JP2017060259A - Laid object carrying method, laid object carrying device, and laid object removing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a laid object to be carried to a predetermined location by few people and further in a short time.SOLUTION: A plurality of holing machines HM1-HM3 which carry a laid object while holding the object from both sides thereof are arranged in a cavernous road 11. Between the holing machines HM1-HM3 are arranged a plurality of directly-placed rollers fr11-fr18 which carry the laid object while supporting the object. A main control part 37 is arranged in a predetermined control region, and sub control parts Sc1-Sc3 are arranged in the cavernous road 11, corresponding to the holing machines HM1-HM3 respectively. By the main control part 37, the holing machines HM1-HM3 are controlled through the sub control parts Sc1-Sc3. One operator p15 can control all of the holing machines HM1-HM3, which can reduce the number of personnel required for adjusting the holing machines HM1-HM3.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a laying object conveying method, a laying object conveying apparatus, and a laying object removing method.

  Conventionally, when laying a cable as a laying object in a cave, the cable fed from the cable drum on the ground is sent into the cave via a shaft formed on the ground and is conveyed to a predetermined location in the cave. It has become.

  FIG. 2 is a conceptual diagram of a conventional cable conveying device, and FIG. 3 is a perspective view of an electric roller.

  In the figure, 11 is a cave formed in the basement, 12 is a shaft formed at a predetermined location on the ground Sa, connecting the ground and the cave 11, and 14 is formed by winding the cable C around a drum. Cable drum, hm10 is a holing machine arranged on the ground, hm11 is a holing machine preliminarily installed in a bent portion, an inclined portion, etc. in the sinus 11, erj (j = 11, 12,...) Is an electric roller installed in advance in the cave 11 at intervals of about 3 [m].

  Further, Vc1 is a transport vehicle with a cable drum 14 mounted on the loading platform, Vc2 is a transport vehicle with a holing machine hm10 mounted on the loading platform, and 15 is an electric roller control device disposed near the shaft 12 in the tunnel 11. is there.

  Each of the holing machines hm10 and hm11 includes a pair of caterpillars 16 that are movably arranged, a motor for driving a holing machine (not shown) for running the caterpillars 16 and the like. When the caterpillar 16 is caused to travel by driving the motor, the cable C is conveyed while being held between the caterpillar 16. The holing machine hm10 disposed on the ground has a braking function for restricting the cable C from being biased downward by gravity.

  Each of the electric rollers erj is rotatably disposed in parallel with the base 20, and is provided with two rollers 21 and 22 for supporting the cable C, and for operating an electric roller (not shown) for rotating the rollers 21 and 22. And a guide 24, 25, etc., which are formed to rise from the end of the base 20 and guide the cable C so as not to come off the rollers 21, 22. The electric roller control device 15 and each electric roller operating motor are connected via a control cable (not shown). When the rollers 21 and 22 are rotated by driving the motors, the cable C becomes the roller 21. , 22 are conveyed in a supported state.

  When the cable drum 14 is rotated on the loading platform of the transport vehicle Vc1, the cable C is unwound, and the fed cable C is transported while being braked by the holing machine hm10 on the loading platform of the transport vehicle Vc2. It is sent into the cave 11 through the shaft 12.

  The cable C is transported to a predetermined location in the sinus 11 by a holing machine hm11 and an electric roller erj (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 10-94131

  However, in order to transport the cable C using the conventional cable transport device, a leading p1 that guides the front end of the cable C, an operator p2 that operates the cable drum 14 in the transport vehicle Vc1, and each holing machine hm10 , The cable C is set in hm11, and the operator p3 who individually adjusts the holing machines hm10 and hm11, the operator p4 who operates the electric roller controller 15 to control each electric roller erj, and the sinus 11 on the ground A large number of personnel are required such as a contact person p5 who contacts the operator inside and a monitoring person p6 who monitors the conveyance status of the cable C at a predetermined location in the tunnel 11. In addition, since it is necessary to dispose many electric rollers erj, not only is it troublesome to install or remove the electric rollers erj, but the time required for that is increased. As a result, the cost for transporting the cable C increases.

  Further, in each electric roller erj, the cable C is transported while being supported by the rollers 21 and 22, and therefore, if the contact state between the cable C and the rollers 21 and 22 is poor, a sufficient transport force can be obtained. Therefore, the time required to transport the cable C becomes long.

  Moreover, conventionally, the work of removing the cable C laid in the cave 11 is troublesome.

  The present invention solves the problems of the conventional cable transport device, can reduce the cost for transporting the fabric, and transports the fabric to a predetermined place in a short time with a small number of people. It is an object of the present invention to provide a laying thing transporting method and a laying thing transporting apparatus.

  It is another object of the present invention to provide a method for removing a construction product that can simplify the work of removing the construction product installed in a cave.

