JP4753653B2 - Remote maintenance / recovery / assembly method for pneumatic caisson work room equipment - Google Patents

Description

The present invention relates to a method for remotely maintaining / recovering / assembling a pneumatic caisson work room equipment to maintain or disassemble and recover or assemble equipment or machines in a pneumatic caisson work room, The present invention relates to various work attachments, remote self-propelled robots, and caisson work room equipment or machine disassembly or assembly methods.

  In a general pneumatic caisson method, various facilities such as a caisson excavator for sinking the caisson housing, a power feeding facility, and a traveling rail under the ceiling slab are arranged in the caisson working chamber. Normally, it is necessary to perform periodic inspections once a day as daily inspections for the equipment in these work rooms, and the fact that they can be confirmed with visual and operating functions is that they are in an atmospheric environment through a camera installed in the caisson work room. By checking the monitor, it is possible to confirm the worker.

  However, among the work room equipment, there is actual work such as grease up for the machine equipment arranged in the caisson work room, and the worker does not enter the high-pressure environment, for example, with a dedicated machine. It is hoped to do.

  In addition, the machine equipment in the work chamber needs to be replaced due to failure or damage. In addition, after the caisson sinking excavation work is completed, it is necessary to disassemble and carry out the installed equipment in order to perform the work of filling the work chamber with concrete. Conventionally, these operations are performed manually by an operator and performed manually.

  The present applicant has already devised a method for reducing the labor load applied to the human body under a large depth, which is the problem described above. In other words, as a measure to reduce the labor load on the human body and prevent the onset of decompression sickness (hyperbaric disorder) in the decompression process after the end of high-pressure work, the breathing gas is devised to mix helium and other inert gases with oxygen A gas breathing system has been developed by the present applicant.

  Furthermore, various proposals have conventionally been made for contrivances for accustoming the body from a high pressure environment to an atmospheric pressure environment in a shorter time when the worker leaves the work room. One of them is the application of breathing technology in the field of diving, and in particular it has proposed new technologies in terms of reduction to human load and safety, and has contributed to solving problems by putting it into practical use.

  In addition, in order to prevent human beings from being in the high pressure environment as much as possible, the present applicant can remotely control the equipment such as the excavator installed in the caisson work room from the ground, which is the atmospheric pressure environment on the ground. A plurality of operation systems have already been constructed and have been recognized as general techniques (Patent Documents 1 to 3 as prior arts related to the above).

  As described above, the applicant of the present invention basically operates the equipment remotely from the ground, and the mixed gas breathing system is used for daily inspection and maintenance. Efforts are made to eliminate (reduce) manned work.

In the final stage of the pneumatic caisson work, the working room filled with compressed air has the highest final working pressure after the completion of subsidence excavation, and these work are in danger of worsening the working environment and developing decompression sickness. Therefore, it is also known that measures are taken by making the work time as short as possible.
Japanese Patent Laid-Open No. 01-146025 Japanese Patent Laid-Open No. 02-080882 Japanese Utility Model Publication No. 63-141236

In the case of the conventional case, when the actual work for maintaining the mechanical equipment arranged in the caisson work room, or replacement due to failure, breakage, etc. of the mechanical equipment, further dismantling of the equipment arranged in the caisson work room, When carrying out, there existed a problem that an operator entered the said working room and was able to perform the work manually.
The present invention provides a method for remotely maintaining / recovering / assembling a pneumatic caisson work room equipment machine by mechanization with unmanned work in the work room, an attachment used therefor , a remote robot, a dismantling / recovery method, and the like. With the goal.

In order to solve the above-mentioned problem advantageously, in the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment machine according to the first invention, at least one remote self-propelled carriage that is self-propelled by remote operation is used. A dedicated device that can be remotely operated for any one or more of maintenance work, dismantling work, transport work, and assembly work for equipment or machines arranged in the caisson work room on the remote self-propelled carriage on the ground A remote self-propelled trolley with a dedicated device is installed, and the remote self-propelled trolley with the dedicated device is suspended from the outside of the caisson on the ground of the caisson working room via a material shaft by a crane and with a dedicated device. Remotely operate a remote self-propelled cart while looking at the monitor on the ground, and install the equipment or machinery installed in the caisson work room. Maintenance, dismantling, transportation, or wherein the assembling carry the carry of components such as equipment or machine for unloading or caisson working chamber of demolition or the like in conjunction with the crane.

