JP2020070601A - Remote work device to be used in pneumatic caisson method and machinery transport system using the remote work device - Google Patents

Abstract

To provide a remote work device capable of safely transporting machinery to a caisson work chamber while mitigating a worker's work load in the caisson work chamber and a machinery transport system using the remote work device.SOLUTION: A remote work device is configured to keep an excavator 4's posture having horizontality in its width direction by making a right front arm member 53 and a right rear arm member 55 extend longer than a left front arm member and a left rear arm member by an amount corresponding to an amount lowered by an inclination when a lifter 5 is inclined such that the right side thereof is lowered. The remote work device is also configured to keep the excavator 4's posture having horizontality in its width direction by making the left rear arm member extend longer than the right front arm member 53, the left front arm member, and the right rear arm member 55 by an amount corresponding to an amount lowered by an inclination when the lifter 5 is inclined such that the left rear side thereof is lowered.SELECTED DRAWING: Figure 5

Description

  TECHNICAL FIELD The present invention relates to a remote work device used in a caisson work chamber of a pneumatic caisson method, and a mechanical equipment transfer system using the remote work device.

  Conventionally, in the construction work by the pneumatic caisson method, carrying out, carrying in or maintenance of a plurality of machines or equipment (hereinafter, referred to as “mechanical equipment”) used in a caisson working room in a high-pressure environment (hereinafter, “transportation, etc.”) When the worker enters the caisson work room and is directly manpowered within the time allowed to stay in a high-pressure environment, or when the remote work device is assembled in the caisson work room, In some cases, the remote operation device is remotely operated by the remote operation device instead of the worker.

  In addition, in recent years, with the increasing depth of pneumatic caisson construction, the pressure inside the caisson work chamber has become higher, and therefore the number of man-hours of the worker inside the caisson work chamber is reduced in order to prevent the worker from developing hyperbaric injury. On the other hand, a method of increasing the number of man-hours by a remote work device is becoming mainstream (for example, Patent Document 1).

  Here, when mechanical equipment is transported to the caisson work room, the mechanical equipment is hung by a lifting device such as a crane placed on the ground via a shaft that connects the caisson work room and the ground. There is. Specifically, for example, when the mechanical equipment is carried out from the caisson work chamber, first, the hook at the tip of the wire of the crane is attached to the body end of the mechanical equipment in the caisson work chamber. Then, by winding the wire with a crane, the mechanical equipment is raised in the shaft, and the mechanical equipment is recovered from the caisson work chamber to the ground (Patent Document 2 or Patent Document 3).

JP, 2007-039917, A JP 2004-353394 A JP, 2016-075026, A

  However, when transporting mechanical equipment through the shaft, etc., to prevent mechanical equipment from colliding with the inner wall of the shaft or the caisson work chamber and being damaged, when moving up and down in the shaft or carrying out from the caisson work chamber into the shaft. Sometimes mechanical equipment must be transported accurately, and the accuracy and safety of its work need to be improved, and there is still room for improvement in this respect.

  Also, since work in a high-pressure environment inside the caisson work room is limited in the length of time that the worker can stay, from the perspective of shortening the construction period and reducing labor costs, etc. It is necessary to reduce the working time below as much as possible, and there is still room for improvement in this respect.

  Furthermore, when carrying out mechanical equipment from the caisson work room, it is possible to disassemble the mechanical equipment into multiple parts in the caisson work room and carry out each disassembled part via a shaft. There is still room for improvement in this respect from the viewpoint of shortening the construction period and reducing labor costs because the worker must perform it in the work room. Further, if the mechanical equipment is disassembled, in order to improve the work efficiency, it is necessary to develop a dedicated mechanical equipment that is easy to disassemble, which increases the development cost of the mechanical equipment. There is room.

  The present invention has been made in view of the above-exemplified circumstances, and a remote work device capable of safely transporting mechanical equipment to the caisson work room while reducing the work load on the operator in the caisson work room, and the same. An object of the present invention is to provide a mechanical equipment transfer system using a remote operation device.

  In order to achieve this object, the apparatus for remote work according to claim 1 is configured such that a mechanical mechanism used in a caisson working chamber can be supported by a support mechanism, and the mechanical facility is supported by the support mechanism. The movement mechanism is configured to be movable in the caisson work chamber, and the movement status by the movement mechanism is output to the control device provided outside the caisson work chamber by the movement status output means. Here, the tilting mechanism is configured to tilt the mechanical equipment supported by the support mechanism, and the tilting mode output means outputs the driving mode of the tilting mechanism to the control device. Further, the receiving means is configured to be able to receive the drive instruction from the control device, and the drive control means drives the tilting mechanism and / or the moving mechanism based on the drive instruction from the control device received by the receiving means. To be done.

  According to a second aspect of the present invention, in the remote work apparatus according to the first aspect, the forward and backward tilting means provided in the drive control means tilts the mechanical equipment forward and backward by the tilting mechanism.

  According to a third aspect of the present invention, in the remote work apparatus according to the first or second aspect, the left and right tilting means provided in the drive control means causes the mechanical equipment to tilt left and right in the entire width direction by the tilting mechanism. To be done.

  According to a fourth aspect of the present invention, in the remote work apparatus according to any one of the first to third aspects, the inclination detecting means detects the inclination angle of the remote work apparatus with respect to the horizontal direction. The detection result of the inclination detection means is output to the control device by the inclination output means.

  According to a fifth aspect of the present invention, in the remote work apparatus according to any one of the first to fourth aspects, at least three or more support mechanisms are provided by a movable mechanism provided in the tilting mechanism. It is configured to move up and down. Then, the movable mechanisms are independently driven by the independent drive means provided in the drive control means.

  According to a sixth aspect of the present invention, in the remote task device according to the fifth aspect, at least two or more operating mechanisms are driven in synchronization by the tuning drive means provided in the drive control means.

  According to a seventh aspect of the present invention, in the remote operation device according to any one of the first to sixth aspects, the position of the supported portion of the mechanical equipment can be determined by the supported portion determination means. To be done.

  A transport system for mechanical equipment to the caisson work chamber according to claim 8 is a transport system for mechanical equipment to the caisson work chamber using the device for remote working according to claim 1, wherein the shaft allows the mechanical equipment to pass therethrough. The shaft is configured to be lifted and lowered by the lifting and lowering means in a state in which the mechanical equipment is hung by the hanging means. Further, outside the caisson work room, the remote operation device and the elevating device can be operated by the operation means, and the display device is arranged in the work room in which the operation means is arranged. Here, the mechanical equipment is provided with an attachment part to which one end of the lifting device of the lifting device can be attached, on one end side in the entire length direction. Further, the overall length of the mechanical equipment is configured to be longer than the passage width of the shaft, while the overall width and height of the mechanical equipment is configured to be shorter than the passage width of the shaft. Then, with the tip portion attached to the attachment portion, the operating means causes the remote operation device to tilt the mechanical equipment in the caisson work chamber, while the lifting device moves the mechanical equipment up and down.

  A transport system for mechanical equipment to the caisson work chamber according to claim 9 is the transport system for mechanical equipment to the caisson work chamber according to claim 8, wherein the traveling means provided in the mechanical equipment is provided on a ceiling portion of the caisson work chamber. The machine equipment is moved along the traveling rail while being suspended, and the body is connected to the traveling means, the excavation mechanism is connected to the body, and the mechanical equipment is suspended on the traveling rail. In this state, the excavation mechanism enables excavation of the ground surface inside the caisson work chamber. Here, the tilting mechanism is configured to be drivable by the drive control means so that at least the height position of the support mechanism from the ground surface in the caisson working chamber is longer than the length from the body portion to the tip of the excavation mechanism. It

  A mechanical system transfer system for the caisson work chamber according to claim 10 is the mechanical system transfer system for the caisson work chamber according to claim 8 or 9, wherein the caisson work chamber and the shaft are connected by a communication port. Mechanical equipment detection means is provided at or near the communication port. Then, when the mechanical equipment is detected by the mechanical equipment detecting means, the drive control means causes at least the longest extending tilting mechanism to be contracted.