  In the method of transporting a construction object according to the present invention, a plurality of holing machines that sandwich and convey the construction object from both sides are installed in the cave, and a plurality of straight lines that support and convey the construction object between the respective holing machines. A placement roller is installed, a main control unit is arranged in a predetermined control area, and a sub-control unit is arranged in the sinus corresponding to each holing machine, and the main control unit performs the holing via each sub-control unit. Control the machine.

  According to the present invention, in the laying object conveying method, a plurality of holing machines for holding and conveying the laying object from both sides are installed in the cave, and the laying object is supported and conveyed between the respective holing machines. A plurality of direct placement rollers are installed, a main control unit is arranged in a predetermined control area, a sub-control unit is arranged in the sinus corresponding to each holing machine, and each sub-control unit is arranged by the main control unit. The holing machine is controlled via

  In this case, since the main control unit disposed in the predetermined control region controls each holing machine via the sub control unit disposed corresponding to each holing machine, one operator is All the holing machines can be collectively controlled via the main control unit and the sub control unit. Therefore, it is not necessary to individually adjust each holing machine while conveying the construction object, and it is possible to reduce the number of personnel for adjusting each holing machine. Moreover, since it is not necessary to arrange an electric roller, it is not necessary to perform an operation of installing or removing the electric roller. As a result, it is possible to reduce the cost for transporting the fabric article.

  Furthermore, since sufficient conveyance force can be obtained without using an electric roller, the time required to convey the laying object can be shortened.

  As a result, it is possible to transport the installation object with a small number of people and in a short time.

It is a figure which shows the sinus | pathway part of the cable conveying apparatus in the 1st Embodiment of this invention. It is a conceptual diagram of the conventional cable conveying apparatus. It is a perspective view of an electric roller. It is a figure which shows the ground part of the cable conveying apparatus in the 1st Embodiment of this invention. It is a perspective view of the direct placement roller in the 1st Embodiment of this invention. It is a side view of the leading vehicle in the 1st Embodiment of this invention. It is a front view of the leading vehicle in the 1st Embodiment of this invention. It is the schematic which shows the control apparatus of the cable conveying apparatus in the 1st Embodiment of this invention. It is a figure which shows the state which the leading vehicle in the 1st Embodiment of this invention passed the 1st holing machine. It is a figure which shows the state which the leading vehicle in the 1st Embodiment of this invention passed the 2nd holing machine. It is a 1st figure for demonstrating operation | movement of a leading vehicle when the cable in the 1st Embodiment of this invention is conveyed to the predetermined location. It is a 2nd figure for demonstrating operation | movement of a leading vehicle when the cable in the 1st Embodiment of this invention is conveyed to the predetermined location. It is a control block diagram of the cable conveying apparatus in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus of the cable conveying apparatus in the 1st Embodiment of this invention. It is a figure which shows the example of the driving flag table in the 1st Embodiment of this invention. It is a figure which shows the example of the load factor table in the 1st Embodiment of this invention. It is a time chart which shows the change of the load factor in the 1st Embodiment of this invention. It is a figure which shows the leading vehicle in the 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this case, a cable conveying method as a laying object conveying method, a cable conveying device as a laying object conveying device, and a cable removing method as a laying object removing method will be described.

  FIG. 1 is a diagram showing a sinus portion of a cable carrying device according to the first embodiment of the present invention, FIG. 4 is a diagram showing a ground portion of the cable carrying device according to the first embodiment of the present invention, and FIG. It is a perspective view of the direct placement roller in the 1st Embodiment of this invention. FIG. 6 is a side view of the leading vehicle in the first embodiment of the present invention, FIG. 7 is a front view of the leading vehicle in the first embodiment of the present invention, and FIG. 8 is the first embodiment of the present invention. It is the schematic which shows the control apparatus of the cable conveyance apparatus in.

  In the figure, 11 is a cave formed in the basement, 12 is a shaft formed at a predetermined location on the ground Sa, connecting the ground and the cave 11, and 14 is a cable C wound as a laying structure around the drum. The cable drum 35, which is a construction drum formed as described above, is movably disposed in the cave 11 and is a leading vehicle HM0 that is advanced while holding the front end Cf of the cable C. The holing machine, HMI (I = 1, 2,..., N) has a plurality of (this embodiment) installed in advance in the sinus 11 at predetermined intervals, in the present embodiment, at intervals of about 50 [m]. N)) holing machines, frk (k = 11, 12,...) Are set at a predetermined interval between the holing machines HMI in the sinus 11, and about 3 in this embodiment. A plurality of straight every roller which is previously installed at intervals of m]. The holing machine HM0 installed on the ground has a braking function for restricting the cable C from being biased downward by gravity in addition to the transport function for transporting the cable C.

  Further, Vc1 is a transport vehicle with a cable drum 14 mounted on the loading platform, Vc2 is a transport vehicle with a holing machine HM0 mounted on the loading platform, and Ar1 is a control region formed in the vicinity of the shaft 12 in the tunnel 11. The control room Ar1 includes a main control unit (MC board) 37, a power supply device 36 connected to the main control unit 37, and is connected to the main control unit 37 and includes operation elements such as switches and buttons. Further, a display unit 39 provided with a display screen is provided, which is connected to the operation unit 38 and the main control unit 37.