Further, in the second invention, in the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment machine according to the first invention, in addition to the remote self-propelled carriage with the dedicated device, a lifting table is provided in the caisson work room. A remote self-propelled transport cart having a size that can be suspended from the outside of the caisson on the ground of the caisson work chamber via a material shaft by a crane, the remote self-propelled transport cart As well as maintaining, dismantling, and transporting equipment or machines located in the caisson work room, the trolley and the remote self-propelled transport trolley that is remotely operated while watching the monitor on the ground, Carrying and assembling incoming items such as caisson work room equipment or machine parts suspended from the outside of the caisson by a crane To.

In addition, in the attachment dedicated for fastening or dismantling of the bolts or nuts of the third invention, the remote operation-only dedicated for use in the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment machine of the first invention or the second invention The device , which is a remotely operable dedicated device, is equipped with an electric rotating tool for disassembling or fastening bolts or nuts in a dismantling or assembling facility or machine located in the caisson work room It is characterized by that.

In the withdrawal or pushing a dedicated attachment pin of the fourth aspect of the present invention, in the remote-controlled dedicated device used for the first or pneumatic caisson work room facilities machine remote maintenance and recovery and assembling system method of the second aspect of the invention The remote control dedicated device includes a pin engagement holding part for pulling out a pin connecting part or pushing a pin in a facility or machine to be disassembled or assembled in a caisson working room. It is characterized by being able to move forward and backward.

In the attachment dedicated for gripping / removing the connection piece according to the fifth aspect of the invention, the remote-control-only dedicated apparatus used in the method for remotely maintaining / recovering / assembling the pneumatic caisson work room equipment machine according to the first or second aspect of the invention , The remote-controllable dedicated device includes one and the other connection piece of the connector of the power supply cable connection part connected to the facility or machine to be disassembled or assembled in the caisson work room, or the hydraulic pipe connection part. A gripping and detaching device for gripping and detaching one and other connection pieces in a coupler, wherein the pair of gripping pieces can move to and away from the pair of gripping pieces and can move transversely. And a fixed-side gripping device capable of moving toward and away from.

Further, in the attachment for exclusive use of greasing of the sixth invention, it is the dedicated device capable of remote operation used in the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment machine of the first invention or the second invention , The dedicated remote-controllable device is a device for supplying grease to equipment or machines arranged in the caisson work room, and is a support arm that is detachably connected to a column in a remote self-propelled carriage, and the support arm And a greasing pipe having a greasing port at the tip.

In the seventh invention, in the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment according to the first or second invention, the pneumatic caisson work room is carried into the equipment or machine arranged in the caisson work room or the caisson work room. A lifting bracket is provided in advance in the equipment or machine or these parts, a hanging bracket is provided at the tip of the hanging rope fed out from the crane, and the suspension bracket is engaged with and connected to the hanging bracket, Carrying in or out of the caisson work chamber.

According to an eighth aspect of the present invention, in the remote maintenance / recovery / assembly method for the pneumatic caisson work room equipment machine according to the seventh aspect of the invention, the suspension receiving fixture has a hollow outer tube fixed non-rotatably to a bracket, and the hollow outer tube The hollow inner tube is concentrically fitted and rotatably supported, and each hollow outer tube and hollow inner tube has a horizontally long slit in a concentrically overlapping position and a circle connected to the horizontally long slit. An opening made of a circular arc slit in the circumferential direction is provided.

  Moreover, in the remote self-propelled robot comprising the remote self-propelled cart with the dedicated device of the ninth invention, the remote self-propelled cart is equipped with the dedicated attachment of any of the third to sixth inventions.

The pneumatic caisson work room equipment or machine disassembly or assembly method according to the tenth aspect of the invention is the remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment machine according to the first or second invention. , Remote self-propelled trolley with a dedicated device equipped with a dedicated device capable of remotely controlling one or more of transport work or assembly work, or the dedicated attachment of any of the third to fifth inventions The remote self-propelled carriage is provided with a lifting bracket, and the equipment or machine parts in the work room are transported between the caisson work room and the ground to be dismantled or assembled.