  According to the remote work apparatus of claim 1, the support mechanism is configured to support the mechanical equipment used in the caisson work chamber, and the mechanical mechanism is supported by the support mechanism, and the caisson is moved by the moving mechanism. The movable state is configured to be movable in the work chamber, and the movement state by the movement mechanism is output to the control device provided outside the caisson work chamber by the movement state output means. Here, the tilting mechanism is configured to tilt the mechanical equipment supported by the support mechanism, and the tilting mode output means outputs the driving mode of the tilting mechanism to the control device. Further, the receiving means is configured to be able to receive the drive instruction from the control device, and the drive control means drives the tilting mechanism and / or the moving mechanism based on the drive instruction from the control device received by the receiving means. To be done. As a result, while the mechanical equipment is supported by the support mechanism of the remote work device by the control device provided outside the caisson work room, the tilting mechanism supports the mechanical mechanism while the remote work device and the mechanical equipment are moved by the moving mechanism. By tilting the mechanical equipment supported by the mechanical equipment, it is possible to accurately convey the mechanical equipment to the caisson work chamber without requiring the work of an operator in the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the remote work device of the second aspect, in addition to the effect of the remote work device of the first aspect, the following effect is obtained. That is, the forward and backward tilting means provided in the drive control means tilts the mechanical equipment forward and backward by the tilting mechanism. As a result, the mechanical equipment can be accurately conveyed to the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the remote work device of the third aspect, in addition to the effect of the remote work device of the first or second aspect, the following effect is obtained. That is, the left and right tilting means provided in the drive control means tilts the mechanical equipment to the left and right in the full width direction by the tilting mechanism. As a result, the mechanical equipment can be accurately conveyed to the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the remote work device of the fourth aspect, in addition to the effects of the remote work device of the first to third aspects, the following effects are obtained. That is, the inclination detection means detects the inclination angle of the remote work device with respect to the horizontal direction, and the detection result of the inclination detection means is output to the control device by the inclination output means. This makes it possible to drive and control the support mechanism according to the shape of the ground surface in the caisson work chamber, and it is possible to accurately transfer the mechanical equipment to the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the remote work device of the fifth aspect, in addition to the effects of the remote work device of the first to fourth aspects, the following effects are obtained. That is, the movable mechanism provided in the tilting mechanism is configured so that at least three or more supporting mechanisms can be vertically moved. Then, the movable mechanisms are independently driven by the independent drive means provided in the drive control means. As a result, it becomes possible to individually drive and control the support mechanisms according to the shape of the ground surface in the caisson work chamber, and it is possible to accurately transfer the mechanical equipment to the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the remote work device of the sixth aspect, in addition to the effect of the remote work device of the fifth aspect, the following effect is obtained. That is, at least two or more operating mechanisms are synchronously driven by the tuning drive means provided in the drive control means. This allows the support mechanism to be synchronized and drive-controlled according to the shape of the ground surface in the caisson work chamber, which allows the mechanical equipment to be accurately transported to the caisson work chamber and the remote work device. There is an effect that operability can be improved.

  According to the remote work device of the seventh aspect, in addition to the effects of the remote work device of the first to sixth aspects, the following effects are obtained. That is, the position of the supported portion of the mechanical equipment can be determined by the supported portion determining means. As a result, the supported portion of the mechanical equipment can be reliably supported by the support mechanism, and there is an effect that the mechanical equipment can be stably transported by the remote work device.

  According to the transport system of the mechanical equipment for the caisson work chamber of the eighth aspect, the following effect is obtained in addition to the effect obtained by the remote work apparatus according to the first aspect. That is, the shaft is configured to allow mechanical equipment to pass therethrough, and the mechanical equipment is hung by the suspending means to be able to move up and down in the shaft by the elevating means. Further, outside the caisson work room, the remote operation device and the elevating device can be operated by the operation means, and the display device is arranged in the work room in which the operation means is arranged. Here, the mechanical equipment is provided with an attachment part to which one end of the lifting device of the lifting device can be attached, on one end side in the entire length direction. Further, the overall length of the mechanical equipment is configured to be longer than the passage width of the shaft, while the overall width and height of the mechanical equipment is configured to be shorter than the passage width of the shaft. Then, with the tip portion attached to the attachment portion, the operating means causes the remote operation device to tilt the mechanical equipment in the caisson work chamber, while the lifting device moves the mechanical equipment up and down. That is, with the control device provided outside the caisson work room, the remote work device and the mechanical equipment are moved by the moving mechanism while the mechanical equipment having a length longer than the passage width of the shaft is supported by the support mechanism of the remote work equipment. While tilting the mechanical equipment supported by the support mechanism by the tilting mechanism, the mechanical equipment is guided to the shaft. As a result, it is possible to accurately guide the mechanical equipment having a length longer than the passage width of the shaft into the shaft without requiring the work of the operator in the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the transport system for mechanical equipment to the caisson work chamber according to the ninth aspect, the following effect is exerted in addition to the effect exhibited by the transport system for mechanical equipment to the caisson work chamber according to the eighth aspect. That is, in a state where the traveling means provided in the mechanical equipment suspends the traveling rail provided in the ceiling portion of the caisson work chamber, the mechanical equipment is moved along the traveling rail, and the body part is attached to the traveling means. The ground surface in the caisson work chamber is configured to be excavable by the excavation mechanism in a state in which the excavation mechanism is coupled to the body portion thereof and the mechanical equipment is suspended on the traveling rail. Here, the tilting mechanism is configured to be drivable by the drive control means so that at least the height position of the support mechanism from the ground surface in the caisson working chamber is longer than the length from the body portion to the tip of the excavation mechanism. It In order to excavate the ground surface, the mechanical equipment for excavating work in the caisson work chamber is configured so that the excavation mechanism can be extended to a position at least higher than the height from the ceiling portion to the ground surface. Here, in order to convey the mechanical equipment that can be extended from the ceiling to the height above the surface of the earth from the shaft, while tilting the mechanical equipment supported by the support mechanism by the tilting mechanism, the mechanical equipment is installed with respect to the shaft. invite. As a result, it is possible to accurately guide the mechanical equipment capable of excavating the ground surface in the caisson work chamber into the shaft without disassembling, without requiring the work of the operator in the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

  According to the transport system of the mechanical equipment for the caisson work chamber of the tenth aspect, the following effect is exerted in addition to the effect of the transport system of the mechanical equipment for the caisson work chamber of the eighth or ninth aspect. That is, the caisson work chamber and the shaft are communicated with each other through the communication port, and mechanical equipment detection means is provided at or near the communication port. Then, when the mechanical equipment is detected by the mechanical equipment detecting means, the drive control means causes at least the longest extending tilting mechanism to be contracted. This makes it possible to avoid a collision between the mechanical equipment and the support mechanism of the remote work device when the mechanical equipment is hung, and prevent the mechanical equipment or the remote work device from being damaged. There is an effect that can be done.

It is a typical longitudinal section showing an example of main equipment used by a pneumatic caisson method. It is a side view of a lifter which is an example of a device for remote operation concerning the present invention. It is the perspective view which showed the drive mode of a lifter. It is a side view of an excavator which is an example of mechanical equipment. It is a typical longitudinal cross-sectional view showing in stages the situation of recovering an excavator from a caisson work chamber via a recovery shaft using the lifter according to the present invention.

<Embodiment>
Hereinafter, with reference to FIGS. 1 to 5, an embodiment in which a transportation lift-up device (hereinafter, simply referred to as “lifter”) 5 which is an example of a remote work device of the present invention is applied in a pneumatic caisson method Will be described. FIG. 1 is a schematic vertical sectional view showing an example of main equipment used in the pneumatic caisson method. The pneumatic caisson construction method includes a caisson 1 made of reinforced concrete, a caisson working chamber 2 formed in the ground by the caisson 1, and a pair of left and right guide rails 3 provided on a ceiling portion 2a in the caisson working chamber 2. While using the excavator 4 that can run along the guide rail 3 in a state of being suspended from the guide rail 3, the caisson is excavated in the ground by a bucket portion 45 provided on the excavator 4 to be described later. The underground structure is constructed by sinking 1 into the ground.

  Further, in the pneumatic caisson method, a man shaft 10 is used for an operator to move in and out of the caisson working chamber 2 from the ground. The man shaft 10 is mainly of a cylindrical shape that communicates with a man inlet / outlet portion 11 for an operator to enter and leave the man shaft 10, and the man inlet / outlet portion 11 to communicate the ground and the inside of the caisson working chamber 2. The man insertion part 12, a spiral staircase (not shown) provided in the man insertion part 12, and a man lock 13 for adjusting the pressure difference between the atmospheric pressure on the ground and the pressure in the caisson working chamber 2. Is provided.

  The man insertion portion 12 can extend the entire length of the man shaft 10 by fixing (adding) the lower end portion of another man insertion portion 12 to a flange portion provided on the upper end portion thereof with bolts or the like. Therefore, it is configured so that it can cope with a large depth. An operator working in the caisson working chamber 2 can move back and forth between the ground and the caisson working chamber 2 via the spiral stairs in the man shaft 10.

  The man-lock 13 includes a man-lock lower door that can close the ceiling portion of the caisson work chamber 2 and a man-lock upper door (not shown in the drawings. The same applies hereinafter) provided above the man-lock lower door. When the worker goes in and out of the caisson work chamber 2, one of the doors is closed while the other is opened to change the atmospheric pressure in the caisson work chamber 2. Is configured to be suppressed or reduced.

  Further, in the pneumatic caisson method, an excavator 4 which is used by carrying out earth and sand excavated in the caisson work chamber 2 by suspending it on the ceiling portion 2a of the caisson work chamber 2 by using a crane 20 provided on the ground. A recovery shaft 14 is provided for carrying (elevating) mechanical equipment such as. The recovery shaft 14 is mainly connected to a recovery inlet / outlet section 15 for transferring in / out sediment or mechanical equipment, and the recovery inlet / outlet section 15 to communicate the ground and the inside of the caisson working chamber 2. A cylindrical recovery insertion portion 16 and a recovery lock 17 for adjusting the pressure difference between the atmospheric pressure on the ground and the pressure in the caisson working chamber 2 are provided. In addition to the recovery shaft 14 for transporting the mechanical equipment, a material shaft dedicated to discharging the earth and sand may be separately provided.