  Then, on the ground, the sub-control unit (I / O board) Sc0 is associated with the holing machine HM0, and in the tunnel 11, the sub-control unit ScI (I = 1, 2,..., N) The sub-control units Sc0, ScI and the main control unit 37 are connected to the machine HMI, and are connected to the power supply cable 43 and the control cable 44.

  The main control unit 37 performs control such as operation, stop, speed adjustment, emergency (emergency) stop, and the like of each of the holing machines HM0 and HMI via the sub control units Sc0 and ScI. In the case of an emergency stop, the holing machines HM0 and HMI can be stopped in a shorter time than a normal stop.

  The holing machines HM0 and HMI can be controlled individually or collectively. For this purpose, the operation unit 38 is provided with operation switches for operating all the holing machines HM0 and HMI, and all holing machines HM0. , A stop switch for stopping the HMI, an operation / stop selection switch for selecting whether to operate or stop for each of the holing machines HM0, HMI, and control of each of the holing machines HM0, HMI individually. Individual or collective switches are provided for selecting whether or not to perform the processes collectively.

  If the operator presses the individual / collective switch and selects individual control, turning on the operation switch can drive the holing machine with the operation / stop selection switch turned on. When turned on, the holing machine for which the operation / stop selection switch is turned on can be stopped.

  In addition, when the operator depresses the individual / collective switch and selects collective control, when the operation switch is turned on in a state where the operation / stop selection switches of all the holing machines HM0 and HMI are turned on. All the holing machines HM0 and HMI can be operated. When the stop switch is turned on, all the holing machines HM0 and HMI can be stopped. In addition, in the state where any of the operation / stop selection switches of the holing machines HM0 and HMI is turned off, even if the operation switch is turned on, not all the holing machines HM0 and HMI can be operated.

  Each of the sub-control units Sc0 and ScI includes a motor driving unit (INV panel) 40 for operating the holing machines HM0 and HMI, a plurality of monitoring cameras 45 as imaging members for monitoring (fixed point monitoring), An antenna 46 and the like are connected. The monitoring camera 45 is wirelessly connected to the operation unit 38 and the antenna 46 is wirelessly connected to a communication device 47 used by a monitoring person p17 described later. The images in the tunnel 11 taken by each monitoring camera 45 are sent to the operation unit 38 by radio and displayed on the display unit 39. The image in the sinus 11 can be sent to the operation unit 38 via the control cable 44.

  The leading wheel 35 has a frame structure, and a holding portion 51 for locking and holding the front end Cf of the cable C, and a predetermined interval in the front-rear direction and the left-right direction to support the holding portion 51. In the present embodiment, a plurality of the leg portions 52, a caster portion 53 that is disposed at the lower end of the leg portion 52 and supports the leading wheel 35 movably, and the like are provided.

  The holding portion 51 includes a roller 55 that is rotatably supported at front and rear, left and right, and a plurality of upper and lower portions. Each leg 52 has a telescopic structure made of a jack or the like so that the position of the holding portion 51 in the height direction can be changed. The caster portion 53 includes three rollers 53a to 53c arranged so that each central axis forms a vertex of a triangle, a belt 53d stretched by the rollers 53a to 53c, and the rollers 53a to 53c. Of these, a predetermined roller, in the present embodiment, is provided with a motor 66 (FIG. 13), which will be described later, serving as a driving unit for driving the leading vehicle, which is connected to the roller 53a. In addition, the height of the holding part 51 and the width in the left-right direction of the leg part 52 are set to values at which the leading vehicle 35 can move across the holing machines HMI.

  The holing machines HM0 and HMI are each provided with a base 61, a pair of caterpillars 16 that are arranged to run freely on the base 61, and clamp the cable C from both sides, and two pulleys (not shown) that stretch the caterpillars 16, respectively. A motor 56 or the like serving as a driving unit for operating a holing machine is connected to one of the pulleys by a connecting member 48, and the motor 56 is connected to each motor driving unit 40.

  The holing machines HM0 and HMI each include a pair of rollers 62 and 63 that are rotatably disposed on the base 61 at the back and front of the caterpillar 16, and each of the rollers 62 and 63 includes a cable C. It is supported and rotated as the cable C is transported.

  As shown in FIG. 5, each direct placement roller frk includes a support frame 31 and a roller 32 that is rotatably disposed by the support frame 31. The roller 32 has a shape in which the diameter of the central portion is small and the diameter increases toward both ends, and the roller 32 is driven and rotated while supporting the cable C so that the cable C is not detached.

