JP3927517B2 - Inner unit for small-diameter curve propulsion work - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a novel technique for construction of underground curved sewers. Specifically, in the conventional small-diameter long-distance curve propulsion method in the underground, a fume pipe is later formed using an iron and expensive curved guide pipe. It is possible to pierce what has been two-stage construction to put in a single process using a relatively inexpensive inner unit together with a fume pipe, shorten the work period, reduce the material cost, and inventory of expensive curve induction pipes The present invention relates to a revolutionary small-diameter curve propulsion inner unit that can significantly reduce the construction cost (40%) compared to the past.
[0002]
[Prior art]
In recent years, there is an increasing need for a small-diameter propulsion method applied to a propulsion pipe having a nominal diameter of 150 mm to 700 mm. Moreover, since work in the propulsion pipe is prohibited, automation and robotization are inevitably being promoted. On the other hand, since the demand for curve propulsion at a long distance is increasing, a method has been developed that enables curve propulsion at a long distance and can automatically measure the position of the excavator and the attitude of the excavator. For example, in the conventional micro construction method, a robot equipped with a gyro of a normal size can be run in a pipe, and position measurement can be performed continuously and with high accuracy. However, the micro construction method is a two-step system that uses expensive steel curve guide pipes and concrete propulsion pipes in two stages, and has the disadvantage that it must have a stock of curve guide pipes, resulting in high construction costs and a long construction period. was there.
[0003]
[Problems to be solved by the invention]
In the case of curve propulsion, it is necessary to devise a joint structure so as not to overload the connecting parts of a large number of connecting pipes. Further, rolling is likely to occur during propulsion, but in this case, smooth and safe rolling measures are necessary. In addition, it is necessary to have good resilience even during rolling. For this purpose, it is desirable that the position of the center of gravity is low. In addition, since it is necessary to measure the distance from the resist in order to automatically measure the position, the conventional method of using a cable wire has the effect of extending the wire, and there is a problem that an accurate distance cannot be measured. difficult. Further, although the position can be obtained from the axle rotation of the traveling carriage of the surveying robot, the measurement accuracy is low due to slip and the like. In addition, the inner unit needs to be always in contact with the propulsion pipe with a constant pressing force, but the related art does not take that into consideration. Moreover, although the inner unit is equipped with a mud pipe and a mud pipe, it is necessary to prevent leakage from the connecting portion. Further, it is required that the pulling transmission member for pulling out the inner unit be flexible and easy to pull out. In addition, the conventional robot has a drawback that the traveling space becomes large because the gyro size of the robot is large. In addition, there was a demand for a simple construction of a traveling path of an apparatus for automatically measuring the position and direction, a feed / sludge pipe for excavation, cables, and various pipes in a narrow propulsion pipe.
[0004]
The present invention has been invented based on the solution and request of the above-described problems, can be applied to long-distance propulsion and curve propulsion, and the surveying robot is stably maintained without rolling, and the position measurement is accurate. No excessive force is applied to the propulsion pipes and the connecting parts of each pipe, it is flexible, there is no leakage from the joints of each pipe, the whole is compact, and it can be pulled out easily. It is an object of the present invention to provide an inner unit for small-diameter curve propulsion work that can greatly reduce the work cost and can further improve workability by unitization.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is characterized in that a plurality of propulsion pipes are connected in a straight line and / or a plurality of bendable pipes in a hole drilled for underground sewer pipe construction. An inner unit used for a small-diameter curve propulsion work constructed as a curved underground pipe, and the inner unit is housed in each of the propulsion pipes and includes an ultra-compact gyro using an optical fiber inside. A deformed travel pipe including a square or rectangular cross-section for movably storing the surveying robot carriage, and an undulating contact with the lower surface side of the travel pipe so as to protrude upward and arcuate with both ends facing downward An arc-shaped support plate that is bent and disposed, a guide roller body that is attached to the left and right ends of the support plate and the lower end of the lower vertical plate and is in contact with the inside of the propulsion pipe, and is arranged along the direction in which the traveling pipe is disposed. Support A mud pipe and a mud pipe movably disposed on the lower side of the pipe, a pulling transmission member connected to the traveling pipe side for moving the traveling pipe and the inner unit in and out of the propelling pipe, and the traveling pipe The travel pipe mounted on the support plate is elastically supported and connected via an elastic band, and includes a storage body that is arranged along the installation direction and mounts and stores various cables and pipes. A connecting tool that absorbs the angular deviation of the traveling pipe is provided at the connecting portion of each traveling pipe, and a restraining tool that restrains the movement of the traveling pipe in the axial direction when a pressing force is applied. This facilitates long-distance curve propulsion, and both the surveying robot and the entire inner unit are stably supported against rolling, have excellent resilience, and smoothly feed and discharge mud with propulsion. And can be implemented inexpensively.
