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WO2012020451A1 - Dispositif de mesure pour procédé de propulsion - Google Patents

Dispositif de mesure pour procédé de propulsion Download PDF

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Publication number
WO2012020451A1
WO2012020451A1 PCT/JP2010/005027 JP2010005027W WO2012020451A1 WO 2012020451 A1 WO2012020451 A1 WO 2012020451A1 JP 2010005027 W JP2010005027 W JP 2010005027W WO 2012020451 A1 WO2012020451 A1 WO 2012020451A1
Authority
WO
WIPO (PCT)
Prior art keywords
pipe
surveying
gyro
cart
inner pipe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2010/005027
Other languages
English (en)
Japanese (ja)
Inventor
折出　健一
隆雄 伊藤
睦治 酒井
寺内　正憲
野沢　有
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MCL Corp
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
MCL Corp
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MCL Corp, Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical MCL Corp
Priority to PCT/JP2010/005027 priority Critical patent/WO2012020451A1/fr
Publication of WO2012020451A1 publication Critical patent/WO2012020451A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/20—Driving or forcing casings or pipes into boreholes, e.g. sinking; Simultaneously drilling and casing boreholes
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/005—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries by forcing prefabricated elements through the ground, e.g. by pushing lining from an access pit
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining

Definitions

  • the present invention relates to a surveying apparatus for a propulsion method for surveying the propulsion direction of an excavator that embeds a buried pipe such as a hard polyvinyl chloride pipe directly in the ground by the propulsion method.
  • a propulsion method of burying buried pipes following a leading excavator is known.
  • the starting shaft 201 and the reaching shaft 202 are constructed on the planned burial line of the pipeline to be embedded, and the starting shaft 201 is installed in the starting shaft 201.
  • the pushing device 203 applies a propulsive force to the buried pipe 204 and transmits the propelling force to the excavator 205 through the buried pipe 204 to propel the underground 207.
  • a continuous pipe 204 is directly buried between the starting shaft 201 and the reaching shaft 202 to form a pipeline.
  • a concrete pipe having a diameter of about 200 mm to 400 mm, a hard vinyl chloride pipe, or the like is generally employed.
  • Synthetic resin pipes such as rigid polyvinyl chloride pipes (also simply referred to as “PVC pipes” in this specification and claims) are widely used because of their manufacturing relationship and corrosion resistance.
  • a metal inner tube 206 for transmitting the propulsive force to the excavator 205 is inserted into the PVC pipe 204, and this Propulsive force is transmitted to the excavator 205 via the inner pipe 206.
  • thrust transmission to the PVC pipe 204 is performed by the main pushing device 203 provided in the start shaft 201.
  • a new PVC pipe is connected between the main pushing device provided in the start shaft and the buried PVC pipe every time the promotion of the PVC pipe of a predetermined length is completed.
  • a new inner pipe is placed inside this PVC pipe, and power lines that transmit power to the leading excavator, signal lines that transmit control signals, and lubricant are injected between the excavator and the ground Various wires and pipes such as a lubricant supply pipe are arranged and connected.
  • pipes such as a mud pipe and a mud pipe are arranged and connected in addition to the wires and pipes.
  • the excavator in order to always propel the excavator in the correct direction, the excavator must be controlled so that the propulsion position of the excavator is measured and propelled on the planned buried line.
  • this surveying needs to accurately measure the position of the excavator from the start shaft using the internal space of the buried pipe.
  • a surveying cylinder for a curve in which a first cylinder made of a non-magnetic material such as stainless steel and a second cylinder made of steel are connected to the rear of the excavator is provided, and the first cylinder
  • the body is equipped with an electromagnetic induction transmitter and a gyro sensor unit
  • the second cylinder is equipped with a gyro control unit, a gyro power supply unit, etc., and the azimuth angle is detected by the gyro sensor unit.
  • an alternating magnetic field transmitted from the vehicle is detected by a ground receiver and the distance is measured on the ground to finally calculate the propulsion route (see, for example, Patent Document 1). ).
  • a surveying robot cart equipped with a gyro sensor is reciprocated in a traveling pipe in the inner unit by a winding device on the excavator side and a winding device on the start shaft side, and from this surveying gyro cart
  • the direction of the excavator can be controlled by obtaining data of distance and azimuth, measuring the position of the excavator, and inputting the measurement data to the control device side (see, for example, Patent Document 2).
  • the accuracy of detecting the alternating magnetic field transmitted from the electromagnetic induction transmitter by the ground receiver depends on the depth of the tunnel, the influence of underground reserves, the magnetic field influence object on the ground, etc. Since it worsens, the prediction accuracy of a propulsion route may worsen.
  • the present invention aims to provide a low-cost surveying device for a propulsion method capable of stably surveying even a route in which an excavator is propelled in a curve by a propulsion method in which a buried pipe is directly buried in the ground.