  In the present embodiment, in order to transport the cable C using the cable transport device, the guide p11 that guides the front end Cf of the cable C, the operator p12 that operates the cable drum 14 in the transport vehicle Vc1, and the ground An operator p13 who sets the cable C in the holing machine HM0, an operator p14 who sequentially sets the cable C in each holing machine HMI in the tunnel 11, operates the operating unit 38 in the control room Ar1, An operator p15 who controls the holing machines HM0 and HMI via the control units Sc0 and ScI, a contact person p16 who communicates with the operator p14 and the monitoring person p17 in the sinus 11 on the ground, and a cable in the sinus 11 A monitor p17 and the like for monitoring the conveyance status of C are arranged.

  In the present embodiment, one operator p14 moves forward as the leading vehicle 35 moves forward, and the cable C is sequentially set in each holing machine HMI. Further, in the present embodiment, after the operator p13 sets the cable C to the holing machine HM0 and the operator p14 sequentially sets the cable C to the holing machine HMI, one operator p15 37 and the sub-control units Sc0 and ScI are used to control all the holing machines HM0 and HMI. Therefore, it is not necessary to arrange an operator for each holing machine HMI when carrying the cable C, and the number of operators p14 for adjusting the holing machine HMI can be reduced.

  Further, a plurality of monitoring cameras 45 are arranged at predetermined locations in the sinus 11, and the images in the sinuses 11 photographed by the monitoring cameras 45 are displayed on the display unit 39, so that the operator p15 The conveyance status of the cable C can be monitored, and the number of monitoring personnel p17 for monitoring the conveyance status of the cable C in the tunnel 11 can be reduced. In the present embodiment, by operating the operation unit 38, it is possible to select and display on the display unit 39 the video of each part in the sinus 11 photographed by the monitoring camera 45.

  Thus, in this Embodiment, since the personnel for conveying the cable C can be reduced, the cost for conveying the cable C can be lowered.

  Further, since the cable C is transported while being held by the caterpillar 16, a sufficient transport force can be obtained, and the time required to transport the cable C can be shortened.

  Next, the operation of the cable transport device when transporting the cable C to a predetermined location will be described.

  FIG. 9 is a diagram showing a state in which the leading vehicle in the first embodiment of the present invention has passed the first holing machine, and FIG. 10 is a diagram illustrating the second leading vehicle in the first embodiment of the present invention. The figure which shows the state which passed the holing machine, FIG. 11 is the 1st figure for demonstrating operation | movement of a leading vehicle when the cable in the 1st Embodiment of this invention is conveyed to the predetermined location, FIG. These are 2nd figures for demonstrating operation | movement of a leading vehicle when the cable in the 1st Embodiment of this invention is conveyed to the predetermined location.

  First, when the operator p12 operates and rotates the cable drum 14 on the loading platform of the transport vehicle Vc1 (FIG. 4), the cable C is fed out from the cable drum 14, and the fed cable C is transported to the transport vehicle Vc2. Is set on the holing machine HM0 by the operator p13.

  Subsequently, in the control room Ar1, when the operator p15 operates the operation unit 38 to operate the holing machines HM0 and HMI via the main control unit 37 and the sub control units Sc0 and ScI, the cable C is connected to the holing machine. It is conveyed while being braked by HM0 and sent into the tunnel 11 through the shaft 12. At this time, on the ground, the contact person p16 lowers the cable C while contacting the operator p14 in the tunnel 11.

  Then, in the tunnel 11, the lead p 11 receives the cable C and locks the front end Cf of the cable C to the holding portion 51 of the lead wheel 35.

  Subsequently, when the lead p11 drives the motor of the lead car 35, the roller 53a of the caster part 53 is rotated, the belt 53d is caused to travel, and the lead car 35 is moved forward across the holing machine HM1. . At this time, the operator p14 puts the cable C on the direct placement rollers fr11 and fr12, puts them on the rollers 62 and 63 of the holing machine HM1, and clamps them from both sides by the caterpillar 16, thereby setting the holing machine HM1. To do. Thereby, the cable C is conveyed by the holing machine HM1.

  Subsequently, the lead p11 moves the lead vehicle 35 forward across the holing machine HM2. At this time, the operator p14 who has set the cable C in the holing machine HM1 moves in the direction of the arrow in FIG. 10 and places the cable C on the direct placement rollers fr14 and fr15 and on the rollers 62 and 63 of the holing machine HM2. Is set on the holing machine HM2 by being clamped from both sides by the caterpillar 16. Thereby, the cable C is conveyed by the holing machines HM1 and HM2.

  During this time, the images in the tunnel 11 taken by each monitoring camera 45 are wirelessly sent to the operation unit 38 and displayed on the display unit 39, so that the operator p15 can view the image displayed on the display unit 39. Based on the monitoring of the inside of the sinus 11, the operation unit 38 is operated to control each holing machine HMI.