  According to the first invention, at least one or more remote self-propelled carts that are self-propelled by remote operation are any of maintenance work, dismantling work, transport work or assembly work for equipment or machines arranged in the caisson work room. A dedicated device capable of remotely controlling one or more tasks is installed on the remote self-propelled cart on the ground to form a remote self-propelled cart with a dedicated device. From the outside of the caisson, it is suspended on the ground of the caisson work room via a material shaft by a crane, and remotely operated a self-propelled cart with a dedicated device to maintain, dismantle, Carrying in or carrying out dismantled items in conjunction with the crane or carrying in items such as caisson work room equipment or machine parts Since the work room is unmanned, equipment or machines placed in the work room can be maintained remotely by looking at the monitor on the ground, disassembled and collected on the ground, or parts from the ground Etc. can be transported and assembled in the working chamber.

  Moreover, when the remote self-propelled carriage with the dedicated device and the remote self-propelled transport carriage having the lifting table are used as in the second aspect of the invention, they are arranged in the caisson work chamber by the joint work. The maintenance, dismantling, and transportation of equipment or machinery can be performed efficiently, and the caisson work room equipment or machine parts suspended from the outside of the caisson are effectively transported and assembled. be able to.

  In the third invention, since it is an attachment dedicated for fastening or dismantling of bolts or nuts equipped with an electric rotating tool for disassembling or fastening bolts or nuts, this is mounted on a remote self-propelled carriage. Thus, a remote self-propelled robot composed of a remote self-propelled cart with a dedicated device for disassembling or fastening bolts or nuts can be configured. Disassembly or fastening can be easily performed by remote operation, and disassembly or fastening can be effectively performed by installing or removing bolts or nuts of equipment / machines in the work chamber.

  Further, in the fourth invention, since it is a device equipped with a pin engagement holding part for pulling out the pin or pushing in the pin so as to be able to move forward and backward, this is equipped with a remote self-propelled carriage, A remote self-propelled robot consisting of a remote self-propelled cart with a dedicated device for pulling out or pushing in pins can be configured, and the pin of the pin connection part in the equipment or machine located in the caisson work room is pulled out Can be disassembled, or can be connected by being pushed into the pin hole of the connecting portion. Moreover, the pin connection part of the equipment / machine in the working room can be pulled out or disassembled or connected by pushing the pin in by remote control.

  In the fifth aspect of the invention, since the attachment is provided with a gripping / removing device having a gripping device for gripping a connection piece in the connector of the power feeding cable connecting portion or the coupler of the hydraulic piping connecting portion, the remote self-propelled carriage is equipped with this. Remote equipment with a dedicated device for gripping / removing purpose that can grip and separate or connect the connector of the power supply cable connecting part or the coupler of the hydraulic pipe connecting part in the equipment or machine arranged in the caisson work room A remote self-propelled robot composed of a traveling carriage can be configured, and the connector of the power cable connecting portion of the equipment / machine in the work room or the coupler of the hydraulic piping connecting portion can be separated or connected by remote control.

In the sixth aspect of the invention, the attachment includes a support arm that is detachably connected to a support in a remote self-propelled carriage, and a greasing pipe that is supported by the support arm and has a greasing port at a tip portion. By attaching this to a remote self-propelled trolley, it is possible to easily construct a greasing attachment, and to equip the remote self-propelled trolley with a dedicated device for greasing applications. Furthermore, it is possible to easily lubricate the greasing part in the equipment or machine arranged in the caisson working chamber.

  As in the seventh aspect of the present invention, a lifting hook is provided in advance in a facility or machine arranged in the caisson work chamber or a facility or machine carried in the caisson work chamber or a component thereof, and the tip of the hanging rope fed out from the crane Since a hanging bracket is provided at a portion, and the suspension bracket is engaged with and coupled to a suspension bracket, the equipment is loaded into the caisson work chamber or carried out of the caisson work chamber. The equipment or machine to be carried into the work chamber or the loading or unloading of these parts can be carried out unattended and effectively in the caisson work by remotely maintaining, collecting and assembling the work room equipment.