  • the present invention inserts an inner pipe having a space penetrating in the axial direction into a buried pipe, and excavates by applying a propulsive force to the excavator with a main pushing device installed in a start shaft.
  • a surveying device in a propulsion method that embeds the buried pipe in the ground to form a pipeline, and includes a starter truck that self-propels in a space that penetrates the inner pipe, and the inner pipe connected to the starter truck.
  • a surveying gyro bogie that travels along a rail laid in the axial direction of the space, a starter cart storage pipe that accommodates the starter cart disposed in the direction of the start shaft of the excavator, and a surveying end point of the surveying gyrocart And a launcher for setting a survey start point of the survey gyro cart at the start shaft.
  • the survey gyro cart travels along the axial rail that is laid in this space, and stops from the survey start point set by the launcher to the station pipe.
  • the distance to the surveying end point and the azimuth angle can be accurately measured with the surveying gyro cart, and the position of the excavator can be accurately measured based on the data.
  • the activation carriage storage tube may include a stop sensor that detects the activation carriage and stops the activation carriage, and a carriage collision buffer mechanism that supports a tip of the activation carriage. In this way, the starting carriage can be stably stopped at a predetermined position of the starting carriage storage tube, and the surveying end point can be accurately measured.
  • the starting carriage storage tube may have a folded portion that is bent in the horizontal direction. In this way, it is possible to stably embed an embedded pipe that bends even at the portion of the starter carriage storage pipe connected to the excavator and follows the bending of the excavator.
  • the starter truck storage tube may include a starter truck storage fixed pipe having the stop sensor and a starter truck storage middle folded pipe having the middle folded portion.
  • the fixed tube portion for stopping the starter carriage and the intermediate folded tube portion that is folded halfway are separated, and the middle folded tube that is folded halfway and the fixed tube that is provided with the stop sensor are manufactured separately and efficiently. Can do.
  • the station pipe has an adapter pipe connected to the inner pipe in the start shaft direction, the inner pipe has a leading inner pipe fixed to the adapter pipe, and the leading inner pipe is horizontally oriented May be provided with a bent portion that bends.
  • the station pipe and the front inner pipe can be stably connected by the adapter pipe, and also when the excavator is bent by the bent portion of the front inner pipe, the station pipe can be stably followed. it can.
  • the launcher includes a stop sensor that detects the surveying gyro cart and stops the start cart, and a positioning unit that supports a rear end portion of the surveying gyro cart at a predetermined position.
  • a collision buffer mechanism may be provided. In this way, it is possible to accurately support the surveying gyro cart at the survey start point position, and to buffer the collision of the survey gyro cart at the time of support and to set a stable survey start point.
  • the launcher may have a connecting portion in which a connecting portion between the surveying gyro cart and the start-up cart is vertically displaceable in a state where a rear end portion of the surveying gyro cart is supported by a positioning portion. Good. In this way, even when surveying a downwardly inclined route, it is possible to place the surveying gyro cart with an upward slope when setting the survey start point and to support the rear end portion on the positioning unit to set the stable survey start point. it can.
  • the position of the excavator can be accurately measured even during curve propulsion using the inner space of the inner pipe.
  • FIG. 4 is a sectional view taken along the line IV-IV shown in FIG. 3. It is sectional drawing of the axial direction in the starting shaft side of the surveying apparatus for propulsion methods shown in FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation fixed pipe in the surveying apparatus for propulsion methods of FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation folding tube in the surveying apparatus for propulsion methods of FIG.
  • FIG. 9 is a sectional view taken along line XX shown in FIG. (a) is a cross-sectional view taken along the line XIa-XIa shown in FIG. 8, and (b) is a view taken along the line XIb.
  • a top view which shows typically the bending state of the excavation machine which surveys with the surveying apparatus for propulsion methods shown in FIG.
  • FIG. 1 is an axial sectional view showing the excavator side of a propulsion method surveying apparatus according to an embodiment of the present invention
  • FIG. 2 is a sectional view taken along the line II-II shown in FIG. 1
  • FIG. FIG. 4 is a sectional view in the axial direction showing the configuration following the excavator side of the surveying instrument for propulsion method shown in FIG. 1
  • FIG. 4 is a sectional view taken along IV-IV in FIG. 3
  • FIG. 6 is a sectional view in the axial direction on the starting shaft side of the apparatus
  • FIG. 6 is a sectional view in the axial direction showing the starting carriage storage fixed pipe in the surveying instrument for propulsion method in FIG. 1
  • FIG. 7 is a surveying instrument for propulsion method in FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation folding tube in.
  • the propulsion method surveying apparatus 1 includes an activation carriage storage pipe 2, a station pipe 5, an adapter pipe 6, and a rear side of the excavator 205 (in the direction of the start shaft). It has.
  • the starter truck storage pipe 2 of this embodiment includes a starter truck storage fixed pipe 3 located on the side of the excavator 205 and a starter truck storage middle folded pipe 4 located on the station pipe 5 side. . These tubes are connected by bolts.