  When the front end Cf of the cable C reaches a predetermined location, the guide p11 stops the guide wheel 35 and raises the holding portions 51 by extending the leg portions 52 as shown in FIG. The side wall Sw side of the holding part 51 is opened by placing the roller 55 at an appropriate position and the same position as the predetermined shelf 71 as the laying object support part formed on the side wall Sw of the sinus 11. Then, the cable C is moved to the shelf 71 and placed.

  Subsequently, as shown in FIG. 12, the lead p11 moves the lead wheel 35 backward (in the direction of the arrow) and expands and contracts each leg 52 to bring the holding part 51 into the same position as the shelf 71. The cable C is moved to the shelf 71 and placed. Then, the leading member p11 moves the leading wheel 35 back to a position near the shaft 12, and places the entire cable C on the shelf 71, whereby the laying of the cable C is completed.

  On the other hand, when removing the installed cable C from the cave 11, first, a plurality of holing machines HMI are installed in the cave 11, and a plurality of directly placed rollers frk are installed between the holing machines HMI.

  Next, the leading wheel 35 is placed near the shaft 12, the holding portion 51 of the leading wheel 35 is raised, placed at the same position as the shelf 71 of the tunnel 11, and the cable C placed on the shelf 71 is held by the holding portion. Move to 51. Subsequently, when the leading wheel 35 is moved forward and the entire cable C is moved to the holding unit 51, the cable C behind the leading wheel 35 is placed directly on the roller frk and the holing machine HMI.

  In this way, when the entire cable C is placed on the direct placement roller frk and the holing machine HMI, the operator p15 operates the operation unit 38 in the control room Ar1 to operate the main control unit 37 and the sub control unit. The holing machines HM0 and HMI are operated via Sc0 and ScI. Thereby, the cable C is conveyed.

  Next, a control block diagram of the cable transport device will be described.

  FIG. 13 is a control block diagram of the cable carrying device according to the first embodiment of the present invention.

  In the figure, 37 is a main control unit, 38 is an operation unit, 39 is a display unit, HMI is a holing machine, ScI is a sub-control unit, and 56 is for rotating the pulley PL in the forward direction or the reverse direction in each holing machine HMI. A motor 40 is a motor drive unit for driving the motor 56 in the forward direction or the reverse direction, 62 and 63 are rotatably disposed in each of the holing machines HMI, a roller for supporting the cable C, and 66 is a lead A motor 67 disposed on the car 35 for rotating the roller 53a in the forward direction or the reverse direction, and a motor drive unit 67 for driving the motor 66 in the forward direction or the reverse direction.

  The rotation speed Nc of the roller 53a is detected by an encoder sc attached to the rotation shaft of the roller 53a and sent to the main control unit 37.

  Based on the operation of the operation unit 38 by the operator, the main control unit 37 turns on the operation command of each holing machine HMI and generates the speed command value NsI (I = 1, 2,..., N) of the motor 56. When each sub-control unit ScI is sent, each sub-control unit ScI sends a current corresponding to the speed command value NsI to the motor drive unit 40 to drive the motor 56. Then, the rotation of the motor 56 is transmitted to the pulley PL via the connecting member 48, and the caterpillar 16 (FIG. 1) is caused to travel. As a result, each holing machine HMI is operated, and the cable C is transported in a state where the cable C is sandwiched between the caterpillars 16. At this time, each motor drive unit 40 reads a current sent to the motor 56, and based on the current, a ratio of a load applied to each holing machine HMI, that is, a load factor εI (I = 1) of each holing machine HMI. 2,..., N) are calculated and sent to the sub-control unit ScI.

  Further, the rotational speeds NaI, NbI (I = 1, 2,..., N) of the rollers 62, 63 are detected by encoders sa, sb attached to the rotation shafts of the rollers 62, 63, and the sub-control unit ScI. Sent to.

  Next, the operation of the control device of the cable transport device will be described.

  FIG. 14 is a flowchart showing the operation of the control device for the cable carrying device in the first embodiment of the present invention, FIG. 15 is a diagram showing an example of the operation flag table in the first embodiment of the present invention, and FIG. The figure which shows the example of the load factor table in the 1st Embodiment of this invention, FIG. 17 is a time chart which shows the change of the load factor in the 1st Embodiment of this invention.

  First, an operation state determination processing unit (not shown) of each sub-control unit ScI (FIG. 1) performs an operation state determination process to determine whether or not the holing machine HMI is being operated and the cable C is being conveyed by each of the holing machines HMI. Judging.

