JP2000073396A - Ground drilling machine, and method for controlling posture of drilling hole by the machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To arbitrarily correct the bend of a hole of an auger shaft based on the result of measurement by measuring the bend of the hole generated in the auger shaft on the real time basis together with the boring of a hole. SOLUTION: A gyro device 8 provided with a gyro sensor to detect the angle of twist with its base axis in the hole boring direction and a gyro sensor to detect the angle of inclination with the X-axis and Y-axis in the horizontal plane orthogonal to the hole boring direction is fixed to a holding member 4 to connect and hold auger shafts 1A-1C as the base axes. The measurement signal from the gyro device 8 is taken to the ground side through a slip ring provided on a hole boring shaft, one or a plurality of hydraulic jacks 5A, 5B, 6A... for controlling the posture in an advancing/retractable manner to/from a hole-bored wall are arranged on the side position opposite to the holding member 4, and the bend of the hole is corrected by controlling the advancing/ retractable quantity of the hydraulic jacks 5A, 5B, 6A... for controlling the posture based on the measurement signal by the gyro device 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ground drilling machine provided with a plurality of drilling shafts for forming soil cement underground continuous walls or ground improvement bodies in the ground. Drilling posture can be grasped in real time without stopping drilling by
The present invention relates to a ground drilling machine capable of correcting a hole bending generated in a drilling shaft at any time, and a posture control method in the ground drilling machine.

[0002]

2. Description of the Related Art A ground drilling machine of this type is an improved machine in which a single or multi-axis, most often three auger axes are arranged at predetermined intervals along a linear axis array when viewed in a plan view. In the case of a shaft auger, each auger shaft is connected to the tip of the auger shaft in order to regulate the relative position of each auger shaft, and a lower holding means inserted into the ground together with the auger shaft is provided. The auger shaft is supported so that it can move up and down along the guide cell of the base machine running on the ground.Especially in the process of penetrating the ground, the auger puts the earth and sand in place using the auger while discharging cement-based suspension such as cement milk from the discharge port at the tip. A ground hardened body is created while stirring and mixing with. This type of ground drilling machine is used for a continuous underground wall for a retaining wall or a water blocking wall, a ground improvement, and the like.

In the construction of such a ground hole, particularly a continuous underground wall, it is important from the viewpoint of the quality of the wall body to suppress the bending of the hole. In other words, if the purpose of use is a waterproof wall,
Due to the hole bending, the unit column wall constructed by the triaxial auger does not wrap deep in the ground, and the function as a water stop wall is incomplete. On the other hand, in the case of an earth retaining wall, the strength of the wall body becomes uneven and a low-strength portion is present at an appropriate position, which causes a problem. In particular, in recent years, the construction of underground diaphragm walls has been increasing in depth and diameter, and it has become important to ensure the continuity of underground diaphragm walls.

[0004] Therefore, when a continuous wall at a particularly large depth is to be constructed by such a ground drilling machine, or when a hard rock or a gravel layer which is liable to bend is drilled, the drilling of a hole is minimized as shown in FIG. Careful construction has been performed in accordance with the indicated procedures.

After a guide ruler is installed on the ground in order to ensure the accuracy of the core of the wall, a single-axis auger drill machine precedes the hole positions at the left and right ends where the triaxial auger is to penetrate. Drill holes S1, S2, S3 ... are performed. Next, advance drilling S
1, S2 is drilled as a drilling guide hole on both sides of the auger drill of the three-axis auger drilling machine to form the unit row wall 50, and then one span is skipped to form the preceding drilling holes S3, S4 with three-axis auger drilling Drilling is performed as drilling guide holes for both auger shafts on both sides of the machine to form a unit column wall 51, and then the end holes of both wall bodies 50, 51 are removed by drilling guide holes for both auger shafts of the three-axis auger shaft. A continuous wall body is constructed by repeating the procedure of forming the intermediate column wall 52 by drilling while performing the drilling (hereinafter, referred to as a preceding drilling combined use method).

[0006] In this pre-drilling combined use method, drilling by a single-axis auger drilling machine is performed in advance to ensure drilling accuracy by a three-axis auger drilling machine. In the case of drilling with a single-axis auger, if the hole is bent, the hole can be corrected relatively easily by inserting a direction correction guide plate, etc. Therefore, it is possible to improve the accuracy of drilling of the subsequent 3-axis auger shaft. Even when drilling a triaxial auger, the hole is removed by skipping one span and drilling the middle part of the hole while using the end hole that has been drilled as a guide hole to eliminate the unwrapped portion. The body becomes completely continuous.
In addition, the latter lap-type drilling method is a drilling procedure that is conventionally used in the underground wall construction method at a middle depth or a low depth.