  Similar to the man insertion portion 12, the recovery insertion portion 16 fixes (replenishes) the lower end portion of another recovery insertion portion 16 to a flange portion provided on the upper end portion thereof by using a bolt or the like, whereby the collection shaft 14 The entire length can be extended, and it is also configured to support deeper depths. Therefore, even when the caisson 1 is deepened, the earth and sand excavated in the caisson working chamber 2 can be discharged to the ground to a depth corresponding to the length of the wire 21 of the crane 20, and the recovery shaft 14 can be removed. It is possible to carry in and carry out mechanical equipment such as the excavator 4 via the machine.

  The recovery / insertion unit 16 is, for example, an excavator that is the largest mechanical equipment in order to insert mechanical equipment such as the excavator 4, lighting equipment, and surveillance cameras (none of which are shown in the drawings. The same applies hereinafter). 4 has a larger diameter (for example, a diameter of about 2000 mm) than the total width and the height width. Therefore, at least with respect to the rear end portion of the excavator 4 (a hook mounting portion (not shown. The same applies hereinafter)), the crane is arranged so that the entire length (longitudinal) direction of the excavator 4 is oriented vertically. When the hook 22 provided at the tip of the wire 21 of 20 is attached and suspended, the crane 20 can move the excavator 4 up and down in the recovery insertion portion 16. Therefore, it is not necessary to disassemble the excavator 4 and the like into the caisson work chamber 2 for each part, so that the number of work steps in the caisson work chamber 2 can be reduced. Further, since it is not necessary to have a special structure such as facilitating disassembly of the excavator 4, it is possible to carry the existing excavator 4 as it is (without disassembling) to the ground. This development cost can be reduced.

  It should be noted that it may be possible to more easily transport the excavator 4 and the like by making the inner diameter of the recovery insertion portion 16 larger than the entire length of the excavator 4, but the cost associated with increasing the diameter of the recovery insertion portion 16 is considered. It is not preferable because it may increase the cost, increase the cost associated with the enlarging of the recovery lock 17, which will be described later, or cause compressed air to leak from the caisson working chamber 2.

  Similar to the man lock 13, the recovery lock 17 includes a recovery lock lower door capable of closing the ceiling portion of the caisson work chamber 2 and a recovery lock upper door provided above the recovery lock lower door (both not shown). The same shall apply hereinafter.), And when carrying out or carrying in earth and sand or mechanical equipment into the caisson work chamber 2, by closing one door and opening the other door. The caisson working chamber 2 is configured to be able to suppress changes in atmospheric pressure. The recovery lock 17 is provided with an insertion hole (not shown) through which the wire 21 of the crane 20 can be inserted, and the wire 21 can be moved up and down while the recovery lock 17 is closed.

  The caisson work chamber 2 is partitioned and formed in the ground by the caisson 1 and the ground being excavated, and by operating a pressure adjusting device (not shown) with the man lock 13 and the recovery lock 17 closed, the caisson work is performed. It is possible to perform excavation work while maintaining the internal pressure of the chamber 2 in a high pressure environment and preventing spring water or the like into the caisson working chamber 2. In addition, the deeper the depth of the caisson 1, the higher the internal pressure in the caisson working chamber 2 according to the depth.

  On the ceiling portion 2a of the caisson working chamber 2, a plurality of left and right guide rails 3 are laid. Each of the guide rails 3 is configured to be capable of suspending an excavator 4, mechanical equipment such as lighting equipment, and a surveillance camera.

  Mechanical equipment suspended (suspended) on the guide rails 3 is configured to be individually and remotely operable by an operator in a control room 30 provided on the ground (that is, outside the caisson work room 2). Specifically, an image of the caisson work room 2 taken by a surveillance camera is displayed on a monitor 31 provided in the control room 30, and the brightness and direction of light emitted by the lighting equipment and the excavator in the guide rail 3 are displayed. 4, the movement position of the excavator 4, the turning direction of the excavator 4, and the drive mode of the arm portion 44 or the bucket portion 45 of the excavator 4 which will be described later are displayed on the monitor 31. Then, in the control room 30, the operator operates the controller 32 while checking the image on the monitor 31, so that the shooting direction of the surveillance camera, the irradiation brightness and irradiation direction of the light from the lighting equipment, and the excavation on the guide rail 3 are performed. The moving position of the machine 4, the turning direction of the excavator 4, the arm portion 44, the bucket portion 45, and the like can be drive-controlled. The detailed configuration of the excavator 4 will be described later with reference to FIG.

  On the excavation surface (ground) in the caisson working chamber 2, a lifter 5 that can move and move while supporting mechanical equipment such as the excavator 4 is arranged. Here, the details of the lifter 5 will be described with reference to FIGS. 2 and 3. FIG. 2 is a side view of the lifter 5, and FIG. 3 is a perspective view showing a driving mode of the lifter 5.

As shown in FIGS. 2 and 3, the lifter 5 according to the present embodiment mainly includes a caterpillar 51 forming an endless track, a lifter base 52 to which the caterpillar 51 is assembled, and four corners of the lifter base 52 in a top view. The right front arm member 53, the left front arm member 54, the right rear arm member 55, and the left rear arm member 56 (hereinafter referred to as the right front arm member 53, the left front arm member 54, the right rear arm member 55, respectively) provided respectively. The left rear arm member 56 may be collectively referred to as “each arm member 53 to 56”), a lifter drive unit 60, and a lifter drive battery 61.

  The caterpillar 51 is provided with a moving motor (not shown. The same applies hereinafter) for driving the caterpillar 51. This moving motor is configured to be operable by receiving power supply from a lifter drive battery 61 described later, and a drive instruction from the control chamber 30 is transmitted via a lifter communication unit (not shown. The same applies hereafter) described later. When it is received, the lifter controller (not shown; the same applies hereafter) can be driven based on the drive instruction. By driving this moving motor, the caterpillar 51 is rotationally driven, and the lifter 5 can be moved according to the driving amount.

  Here, various operations of the lifter communication unit and the lifter control unit will be described. The lifter communication unit is built in a storage unit of a lifter drive battery 61, which will be described later, and is configured to be able to receive various instruction commands from the controller 32 of the control room 30, and the control result (detection result) by the lifter control unit. Is output to the controller 32.

  Like the lifter communication unit, the lifter control unit is built in a storage unit of a lifter drive battery 61, which will be described later, operates by receiving power supply from the lifter drive battery 61, and receives the controller 32 received via the lifter communication unit. It is configured to execute various controls regarding the lifter 5 by a drive instruction command from the. Specifically, the movement motor is driven through the lifter drive unit 60, the base cylinder 52a described later is expanded and contracted, the cylinders 53b to 56b of the arm members 53 to 56 are expanded and contracted, and the arm members 53 to 56 are expanded. Opening / closing of the grip portions 53a to 56a is performed.

  Further, the lifter control unit is configured to determine the detection result of various detection devices included in the lifter 5 and transmit the determination result to the controller 32 via the lifter communication unit. Specifically, the lifter control unit detects the position information of the lifter 5, the movement amount of the moving motor, the expansion / contraction state of the base body cylinder 52a, the expansion / contraction state of each arm member 53 to 56, which will be described later. A detection result such as inclination detection of the lifter 5 by an inclination detection device (not shown) is output to the controller 32 via the lifter communication unit.

  Next, the lifter base body 52 is provided with a base body cylinder 52a capable of expanding and contracting the height of the lifter base body 52, and a base body detection device (not shown) capable of detecting the height position of the lifter base body 52 by the base body cylinder 52a. ing. This base cylinder 52a expands and contracts in response to a drive instruction from the lifter control unit, thereby changing the height of the lifter base 52 from the ground by up to 1 meter to adjust the height position of the mechanical equipment conveyed by the lifter 5. (See FIG. 3). The height of the lifter base 52 by the base cylinder 52a is detected by a base detection device, and the detection result is output to the monitor 31 and the controller 32 of the control room 30 by the lifter communication unit. As a result, the height position of the lifter base body 52 can be grasped in the control chamber 30, and control can be performed according to the height position.

  The front right arm member 53 includes a front right grip portion 53a, a front right cylinder 53b, and a front right detection device (not shown; the same applies hereinafter). The front right gripping portion 53a is configured to grip (hold) a front side shaft 41b1 of the excavator 4 to be described later by expanding and contracting the two front right gripping cylinders in response to a drive instruction from the lifter controller. By gripping the front shaft 41b1 by the right front grip portion 53a, the right front side of the excavator 4 is fixedly supported by the right front arm member 53.

  The front right cylinder 53b is configured by a so-called multi-stage cylinder in which a plurality of pistons and cylinder tubes are combined, and expands and contracts in the vertical direction in response to a drive instruction from the lifter control unit, so that the height position of the front right grip 53a from the ground is increased. Can be changed up to 5 meters.

  The front right detection device can detect the expansion / contraction mode of the front right cylinder 53b, that is, the height position of the front right grip portion 53a, and the detection result is output to the monitor 31 and the controller 32 in the control room 30 by the lifter communication unit. It As a result, the expansion / contraction mode of the right front arm member 53 can be grasped in the control room 30, and control according to the expansion / contraction mode is possible.