For this purpose, the operation state determination processing unit determines whether or not the first operation state determination condition is satisfied depending on whether or not the operation command for the holing machine HMI sent from the main control unit 37 is ON. The operating state determination processing unit reads the rotational speeds NaI and NbI of the rollers 62 and 63 of the holing machine HMI, and the rotational speeds NaI and NbI are
NaI = NbI
Whether or not the second operating condition determination condition is satisfied is determined based on whether or not Further, the operating state determination processing unit reads the load factor εI of the holing machine HMI, and sets the load factor when the cable C is not held by the caterpillar 16 in the holing machine HMI to εxI (I = 1, 2,..., N ), The load factor εI of the holing machine HMI is
εI> εxI
Whether or not the third operating state determination condition is satisfied is determined based on whether or not

  The operating state determination processing unit determines that the holing machine HMI is in operation and the cable C is being conveyed when the first to third operating state determination conditions are satisfied, and the operation as an operation index is performed. When the flag FLG is set to 1 and one or more of the first to third driving state determination conditions are not satisfied, one of the holing machines HMI is not operated and the cable C is transported. The operation flag FLG is set to 0 and sent to the main control unit 37.

  The main control unit 37 maps the operation flag FLG sent from each sub-control unit ScI to the operation flag table shown in FIG. 15 arranged in a built-in memory (not shown) in association with the holing machine HMI. Record. Therefore, the operation state determination processing unit can determine whether each holing machine HMI is operated and the cable C is conveyed by each holing machine HMI by referring to the operation flag table. For example, when the operation flag FLG of each holing machine HMI takes a value as shown in FIG. 15, it can be seen that only the holing machine HM1 is operating and the holing machines HM2 to HMn are not operating.

  Next, an abnormality determination processing unit (not shown) of each sub-control unit ScI performs an abnormality determination process to determine whether an abnormality has occurred in the holing machine HMI.

Therefore, the abnormality determination processing unit refers to the operation flag table and determines whether or not the first abnormality determination condition is satisfied depending on whether or not the operation flag FLG of the holing machine HMI is 1. Further, the abnormality determination processing unit reads the load factor εI of the holing machine HMI, and whether the load factor εI is larger than the upper limit value εmax εI> εmax
To determine whether or not the second abnormality determination condition is satisfied. In the present embodiment, the rated load factor ε1 is set to 100 [%], and the upper limit value εmax is set to 120 [%].

  Further, the abnormality determination processing unit determines a third abnormality determination depending on whether or not a time TI (I = 1, 2,..., N) during which the load factor εI is larger than the upper limit value εmax has exceeded the set value Tx. Determine whether the condition is met. In the present embodiment, the set value Tx is set to 10 [seconds].

  Each sub-control unit ScI sends the load factor εI and time TI to the main control unit 37, and the main control unit 37 uses the load factor εI and time TI sent from each sub-control unit ScI as the holing machine HMI. Correspondingly, it is recorded in the load factor table shown in FIG. 16 arranged in the memory.

  When the first to third abnormality determination conditions are satisfied, the abnormality determination processing unit determines that an abnormality due to overload has occurred in the holing machine HMI and notifies the main control unit 37 that an abnormality has occurred. To do.

  When the main control unit 37 is notified from any of the sub-control units ScI that an abnormality has occurred, the main control unit 37 turns off the operation command of each holing machine HMI and stops the cable transport device.

  The load factor εI of each holing machine HMI changes as shown in FIG.

  FIG. 17 shows transitions of the load factors ε1 to ε3 when the holing machine HM1 is operated at timing t1, the holing machine HM2 is operated at timing t2, and the holing machine HM3 is operated at timing t3. Each of the load factors ε1 to ε3 increases with the passage of time after the operation of the holing machines HM1 to HM3 is started, and takes substantially the same value at timing t4, for example. Note that εmax is the upper limit value of each load factor ε1 to ε3.

  Next, a speed control processing unit (not shown) of the main control unit 37 performs speed control processing and performs speed control of the motor 56 in each holing machine HMI.

  For this purpose, the speed control processing unit reads the operation flag FLG of the holing machine HMI, the rotational speeds NaI and NbI of the rollers 62 and 63, and the rotational speed Nc of the roller 53a.

A predetermined holing machine among the holing machines HMI is HMm, a holing machine one forward of the holing machine HMm is HM (m + 1), and a holing machine one rear of the holing machine HMm is HM (m−1). ), The speed control processing unit reads the operation flag FLGm of the holing machine HMm and the operation flag FLG (m + 1) of the holing machine HM (m + 1), and the operation flags FLGm and FLG (m + 1)
FLGm = 1
FLG (m + 1) = 1
It is determined whether or not. The driving flags FLGm, FLG (m + 1)
FLGm = 1
FLG (m + 1) = 1
In this case, since both the holing machines HMm and HM (m + 1) are in operation, the speed control processing unit performs the rotation speed Nam of the roller 62 of the holing machine HMm and the roller of the holing machine HM (m−1). The rotational speed Nb (m-1) of 63 is compared.

The speed control processing unit is configured such that the difference ΔN1 between the rotational speed Nam and the rotational speed Nb (m−1).
ΔN1 = Nam−Nb (m−1)
Is calculated, and it is determined whether or not the difference ΔN1 is greater than the set value Nmax, which is 0.5 [rad / s] in the present embodiment. When the difference ΔN1 is larger than the set value Nmax, the transport speed by the holing machine HM (m−1) is lower than the transport speed by the holing machine HMm. Therefore, the speed control processing unit sends a speed command to the holing machine HM (m−1). The value Ns (m−1) is increased by a predetermined value ΔNs, which is Ns (m−1) × 0.1 in this embodiment.