The preceding drilling S1, S2,
The precision control during drilling with S3 ... or 3-axis auger is performed by incorporating fixed inclinometers in the X-axis direction and Y-axis direction at the tip of the auger shaft, and measuring them at fixed depths. The tilt angle signal was input to a computer on the ground via a coaxial cable.

[0008]

As is apparent from the above description, in the auger drilling using the preceding drilling method, in the case of deep drilling or when it is desired to improve drilling accuracy, a single-axis auger is required. However, there is a problem in that the prior drilling required for the drilling increases the construction cost and the process is prolonged due to the advance drilling. On the other hand, when the procedure of performing the actual drilling directly with the triaxial auger without performing the preliminary drilling is adopted, there is no specific means for correcting the hole bending of the triaxial auger, so that a uniform continuous wall is constructed. It will not be possible.

On the other hand, in the conventional drilling accuracy control, since a fixed inclinometer built in the tip of the auger shaft is used, measurement cannot be performed while the auger shaft is being rotated. The measurement was performed by temporarily stopping the rotation of the auger shaft. For this reason, there were problems that the drilling speed could not be improved, and that when the measurement was troublesome, the cement-based suspension might cause breathing. Further, in the conventional inclinometer, only the inclination in the X-axis direction and the Y-axis direction can be measured, and as described above, the measurement has to be performed at each predetermined depth. For example, as shown in FIG. Immediately after the previous measurement, the drilling axis starts bending, and at the next measurement depth position, the inclination in the X-axis and Y-axis directions is corrected and the drilling axis becomes vertical again (horizontal direction). In this case, it is impossible to detect even the presence / absence of the hole bending.

Accordingly, a main object of the present invention is to make it possible to measure the bending of a hole in an auger shaft substantially continuously or intermittently at predetermined time intervals in parallel with drilling. It is an object of the present invention to provide a ground drilling machine capable of arbitrarily correcting a hole bending of an auger shaft based on a measurement result to improve the efficiency of ground drilling, and to provide a posture control method in the ground drilling machine.

[0011]

According to a first aspect of the present invention, there is provided a first ground drilling machine having a plurality of drilling shafts arranged at predetermined intervals along a linear shaft row. A non-rotational support that rotatably supports the shaft around the axis, supports the shaft so that it can move forward and backward in the drilling direction, and rotatably connects and holds each drilling shaft at least at the tip of the drilling shaft. In a ground drilling machine comprising a member, a gyro sensor for detecting a torsion angle with a drilling direction as a base axis, with respect to the non-rotating holding member or another non-rotating member externally fitted to the drilling shaft, and A gyro device provided with a gyro sensor for detecting a tilt angle based on an X axis and a Y axis in a horizontal plane orthogonal to the drilling direction is fixed.

In the first ground drilling machine, for example, a gyro device is provided for a non-rotating holding member or the like connecting a drilling shaft in place of a conventional inclinometer. With a gyro device, measurement can be continued even while the drilling axis is moving, and the current drilling axis attitude (azimuth) without stopping drilling work like a conventional inclinometer. (Including torsion)) can be measured in real time. Moreover, since the drilling posture including torsion can be detected, it is possible to grasp the original drilling state extremely accurately.

Further, the second ground drilling machine includes a plurality of drilling shafts arranged at predetermined intervals along a linear shaft row, and supports each of the drilling shafts so as to be rotatable around the axis. In addition, in a ground drilling machine comprising a non-rotating holding member that supports the drilling shaft rotatably at least at the tip of the drilling shaft, supporting the drilling direction to be able to move forward and backward in the drilling direction, A gyro sensor for detecting a torsion angle with the drilling direction as a base axis, and an X-axis in a horizontal plane orthogonal to the drilling direction with respect to the non-rotation holding member or another non-rotational member externally fitted to the drilling shaft. And a gyro device equipped with a gyro sensor for detecting a tilt angle with the Y axis as a base axis,
At least one or more sets of attitude control wall pressing means capable of moving back and forth with respect to the drilling wall are disposed at the side face positions of the non-rotation holding member, respectively, and each of the attitude control wall pressing is based on a measurement signal from the gyro device. It is characterized in that the amount of movement of the means is controlled.