  The front left arm member 54 includes a front left grip portion 54a, a front left cylinder 54b, and a front left detection device (not shown; the same applies hereinafter). The front left gripping portion 54a is configured to grip (hold) a front side shaft 41b1 of the excavator 4 to be described later by expanding and contracting the two front left gripping cylinders in response to a drive instruction from the lifter controller. By gripping the front shaft 41b1 by the left front grip portion 54a, the left front side of the excavator 4 is fixedly supported by the left front arm member 54.

  Like the right front cylinder 53b, the left front cylinder 54b is configured by a so-called multi-stage cylinder in which a plurality of pistons and cylinder tubes are combined, and expands and contracts in the up and down direction by a drive instruction from the lifter control unit, so that the left front grip portion 54a moves from the ground. It is configured to be able to change the height position of up to 5 meters.

  The front left detection device can detect the expansion / contraction mode of the front left cylinder 54b, that is, the height position of the front left grip 54a, and the detection result is output to the monitor 31 and the controller 32 in the control room 30 by the lifter communication unit. It As a result, the expansion / contraction mode of the left front arm member 54 can be grasped in the control room 30, and control according to the expansion / contraction mode is possible.

  The right rear arm member 55 includes a right rear grip portion 55a, a right rear cylinder 55b, and a right rear detection device (not shown. The same applies hereinafter). The right rear grip portion 55a is configured to grip (hold) a rear shaft 41b2 of the excavator 4 described later by expanding and contracting the two right rear grip cylinders in response to a drive instruction from the lifter controller. By gripping the rear shaft 41b2 by the right rear grip portion 55a, the right rear side of the excavator 4 is fixedly supported by the right rear arm member 55.

  Like the right front cylinder 53b and the left front cylinder 54b, the right rear cylinder 55b is configured by a so-called multi-stage cylinder in which a plurality of pistons and cylinder tubes are combined. The height position of the grip portion 55a from the ground can be changed up to 5 meters.

  The right rear detection device can detect the expansion / contraction mode of the right rear cylinder 55b, that is, the height position of the right rear grip 55a, and the detection result is sent to the monitor 31 and the controller 32 in the control room 30 by the lifter communication unit. Is output. As a result, the expansion / contraction mode of the right rear arm member 55 can be grasped in the control room 30, and control according to the expansion / contraction mode is possible.

  The left rear arm member 56 includes a left rear grip portion 56a, a left rear cylinder 56b, and a left rear detection device (not shown; the same applies hereinafter). The left rear gripping portion 56a grips (holds) the rear side shaft 41b2 of the excavator 4 described below, similarly to the right rear gripping portion 55a, by expanding and contracting the two left rear gripping cylinders in response to a drive instruction from the lifter control unit. ) Possible configured. By gripping the rear shaft 41b2 by the left rear grip portion 56a, the left rear side of the excavator 4 is fixedly supported by the left rear arm member 56.

  Like the right front cylinder 53b, the left front cylinder 54b, and the right rear cylinder 55b, the left rear cylinder 56b is configured by a so-called multi-stage cylinder in which a plurality of pistons and cylinder tubes are combined, and expands and contracts in the vertical direction according to a drive instruction from the lifter control unit. Therefore, the height position of the left rear grip portion 56a from the ground can be changed up to 5 meters.

  The left rear detection device can detect the expansion / contraction mode of the left rear cylinder 56b, that is, the height position of the left rear grip portion 56a, and the detection result is displayed by the lifter communication unit to the monitor 31 and the controller 32 in the control room 30. Is output. As a result, the expansion / contraction mode of the left rear arm member 56 can be grasped in the control room 30, and control according to the expansion / contraction mode can be performed.

  Therefore, the right front arm member 53, the left front arm member 54, the right rear arm member 55, and the left rear arm member 56 stably stabilize the mechanical equipment such as the excavator 4 in the lifter 5 at at least four points. It becomes possible to carry it.

  Further, the lifter 5 includes a tilt detection device (not shown, the same applies hereinafter), a lifter communication unit, a lifter control unit, a lifter drive unit 60, and a lifter drive battery 61.

  The tilt detecting device is operated by receiving electric power from the lifter driving battery 61 and is constituted by a pendulum type tilt sensor for detecting the tilt of the suspended weight or a float type tilt sensor for detecting the tilt of the liquid surface. It is configured to be able to detect its own inclination angle with respect to the horizontal direction. In the present embodiment, while detecting the tilt angle of the lifter 5 by this tilt detection device, based on the expansion / contraction aspect of each of the arm members 53 to 56 described above, the mechanical equipment such as the excavator 4 supported by the lifter 5 is installed. The tilt can be detected. In addition to the tilt sensor, an acceleration sensor, a gyro sensor, an inertial measurement device, or the like may be used as the tilt detection device to detect the tilt angle of the lifter 5.

  As described above, the lifter communication unit outputs the various driving modes of the lifter 5 to the monitor 31 of the control room 30 and the receiving unit that receives a driving instruction from the controller 32 of the control room 30 (both are (Not shown).

  As described above, the lifter control unit connects the micro-processing unit (hereinafter referred to as “MPU”), which is a one-chip microcomputer that controls each control of the lifter 5, and various devices. It has a port to take. In the MPU, a read-only memory (hereinafter, abbreviated as “ROM”) that stores various control programs of the lifter drive components executed by the MPU and fixed value data is stored in the ROM. A random access memory (hereinafter, abbreviated as "RAM"), which is a memory for temporarily storing various data and the like when the stored control program is executed, and an interrupt circuit and the like. Various circuits such as a timer circuit and a data transmission / reception circuit are built in.

  When the lifter control unit receives a drive instruction from the controller 32 via the lifter communication unit, the lifter control unit activates a control program corresponding to the drive instruction to drive and control each lifter drive component of the lifter 5, and The drive result (detection result) is configured to be output to the monitor 31 and the controller 32 via the lifter communication unit.

The lifter drive unit 60 is configured to include an electric motor, a hydraulic pump, a hydraulic oil tank, and a control valve group (none of which is shown. The same applies to the following). The lifter drive unit 60 is drive-controlled by a lifter control unit, receives electric power from the lifter drive battery 61, and receives a motor for moving the caterpillar 51, a base cylinder 52a of the lifter base 52, and a right front grip of the right front arm member 53. Part 53a and right front cylinder 53b, left front grip 54a and left front cylinder 54b of left front arm member 54, right rear grip 55a and right rear cylinder 55b of right rear arm member 55, and left rear arm member 56 left. The hydraulic pumps are driven by electric motors provided so as to respectively correspond to the rear grip portion 56a and the left rear cylinder 56b (hereinafter, referred to as "lifter driving parts"), and the hydraulic oil stored in the hydraulic oil tank The direction and flow rate of hydraulic oil supplied to each lifter drive component are controlled by a group of control valves, Ter driving parts each of which is configured to drive individually controlled.

  The lifter drive battery 61 is configured to be able to supply electric power for operating each of the lifter drive components and the lifter control unit described above.

  With this configuration, the arm members 53 to 56 are held while holding the excavator 4 conveyed by the gripping portions 53a to 56a of the arm members 53 to 56 of the lifter 5 by remote control from the control room 30. Thus, the excavator 4 can be moved in the caisson work chamber 2 while being supported at four points. Then, with respect to the recovery inlet / outlet portion 15 of the recovery shaft 14, one or a plurality of the arm members 53 to 56 of the lifter 5 is driven to expand and contract, and the excavator 4 is tilted and lifted by the wire 21 of the crane 20. The excavator 4 can be carried out of the caisson work chamber 2.

  Next, the details of the excavator 4 will be described with reference to FIG. FIG. 4 is a side view of the excavator 4. As shown in FIG. 4, the excavator 4 is mainly connected to a traveling base 41 having traveling rollers 41 a, a swivel base 42 provided so as to swivel with respect to the traveling base 41, and the swivel base 42. The excavation base body 43, the arm portion 44 connected to the excavation base body 43, and the bucket portion 45 connected to the arm portion 44 are provided.

  The traveling base body 41 includes a pair of left and right front wheel traveling rollers 41a, a pair of left and right rear wheel traveling rollers 41a, a traveling motor for rotationally driving the traveling rollers 41a, and a pair of left and right traveling rollers 41a. To the traveling shaft 41b, the traveling detection device, and the hook 22 provided at the tip of the wire 21 of the crane 20 (not shown). ) And are provided. The hook attachment portion may be provided on the excavation base body 43 or the arm portion 44 described later.

  The traveling motor is configured to be operable by receiving power supply from an excavator drive battery (not shown. The same applies hereinafter), which will be described later. (Not shown. The same applies to the following), it is configured to be driven by an excavator control unit (not shown; the same applies below) based on the drive instruction when received. By driving this traveling motor, the excavator 4 can be slid on the guide rail 3 provided on the ceiling portion 2a of the caisson working chamber 2.

  The traveling detection device can detect the drive amount of the traveling motor to detect the positional information of the excavator 4, and the detection result is transmitted to the monitor 31 and the controller 32 of the control room 30 by the excavator communication unit described later. Is output. As a result, the drive amount of the traveling motor can be grasped in the control room 30, and control according to the traveling amount (position of the excavator 4) becomes possible.