  • a leading inner tube 7 is connected to the rear end of the adapter tube 6, and an inner tube 8 having a predetermined length is connected to the rear of the leading inner tube 7.
  • the PVC pipe 9 is connected to the rear side of the pipe portion 6a of the adapter pipe 6 so that the inner pipe 8 is disposed inside, and these parts are integrally driven in the ground 207.
  • the inner pipe 8 is formed of a hollow tube having a rectangular cross section, a space 10 penetrating in the axial direction of the inner pipe 8, a leading inner pipe 7 connected to the front of the inner pipe 8, an adapter pipe 6,
  • a surveying robot apparatus 70 including a starter truck 71 that self-propels and a surveying gyroscope 76 that is connected to the starter truck 71 runs in the space 11 connected to the station pipe 5 and the starter truck storage pipe 2. Yes.
  • the spaces 10 and 11 are also referred to as “traveling roads 10 and 11”.
  • the starter carriage storage fixed tube 3 has a storage space for the starter truck 71, and the station tube 5 has a storage space for the surveying gyroscope 76.
  • This station pipe 5 is the surveying end point on the side of the excavator 205, and the distance from the stop position of the survey gyro cart 76 of this station pipe 5 to the tip of the excavator 205 is set in advance.
  • the adapter pipe 6 and the leading inner pipe 7 are provided to efficiently transmit the propulsive force transmitted from the rear inner pipe 8 to the excavator 205 side, and a vertical axis indicated by a one-dot chain line.
  • 26 can be bent horizontally in the front-rear direction.
  • the bent portion 25 that can be bent by the shaft 26 is bent in the horizontal direction at the connecting portion of the inner pipes 7 and 8 corresponding to the curve propulsion of the excavator 205.
  • the starting carriage 71 and the surveying gyro carriage 76 are connected by a connecting portion 90 that can be bent in the horizontal direction and the vertical direction, and are laid at the lower part of the central portion in the width direction of the space 11 as shown in FIG.
  • the vehicle travels along the rail 12.
  • the rail 12 is laid so as to be continuous in the axial direction from the inner pipe 8 to the starting carriage storage pipe 2.
  • the rail 12 serves both for running the carriages 71 and 76 and for preventing the carriage from meandering, and is laid so that one rail is continuous in the axial direction at the lower center in the width direction of the spaces 10 and 11.
  • the displacement is small.
  • the starter truck 71 and the surveying gyroscope truck 76 travel along the rail 12 from the start shaft 201 to the starter truck storage pipe 2 and the station pipe 5 to return to the survey.
  • the inner pipe connected to the rear of the inner pipe 8 has a standard inner pipe 8 identical to the inner pipe 8 and a propulsion resistance force received by the PVC pipe 9.
  • a pusher inner pipe 16 provided with pushers 15 received at intervals, and a lubricant inner pipe 21 provided with a lubricant injection pipe 20 for supplying a lubricant between the PVC pipe 9 and the underground 207 are provided. .
  • the pusher inner pipe 16 is protruded toward the PVC pipe 9 by the pusher in / out mechanism 17 that projects / stores the pusher 15 in the radial direction from the inner pipe 8 side, and is engaged with the PVC pipe 9.
  • the pusher 15 is provided at the upper and lower portions of the pusher inner tube 16.
  • the pusher entry / exit mechanism 17 includes a swing lever 18 for projecting / storing the pusher 15 and a pull rod 19 for swinging the swing lever 18. By pulling the pull rod 19 in the direction of the starting shaft, the swing lever 18 moves the pusher 15 inward in the radial direction and stores it.
  • the pusher 15 is provided at a position where the propulsive force for propelling the plurality of PVC pipes 9 does not exceed the allowable propulsive force of the PVC pipe 9, and transmits the propulsive force required for propelling the PVC pipe 9 only by the PVC pipe 9.
  • the propulsive force of the PVC pipe 9 positioned forward from the pusher 15 is loaded by the inner pipe 8, and the propulsive force loaded by the PVC pipe 9 in a certain length unit is limited to the allowable propulsive force range of the PVC pipe 9.
  • a further propulsive force is applied to the inner tube 8 so that a long distance can be propelled. Thereby, it is possible to extend the construction distance limited by the low strength of the PVC pipe 9 to the construction distance by the allowable propulsive force of the inner pipe 8 having high strength.
  • the lubricant inner tube 21 is protruded toward the PVC tube 9 by a lubricant injection tube insertion / removal mechanism 22 for projecting / storing the lubricant injection tube 20 in the radial direction from the inner tube 8 side.
  • the lubricant can be injected from the position into the ground.
  • the lubricant injection pipe 20 is provided on the upper part of the lubricant inner pipe 21.