[0006]
According to a second aspect of the present invention, the elastic band is made of a rubber band, and is arranged in contact with the upper surface of the traveling pipe and is arranged in a state where both lower ends thereof are fixed to the support plate side. . As a result, the traveling pipe is elastically supported in an arbitrary direction with respect to the support plate, and the bending arrangement of the propulsion pipe can be facilitated.
[0007]
According to a third aspect of the present invention, there is provided a connecting tool and a cushioning material for preventing joint opening and holding the cushioning property of the connecting portion at the connecting portion of the propulsion pipe which is connected so as to be bent. The tool is composed of a tubular body having one end fixed to one propulsion tube and the other end detachably engaged with the other propulsion tube via a sealing material, and the cushion material is connected to the propulsion tube. It consists of an elastic member interposed at the end of the part. As a result, the connecting portion of the propulsion pipe can be bent freely, can follow the curve propulsion, and does not leak from this portion.
[0008]
According to a fourth aspect of the present invention, when the travel pipe is a square tube, the connection tool for connecting the adjacent travel pipes protrudes from the upper and lower sides of the one side travel pipe. And a female joint that is formed on the protruding side and is fixed to the end of the traveling tube on the other side. The restraining tool is formed of an annular body constructed between the traveling pipe on one side and the traveling pipe on the other side in a state where the male joint and the female joint are fitted to each other. An arcuate surface on the fixed side of the male joint and the female joint is indirectly held on the inner periphery. As described above, the traveling pipes are smoothly connected and connected flexibly.
[0010]
According to a fifth aspect of the present invention, the position of the guide roller body provided at the left and right ends of the support plate in contact with the inner surface of the propulsion tube is positioned below the tube center of the propulsion tube, and the center of gravity position of the inner unit is set. It is positioned at a lower position on the lower side. Since the left and right ends of the support plate are in contact with each other at a position lower than the center of the propulsion pipe, the center of gravity of the inner unit can be taken downward. The stability and restoration property in the rolling state can be improved.
[0011]
According to a sixth aspect of the present invention, the guide roller body that supports the support plate is formed so as to be extendable and contractable in the pressing force acting direction. Since the guide roller body is always in contact with the propulsion pipe with a constant pressing force, the inner unit is smoothly supported in the propulsion pipe, and a smooth drilling operation is performed as a whole.
[0012]
According to a seventh aspect of the present invention, the mud feeding pipe and the mud discharging pipe are attached to bend freely, are not fixed to the support plate side, are arranged to be movable in the vertical and horizontal directions, and are supported by the stopper plate. The stopper plate should be formed such that the distance between the end of the stopper plate and the support plate side is always smaller than the diameter of the mud tube and the drainage pipe in order to prevent the mud pipe and the drainage tube from dropping off. Arranged and formed. Since the mud pipe and the mud pipe are structured to be movably supported, the connection of the mud pipe and the mud pipe is smoothly performed. Further, these pipes are prevented from falling off by a stopper plate , and are always stably supported.
[0013]
According to an eighth aspect of the present invention, the connecting portion of the mud pipe and the mud pipe is connected by a packing case of an elastic seal body for preventing leakage. Thereby, the leak from the connection part of a mud pipe and a mud pipe is reliably prevented.