  Here, various operations of the excavator communication unit and the excavator control unit will be described. The excavator communication unit is built in the excavation base 43 and is configured to be able to receive various instruction commands from the controller 32 in the control room 30, and the control result (detection result) by the excavator control unit to the controller 32. It is configured to output.

  Like the excavator communication unit, the excavator control unit is built in the excavation base body 43, operates by being supplied with power from the excavator drive battery, and is driven by the controller 32 received via the excavator communication unit. It is configured to execute various controls regarding the excavator 4 by the instruction command. Specifically, driving of a traveling motor, driving of a turning motor of a turning base 42 described later, expansion / contraction of an undulating cylinder of an excavation base 43 described below, and expansion / contraction cylinder of an arm portion 44 described below are driven via an excavator drive unit. And the bucket cylinder described later (none of them are shown. The same applies hereinafter).

  Further, the excavator control unit is configured to determine the detection results of various detection devices of the excavator 4 and transmit the determination result to the controller 32 via the excavator communication unit. Specifically, the excavator control unit detects the position information of the excavator 4, the movement amount of the traveling motor, the movement amount (rotation amount) of the turning motor, the expansion / contraction state of the undulating cylinder, Detection results such as detection of the expansion / contraction state of the arm cylinder and detection of the expansion / contraction state male of the bucket cylinder are output to the controller 32 via the excavator communication unit.

  Next, the traveling shaft 41b has a front shaft 41b1 provided on the traveling roller 41a side of the front wheels and a rear shaft 41b2 provided on the traveling roller 41a side of the rear wheels, and the front shaft 41b1 and the rear shaft 41b2. Are fixed to the traveling base 41, respectively. As described above, with the traveling shafts 41b1 and 41b2 held by the gripping portions 53a to 56a of the lifter 5, the excavator 4 (traveling roller 41a) is derailed from the guide rail 3 to excavate by the lifter 5. Machine 4 is supported.

  The revolving base 42 is provided with a revolving motor, and the revolving base 42 is rotatably attached to the traveling base 41 by the revolving motor. Specifically, the turning motor is configured to be operable by being supplied with power from an excavator drive battery described later, and when a drive instruction from the control room 30 is received via the excavator communication unit, the The excavator control unit can be driven based on the drive instruction. By driving this turning motor, the turning base 42, the excavation base 43, the arm portion 44, and the bucket portion 45 are turned with respect to the traveling base 41, and the excavator is suspended on the guide rail 3 of the caisson working chamber 2. The direction of the bucket part 45 of No. 4 can be changed.

  The turning detection device can detect the driving amount of the turning motor to detect the turning amount (direction) of the turning base 42, and the detection result is displayed on the monitor 31 and the controller 32 of the control room 30 by the excavator communication unit. It is output to. As a result, the turning amount of the turning motor can be grasped in the control room 30, and control can be performed according to the turning amount (direction of the excavator 4).

  The excavation base body 43 includes an undulation cylinder, an undulation detection device, an excavator drive unit, and an excavator drive battery, and an excavator communication unit and an excavator control unit are incorporated therein.

  A pair of undulating cylinders is provided on the left and right sides of the excavation base body 43 with respect to the arm portion 44, and by expanding and contracting in accordance with a drive instruction from the excavator control unit, the arm portion 44 can be tilted with respect to the excavation base body 43. It is configured.

  The undulation detection device can detect the expansion / contraction mode of the undulation cylinder, that is, the tilted state of the arm portion 44, and the detection result is output to the monitor 31 and the controller 32 in the control room 30 by the excavator communication unit. As a result, the tilted state of the arm portion 44 can be grasped in the control room 30, and control according to the tilted state becomes possible.

  Like the lifter drive unit 60, the excavator drive unit is configured to include an electric motor, a hydraulic pump, a hydraulic oil tank, and a control valve group (none of which is shown in the drawings. The same applies hereinafter). .. This excavator drive unit is drive-controlled by an excavator control unit, receives electric power from an excavator drive battery, and drives the traveling roller 41a to drive the traveling roller 41a, the revolving base 42 to revolve, and the excavation base 43 to move up and down. , A telescopic cylinder of the arm portion 44 and a bucket cylinder of the bucket portion 45 (hereinafter, referred to as "excavator driving component") are driven by an electric motor to drive a hydraulic pump, and a hydraulic oil tank. The control valve group controls the directions and flow rates of the hydraulic oil stored in the hydraulic pump and the hydraulic oil supplied to each excavator drive component to individually drive and control each excavator drive component. ..

  The excavator drive battery is configured to be able to supply electric power for operating the above-described excavator drive components and the excavator control unit.

  As described above, the excavator communication unit outputs the various driving modes of the excavator 4 to the monitor 31 of the control room 30, and the receiving unit (receives a driving instruction from the controller 32 of the control room 30). Both are not shown).

  As described above, the excavator control unit is equipped with the MPU as a one-chip microcomputer that controls each control of the excavator 4 and the port for communicating with various devices. The MPU stores a ROM that stores various control programs and fixed value data of excavator drive components executed by the MPU, and temporarily stores various data when the control program stored in the ROM is executed. A RAM, which is a memory for doing so, and other various circuits such as an interrupt circuit, a timer circuit, and a data transmission / reception circuit are incorporated.

  When the excavator control unit receives a drive instruction from the controller 32 via the excavator communication unit, the excavator control unit activates a control program corresponding to the drive instruction to drive and control each excavator drive component of the excavator 4. In addition, the drive result (detection result) is output to the monitor 31 and the controller 32 via the excavator communication unit.

  The arm portion 44 is provided with a telescopic cylinder and an arm detection device.

  The telescopic cylinder is configured to be telescopic according to a drive instruction from the excavator control unit so that the entire length of the arm portion 44 can be telescopically extended.

  The arm detection device can detect the expansion / contraction mode of the expansion / contraction cylinder, that is, the length of the entire arm portion 44, and the detection result is output to the monitor 31 and the controller 32 in the control room 30 by the excavator communication unit. .. As a result, the expansion / contraction mode (length) of the entire arm portion 44 can be grasped in the control room 30, and control according to the expansion / contraction mode is possible.

  The bucket portion 45 is provided with a bucket rotatably connected to the tip portion of the arm portion 44, a bucket cylinder, and a bucket detection device.

  A pair of bucket cylinders is provided on the left and right of the bucket from the arm portion 44, and is configured to be rotatable with respect to the arm portion 44 by expanding and contracting in response to a drive instruction from the excavator control unit. There is. That is, by driving the bucket cylinder from the contracted position to the extended position, the bucket is rotationally driven, and the ground is positioned on the drive path, whereby the earth and sand in that portion can be excavated.

  Here, the indoor height of the caisson working chamber 2 is configured to be about 2 meters to 2.5 meters. Since the excavator 4 excavates the ground in the caisson working chamber 2 while suspending the traveling base body 41 on the guide rails 3, the turning base body 42, the excavation base body 43, the arm portion 44, and the bucket portion 45 have the following lengths. The minimum length (contracted state) is 2.5 meters, and the maximum length (extended state) is 4 meters. With this configuration, by driving the excavator 4 suspended on the guide rail 3 in the caisson working chamber 2, the ground around the lower portion of the guide rail 3 can be excavated.

  However, since the total length of the excavator 4 is at least 2.5 meters or more and is longer than the diameter of the recovery shaft 14 (that is, 2 meters), when the excavator 4 is in the horizontal state, the excavator 4 cannot be recovered. Cannot be carried in or out. On the other hand, the entire width (about 1.5 meters) and the height (about 1.5 meters) of the excavator 4 are each configured to be within 2 meters. Therefore, when the excavator 4 is in the vertical state, it is possible to carry out or carry in the excavator 4 from the recovery shaft 14 without disassembling the excavator 4 into each component.

  In this case, when transporting the excavator 4 from the recovery inlet / outlet portion 15 of the recovery shaft 14, the excavator 4 must be sent to the recovery inlet / outlet portion 15 from the rear end side (non-bucket portion 45 side). However, the ground in the caisson working chamber 2 is not necessarily flat due to the influence of excavation by remote control, and in the conventional transfer device that only raises and lowers the lifter base body 52, the excavator 4 can be accurately collected and taken out by the inlet / outlet port 15. However, there is a possibility that the excavator 4 may collide with the ground of the recovery shaft 14 or the transport device, and damage each or both devices.

  Therefore, in the present embodiment, the excavator 4 is conveyed by the lifter 5 having the four arm members 53 to 56 and the inclination detection device, and the inclination detection device detects the inclination of the entire lifter 5, and based on the detection result. By expanding and contracting each of the arm members 53 to 56, it becomes possible to accurately guide the excavator 4 to the recovery inlet / outlet 15 (in the recovery shaft 14).