  • This sliding material injection tube entrance / exit mechanism 22 has a swing lever 23 for projecting / storing the lubricant injection tube 20 and a pull rod 24 for swinging the swing lever 23. By pulling the pull rod 24 in the direction of the starting shaft, the swing lever 23 moves the lubricant injection pipe 20 radially inward and stores it.
  • the pull rod 24 is connected to the pull rod 19.
  • the lubricant injection pipe 20 is provided, for example, at a position where the polyvinyl chloride pipe 9 is propelled by about 100 m.
  • the thrust resistance is increased. The long-distance propulsion of 100m or more can be performed.
  • the pusher 15 and the lubricant injection pipe 20 are retracted radially inward from the protruding state via the rocking levers 18 and 23 to be vinyl chloride. If it stores to the position which does not interfere with the inner surface of the pipe
  • connecting portions of these inner tubes 8, 16, 21 are also bendable portions 25, and the front and rear inner tubes 8 (16, 21) with respect to a vertical axis 26 indicated by a one-dot chain line in the figure. ) Can be bent in the horizontal direction.
  • a support roller 27 that protrudes in the radial direction from the inner tubes 8, 16, 21 is provided in the inner tubes 8, 16, 21 in front of the bent portion 25. As shown in FIG. 4, the support roller 27 is provided at one position in front of the bent portion 25 so as to support the rear portion of the inner tube 16 (8, 21) with the inner surface of the PVC tube 9. In this example, support rollers 27 are diagonally opposed to the left and right corners of the upper and lower positions of the inner pipe 16 (8, 21). By disposing the support roller 27 in this way, a wheel that reduces the contact resistance when the inner pipe 16 (8, 21) is pulled back in the direction of the starting shaft by the function of receiving the reaction force from the underground 207 via the PVC pipe 9. It also serves as a function. A predetermined gap is provided between the support roller 27 and the inner surface of the PVC pipe 9 so that the inner pipe 16 (8, 21) is recovered in the direction of the start shaft. I am doing so.
  • the space 10 at the center of the inner pipe 16 (8, 21) is used as a survey area, so that various pipes, wirings, etc. can be installed at arbitrary locations all around the inner pipe 8, 16, 21. ing.
  • a pipe support fitting 28 is provided between the side surface of the inner pipe 16 (8, 21) and the inner surface of the PVC pipe 9, and a water supply pipe 29a, a drain pipe 29b, and a transmission are provided above the pipe support fitting 28.
  • a tube 30a, a power line 30b, a lubricant tube 31 and the like are provided.
  • a mud pipe 33 and a mud pipe 32 are disposed below the pipe support fitting 28.
  • a main pushing device 203 is installed in the starting shaft 201, and propulsive force is applied to the excavator 205 (FIG. 1) via the inner pipe 21 (8, 16) by this main pushing device 203. Communicated. This propulsive force is also transmitted to the PVC pipe 9 via the pusher 15 of the pusher inner pipe 16 (FIG. 3).
  • a launcher 35 is provided that serves as a survey start point of the survey gyro cart 76 during surveying.
  • the launcher 35 has a storage space for the surveying gyro bogie 76 that is open at the top, and includes a base point detection mechanism 36 for the surveying gyro bogie 76 and a cart collision buffer mechanism 41.
  • the base point detection mechanism 36 includes a prism 37, a transition 38, and a mirror 39 provided at the rear end of the surveying gyro cart 76, and the reflection reflected on the prism 37 and the mirror 39 of the surveying gyro cart 76 by the transit 38.
  • the survey start point (survey base point) is set by checking the light 40 and measuring the position of the survey gyro cart 76.
  • the cart collision buffer mechanism 41 has a shock absorber 42 at the rear end portion of the launcher 35, and relieves shock when the surveying gyro cart 76 is moved backward to come into contact with the shock absorber 42. Yes.
  • the position at which the rear end of the surveying gyro cart 76 is brought into contact with the shock absorber 42 is the surveying start point.
  • the launcher 35 supports the rear end portion of the surveying gyro bogie 76 with a shock absorber 42 serving as a positioning portion at the time of setting the survey start point, and a connecting portion 90 between the surveying gyro bogie 76 and the starter cart 71.
  • the refracting portion 45 has a hinge 48 that includes a launcher body front portion 46 connected to the rear end of the inner tube 21 (8, 16) and a launcher body rear portion 47 provided with the carriage collision buffer mechanism 41 at the rear end. They are connected and allow refraction in the vertical direction.
  • the vertical angle of the launcher body rear portion 47 can be changed with respect to the launcher body front portion 46 set to the same angle as the axial center angle of the inner pipe 21 (8, 16).
  • the launcher main body rear portion 47 is inclined upward, so that the surveying gyro cart 76 is set at the time of setting the survey start point.
  • the rear end portion is arranged to be inclined upward so as to contact the shock absorber 42 so that a stable survey start point can be set in this state.