[0014]
Further, in the invention of claim 9 , the connecting portion of the mud feeding pipe and the mud discharging pipe is connected through a connecting short pipe, and the connecting short pipe and each of the mud feeding pipe and the mud discharging pipe are made of an elastic sealing body. It is connected by a packing case. Thereby, the leak from the connection part of a mud pipe or a mud pipe is completely prevented.
[0015]
According to a tenth aspect of the present invention, the surveying robot is supported by guide rollers on the top, bottom, left and right of the inner surface of the traveling tube, and the photoelectric switch distance measuring device is provided at a predetermined position of the traveling tube. It is formed so as to transmit the position information to the outside at a position facing the opening formed in the. The surveying robot is stably supported in the traveling tube and can accurately measure the position by forming an opening.
[0016]
According to an eleventh aspect of the present invention, an LED and / or a prism for distance measurement / angle measurement is disposed on a traveling tube on which the surveying robot travels. Thereby, an accurate position measurement can be performed.
[0017]
According to a twelfth aspect of the present invention, the drawing transmission member is connected to the support plate and is connected to each other so as to be freely bent. The drawing transmission member can be bent freely and can be pulled out smoothly and lightly.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of an inner unit for small-diameter curve propulsion work of the present invention will be described in detail with reference to the drawings. The propulsion pipe in which the inner unit is housed is connected to the main body installed in the stand, and a number of propulsion pipes are connected to each other in a straight line, and the propulsion pipe is connected via a connecting pipe, a pump cylinder and a forced pipe. The propulsion unit is connected. The propulsion machine excavates a small diameter in the ground, and the excavated hole is inserted with a propulsion pipe to create a sewer pipe.
[0019]
FIG. 1 is a transverse sectional view of a propulsion tube, and an inner unit 1 is accommodated in a hollow cylindrical tubular propulsion tube 2. The inner unit 1 is housed in one propulsion pipe 2, and the inner unit 1 in the propulsion pipe 2 is connected to the inner unit 1 in the propulsion pipe 2 provided in a row (this connection structure is (I will explain later).
[0020]
As shown in FIG. 1, the inner unit 1 includes a travel pipe 3, an arc-shaped support plate 4 disposed to support the travel pipe 3 below, and guide rollers provided at the left and right ends and the vertical lower end of the support plate 4. Bodies 5 and 6, a mud pipe 7 and a mud pipe 8, a storage body 9 arranged on the left and right of the traveling pipe 3 for mounting and storing various cables and pipes, and an inner unit 1 in and out. The drawing transmission member 46 and the like. As shown in FIGS. 1 and 2, the traveling tube 3 is elastically supported on the support plate 4 by elastic bands 12 that are installed between support members 11 and 11 that are fixed to the left and right of the support plate 4. 3 (a), (b), (c), and (d) show the support state of the travel pipe 3 by the elastic band 12, and even if the travel pipe 3 is inclined, the elastic band 12 makes it smooth. Stable support. 4 (a) and 4 (c) show the engagement state of the traveling tube 3 with respect to the support plate 4 in the left-right direction and the engagement state at the time of lateral deviation or inclination. It is stably supported on the support plate 4.
[0021]
5 (a) and 5 (b) show the connection structure at the connection site between the adjacent propulsion pipes 2 and 2. FIG. The propulsion tubes 2 and 2 are connected to the connecting tool 13 and the cushion material 14. As shown in the figure, the connector 13 is formed of a thin tube body having a corrugated recess 15 formed on the outer surface side, one end of which is fixed to the propulsion pipe 2 on one side via a water swelling rubber 16, The overhanging end locking portion 17 is engaged with a seal member 18 fixed to the outer surface of the other propulsion pipe 2. In this state, the propulsion pipe 2 on one side and the propulsion pipe 2 on the other side are connected. The cushion member 14 is made of a rubber body and closes the joint portion in a state where the two propulsion pipes 2 and 2 are connected. Even if an inclination occurs between the propulsion pipes 2 and 2 as shown in FIG. 5A due to the interposition of the coupling tool 13 and the cushion material 14 having the above structure, both are smoothly connected without difficulty and leakage from the joint portion. Does not occur.