  Here, a case where the excavator 4 is carried out of the caisson working chamber 2 by the lifter 5 of the present embodiment will be described with reference to FIG. FIG. 5 is a schematic vertical cross-sectional view showing a state in which the excavator 4 is recovered from the inside of the caisson working chamber 2 via the recovery shaft 14 by using the lifter 5, and FIG. 5B is a schematic vertical sectional view showing a state in which the excavator 4 is moved horizontally by the lifter 5 to move inside the caisson working chamber 2, and FIG. 5B is a right rear arm member 55 of the lifter 5. 5C is a schematic vertical cross-sectional view showing a state in which the left rear arm member 56 is extended and the excavator 4 is tilted about 45 degrees from the horizontal state, and FIG. FIG. 6 is a schematic vertical cross-sectional view showing a state in which the right front arm member 53 and the left front arm member 54 are extended to support the excavator 4 while being suspended and tilted from the horizontal state by about 60 degrees. 5 (a) and 5 (b) shows the lifter base 52 in a raised state, while FIG. 5 (c) shows the lifter base 52 in a lowered state. ing. Further, in the state of FIG. 5C, the right rear arm member 55 and the left rear arm member 56 are contracted.

  First, as shown in FIG. 5A, when the excavator 4 is removed from the guide rail 3, the lifter base body 52 of the lifter 5 is raised to prevent the excavator 4 from falling. The traveling shafts 41b1 and 41b2 of the excavator 4 are held by the arm members 53 to 56 of the lifter 5, and in this state, the excavator 4 is removed (de-wheeled) from the guide rail. As a result, the excavator 4 can be held by the lifter 5 so that no impact is generated on the lifter 5 due to the drop of the excavator 4 due to its own weight. In this state, the hook 22 of the wire 21 is attached to the hook attachment portion of the excavator 4.

  Then, by driving the caterpillar 51 while holding the excavator 4 with the lifter 5, the excavator 4 can be transported in the caisson working chamber 2. Here, as described above, the ground in the caisson work chamber 2 is not necessarily a flat surface because it is excavated by remote control of the excavator 4. Therefore, the excavator 4 can be stably transported by moving the lifter 5 by using the caterpillar 51 having a larger ground contact surface (point) with the ground than the wheels.

  Next, as shown in FIG. 5B, the right rear arm member 55 and the left rear arm member 56 are extended from the state of FIG. 5A with respect to the excavator 4 held by the lifter 5. The rear side (hook attachment portion side) of the excavator 4 is tilted so as to guide it to the recovery inlet / outlet portion 15 of the recovery shaft 14. In this case, the lifter base body 52 is maintained in the raised state as in FIG. 5A, and the right front arm member 53 and the left front arm member 54 are contracted as in FIG. 5A. The state is maintained.

  Here, as described above, the entire lifter 5 may be tilted in either direction due to the unevenness of the ground in the caisson working chamber 2. In this case, the tilt detection device for the lifter 5 detects the tilt of the lifter 5 and controls the arm members 53 to 56 in consideration of the tilt. Specifically, for example, when the right side (front side in the drawing) of the lifter 5 is inclined so as to be lower, the right front arm member 53 and the right rear side than the left front arm member 54 and the left rear arm member 56. The arm member 55 is extended as much as it is lowered due to the inclination, and is configured to maintain a posture in which the width direction of the excavator 4 is horizontal (that is, the traveling shaft 41b is horizontal. The same applies hereinafter). Further, for example, when the left rear side (the rear side in the drawing) of the lifter 5 is inclined so as to be lower, the left rear arm than the right front arm member 53, the left front arm member 54, and the right rear arm member 55. The member 56 is extended as much as it is lowered due to the inclination, so that the width direction of the excavator 4 is kept horizontal. With this configuration, the arm members 53 to 56 are independently extendable and retractable, and the supporting posture of the excavator 4 by the lifter 5 is always kept constant (horizontal). It becomes easy to accurately guide the recovery machine 14 to the recovery in / out section 15 of the recovery shaft 14 without colliding the machine 4 with the ground, the ceiling 2a, or the like, and prevent the excavator 4 or the recovery shaft 14 from being damaged. be able to.

  Next, as shown in FIG. 5C, by winding up the wire 21 of the crane 20 from the state of FIG. 5B, the right front side arm member 53 and the left front side arm member 54 of the lifter 5 cause the excavator 4 to move. The rear side of the excavator 4 is further guided into the collection inlet / outlet portion 15 of the collection shaft 14 while holding the front shaft 41b1.

  At this time, when the rear side of the excavator 4 is detected by the recovery detection device (not shown. The same applies hereinafter) provided on the inner wall of the recovery inlet / outlet portion 15, the excavator 4 and each part of the lifter 5 are separated from each other. In order to avoid the collision, first, the lifter base body 52 of the lifter 5 is lowered and the right rear arm member 55 and the left rear arm member 56 of the lifter 5 are contracted. In this state, the wire 21 is wound to raise the excavator 4, and the right front arm member 53 and the left front arm member 54 are extended in accordance with the rise to hold the traveling shaft 41b of the excavator 4. .. By driving in this way, the excavator 4 is guided into the recovery shaft 14 without colliding with the ground, the lifter 5, and the recovery inlet / outlet portion 15.

  In addition, when the right front arm member 53 and the left front arm member 54 are detected by the recovery detection device of the recovery inlet / outlet 15, it means that the excavator 4 is guided substantially into the recovery shaft 14, and thus the right front arm member. 53 and the left front arm member 54 are drive-controlled to a contracted state. Further, as the excavator 4 is raised, the drive control is performed so as to move the lifter 5 to the rear side (right side in the drawing). By controlling the driving in this way, it is possible to avoid a collision between the excavator 4 and the lifter 5.

As described above, according to the lifter 5 of the present embodiment, while the excavator 4 is held by the gripping portions 53a to 56a of the arm members 53 to 56 of the lifter 5, the excavation by the arm members 53 to 56 is performed. While moving the machine 4 at four points, it moves in the caisson work chamber 2. Then, with respect to the recovery inlet / outlet portion 15 of the recovery shaft 14, one or a plurality of the arm members 53 to 56 of the lifter 5 is driven to expand and contract, and the excavator 4 is tilted and lifted by the wire 21 of the crane 20. Therefore, the excavator 4 can be accurately carried out of the caisson working chamber 2 while avoiding collision with the ground, the lifter 5, or the recovery loading / unloading section 15.

  Further, the tilt detecting device for the lifter 5 is configured to be capable of driving and controlling the arm members 53 to 56 while detecting the tilt of the lifter 5 and considering the tilt. With this configuration, even if there is unevenness on the ground surface, it becomes easy to accurately guide the excavator 4 to the recovery inlet / outlet portion 15 of the recovery shaft 14 without colliding with the ground or the ceiling portion 2a. It is possible to prevent the excavator 4 and the recovery shaft 14 from being damaged.

  Further, regarding the unloading work of the excavator 4, the excavator 4 can be carried out from the caisson work chamber 2 by remote control of the lifter 5, so that the man-hours required by the worker in the high pressure environment in the caisson work chamber 2 can be minimized. It is possible to reduce the construction period, shorten the construction period, and reduce the labor cost.

  Further, the existing excavator 4 can be used for excavation work, and the excavator 4 can be carried out from the caisson work chamber 2 by remote control without being disassembled. As a result, the number of man-hours required for the disassembling work of the excavator 4 can be eliminated, and the work period and labor cost can be reduced.

  Furthermore, the excavator 4 can be carried out from the caisson work chamber 2 by remote control without developing the excavator 4 that can be disassembled, such as by disassembling the excavator 4. Therefore, the development cost of the excavator 4 can be reduced, and the cost can be reduced. Further, since it is not necessary to consider the movable reliability and the like of the disassemblable portion, the maintenance man-hours of the excavator 4 can be reduced.

  Although the present invention has been described above based on the embodiment, the present invention is not limited to the above-described embodiment, and various modifications and improvements can be easily made without departing from the spirit of the present invention. It can be inferred. For example, the numerical values described in the above embodiment are examples, and it is naturally possible to adopt other numerical values.

  Moreover, it is naturally possible to combine any of the configurations of the following modifications with the configurations of the above-described embodiments. Further, it is of course possible to combine any one of the configurations of the following modified examples with the configurations of one or more other modified examples. In these cases, it is possible to obtain further effects by applying each configuration. Hereinafter, the description will be made based on the reference numerals of the components used in the description of the embodiments, but it is naturally possible to substitute the reference numerals of the same or similar components in other embodiments.

<Modification 1>
In the above-described embodiment, the caterpillar 51 is used as the moving mechanism of the lifter 5 so that the caisson working chamber 2 can be moved. On the other hand, the lifter 5 may be configured to be movable by employing a plurality of wheels, driving feet and the like.

<Modification 2>
In the above embodiment, the lifter 5 is equipped with the tilt detection device capable of detecting the tilt of the lifter 5 with respect to the horizontal direction. On the other hand, the excavator 4 is equipped with an inclination detection device capable of detecting the inclination of the excavator 4 with respect to the horizontal direction, and the arm members 53 to 56 and the like of the lifter 5 are considered while taking the inclination of the excavator 4 into consideration. It may be configured to drive control.

<Modification 3>
In the above embodiment, a surveillance camera is provided in the caisson work chamber 2, and the excavator 4 and the lifter 5 are driven and controlled by referring to the camera image and the like. On the other hand, a camera may be mounted on the excavator 4 and the lifter 5, and the excavator 4 and the lifter 5 may be driven and controlled with reference to the images. In particular, a camera is mounted on each of the gripping portions 53a to 56a provided on each of the arm members 53 to 56 of the lifter 5, and the gripping portions 53a to 56a are checked while confirming the position of the traveling shaft 41b of the excavator 4 with the camera. The traveling shaft 41b may be gripped (held) by the.