  • a stop magnet 51 that is detected by a magnetic sensor 87 (FIG. 1) provided at the tip of the starter truck 71 is provided in the starter truck storage fixed tube 3.
  • the stop magnet 51 is detected by the magnetic sensor 87 of the starting carriage 71, the starting carriage 71 is stopped.
  • a stop signal switch 52 is provided in the vicinity of the stop magnet 51 so as to detect that the stop is made when the tip of the starting carriage 71 comes into contact.
  • a car collision buffer mechanism 53 that supports the front end of the starter car 71 is provided.
  • the cart collision buffer mechanism 53 of this embodiment has a shock absorber 54 that reduces the impact when the front end of the starting cart 71 comes into contact.
  • the starter cart housing folded tube 4 is provided with a horizontally folded portion 55 that is bent in the horizontal direction, and can be folded at the rear position of the launch vehicle housing tube 2. It has become.
  • the middle folded portion 55 is formed by connecting a front flange 57 projecting rearward from the front middle folded tube 56 and a rear flange 59 projecting forward from the rear middle folded tube 58 by a vertically arranged pin 60. It is a thing.
  • the pin 60 can be bent between the front flange 57 and the rear flange 59 around the pin 60.
  • the middle folding portion 55 is provided with a middle folding sensor 61 so that the middle folding angle of the middle folding portion 55 can be detected.
  • a cylindrical seal receiver 62 projects from the rear folded tube 58 on the outer periphery of the middle folded section 55, and a seal material 63 is provided on the seal receiver 62.
  • a collar 64 provided on the front folded tube 56 is in contact with the outer periphery of the sealing material 63 and sealed.
  • the surveying gyroscope is placed at a predetermined position of the station pipe 5 serving as a surveying end point.
  • the carriage 76 is stopped. In this way, until the survey gyro carriage 76 reaches the survey end point, the azimuth angle is measured by the gyro 77 at a predetermined interval from the survey start point of the launcher 35 (FIG. 5) provided in the start shaft 201, and the gyro data is Is recorded in a gyro data collector 79 (to be described later) of the surveying gyro cart 76.
  • FIG. 8 is a side view of the surveying robot apparatus in the propulsion method surveying apparatus shown in FIG. 1 partially cut away
  • FIG. 9 is a cross-sectional view taken along the line IX-IX shown in FIG. 8
  • FIG. 11A is a cross-sectional view taken along the line XIa-XIa shown in FIG. 8, and
  • FIG. 11B is a cross-sectional view taken along the line XIb.
  • the starter truck 71 of the surveying robot device 70 includes a driving device 72 for pulling the surveying gyroscope 76, a battery 73 serving as a power source thereof, and a distance for measuring a travel distance from the survey start point. It has a measuring instrument 74 and an activation cart controller 75.
  • the surveying gyro cart 76 includes a gyro 77, a gyro controller 78, a gyro data collector 79, a communication antenna 80, and the like.
  • the starting carriage 71 that travels in the space 10 (traveling path 10) of the inner pipe 8 is provided with a driving wheel 81 at the tip, and this driving wheel 81 is connected to the above-mentioned via a gear mechanism 82. It is driven by a drive machine 72.
  • the gear mechanism 82 drives the shaft 81a of the drive wheel 81 via a bevel gear that transmits the power of the drive device 72 to an orthogonal shaft and a plurality of gears that decelerate the power.
  • the gear mechanism 82 may have other configurations.
  • the driving wheel 81 is provided with two wheels apart on both sides of the rail 12 laid at the center in the width direction of the inner pipe 8. By using two driving wheels 81, even if one of the wheels 81 slips, the starter carriage 71 can reliably run on the other side.
  • side wheels 85 are provided in front of the drive wheels 81 so as to sandwich the rail 12 from the left and right.
  • the side wheels 85 are rotatably provided on a support shaft 86 that protrudes downward from the starting carriage 71.
  • One rail 12 laid on the inner pipe 8 is provided at the lower center of the inner pipe 8 in the width direction, and a minimum gap is provided between the side surface of the rail 12 and the side wheel 85.
  • the gap between the rail 12 and the side wheel 85 is set to be a gap that does not affect the surveying accuracy, and the survey gyro cart 76 does not move in parallel. Further, the gap between the side wheels 85 and the rails 12 is further narrowed at the positions of the launcher 35 and the station tube 5 in order to improve the survey accuracy at the survey start point and the survey end point.
  • the starter truck 71 can be self-propelled without having wiring or the like.
  • the towed surveying gyro cart 76 can be made to travel stably.
  • An activation carriage controller 75 is provided behind the battery 73.
  • the starting carriage controller 75 has a function of stopping the starting carriage 71 by stopping the driving machine 72 when the magnetic sensor 87 detects the stop magnet 51 (FIG. 6).
  • a contact member 89 that contacts the shock absorber 54 (FIG. 1) at the time of stopping is provided at the front end of the starting carriage 71.