  In addition, the speed control processing unit determines whether the difference ΔN1 is smaller than a set value Nmin, in the present embodiment, −0.5 [rad / s]. If the difference ΔN1 is smaller than the set value Nmin Since the conveying speed by the holing machine HM (m−1) is higher than the conveying speed by the holing machine HMm, the speed command value Ns (m−1) in the holing machine HM (m−1) is set to a predetermined value ΔNs. In the form, it is lowered by Ns (m−1) × 0.1.

In addition, the driving flags FLGm, FLG (m + 1)
FLGm = 1
FLG (m + 1) = 0
In this case, since the holing machine HMm is operated but the holing machine HM (m + 1) is not operated, the speed control processing unit determines the rotational speed Nam of the roller 62 of the holing machine HMm and the leading vehicle 35. The rotational speed Nc of the roller 53a is compared. For convenience, the diameters of the roller 62 and the roller 53a are assumed to be equal.

Then, the speed control processing unit is configured such that the difference ΔN2 between the rotational speed Nc and the rotational speed Nam.
ΔN2 = Nc−Nam
It is determined whether or not the difference ΔN2 is larger than the set value Nmax, which is 0.5 [rad / s] in the present embodiment. When the difference ΔN2 is larger than the set value Nmax, the conveyance speed by the holing machine HMm is lower than the conveyance speed by the leading vehicle 35. Therefore, the speed control processing unit sets the speed command value Nsm in the holing machine HMm to a predetermined value ΔNs. In this form, it is increased by Nsm × 0.1.

  In addition, the speed control processing unit determines whether the difference ΔN2 is smaller than a set value Nmin, in the present embodiment, −0.5 [rad / s]. If the difference ΔN2 is smaller than the set value Nmin Since the conveying speed by the holing machine HMm is higher than the conveying speed by the leading vehicle 35, the speed command value Nsm in the holing machine HMm is lowered by a predetermined value ΔNs, which is Nsm × 0.1 in this embodiment.

  When the speed control process is completed in this way, the recording processing unit (not shown) of the main control unit 37 performs the recording process, the operating state of each holing machine HMI, the load factor εI, the rotational speed NaI of the rollers 62 and 63, The NbI, the rotation speed Nc of the roller 53a, the image in the tunnel 11 taken by the monitoring camera 45, etc. are recorded in the memory, and the process is terminated.

  In the present embodiment, the speed control processing unit determines the speed command value in the holing machine based on the rotational speeds NaI and NbI of the rollers 62 and 63 of the holing machine HMI and the rotational speed Nc of the roller 53a of the leading wheel 35. However, the conveying speed by the holing machine and the conveying speed by the leading vehicle 35 are directly detected by the speed detection member arranged opposite to the cable C, and the conveying speed by the holing machine and the leading vehicle are detected. The speed command value in the holing machine can be changed based on the transport speed by 35.

Next, a flowchart will be described.
Step S1: The operation state determination processing unit performs an operation state determination process.
Step S2 The abnormality determination processing unit performs an abnormality determination process.
Step S3: The speed control processing unit performs speed control processing.
Step S4: The recording processing unit performs a recording process and ends the process.

  As described above, in the present embodiment, the holing machine HMI is controlled by the main control unit 37 disposed in the control room Ar1 via the sub-control unit ScI disposed in the sinus 11. Therefore, one operator p15 (FIG. 1) can collectively control all the holing machines HMI via the main control unit 37 and the sub control unit ScI. Therefore, it is not necessary to individually adjust each holing machine HMI while the cable C is being conveyed, and it is possible to reduce the number of personnel for adjusting each holing machine HMI.

  In addition, since a sufficient transport force can be obtained without using an electric roller, the time required to transport the cable C can be shortened.

  As a result, the cable C can be transported to a predetermined location with a small number of personnel and in a short time.

  Moreover, since it is not necessary to use an electric roller, not only can the materials and equipment to be used be reduced, but also the power consumption can be reduced.

  And since the drawing-in speed | rate for conveying the cable C in each holing machine HMI is about 6 [m / min], the conveyance speed of the cable C can be synchronized easily.

  Furthermore, each holing machine HMI can be used to adjust the extra length of the cable C.

  Next, a second embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st Embodiment, the same code | symbol is provided and the effect of the same embodiment is used about the effect of the invention by having the same structure.

  FIG. 18 is a diagram showing a leading vehicle according to the second embodiment of the present invention.

  In this case, in the present embodiment, a plurality of leading vehicles 35 are connected by the connecting rods 171 and 172, and the cable C as the installation object is supported by the holding portion 51 of each leading vehicle 35.