[0022]
6 and 7 show a connection structure of a connection portion of the traveling tube 3 formed of a square tube (for example, a square hollow tube). This connecting structure includes a connecting tool 19 and a restraining tool 20. As shown in FIG. 9, the connector 19 is fixed to the end of the traveling pipe 3 on one side, and is disposed at the end of the traveling pipe 3 on the other side. It consists of a female side joint 22 which is fixed and protrudes from its end face.
[0023]
The female side joint 21 is made of a flat plate and has an arcuate surface 23 formed on the end surface on the side fixed to the traveling tube 3 and an arcuate convex surface 24 formed on the protruding side. On the other hand, the female-side joint 22 is formed of a flat plate that forms an arc-shaped concave surface 25 that fits into the arc-shaped convex surface 24 on the protruding side and forms an arc-shaped surface 26 that is formed on the fixed side of the traveling tube 3 on the other side. 6 and 7 show a state where the male side joint 21 and the female side joint 22 are fitted to each other. The restraining tool 20 is formed of an annular member that is housed inside the male side joint 21 and the female side joint 22 in an engaged state, and the arcuate surfaces of the male side joint 21 and the female side joint 22 are formed on the inner periphery thereof. Abut. Thereby, the traveling pipes 3 and 3 are connected. The restraining tool 20 is fixed to the traveling tube 3 on the other side by a bolt 27, and the male joint 21 and the female joint 22 are stored in the restraining tool 20 in a combined state.
[0024]
FIG. 9 shows a state before the male side joint 21 and the female side joint 22 are combined, and FIG. 10 shows a case where there is an angle shift between the traveling pipes 3 and 3 in the combined state. In this case, the male side joint 21 and the female side joint 22 are held by the restraining tool 20, whereby both the traveling pipes 3, 3 are connected even if they are bent as shown in FIG. 10. Therefore, a strong connected state is maintained even when a pressing force is applied in the substantially axial direction.
[0025]
FIG. 8A shows an example of a state in which the male side joint 21 and the female side joint 22 are connected to the travel pipes 3 and 3. In this case, the male side joint 21 is fixed to the traveling pipe 3 in a taper state 47 whose protruding side is an inner bud, and the female side joint 22 is fixed to the traveling pipe 3 in a tapered state 48 whose outward side is opened outward. FIG. 8 (b) shows a connection form of the traveling pipes 3, 3 having the male side joint 21 and the female side joint 22 in this state, and FIG. 8 (c) shows a state in which the restraining tool 20 is fitted at the time of connection. Is shown.
[0026]
As shown in FIG. 1, the support plate 4 is composed of a plate member that is bent upward in an arcuate shape, and as described above, the top plate abuts against the lower surface of the traveling tube 3 to support it. Guide roller bodies 5, 5, and 6 are provided on the left and right ends and the vertical lower end of the support plate 4. These guide roller bodies 5, 5, 6 are disposed in contact with the inner surface of the propulsion pipe 2 with an appropriate pressing force, and function to stably hold the support plate 4. The guide roller bodies 5 and 5 are disposed in contact with the inner surface of the propulsion tube 2 at a position lower than the center of the propulsion tube 2, and the guide roller 6 is disposed in contact with a vertical lower end surface passing through the center of the propulsion tube 2. .
[0027]
FIG. 11A shows the value of the rolling moment during rolling when the center of gravity of the inner unit 1 is at a relatively high position. In this case, the rolling moment when rolling by the angle θ is L0. × W. On the other hand, when the position of the center of gravity is low as in the invention, that is, when the center of gravity is located at the position of FIG. 11B, rolling by the angle θ results in a rolling moment L1 × W. Here, since L1> L0, when the position of the center of gravity is low, the moment to return to the center increases, and the restoration at the time of rolling becomes easy. That is, in the present invention, by arranging the guide roller bodies 5 and 5 in the above structure, the restoring force of rolling can be improved and stabilized.