  • a distance measuring device 74 is provided behind the start-up cart controller 75.
  • the distance measuring device 74 of this embodiment is an encoder, and is provided on a shaft 83a of a measuring wheel 83 which is a driven wheel rotatably supported by a bracket 71a provided on the starting carriage 71.
  • the measuring wheel 83 is provided with one wheel at the center in the width direction and travels along the upper surface of the rail 12 provided at the center of the inner pipe 8.
  • the wheels supporting the starter truck 71 are made three wheels, and the weight acting on the one measuring wheel 83 is increased so that it is difficult to slip, thereby stabilizing the measurement accuracy. I am trying. Further, by providing one wheel in the center, even if a curved construction is performed, an inner ring difference or the like does not occur through the central portion of the inner pipe 8.
  • a side wheel 85 is provided in front of the measurement wheel 83 so as to sandwich the rail 12 from the left and right.
  • the side wheel 85 and the side wheel 85 in front of the drive wheel 81 are activated by the side wheel 85.
  • the carriage 71 is guided to travel along the rail 12.
  • a magnetic sensor 88 is also provided above the distance measuring device 74, and the inner tube count and distance provided at a predetermined position on the inner tube 8 side.
  • the calculation point magnet 13 is detected.
  • This inner tube count / distance calculation point magnet 13 is provided for each inner tube 8 having a predetermined length.
  • the number of inner pipes detected by the magnetic sensor 88, the distance measured by the distance measuring instrument 74, and the like are stored in the storage unit of the starter truck controller 75.
  • the starting cart 71 and the surveying gyro cart 76 are connected by a connecting bar 91 provided in the connecting portion 90.
  • the connecting bar 91 is connected by a pin 92 provided in the vertical direction from the starter truck 71 and the surveying gyro car 76, and is connected in a state in which it can rotate in the horizontal direction. Further, a slight displacement (refraction) is also possible in the vertical direction due to the gap between the pins 92.
  • the surveying gyro cart 76 is provided with a plurality of guide wheels 93 and 94 before and after the gyro 77, and the guide wheels 93 and 94 guide the traveling path 10 of the inner pipe 8. It is designed to run stably.
  • the upper guide wheel 94 is provided with an impact absorbing mechanism (not shown) and normally travels with a predetermined gap from the inner surface of the inner tube 8 and comes into contact with the inner tube 8 when displaced upward. It is designed to absorb shocks.
  • the surveying gyro bogie 76 is also provided with side wheels 85 at the front and rear portions so as to sandwich the rail 12 laid on the inner pipe 8 from the left and right as described above. By minimizing the gap, the meandering of the surveying gyro cart 76 is minimized and the surveying accuracy is improved.
  • the gyro controller 78 is provided at the front of the surveying gyro cart 76, and the data collection interval by the gyro 77 is controlled.
  • the gyro data collector 79 is provided at the rear portion of the surveying gyro cart 76 so that the gyro data collected by the gyro 77 is stored.
  • a stop magnet (not shown; provided at a position corresponding to the position of the magnetic sensor 95 shown in FIG. 5 and having the same configuration as the stop magnet 51) is returned to the launcher 35.
  • a launcher-side stop magnetic sensor 95 for detecting the above is provided.
  • the gyro data collector 79 there are provided a mirror 39 for reflecting light for measuring the positive diagonal at the survey start point, a communication antenna 80 projecting rearward, and a rescue hole 97.
  • the traction member 96 is provided.
  • the communication antenna 80 has a communication function for transmitting gyro data stored in the gyro data collector 79 to a personal computer or the like.
  • the rescue hole 97 provided in the rear end portion of the pulling member 96 is a hole penetrating in the vertical direction, and is hooked by a hook 98 (locking tool) from behind. It is provided in a shape that can be used.
  • the rear end of the pulling member 96 is a portion that abuts against the shock absorber 42 of the launcher 35 (FIG. 5).
  • the space 10 penetrating in the axial direction of the inner pipe 8 is used as a travel path, and the starter truck 71 and the surveying gyro car 76 are traveled along the rails 12 extending in the axial direction laid on the travel path 10.
  • the distance and azimuth angle from the survey start point of the start shaft 201 set by the launcher 35 to the survey end point where the start cart 71 is stored in the start cart storage tube 2 and the survey gyro cart 76 stops at the station tube 5 are accurately determined.
  • the position of the excavator 205 can be accurately measured.
  • the position of the surveying machine 205 at the surveying end point where the surveying gyro bogie 76 is stopped at a predetermined position of the station tube 5 is the distance and azimuth to the surveying gyro bogie 76 stopped at the station tube 5 and the surveying of the station tube 5 described above. It is obtained by calculation from a preset distance from the stop position of the gyro cart 76 to the excavator 205 and the detection angle of the middle folding sensor 61.
  • the surveying robot apparatus 70 as described above surveys a curved route as follows.