  Thereby, since the vicinity of the front end Cf of the cable C can be supported horizontally, the cable C can be stably conveyed.

  In each of the embodiments described above, the cable C is transported as a laying object, but a long object other than the cable C, for example, the inside of the cave 11 is cooled, or the cable C is cooled. Therefore, the cooling pipe installed in the sinus 11 can be conveyed as an installation.

  The present invention is not limited to the above embodiments, and various modifications can be made based on the gist of the present invention, and they are not excluded from the scope of the present invention.

11 Cave 37 Main control unit Ar1 Control room C Cable frk Directly placed roller HMI Hole machine ScI Sub control unit

Claims (19)

(A) In the cave, a plurality of holing machines are installed to convey and hold the construction object from both sides.
(B) Between the holing machines, a plurality of direct placement rollers that support and convey the installation are installed,
(C) A main control unit is arranged in a predetermined control region, and a sub control unit is arranged in the sinus corresponding to each holing machine,
(D) The laying object conveying method, wherein the holing machine is controlled by the main control unit via the sub control units.   The method according to claim 1, wherein the front end of the construction object is held by a leading vehicle that is moved forward across the holing machines.   The laying thing conveyance method of Claim 1 or 2 with which the image | video in the cave image | photographed with the several imaging member arrange | positioned in the said cave is displayed on the display part arrange | positioned in the said control area.   The operator moves to the front as the leading vehicle moves forward, and sequentially sets the fabric to each holing machine.   The laying thing conveyance method of any one of Claims 1-4 by which the driving | running state of each holing machine is judged based on the conveyance speed of the laying thing by each said holing machine, and the load factor of each holing machine.   The laying thing conveyance method of any one of Claims 1-5 by which it is judged whether abnormality occurred in the holing machine based on the load factor of each said holing machine.   The method according to claim 5, wherein a speed command value in the holing machine is changed based on a conveying speed of the laying object by adjacent holing machines.   The method according to claim 5, wherein a speed command value in the holing machine is changed based on a conveying speed of the laying object by the holing machine and a conveying speed of the laying object by the leading vehicle. (A) When the construction object reaches a predetermined location, the leading vehicle is stopped,
(B) Raise the holding part for holding the construction object and place it at the same position as the construction object support part formed on the side wall of the cave,
(C) placing the laying object held by the holding part on the laying object support part;
(D) The laying object conveying method according to any one of claims 1 to 8, wherein the leading vehicle is moved backward, and the entire laying object is placed on the laying object support portion. (A) a plurality of holing machines that are installed in a cave, and carry and convey a construction object from both sides;
(B) a plurality of direct placement rollers that are installed between the holing machines and support and convey the laying object;
(C) a main control unit disposed in a predetermined control region;
(D) having a sub-control unit arranged corresponding to each holing machine in the sinus,
(E) The main control unit controls each holing machine via the sub-control unit.   The laying thing conveyance apparatus of Claim 10 which has a leading vehicle which hold | maintains the front end of the said laying thing, and is moved ahead across each holing machine. (A) a plurality of imaging members disposed in the sinus;
(B) The laying thing conveyance apparatus of Claim 10 or 11 which has a display part which is arrange | positioned in the said control area and displays the image | video in the sinus image | photographed with each said imaging member. (A) a pair of rollers disposed behind and in front of the caterpillar in each of the holing machines and supporting the installation;
(B) An operation state determination processing unit that determines an operation state of each holing machine based on a rotation speed of each roller and a load factor of each holing machine. Equipment installation device. (A) a speed detecting member that is disposed between adjacent holing machines and detects a conveying speed of the laying object;
(B) an operation state determination processing unit that determines an operation state of each holing machine based on a conveyance speed of the laying object detected by the speed detection member and a load factor of each holing machine. The fabric article conveying apparatus according to any one of the above.   The laying thing conveyance apparatus of any one of Claims 10-14 which has an abnormality judgment process part which judges whether abnormality has generate | occur | produced in the holing machine based on the load factor of each said holing machine.   The laying thing conveyance apparatus of Claim 13 which has a speed control process part which changes the speed command value in a holing machine based on the conveyance speed of the laying thing by mutually adjacent holing machines.   The said speed control process part is a laying thing conveyance apparatus of Claim 16 which changes the speed command value in a holing machine based on the conveyance speed of the laying thing by a holing machine, and the conveyance speed of the laying thing by a leading vehicle.   The garment conveying apparatus according to claim 11, wherein a plurality of the leading vehicles are arranged. (A) In the leading vehicle, raise the holding part for holding the construction object and place it at the same position as the construction object support part formed on the side wall of the cave,
(B) Move the laying object placed on the laying object support part to the holding part,
(C) The leading vehicle is moved forward, and the entire construction object is moved to the holding part,
(D) Place the installation object behind the leading vehicle directly on the roller and the holing machine,
(E) A laying object removing method, wherein the laying object on the direct placement roller and the holing machine is moved backward.

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