[0028]
12 (a) and 12 (b) are for explaining the general structure of the guide roller bodies 5, 5, and 6. FIG. An outer cylinder 28 is fixed to the support plate 4. An inner cylinder 29 is slidably supported in the outer cylinder 28, and a roller 30 is pivotally supported on the lower end of the inner cylinder 29. A spring 31 is interposed between the inner cylinder 29 side and the support plate 4 side. With the above structure, the roller 30 is elastically supported on the support plate 4 side, and an appropriate pressing force is applied to the propulsion pipe 2 side. As a result, the inner unit 1 is stably supported even when it is rolling.
[0029]
As shown in FIG. 1, a mud pipe 7 and a mud pipe 8 are disposed on the left and right sides of the vertical member 32 that supports the guide roller body 6 of the support plate 4. The mud feeding pipe 7 and the mud discharging pipe 8 are pipes used for fluid transport of earth and sand during excavation. These mud feed pipes 7 and the mud discharge pipes 8 are supported by a stopper plate 33 held by a drawing transmission member 46 as shown in FIG. As shown in FIGS. 14 (a) and 14 (b), the mud pipe 7 and the mud pipe 8 are formed to be movable in the vertical direction. This is for performing a smooth connection work of the mud pipe 7 and the mud pipe 8. Further, as shown in FIG. 13, the distance D between the edge of the stopper plate 33 and the outer surface of the guide roller body 5 of the support plate 4 is formed to be smaller than the outer diameter dimension of the mud pipe 7 and the mud pipe 8. This prevents the mud pipe 7 and the mud pipe 8 from falling off.
[0030]
As shown in FIG. 15, the mud feeding pipe 7 and the mud discharging pipe 8 are not formed from a single pipe, but are connected via a connecting short pipe 34. The short pipe for connection 34 and the mud pipe 7 and the drain mud pipe 8 are coupled via a packing case 35 provided at the end of the mud pipe 7 and the mud pipe 8 as shown in FIG. The packing case 35 functions to smoothly connect the short pipe 34 for connection with the mud pipe 7 and the exhaust pipe 8 and contributes to ensuring sealing performance.
[0031]
As shown in FIG. 17, a surveying robot carriage 36 is accommodated in the traveling tube 3 so as to be movable along the axial direction. The surveying robot carriage 36 has a photoelectric switch distance measuring device 37 disposed at the tip thereof emitting light to the traveling tube 3 to receive reflected light from the traveling tube 3 to recognize the traveling tube 3 and form an opening at an appropriate position. Since the intensity of the reflected light changes when it matches the opened opening 38, the opening 38 can be recognized. Thus, one traveling tube 3 is detected. Further, as shown in FIGS. 18A, 18B, 18C, and 18D, the surveying robot carriage 36 is in contact with the inner surface of the traveling tube 3 by guide rollers 39, 40, 41, 42 in the vertical and horizontal directions, and the axis line It is supported movably in the direction.
[0032]
As shown in FIG. 19, an LED 43 and a prism 44 are arranged at the upper end of the traveling tube 3. The arrangement of the prism 44 enables distance measurement and angle measurement from the start-up resisting portion, thereby improving the positioning accuracy of the inner unit. Further, by using the LED, it is possible to measure the angle from the start-up counter, and the distance information (for example, the number of travel pipes 3 having dimensional accuracy when the distance calculated using the surveying robot 36 or the linearity is a straight line). The positional accuracy of the inner unit can be improved by adjusting the distance obtained.
[0033]
As shown in FIG. 1 and the like, on the left and right sides of the lower side of the vertical member 32 of the support plate 4, the pulling transmission member 46 is flexibly connected by a pin joint 45 for absorbing the angular misalignment as shown in FIG. 20. Thereby, even if the inner unit 1 is in a curved state, it can be pulled out smoothly.
[0034]
In the above description, the traveling tube 3 is a square tube, but of course it is not limited to this. Moreover, the connection structure and the seal structure of each connection part are not limited to the above.