  • the dolly is set in the inner pipe 8 and the launcher 35 in the order of the start dolly 71 and the surveying gyro dolly 76 from the upper opening of the launcher 35. Then, the back of the surveying gyro cart 76 is backed by radio until the rear end of the survey gyro cart 76 contacts the shock absorber 42 of the launcher 35, and the gyro of the gyro on the launcher 35 is adjusted with the rear end of the survey gyro cart 76 contacting the shock absorber 42. The operator actually measures the diagonal.
  • the starter truck 71 automatically accelerates while controlling the speed and pulls the surveying gyro car 76.
  • the azimuth angle is detected by the gyro 77 at every certain distance, and the travel distance is measured by the distance measuring device 74 and stored in the gyro data collector 79.
  • a decelerating magnet for example, a magnet 13 provided on the inner pipe 8 of the several pipes before the leading inner pipe 7; not shown
  • the carriage 71 starts decelerating. At that time, monitoring is performed so that the starting carriage 71 can be stably stopped at a predetermined position of the starting carriage housing fixing tube 3 by constantly comparing the distance detected by the distance measuring instrument 74 (encoder).
  • the starting carriage 71 is stopped by detecting the stop magnet 51 on the excavator side. At this time, even if the tip of the starting carriage 71 contacts the shock absorber 54, the impact is alleviated.
  • the stop is detected by a signal from the stop signal switch 52, and the surveying gyro carriage 76 is stopped at the predetermined position of the station pipe 5, and the end point of the surveying is reached at that position. Measurement is performed.
  • the starting cart 71 automatically returns to the start shaft 201 side. Then, the surveying gyro cart 76 returned to the launcher 35 detects a stop magnet (not shown) and stops. At this time, even if the rear end of the surveying gyro bogie 76 contacts the shock absorber 42, the impact is alleviated. In this way, with the surveying gyro bogie 76 returning to the launcher 35, the normal diagonal of the surveying gyro bogie 76 on the launcher 35 is measured again by the operator.
  • the surveying gyro cart 76 and a personal computer are connected, the collected and stored gyro data is transmitted to the personal computer, and the route is calculated by the personal computer from the gyro data. The result of the route (curved route) is output.
  • the carts are collected in the order of the surveying gyro cart 76 and the start cart 71 from the upper opening of the launcher 35.
  • the position of the excavator 205 in the small-diameter propulsion method is stabilized by sufficiently exerting the accuracy of the gyro 77 by the above operation. Surveying is possible.
  • FIG. 12 is a plan view schematically showing the bending state of the excavator surveyed by the propulsion method surveying apparatus shown in FIG. 1, and the excavator 205 is curvedly propelled as described above to follow the curve construction.
  • the survey robot device 70 including the starter carriage 71 and the surveying gyro car 76 (FIG. 1) is run using the space 10 of the inner pipe 8. By doing so, the position of the excavator 205 can be accurately measured from the start pit 201 side.
  • the space 10 in the center of the inner pipe 8 is used as a surveying area, and even when the vinyl pipe 9 is curved by bending the excavator 205, Since the surveying gyro cart 76 can travel along the rail 12 of the space 10 of the inner pipe 8 to accurately measure the position of the excavator 205, the excavator 205 is always bent in the correct direction based on the data. Can be controlled.
  • the space 10 penetrating the inner pipe 8 is used as a surveying area as a space in which piping and wiring are not arranged, the starter truck 71 that self-runs in the space 10 and the starter truck 71 are laid in the space 10.
  • the surveying gyro cart 76 that runs along the rails 12 that extend in the axial direction, the accuracy of the gyro 77 can be fully demonstrated, and it is possible to accurately measure the curve construction of the excavator 205 and changes in all directions. Become.
  • the muddy water type excavator 205 has been described as an example.
  • the type of the excavator 205 may be determined according to the geology and the like, and is not limited to the above embodiment.
  • the said embodiment demonstrated the example which used the internal space of the inner pipe
  • the cross-sectional shape of the traveling paths 10 and 11 is not limited to the above embodiment.