<Modification 4>
In the above embodiment, when the excavator 4 is unloaded from the caisson work chamber 2, the lifter 5 is used to unload the excavator 4. On the other hand, when the excavator 4 is carried into the caisson working chamber 2, the lifter 5 may be used to carry it in. In this case, the excavator 4 is suspended by the wire 21 while holding the traveling shaft 41b of the excavator 4 by the arm members 53 to 56.

<Modification 5>
In the above embodiment, the four arm members 53 to 56 are configured to support the excavator 4 at four points. On the other hand, the excavator 4 may be supported by at least three support mechanisms. Alternatively, the excavator 4 may be supported by a support mechanism having five or more points.

<Modification 6>
In the above embodiment, the case where the excavator 4 is carried out from the caisson work chamber 2 using the lifter 5 has been described. On the other hand, when the mechanical equipment used in the caisson working chamber 2 and having a length at least longer than the diameter of the recovery shaft 14 is carried out or carried in, the lifter 5 may be used. ..

<Modification 7>
In the above embodiment, a drive instruction is output to each of the arm members 53 to 56 so that each of the arm members 53 to 56 can be independently expanded and contracted. On the other hand, the tilt detection device may detect the tilt of the lifter 5 and expand and contract while synchronizing at least two arm members 53 to 56 with one drive instruction. Specifically, for example, a right extension instruction is made to extend the right front arm member 53 and the right rear arm member 55 in synchronization with each other, or a rear contraction instruction is made to make the right rear arm member 55 and the left rear arm 55. The members 56 may be configured to contract while being synchronized with each other. Thereby, the operability of the lifter 5 can be improved. Note that "tuning" means that the grip portions 53a to 56a are driven while the height positions thereof are the same or substantially the same, or that the expansion and contraction lengths of the cylinders 53b to 56b are the same or substantially the same. Is exemplified.

<Modification 8>
In the above-described embodiment, the traveling shaft 41b of the excavator 4 is grasped by the grasping portions 53a to 56a. On the other hand, it may be configured to detect whether or not the traveling shaft 41b is gripped by the gripping portions 53a to 56a and output the detection result to the monitor 31 and the controller 32.

<Modification 9>
In the above embodiment, the gripping portions 53a to 56a of the arm members 53 to 56 are configured to grip the traveling shaft 41b of the excavator 4. On the other hand, other parts of the excavator 4 other than the traveling shaft 41b may be supported by the arm members 53 to 56. In this case, the excavator 4 may be supported by a structure (for example, a surface portion for surface support) that easily supports a predetermined portion of the excavator 4 instead of the configuration of the grip portions 53a to 56a. Good.

  The "right front grip portion 53a, left front grip portion 54a, right rear grip portion 55a and / or left rear grip portion 56a" described in the above embodiment corresponds to the "support mechanism" in the claims, and the above embodiment The "caterpillar 51" described in 1 corresponds to the "moving mechanism" in the claims, and the "monitor 31 and controller 32" described in the above embodiments corresponds to the "control device" in the claims. The "lifter 5" described in the form corresponds to the "remote operation device" in the claims, and the "excavator 4, lighting equipment and / or monitoring camera" described in the above embodiments is the "machine" in the claims. "Tilt mechanism" in the claims, which corresponds to "equipment" and the "right front arm member 53, left front arm member 54, right rear arm member 55, and / or left rear arm member 56" described in the above embodiment. Corresponding to the above embodiment The "inclination detection device" described corresponds to the "tilt mode output means" in the claims, and the "lifter communication unit" described in the above embodiment corresponds to the "receiving means" in the claims. The "lifter controller and / or lifter drive unit 60" described in the form corresponds to the "drive control means" in the claims, and the "right front arm member 53 and the left front arm member 54" described in the above-described embodiment. Alternatively, the "right rear arm member 55 and the left rear arm member 56" correspond to the "front and rear tilting means" in the claims, and the "right front arm member 53 and the right rear arm member 55 described in the above embodiment. Alternatively, the left front arm member 54 and the left rear arm member 56 "correspond to the" left and right tilting means "in the claims, and the" tilt detection device "described in the above embodiment is the" tilt "in the claims. "Detection means" Accordingly, the "lifter communication section" described in the above embodiment corresponds to the "tilt output means" in the claims, and the "right front cylinder 53b, left front cylinder 54b, right rear cylinder 55b and / Alternatively, the left rear cylinder 56b "corresponds to the" movable mechanism "in the claims, and the" configuration for individually driving the arm members 53 to 56 "described in the above embodiment is" independent "in the claims. Corresponding to "driving means", "a configuration for driving at least two arm members 53 to 56 of each arm member 53 to 56 while synchronizing them" described in the above embodiment is "tuned driving means" in the claims. The "running shaft 41b" described in the above embodiment corresponds to the "supported portion" in the claims, and the "camera provided in each of the gripping portions 53a to 56a" described in the above embodiment corresponds to. The "recovery shaft 14" described in the above embodiment corresponds to the "supported portion determining means" in the claims, and the "wire 21" described in the above embodiments corresponds to the "shaft" in the claims. Corresponds to the "hanging means" in the claims, the "crane 20" in the above embodiments corresponds to the "elevating device" in the claims, and the "controller 32" in the above embodiments is Corresponding to "operating means" in the claims, "monitor 31" in the above embodiment corresponds to "display device" in the claims, and "hook 22" in the above claims. Corresponding to the “tip portion” of the above range, the “hook mounting portion” described in the above embodiment corresponds to the “mounting portion” of the claims, and the “ceiling part 2a” described in the above embodiment is claimed. Corresponding to the “ceiling part” in the range of The "guide rail 3" corresponds to the "traveling rail" in the claims, and the "traveling roller 41a" described in the above embodiment corresponds to the "traveling means" in the claims, and is described in the above embodiment. The "drilling base body 43" of "corresponds to the" body portion "in the claims, and the" arm portion 44 and the bucket portion 45 "described in the above embodiments correspond to the" drilling mechanism "in the claims. The “ground or excavated surface” described in the embodiment corresponds to the “ground surface” in the claims, and the “collection inlet / outlet portion 15” described in the above embodiments corresponds to the “communication port” in the claims. The "recovery detection device" described in the above embodiment corresponds to the "mechanical equipment detection means" in the claims.

1 Caisson 2 Caisson Working Room 2a Ceiling 3 Guide Rail 4 Excavator 5 Lifter 13 Recovery Shaft 20 Crane 30 Control Room 41b Traveling Shaft 51 Caterpillar 53 Right Front Arm Member 54 Left Front Arm Member 55 Right Rear Arm Member 56 Left Rear Side Arm member

In order to achieve this object, the apparatus for remote work according to claim 1 is configured such that a mechanical mechanism used in a caisson working chamber can be supported by a support mechanism, and the mechanical facility is supported by the support mechanism. The movement mechanism is configured to be movable in the caisson work chamber, and the movement status by the movement mechanism is output to the control device provided outside the caisson work chamber by the movement status output means. Here, the tilting mechanism is configured to tilt the mechanical equipment supported by the support mechanism, and the tilting mode output means outputs the driving mode of the tilting mechanism to the control device. Further, the receiving means is configured to be able to receive the drive instruction from the control device, and the drive control means drives the tilting mechanism and / or the moving mechanism based on the drive instruction from the control device received by the receiving means. To be done. Then, the supported portion determination means is configured to determine the position of the supported portion of the mechanical equipment.

Transport system of machinery for caisson work chamber according to claim 7 is a conveying system of machinery for caisson workroom with remote working apparatus according to claim 1, by the shaft, the mechanical equipment can pass The shaft is configured to be lifted and lowered by the lifting and lowering means in a state in which the mechanical equipment is hung by the hanging means. Further, outside the caisson work room, the remote operation device and the elevating device can be operated by the operation means, and the display device is arranged in the work room in which the operation means is arranged. Here, the mechanical equipment is provided with an attachment part to which one end of the lifting device of the lifting device can be attached, on one end side in the entire length direction. Further, the overall length of the mechanical equipment is configured to be longer than the passage width of the shaft, while the overall width and height of the mechanical equipment is configured to be shorter than the passage width of the shaft. Then, with the tip portion attached to the attachment portion, the operating means causes the remote working device to tilt the mechanical equipment in the caisson work chamber, while the lifting device raises and lowers the mechanical equipment.