In the second ground drilling machine, there is provided a posture control wall pressing means for correcting a hole bending of the drilling shaft based on the posture information of the drilling shaft. If it is necessary to correct the hole bending, the drilling operation is temporarily stopped or the drilling axis is corrected to the normal position by the attitude control wall pressing means while the drilling operation is continued. In this case, the attitude control wall pressing means is provided as a set of a pair of attitude control wall pressing means installed at opposing side positions, provided at both ends of the linear axis row, and both side faces on the linear axis row. It is good to provide in. The two sets of attitude control wall pressing means disposed at both ends of the linear shaft row are mainly used for correcting bending and twisting in a direction (Y axis) orthogonal to the linear shaft row. A pair of attitude control wall pressing means arranged in the direction (X)
Used to correct the bend to the axis).

In these first and second ground drilling machines,
The attitude control wall pressing means may use a jack alone or may be a pressing device constructed by incorporating a jack, and the cam plate is integrally fixed to at least one of the excavating shafts in the non-rotation holding member. A working source generating jack in which the tip of a piston shaft is slidably contacted with the cam plate, and a compressed fluid generated by a reciprocating operation of the piston shaft accompanying the rotation of a digging shaft is a non-rotation holding member portion. It is desirable to accumulate the pressure in a pressure accumulator provided in the above and use it as an operation source of the attitude control wall pressing jack. Hydraulic oil can be supplied through the inside of the drilling shaft,
A change in the structure of the drilling shaft itself is required, and the structure of each device is complicated. However, by incorporating a hydraulic pressure generating mechanism and a hydraulic control device etc. using the rotation of the drilling shaft for the holding member as described above, it is compatible with existing ground drilling machines mainly by changing the design of only the holding member Since the hydraulic pressure is generated by utilizing the rotation of the drilling shaft, there is an advantage that the power of the operation source is not required.

[0016] On the other hand, the attitude control method in the ground drilling machine is characterized in that while drilling is performed by the ground drilling machine, in parallel with the drilling, another non-rotation holding member or another drilling shaft fitted to the drilling shaft is used. The measurement signal from the gyro device provided on the non-rotating member is taken out substantially continuously or intermittently at predetermined time intervals, and based on the posture information of the current drilling axis, the posture control wall pressing means. By controlling the amount of advance and retreat, the hole bending of the drilling shaft is prevented beforehand.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a front view of an excavated portion of a ground drilling machine 1 according to the present invention, and FIG. 2 is a plan view thereof. FIG. 3 is a hydraulic circuit diagram.

In this embodiment, three auger shafts 1A to 1C
FIG. 2 shows an example of a ground drilling machine 1 including three auger shafts 1A to 1C arranged at predetermined intervals along a linear axis row S in plan view, as shown in FIG. Auger shaft 1A
The drilling bits 2A to 2C are fixedly mounted at the tips of to 1C, and the stirring blades 3A to 3C are integrally provided above the drilling bits 2A to 2C. Each of these auger shafts 1A to 1C
At the upper side positions of the stirring blades 3A to 3C, the respective auger shafts 1A to 1C are connected and held by the holding members 4 for regulating their relative positions while rotatably holding them around the axis. The auger shafts 1A to 1C are supported by a reducer movable along a guide cell of a base machine (not shown) so as to be able to move forward and backward in the drilling direction, and the auger shafts 1A to 1C are rotatable around the axis. ing.

The holding member 4 has auger shafts 1A and 1A.
At positions corresponding to the arrangement of C, the hydraulic jacks for attitude control 5A, 5B, 6A
6B, posture control hydraulic jacks 7A and 7B each having a pressing plate at the tip of the piston are provided on both side surfaces on the linear shaft row L. These attitude control hydraulic jacks (hereinafter, also simply referred to as hydraulic jacks) are respectively composed of hydraulic jacks 5A and 5B, hydraulic jacks 6A and 6B, and hydraulic jacks 7A and 7B, and are shown in a hydraulic circuit diagram described later. When one hydraulic jack is advanced by a predetermined amount by the operating mechanism, the other hydraulic jack is controlled in an interlocked manner so as to retreat by the advanced amount. Among these attitude control hydraulic jacks, the hydraulic jacks 7A and 7B are mainly used for correcting the bending in the Y-axis direction, and the hydraulic jacks 5A and 5B and 6A and 6B are mainly used for the X-axis. Used to correct directional bends and twists. Note that, between the pair of hydraulic jacks, the respective hydraulic jacks are respectively provided at opposing side positions of the holding member so that the holding member 4 can be moved in a predetermined direction. They do not have to be in the same direction,
When the holding member 4 is moved in a predetermined direction, it is sufficient that one of the holding members 4 is arranged in a relation of a push jack and the other is a pull jack.

