface 102i. This allows the civil engineering work device 100 to be lifted up from within the casing tube 102.

In step S11, the civil engineering work equipment 100 is pulled up from inside the casing tube 102, allowing the soil and sand to be discharged.

The engagement body interlocking device 126 can be configured using a cam.

Next, a second embodiment of the present invention will be described with reference to FIGS.
The difference between the second embodiment and the first embodiment is that the drive shaft 226 is moved via the support 310 by the drive body 134 attached to the bottom plate 144 of the drive device housing 132 .
For ease of explanation, the same parts as those in the first embodiment are denoted by the same reference numerals and their explanations are omitted, and only different configurations will be explained.

The drive shaft 226 in the second embodiment is formed with a locking portion 312. In the second embodiment, the locking portion 312 is a ring-shaped locking groove having a predetermined width formed on the upper end of the drive shaft 226.

Next, the support 310 will be described.
The support 310 has a function of transmitting the force of the driver 134 to the drive shaft 226. In other words, the driver 134 and the drive shaft 226 are attached to the support 310, and the support 310 is moved by the driver 134 and has a function of moving the drive shaft 226.
In the second embodiment, the support 310 is configured with a drive shaft fixing portion 314 for the drive shaft 226 and a driver fixing portion 316 for the driver 134 .

Next, the drive shaft fixing portion 314 will be described.
In this second embodiment, the support 310 is composed of a pair of plate-like bodies, a first support 3101 and a second support 3102. A semicircular first drive shaft recess 3181 and a second drive shaft recess 3182 are formed facing each other in the centers of the first support 3101 and the second support 3102, and the first drive shaft recess 3181 and the second drive shaft recess 3182 embrace and fix the locking portion 312 of the drive shaft 226.

Next, the driver fixing portion 316 will be described.
The driver fixing portion 316 has a function of attaching the driver 134 to the support 310. In this embodiment 2, the driver fixing portion 316 is composed of a first driver fixing portion 3161 and a second driver fixing portion 3162.
The first driver fixing portion 3161 is constituted by a first driver shaft recess 3221 formed in the first support 3101 and a second driver shaft recess 3241 formed in the second support 3102 .
The second driver fixing portion 3162 is constituted by a first second driver recess 3222 formed in the first support 3101 and a second second driver recess 3242 formed in the second support 3102 .

Next, the driver 134 in the second embodiment will be described.
The driving body 134 is composed of a first driving body 1341 arranged on one side of the driving shaft 226 and a second driving body 1342 arranged on the other side. In this embodiment 2, single-acting hydraulic cylinders are used for the first driving body 1341 and the second driving body 1342, and their lower ends are fixed to the bottom plate 144 at symmetrical positions across the driving shaft 226.
The tip end of the first rod 3261 of the first driver 1341 is received in the first driver recess 3221 and the first driver recess 3241 and is embraced and fixed.
The tip end of the second rod 3262 of the second driving body 1342 is received in, embraced and fixed to the second first driving body recess 3222 and the second second driving body recess 3242. Note that the driving body 134 uses a double-acting hydraulic cylinder, and three or more hydraulic cylinders can be used.

With this configuration, when the first rod 3261 of the first driving body 1341 and the second rod 3262 of the second driving body 1342 are protruded, in other words, when the first rod 3261 and the second rod 3262 are moved upward in FIG. 9, the support 310 is also moved upward, and the driving shaft 226 is also pulled upward. When the first rod 3261 and the second rod 3262 move downward, the driving shaft 226 also moves downward. In this embodiment 2, the downward movement of the driving shaft 226 is performed by the weight of the engagement device 124, the attachment 118, etc. Therefore, the locking body 184 functions in the same way as in the embodiment 1.
In the second embodiment, since there is no need to attach the drive shaft 226 to the top plate 138 of the drive device housing 132, there is an advantage that the gyro sensor 130 can be easily disposed on the housing axis line CLF. In addition, since a single-acting hydraulic cylinder can be used, there is an advantage that the configuration can be made inexpensively.

The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention.

100 Construction equipment
102 Casing tube
102i Inner surface
118 Attachment
122 Drive unit
124 Engagement device
126 Engagement body interlocking device
128 Stationary State Maintenance Device
132 Drive unit housing
134 Driver
136 Rotational Drive Unit
184 Engagement body
218 Second Bearing
226 Drive shaft
228 First Bearing
256 Movement
258 Relative Rotation Sensor
262 Control Device
274 Pinion Gear
276 Internal gear
278 Tooth Sensor
282 Depth sensor support 310
Driver fixing part 316
CLC Casing tube axis
CLB Engagement device axis
CLF housing axis

Claims (5)

A civil engineering work device (100) in which an engagement body (184) disposed in a cylindrical casing tube (102) engages with an inner peripheral surface (102i) of the casing tube (102) to be integrated with the casing tube (102), and an attachment (118) for civil engineering work is operated via the engagement body (184),
A drive device (122) and an engagement device (124) are provided,
The engaging device (124) includes an engaging body interlocking device (126) that moves the engaging body (184) toward and away from the inner circumferential surface (102i) of the casing tube (102);
the engagement body interlocking device (126) moves the engagement body (184) toward and away from the inner circumferential surface (102i) by a drive shaft (226) that is moved along the axis (CLC) of the casing tube (102) via bearings (218, 228);
the drive device (122) is rotatable about the axis of the drive shaft (226) and includes a drive body (134) for moving the drive shaft (226) along the axis of the casing tube (102);
The drive device (122) and the engagement device (124) are drivingly connected to each other so as to be relatively rotatable about the axis line (CLC) by a stationary state maintaining device (128),
The stationary state maintaining device (128) includes a rotation driving device (136) provided on the driving device (122), a driven body (256) provided on the engaging device (124) and rotating the engaging device (124) in an opposite direction around the axis (CLC) relative to the driving device (122), a relative rotation sensor (258) that detects a deviation between the driving device (122) and the driven body (256) around the axis (CLC), and a control device (262) that rotates the rotation driving device (136) in a predetermined direction at a predetermined speed based on an output of the relative rotation sensor (258),
13. The civil engineering work device according to claim 12, wherein the driving device (122) is held stationary by the stationary state maintaining device (128). The rotary drive (136) includes a pinion gear (274);
The driven body (256) includes an internal gear (276),
2. The civil engineering work device according to claim 1, wherein the pinion gear (274) rotates the internal gear (276). 3. The earthmoving tool of claim 2, wherein the relative rotation sensor (258) includes a tooth sensor (278) for detecting teeth of the internal gear (276). 3. The civil engineering work device according to claim 1, wherein the rotary drive device (136) and the drive body (134) are housed in a drive device housing (132) which is a sealed container. 3. An earth moving device according to claim 1 or 2, further comprising a depth sensor (282).

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