[0035]
According to the inner unit for small-diameter curve propulsion work of the present invention, it is possible to cope with long-distance and curved-protrusion excavation, has good position detection accuracy, has a sense of stability against rolling, and has a conventional specific diameter of about 1 / 3. A cross-sectional ratio of about 1/10 and a groundbreaking miniaturization and high efficiency, and a large restoring force, mud and drainage during excavation can be performed smoothly, pulling out can be done easily, and it can be combined into an ultra-compact size. In addition, it does not use an expensive curve guide pipe, and does not have a stock, and because it is in time for the concrete propulsion pipe and the inner unit, the total construction cost is about 40% lower than the conventional construction.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view showing the overall structure of an inner unit for small-diameter curve propulsion work of the present invention housed in a propulsion pipe.
FIG. 2 is a schematic view showing an elastic support state of a traveling pipe of the present invention.
FIG. 3 is a schematic view showing a support structure of an elastic band of a traveling pipe according to the present invention.
FIG. 4 is a schematic view showing an elastic support state of a travel pipe mounted on the support plate of the present invention.
FIGS. 5A and 5B are a partial outer surface view (a) and an enlarged partial cross-sectional view (b) showing a connected state of propulsion pipes coupled in a curved manner.
FIG. 6 is a cross-sectional view showing the structure of the connecting portion of the travel pipe.
7 is a cross-sectional view taken along line AA in FIG.
FIG. 8 is a schematic diagram showing a structure of a tapered connecting portion of a traveling pipe.
FIG. 9 is a schematic diagram showing a connecting structure of travel pipes.
FIG. 10 is a schematic view showing a configuration when a traveling pipe is bent and connected.
FIG. 11 is a schematic diagram for explaining the advantage of the roller support point of the support plate of the present invention over the prior art.
FIG. 12A is a side view showing a schematic structure of a guide roller body of a support plate, and FIG.
FIG. 13 is a schematic diagram showing the arrangement of a mud pipe or a mud pipe.
FIG. 14 is a side view (a) and an enlarged front view (b) showing a support form of a mud pipe or a mud pipe.
FIG. 15 is a plan view showing a connecting structure of a connecting portion between a mud pipe and a mud pipe using a connecting short pipe.
FIG. 16 is a partial cross-sectional view showing a connecting portion seal state of a short pipe for connection and a mud pipe or a waste mud pipe.
FIG. 17 is a schematic diagram of distance measurement in a traveling pipe of a surveying robot.
FIG. 18 is a schematic diagram showing a roller support structure of a surveying robot.
FIG. 19 is a schematic diagram showing an arrangement of LEDs and prisms for detecting the position of the inner unit.
FIG. 20 is a schematic diagram showing a connection structure of a drawing transmission member.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Inner unit 2 Propulsion pipe 3 Traveling pipe 4 Support plate 5 Guide roller body 6 Guide roller body 7 Mud pipe 8 Waste mud pipe 9 Storage body 11 Support member 12 Elastic band 13 Connector 14 Cushion material 15 Recess 16 Water-swelling rubber 17 Locking portion 18 Sealing material 19 Connecting tool 20 Restraining tool 21 Male side joint 22 Female side joint 23 Arc-shaped surface 24 Arc-shaped convex surface 25 Arc-shaped concave surface 26 Arc-shaped surface 27 Bolt 28 Outer cylinder 29 Inner cylinder 30 Roller 31 Spring 32 Vertical member 33 Stopper plate 34 Short tube for connection 35 Packing case 36 Surveying robot carriage 37 Photoelectric switch 38 Opening 39 Guide roller 40 Guide roller 41 Guide roller 42 Guide roller 43 LED
44 Prism 45 Pin joint 46 Pull-out transmission member
47 Male side joint protruding side inner bud taper state
48 Female side joint protruding side outward taper

Claims (12)

Inner unit used for small-diameter curve propulsion work in which a large number of bendable pipes are connected in a hole drilled for underground sewer pipe construction as a underground buried pipe linearly and / or curvilinearly. Because
The inner unit is housed in each of the above-mentioned propulsion pipes, and has an irregular traveling shape including a square or a rectangular cross section for movably housing a surveying robot having an ultra-compact gyro using an optical fiber and a photoelectric switch distance measuring device. Tube,
An arc-shaped support plate that is formed so as to be detachably in contact with the lower surface side of the traveling pipe and is formed so as to protrude upward and bend in an arc shape with both end sides facing downward.