Each of the attitude control hydraulic jacks 5A, 5A
For example, a swivel joint externally fitted to the auger shaft is provided at four holding member portions, and the hydraulic oil sent from the ground through a hydraulic oil supply passage formed in the auger shaft is supplied to the swivel. The oil is fed into the holding member 4 via the joint, and each position controlling hydraulic jack 5
A, 5B, 6A,... Can be supplied. However, since the configuration of the device such as the formation of the hydraulic oil supply path to the auger shaft and the swivel joint structure becomes complicated, in the drilling machine 1, the holding member is used. 4 is provided with a hydraulic oil generating mechanism and its control mechanism.

As shown in detail in FIG. 4, a cam plate 13 having a tapered lower surface is fixed to the center auger shaft 1B. On the other hand, a hydraulic oil generating jack 14 (hereinafter, simply referred to as a hydraulic pressure generating jack) having the tip of the piston shaft 14a slidably disposed is disposed, and the piston shaft 14a of the hydraulic pressure generating jack 14 reciprocates as the auger shaft 1B rotates. Pressure oil is generated by repeating the operation, and this pressure oil is used as hydraulic oil for the attitude control hydraulic jacks 5A, 5B, 6A. The piston shaft 14a
, A spring 27 is interposed between the cam plate 13 and the cam plate 13.
The piston shaft 14a is always resiliently brought into sliding contact with the piston shaft 14a.

As another hydraulic pressure generating mechanism using the cam, as shown in FIGS. 5 and 6, a petal-shaped cam plate 28 is fixedly mounted on the auger shaft 1B, and the peripheral surface of the cam plate 28 is The hydraulic pressure generating jack 14 with which the piston shaft 14a is in sliding contact may be arranged laterally, or, as shown in FIG.
The hydraulic pressure generating jack 14 having the piston shaft 14a slidably contacting the peripheral surface may be arranged laterally. In the former structure, the piston shaft 1B is rotated while the auger shaft 1B rotates once.
Since 4a reciprocates four times, the hydraulic pressure generation efficiency is superior to the latter.

Next, the hydraulic pressure generating circuit and the hydraulic pressure control circuit will be specifically described with reference to FIG. 3. In the holding member 4, in addition to the hydraulic pressure generating jack 14, mainly an oil tank 20, an accumulator 15, Electromagnetic direction control valves 17 to 19 are provided. The hydraulic pressure generating jack 1
After the hydraulic oil stored in the oil tank 20 is drawn out into the hydraulic pressure generating jack 14 through the oil passage 22 with the extension operation of the hydraulic pressure generating valve 4, the compressed oil compressed by the contracting operation of the hydraulic pressure generating jack 14 is checked. The oil path is changed by the flow path switching action of the valves 22 and 24 and is accumulated in the accumulator 15.

When the hydraulic oil is supplied from the accumulator 15 to each of the attitude control hydraulic jacks 5A, 5B, 6A,..., Each of the hydraulic jacks 5A, 5B, 6A, 6B. Direction control valve 17-1
9 are provided. Further, a branch oil supply passage 25 connected to the oil tank 20 is provided in the middle of the oil supply passage 26, and a pressure control valve 16 is provided in the middle of the branch oil supply passage 25, so that each hydraulic jack 5A , 5B, 6A
Are maintained at a constant pressure. The electromagnetic directional control valves 17 to 19 are operated by solenoid control in accordance with a command signal from the personal computer 12 to be described later, so that the direction of the hydraulic oil is switched, and between the set of hydraulic jacks 5A, 5B, (6A, 6B). If hydraulic oil is supplied to the extension cylinder of one hydraulic jack, hydraulic oil is supplied to the contraction cylinder to the other hydraulic jack, that is, one hydraulic jack advances by a predetermined amount. If so, the other hydraulic jack is configured with a hydraulic circuit so as to retreat by the advance amount,
Return oil is returned to the oil tank 20.

In this embodiment, the pair of hydraulic jacks 5
The hydraulic circuit is configured so that the amount of advance and the amount of retreat are automatically balanced between A.5B and (6A.6B). Of course, each hydraulic jack 5A.5B, 6A.6
B ... may be controlled independently, and the advance amount and the retreat amount may be balanced.