A transport system for mechanical equipment to the caisson work chamber according to claim 8 is the transport system for mechanical equipment to the caisson work chamber according to claim 7, wherein the traveling means provided in the mechanical equipment is provided on a ceiling portion of the caisson work chamber. The machine equipment is moved along the traveling rail while being suspended, and the body is connected to the traveling means, the excavation mechanism is connected to the body, and the mechanical equipment is suspended on the traveling rail. In this state, the excavation mechanism enables excavation of the ground surface inside the caisson work chamber. Here, the tilting mechanism is configured to be drivable by the drive control means so that at least the height position of the support mechanism from the ground surface in the caisson working chamber is longer than the length from the body portion to the tip of the excavation mechanism. It

The transport system for mechanical equipment to the caisson work chamber according to claim 9 is the transport system for mechanical equipment to the caisson work chamber according to claim 7 or 8 , wherein the caisson work chamber and the shaft are communicated with each other by a communication port. Mechanical equipment detection means is provided at or near the communication port. Then, when the mechanical equipment is detected by the mechanical equipment detecting means, the drive control means causes at least the longest extending tilting mechanism to be contracted.

According to the remote work apparatus of claim 1, the support mechanism is configured to support the mechanical equipment used in the caisson work chamber, and the mechanical mechanism is supported by the support mechanism, and the caisson is moved by the moving mechanism. The movable state is configured to be movable in the work chamber, and the movement state by the movement mechanism is output to the control device provided outside the caisson work chamber by the movement state output means. Here, the tilting mechanism is configured to tilt the mechanical equipment supported by the support mechanism, and the tilting mode output means outputs the driving mode of the tilting mechanism to the control device. Further, the receiving means is configured to be able to receive the drive instruction from the control device, and the drive control means drives the tilting mechanism and / or the moving mechanism based on the drive instruction from the control device received by the receiving means. To be done. Then, the supported portion determination means is configured to determine the position of the supported portion of the mechanical equipment. As a result, with the control device provided outside the caisson work room, while the mechanical equipment is supported by the support mechanism of the remote work device, the tilting mechanism moves the remote work device and the mechanical equipment while moving the remote work device and the mechanical equipment. By tilting the mechanical equipment supported by the mechanical equipment, it is possible to accurately convey the mechanical equipment to the caisson work chamber without requiring the work of an operator in the caisson work chamber. Further, the supported portion of the mechanical equipment can be reliably supported by the support mechanism, and the mechanical equipment can be stably transported by the remote work device. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

According to the transport system of the mechanical equipment for the caisson work chamber of the seventh aspect , the following effect is obtained in addition to the effect of the remote work apparatus according to the first aspect. That is, the shaft is configured to allow mechanical equipment to pass therethrough, and the mechanical equipment is hung by the suspending means so that the elevating means can raise and lower the inside of the shaft. Further, outside the caisson work room, the remote operation device and the elevating device can be operated by the operation means, and the display device is arranged in the work room in which the operation means is arranged. Here, the mechanical equipment is provided with an attachment part to which one end of the lifting device of the lifting device can be attached, on one end side in the entire length direction. Further, the overall length of the mechanical equipment is configured to be longer than the passage width of the shaft, while the overall width and height of the mechanical equipment is configured to be shorter than the passage width of the shaft. Then, with the tip portion attached to the attachment portion, the operating means causes the remote operation device to tilt the mechanical equipment in the caisson work chamber, while the lifting device moves the mechanical equipment up and down. That is, with the control device provided outside the caisson work room, the remote work device and the mechanical equipment are moved by the moving mechanism while the mechanical equipment having a length longer than the passage width of the shaft is supported by the support mechanism of the remote work equipment. While tilting the mechanical equipment supported by the support mechanism by the tilting mechanism, the mechanical equipment is guided to the shaft. As a result, it is possible to accurately guide the mechanical equipment, which has a length longer than the passage width of the shaft, into the shaft without requiring the work of the operator in the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

According to the transport system of the mechanical equipment for the caisson work chamber of the eighth aspect , the following effect is exerted in addition to the effect of the transport system of the mechanical equipment for the caisson work chamber of the seventh aspect . That is, in a state where the traveling means provided in the mechanical equipment suspends the traveling rail provided in the ceiling portion of the caisson work chamber, the mechanical equipment is moved along the traveling rail, and the body part is attached to the traveling means. The ground surface in the caisson work chamber is configured to be excavable by the excavation mechanism in a state in which the excavation mechanism is coupled to the body portion thereof and the mechanical equipment is suspended on the traveling rail. Here, the tilting mechanism is configured to be drivable by the drive control means so that at least the height position of the support mechanism from the ground surface in the caisson working chamber is longer than the length from the body portion to the tip of the excavation mechanism. It In order to excavate the ground surface, the mechanical equipment for excavating work in the caisson work chamber is configured so that the excavation mechanism can be extended to a position at least higher than the height from the ceiling portion to the ground surface. Here, in order to convey the mechanical equipment that can be extended from the ceiling to the height above the surface of the earth from the shaft, while tilting the mechanical equipment supported by the support mechanism by the tilting mechanism, the mechanical equipment is installed with respect to the shaft. invite. As a result, it is possible to accurately guide the mechanical equipment capable of excavating the ground surface in the caisson work chamber into the shaft without disassembling, without requiring the work of the operator in the caisson work chamber. Therefore, there is an effect that the remote work device can reduce the work load on the operator in the caisson work chamber and safely transport the mechanical equipment to the caisson work chamber.

According to the transport system for mechanical equipment to the caisson work chamber according to the ninth aspect , the following effect is exerted in addition to the effect exhibited by the transport system for mechanical equipment to the caisson work chamber according to the seventh or eighth aspect . That is, the caisson work chamber and the shaft are communicated with each other through the communication port, and mechanical equipment detection means is provided at or near the communication port. Then, when the mechanical equipment is detected by the mechanical equipment detecting means, the drive control means causes at least the longest extending tilting mechanism to be contracted. This makes it possible to avoid a collision between the mechanical equipment and the support mechanism of the remote work device when the mechanical equipment is hung, and prevent the mechanical equipment or the remote work device from being damaged. There is an effect that can be done.

Claims (10)

A support mechanism that can support mechanical equipment used in the caisson work room,
A moving mechanism capable of moving in the caisson working chamber while supporting the mechanical equipment by the supporting mechanism;
A remote operation device comprising: a movement status output means for outputting a movement status by the movement mechanism to a control device provided outside the caisson work chamber,
A tilting mechanism capable of tilting the mechanical equipment supported by the supporting mechanism,
Tilting mode output means for outputting the driving mode of the tilting mechanism to the control device;
Receiving means capable of receiving a drive instruction from the control device,
A drive control means for driving the tilting mechanism and / or the moving mechanism based on a drive instruction from the control device received by the receiving means. The drive control means,
The apparatus for remote work according to claim 1, further comprising: a front-back tilting means for tilting the mechanical equipment forward and backward in the entire length direction by the tilting mechanism. The drive control means,
The device for remote work according to claim 1 or 2, further comprising: a left-right tilting means for tilting the mechanical equipment to the left and right in the full width direction by the tilting mechanism. An inclination detecting means capable of detecting an inclination angle of the remote operation device with respect to the horizontal direction,
4. The remote operation device according to claim 1, further comprising: an inclination output unit that outputs a detection result of the inclination detection unit to the control device. The tilting mechanism is
A movable mechanism capable of moving up and down the supporting mechanism provided at least three or more;
The drive control means,
The remote operation device according to any one of claims 1 to 4, further comprising: independent drive means for independently driving the movable mechanism. The drive control means,
6. The remote work device according to claim 5, further comprising: tuning drive means for driving at least two or more movable mechanisms in synchronization with each other. 7. The remote work device according to claim 1, further comprising: a supported portion determining unit capable of determining the position of the supported portion of the mechanical equipment. A transport system for mechanical equipment to a caisson work chamber using the remote work device according to claim 1,
A shaft that can pass through the mechanical equipment,
In a state where the mechanical equipment is suspended by suspending means, an elevating device capable of ascending and descending within the shaft,
Outside the caisson work room, operation means capable of operating the remote work device and the lifting device,
A display device arranged in a control room in which the operation means is arranged,
The mechanical equipment is
On one end side in the entire length direction thereof, a mounting portion to which the tip of the suspension means of the lifting device can be mounted,
The entire length of the mechanical equipment is configured to be longer than the passage width of the shaft, while the overall width and height of the mechanical equipment is configured to be shorter than the passage width of the shaft,
In a state where the tip portion is attached to the attachment portion, the operating device tilts the mechanical equipment in the caisson work chamber by the remote work device, and raises and lowers the mechanical equipment by the elevating device. A caisson working system for mechanical equipment. The mechanical equipment is
A traveling means for moving the mechanical equipment along the traveling rail in a state of being suspended on the traveling rail provided on the ceiling portion of the caisson work chamber,
A body portion connected to the traveling means,
An excavation mechanism capable of excavating the ground surface in the caisson work chamber in a state of being connected to the body portion and suspending the mechanical equipment on the traveling rail,
The drive control means,
At least, a height position of the support mechanism from the ground surface in the caisson work chamber is configured to be capable of driving the tilting mechanism so as to be longer than a length from the body portion to the tip end portion of the excavation mechanism. The system for transporting mechanical equipment into the caisson work chamber according to claim 8. A communication port that connects the caisson work chamber and the shaft,
And a mechanical facility detection means provided in the vicinity of the communication port or the communication port,
The drive control means,
The mechanical equipment for the caisson work chamber according to claim 8 or 9, wherein at least the tilting mechanism that is extended the longest is contracted when the mechanical equipment is detected by the mechanical equipment detection means. Transport system.