A guide roller body attached to the left and right ends of the support plate and the lower end of the lower vertical plate and in contact with the inside of the propulsion pipe;
A mud pipe and a mud pipe arranged along the direction of arrangement of the traveling pipe and movably arranged below the support plate;
A pull-out transmission member connected to the traveling tube side for allowing the traveling tube and the inner unit to enter and exit the propulsion tube;
It comprises a storage body that is arranged along the direction of arrangement of the traveling pipe and that houses various cables and piping.
The travel pipe mounted on the support plate is elastically supported via an elastic band and connected to each travel pipe connected thereto, and a connecting tool for absorbing an angular deviation of the travel pipe is provided, and a pusher is provided. An inner unit for small-diameter curve propulsion work characterized in that a restraining tool is provided for restraining movement of the traveling pipe in the axial direction during pressure action.   2. The small-diameter curve according to claim 1, wherein the elastic band is formed of a rubber band and is disposed in contact with the upper surface of the travel pipe and is fixed in a state where both lower ends thereof are fixed to the support plate side. Inner unit for propulsion work. The connecting portion of the propulsion pipe connected so as to be able to be bent is provided with a connector and a cushion material for preventing the joint opening and maintaining the cushioning property of the connecting portion,
The connector consists of a tubular body that is fixed at one end to the propulsion pipe on one side and engages the other end side with the propulsion pipe on the other side in a separable manner via a sealant,
The inner unit for small-diameter curve propulsion work according to claim 1 or 2, wherein the cushion material is made of an elastic member interposed at an end portion of a connection portion of the propulsion pipe. The connecting tool for connecting the adjacent traveling pipes is a male joint that protrudes and is fixed to the upper and lower sides of the traveling pipe on one side when the traveling pipe is a square tube, The male side joint comprises a female side joint that is formed on the protruding side and is fixed to the end of the traveling tube on the other side, and is formed into an arc-shaped concave surface that fits in an arc shape formed on the protruding side of the male side joint.
The restraint consists of an annular body constructed between the traveling pipe on one side and the traveling pipe on the other side in a state where the male side joint and female side joint are fitted to each other,
The inner diameter for the small-diameter curve propulsion work according to any one of claims 1 to 3, wherein an arcuate surface on a fixed side of the male joint and the female joint is held in contact with an inner periphery of the annular body. unit. The position of the guide roller body provided at the left and right ends of the support plate in contact with the inner surface of the propulsion tube is positioned below the tube center of the propulsion tube, and the center of gravity of the inner unit is positioned at a lower position on the lower side. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 4 . The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 5 , wherein the guide roller body that supports the support plate is formed to be extendable and contractible in the pressing force acting direction. The mud pipe and the mud pipe are attached to bend freely and are not fixed to the support plate side but arranged to be movable up and down, left and right, and supported by a stopper plate,
The stopper plate is disposed and disposed so that the interval between the end portion and the support plate side is always smaller than the diameter of the mud pipe and the drainage pipe in order to prevent the mud pipe and the drainage pipe from falling off. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 6 , which is formed. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 7 , wherein the connecting portion of the mud pipe and the mud pipe is connected by a packing case of an elastic seal body for preventing leakage. The connection part of the said mud feeding pipe and a waste mud pipe is connected via a connection short pipe, and the said connection short pipe and each mud feeding pipe and a waste mud pipe are connected by the packing case of an elastic seal body. The inner unit for small-diameter curve propulsion work according to any one of claims 1, 7 , and 8 . The surveying robot is supported by guide rollers on the top, bottom, left and right of the inner surface of the traveling tube, and the photoelectric switch type distance measuring device includes an opening formed at a predetermined position of the traveling tube. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 9 , wherein the inner unit is formed to transmit position information to the outside at a facing position. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 10 , wherein an LED and / or a prism for distance measurement / angle measurement is disposed on a traveling tube on which the surveying robot travels. The inner unit for small-diameter curve propulsion work according to any one of claims 1 to 11 , wherein the pulling transmission members are connected to the support plate and are connected to each other so as to be bent.

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