On the other hand, the holding member 4 is preferably X to
A gyro device 8 for measuring the angular displacement with the Z axis as a base axis is provided. This gyro device 8
By using three high-accuracy vibration gyro sensors and three high-accuracy acceleration sensors, the auger shaft 1 that changes sequentially
A three-dimensional angle of A to 1C is measured. With this type of gyro sensor, measurement in a moving object is possible, and angle data can be measured in a period of several tens of milliseconds, so that substantially continuous measurement is possible. . Of course, the measurement signal may be intermittently taken out at predetermined small time intervals. In addition, each auger shaft 1A-1C is
Since the rod members 1A to 1C do not independently move in different directions because the rod members 1A to 1C are firmly connected and held by the holding member 4, at least one rod shaft 1A to 1C is provided at an arbitrary position of the holding member 4. It is enough. Further, the gyro device 8 may be provided for a non-rotating member separately provided in addition to the holding member 4. For example, as shown in FIG.
A flange piece 1a is fixed to the outer periphery of the auger shaft 1A, and a non-rotating annular member 30 having a fitting groove for the flange piece 1a on the inner peripheral surface is attached to the fixed portion of the flange piece 1a. Fit
Further, the non-rotating annular member 30 may be supported by the rotation restricting members 31, 31 whose lower ends are fixed to the holding member 4 so as not to rotate, and the gyro device 8 may be provided on the non-rotating annular member 30. The non-rotating annular member 3
0 may function as a substitute for a slip ring 9 described later.

The angle signal measured by the gyro device 8 is, in the example shown, an electric wire 10 wired in the auger shaft 1A via a slip ring 9 provided on the auger shaft 1A.
Is input into the control device 11 on the ground. The control device 11 includes an A / D conversion unit and a signal processing unit. After converting the angle signal into a digital signal, the signal is subjected to arithmetic processing to obtain an angle around the X axis (pitch angle), Y An angle around the axis (roll angle) and an angle around the Z axis (yaw angle: twist angle) are calculated and output to the personal computer 12.

The personal computer 12 draws the bending status of the auger axes 1A to 1C on the monitor based on the posture information, and the operator turns the hole bending generated in the auger axes 1A to 1C based on the drawn data. Is transmitted to the electromagnetic direction control valves 17 to 19 to correct the above. As shown in FIG. 9 (A), if a twist occurs in which the axis line S of the auger shaft rotates clockwise with respect to the normal drilling center line L, the hydraulic jack 5A is extended. On the other hand, the operation of contracting the hydraulic jack 5B, the operation of extending the hydraulic jack 6B, and the operation of contracting the hydraulic jack 6A are performed. As a result, as shown in FIG. 9 (B), the entire auger shafts 1A to 1C rotate counterclockwise, and the auger shaft line S coincides with the drilling center line L. Conversely, when the auger shaft row S is twisted counterclockwise, the reverse operation is performed to rotate the entire auger shafts 1A to 1C clockwise to correct the auger shafts 1A to 1C. Further, when the parallel movement is performed in the X direction, the hydraulic jack 5
A and 6A are extended while hydraulic jacks 5B and 6B are contracted to correct the bending. If the hydraulic jacks 7A and 7B are displaced in the Y-axis direction, the bending is corrected by expanding and contracting the hydraulic jacks 7A and 7B. The hole bending control may be an automatic control based on a built-in program in addition to the manual control by the operator operation as described above.

The embodiment of the present invention has been described in detail above. For example, when the drilling length is long, similar holding members are provided not only at the tip portions of the auger shafts 1A to 1C but also at the intermediate portions. May be provided. In this example, all jacks are hydraulically controlled, but may be air pressure controlled.

[0031]

As described above in detail, according to the present invention, it is possible to measure the bending of a hole in an auger shaft substantially continuously or intermittently at predetermined time intervals in parallel with drilling. Therefore, the measurement accuracy is significantly improved. Moreover, since the hole bending of the auger shaft can be arbitrarily corrected based on the posture information including the torsion angle, the construction accuracy of the wall body and the like can be remarkably improved, and in order to secure accuracy more than before. This eliminates the need for prior drilling, which has been performed in advance, and improves the efficiency of ground drilling.

[Brief description of the drawings]

FIG. 1 is a front view of an excavation part of a ground drilling machine 1 according to the present invention.

FIG. 2 is a plan view thereof.

FIG. 3 is a hydraulic circuit diagram provided in the holding member 4.

FIG. 4 is a structural diagram of a hydraulic pressure generating unit.