  • the surveying device for the propulsion method according to the present invention can be used for the propulsion method when embedding a buried pipe having a diameter of about 300 mm or more with a sewer pipe or the like by performing a curved construction with a curvature radius of about 50 m to 60 m at a long distance. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Geophysics (AREA)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

Selon l'invention, dans un dispositif de mesure (1) destiné à un procédé de propulsion, est formé un trajet de tuyau par introduction dans la partie interne d'un tuyau d'enfouissement d'un tuyau interne (8) qui possède un espace le traversant dans la direction axiale, et par enfouissement dudit tuyau d'enfouissement dans la terre forée en attribuant une force de propulsion à une foreuse (205) à l'aide d'un dispositif de pression de base (205) installé dans un puits vertical de départ. Ce dispositif de mesure (1) est équipé : d'un chariot de démarrage (71) circulant de manière autotractée à travers l'espace traversant ledit tuyau interne (8); d'un chariot gyroscopique de mesure (76) qui circule le long d'un rail (12) posé dans la direction axiale de l'espace dudit tuyau interne (8) dans la continuité dudit chariot de démarrage (71); d'un tuyau (2) d'admission de chariot de démarrage placé dans la direction du puits vertical de départ de ladite foreuse (205), et dans lequel est admis ledit chariot de démarrage (71); d'un tuyau de station (5) constituant le point de fin de mesure dudit chariot gyroscopique de mesure (76); et d'un lanceur établi au point de départ de mesure dudit chariot gyroscopique de mesure (76) dans le puits vertical de départ. Ainsi, l'invention fournit un dispositif de mesure pour procédé de propulsion à bas coût permettant une mesure de manière stable, y compris sur une ligne de trajectoire de forage dans laquelle la foreuse (205) a formé une courbure.
PCT/JP2010/005027 2010-08-10 2010-08-10 Dispositif de mesure pour procédé de propulsion Ceased WO2012020451A1 (fr)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102619527A (zh) * 2012-04-18 2012-08-01 中铁十三局集团第一工程有限公司 栓接式盾构始发托架
CN103422866A (zh) * 2013-08-24 2013-12-04 中铁十二局集团有限公司 一种盾构后配套台车井下折叠式始发方法
CN104142145A (zh) * 2014-08-06 2014-11-12 上海隧道工程有限公司 大断面矩形顶管自动测量方法及装置
CN109356596A (zh) * 2018-10-30 2019-02-19 中建交通建设集团有限公司 利用可回收地下连续墙和钢套筒始发及接收盾构机的方法
CN110671122A (zh) * 2019-10-28 2020-01-10 煤科集团沈阳研究院有限公司 一种煤矿井下用顶管救援装备控制系统及控制方法
CN111322078A (zh) * 2020-03-19 2020-06-23 海南省水文地质工程地质勘察院 一种盾构机穿越地连墙过站的施工方法
CN113669073A (zh) * 2021-09-23 2021-11-19 中铁二十局集团第五工程有限公司 一种控制临近建筑变形的富水砂性地层先隧后站施工方法
CN115468785A (zh) * 2022-02-28 2022-12-13 中国地质大学（武汉） 一种模拟曲线顶管受力特性的试验装置

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JPH01142193A (ja) * 1987-11-27 1989-06-05 Tokyo Electric Power Co Inc:The 管埋設工法における位置測定法
JPH0875463A (ja) * 1994-09-07 1996-03-22 Fujita Corp シールド機の掘進確認測量方法
JP2004028632A (ja) * 2002-06-21 2004-01-29 Kawasaki Heavy Ind Ltd 掘進機の位置計測方法
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102619527A (zh) * 2012-04-18 2012-08-01 中铁十三局集团第一工程有限公司 栓接式盾构始发托架
CN103422866A (zh) * 2013-08-24 2013-12-04 中铁十二局集团有限公司 一种盾构后配套台车井下折叠式始发方法
CN104142145A (zh) * 2014-08-06 2014-11-12 上海隧道工程有限公司 大断面矩形顶管自动测量方法及装置
CN109356596A (zh) * 2018-10-30 2019-02-19 中建交通建设集团有限公司 利用可回收地下连续墙和钢套筒始发及接收盾构机的方法
CN109356596B (zh) * 2018-10-30 2020-05-12 中建交通建设集团有限公司 利用可回收地下连续墙和钢套筒始发及接收盾构机的方法
CN110671122B (zh) * 2019-10-28 2024-04-05 中煤科工集团沈阳研究院有限公司 一种煤矿井下用顶管救援装备控制系统及控制方法
CN110671122A (zh) * 2019-10-28 2020-01-10 煤科集团沈阳研究院有限公司 一种煤矿井下用顶管救援装备控制系统及控制方法
CN111322078A (zh) * 2020-03-19 2020-06-23 海南省水文地质工程地质勘察院 一种盾构机穿越地连墙过站的施工方法
CN111322078B (zh) * 2020-03-19 2021-05-18 海南省水文地质工程地质勘察院 一种盾构机穿越地连墙过站的施工方法
CN113669073A (zh) * 2021-09-23 2021-11-19 中铁二十局集团第五工程有限公司 一种控制临近建筑变形的富水砂性地层先隧后站施工方法
CN113669073B (zh) * 2021-09-23 2023-05-26 中铁二十局集团第五工程有限公司 一种控制临近建筑变形的富水砂性地层先隧后站施工方法
CN115468785A (zh) * 2022-02-28 2022-12-13 中国地质大学（武汉） 一种模拟曲线顶管受力特性的试验装置
CN115468785B (zh) * 2022-02-28 2024-04-16 中国地质大学（武汉） 一种模拟曲线顶管受力特性的试验装置

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