FIG. 5 is a side view of another hydraulic pressure generating unit structure.

FIG. 6 is a plan view thereof.

FIG. 7 is a plan view of another hydraulic pressure generating unit structure.

FIG. 8A is a side view of another gyro sensor mounting procedure;
(B) is a plan view thereof.

FIG. 9 is a diagram showing a hydraulic jack operation procedure for correcting hole bending.

FIG. 10 is a diagram showing a procedure for constructing a continuous underground wall by a conventional ground drill.

FIG. 11 is an explanatory diagram of a problem in the case of conventional hole bending measurement.

[Explanation of symbols]

1 ... drilling machine, 1A-1C ... auger shaft (drilling shaft), 2A-
2C: drill bit, 3A-3C: stirring blade, 4: holding member, 5A, 5B, 6A, 6B, 7A, 7B: hydraulic jack for attitude control, 8: gyro device, 9: slip ring, 11: control device , 12 ... PC, 13.27.2
9: cam plate, 14: hydraulic pressure generating jack, 15: accumulator, 16: pressure control valve, 17 to 19: electromagnetic directional control valve, 20: oil tank, 30: non-rotating annular member, S ...
Series axis, L: drilling center line

Continuation of the front page (72) Inventor Akira Takahashi 1-50-9 Otsugaoka, Numanan-cho, Higashi-Katsushika-gun, Chiba Prefecture Toko Denki Mfg. Co., Ltd.

Claims (5)

[Claims] 1. A drilling system comprising a plurality of drilling shafts arranged at a predetermined interval along a linear shaft row, rotatably supporting each of these drilling shafts around the axis, and moving back and forth in a drilling direction. A ground drilling machine comprising a non-rotating holding member for rotatably supporting and holding each drilling shaft rotatably at least at a tip end portion of the drilling shaft, wherein the non-rotational holding member or the drilling hole is provided. A gyro sensor for detecting a torsion angle with the drilling direction as a base axis, and an inclination angle with the X axis and the Y axis in a horizontal plane perpendicular to the drilling direction with respect to other non-rotating members externally fitted on the shaft. A ground drilling machine having a gyro device provided with a gyro sensor for detecting a pier. 2. A drilling machine comprising: a plurality of drilling shafts arranged at predetermined intervals along a linear shaft row; rotatably supporting each of these drilling shafts around a shaft center; A ground drilling machine comprising a non-rotating holding member for rotatably supporting and holding each drilling shaft rotatably at least at a tip end portion of the drilling shaft, wherein the non-rotational holding member or the drilling hole is provided. A gyro sensor for detecting a torsion angle with the drilling direction as a base axis, and an inclination angle with the X axis and the Y axis in a horizontal plane perpendicular to the drilling direction with respect to other non-rotating members externally fitted on the shaft. A gyro device provided with a gyro sensor for detecting the position of the non-rotational holding member, and one or a plurality of sets of attitude control wall pressing means capable of moving back and forth with respect to the drilling wall at the opposite side position of the non-rotation holding member, For measurement signals by gyro device Ground drilling machine, characterized in that so as to control the advance and retreat of each said attitude control wall pressing means Zui. 3. The attitude control wall pressing means is provided at each end of a linear shaft row as a set of a pair of attitude control wall pressing means installed at opposed side positions, and is provided on the linear axis row. The ground drilling machine according to claim 2, which is provided on both side surfaces. 4. The attitude control wall pressing means uses a jack alone or is a pressing device constructed by incorporating a jack, and the non-rotation holding member is integrated with at least one of the excavating shafts. While fixing the cam plate
An actuation source generating jack having a piston shaft tip slidingly contacting the cam plate is provided, and a compressed fluid generated by a reciprocating operation of the piston shaft accompanying rotation of a digging shaft is provided on a non-rotation holding member portion. The ground drilling machine according to claim 2 or 3, wherein the ground drilling machine is stored in a pressure accumulator and used as an operation source of the attitude control wall pressing jack. 5. The attitude control method for a ground drilling machine according to claim 1, wherein the non-rotational holding is performed while the drilling is performed by the ground drilling machine. A measurement signal is substantially continuously or intermittently taken out at a predetermined time interval from a gyro device provided on a member or another non-rotating member externally fitted to the drilling shaft,
A posture in a ground drilling machine characterized by preventing the hole bending of the drilling shaft by controlling the amount of advance / retreat of each of the posture control wall pressing means based on the posture information of the current drilling shaft. Control method.