  In the eighth aspect of the invention, the suspension receiving metal fitting has a hollow outer tube fixed to the bracket in a non-rotatable manner, and the hollow inner tube is fitted concentrically to the hollow outer tube so as to be rotatably supported. The inner pipe is provided with an opening composed of an axially long slit and a circumferential arc-shaped slit connected to the horizontally long slit at the concentrically overlapping positions. The hanger at the tip of the suspension rope that is moved out of the crane can be inserted into the laterally long slits of the outer pipe and the inner pipe and engaged with each other. By rotating the outer tube side with respect to the tube, the hanging bracket and the hanging bracket can be connected to each other so that they cannot be detached from the tube. Through the shaft It can be easily suspended carried into the caisson work chamber Te. Further, since the hanging bracket has a structure including a bracket, an outer tube, and an inner tube, the structure is simple and the manufacture is easy.

  In the ninth invention, it is possible to easily configure a remote self-propelled robot including a remote self-propelled cart with a dedicated device only by mounting a dedicated attachment such as disassembly or fastening of a bolt or nut on the remote self-propelled cart. it can

In the method for disassembling or assembling the equipment or machine in the pneumatic caisson working room according to the tenth aspect of the invention, in the method for remotely maintaining / recovering / assembling the pneumatic caisson work room equipment in the first invention or the second aspect, Or a remote self-propelled cart with a dedicated device equipped with a dedicated device capable of remotely controlling any one or more of assembly operations, or a remote self-propelled vehicle equipped with the dedicated attachment of any of the third to fifth inventions A lifting carriage is provided on the trolley, and the equipment or machine parts in the work room are transported between the caisson work room and the ground to be dismantled or assembled. The caisson work room can be disassembled and transported effectively by remote control with the unmanned room unloaded and carried to the ground, or carried into the caisson work room. It can be assembled by remote control to the unattended.

  Next, the present invention will be described in detail based on the illustrated embodiment.

  First, referring to FIG. 1, a remotely operated endless track type remote self-propelled cart 1 that is commonly used in the present invention will be described. The remote self-propelled cart 1 is an endless track type. The first support base 3 is provided with a caterpillar 2 at the top of the vehicle body, and the first support base 3 is provided with a pair of guide members 4 so as to face each other with an interval in the traveling direction. A guide groove 5 extending in a direction perpendicular to the traveling direction is provided on the opposite surface side of each guide member 4, and a second support base 6 is provided in the guide groove 5 so as to be slidable in a direction perpendicular to the traveling direction. It has been. In the following, the remote self-propelled carriage will be described as having an endless track, but of course, even if it has a tire-type traveling body having an all-wheel independent suspension type axle structure, It is only necessary to ensure the stability of the traveling cart.

  The second support base 6 and the first support base 3 are connected by a lateral electric cylinder 7 disposed so as to extend in a direction perpendicular to the traveling direction, and the second support base 6 is perpendicular to the traveling direction of the carriage. It is slidably supported in any direction. Accordingly, by extending and retracting the lateral electric cylinder 7, the second support base 6 is slid in a direction perpendicular to the traveling direction, and the lateral direction of the telescopic support column 11 described later provided on the second support base 6. The position adjustment in the direction perpendicular to the traveling direction is performed, and the lateral position adjustment of various attachments 20 to 23 described later attached to the telescopic support column 11 can be performed. That is, the XY table is configured by a combination of the movement of the first support base by the caterpillar 2 and the movement of the second support base 6 by the electric cylinder 7. Furthermore, since the running trajectory of the caterpillar 2 is not limited to a straight line and can be freely moved on a curved trajectory, the positioning freedom in the horizontal direction is infinite, and the caterpillar 2 can move to an arbitrary position on the traveling ground.

  A pair of brackets 8 are provided on the upper surface of the second support base 6 so as to face each other in parallel with the traveling direction, and an inner cylinder 9 fitted to the pair of brackets 8 so as to be extendable and slidable in the vertical direction; The lower part of the outer cylinder 10 in the telescopic column 11 composed of the outer cylinder 10 is connected by a horizontal shaft 16. Further, the outer cylinder 10 and the inner cylinder 9 are connected by an electric cylinder 12, and the inner cylinder 9 is raised by extending a piston 13 in the electric cylinder 12. Therefore, by vertically extending and retracting the electric cylinder 12, it is possible to adjust the vertical position of various attachments 20 to 23 described later attached to the telescopic support column 11.

  Further, the second support base 6 and the intermediate portion of the outer cylinder 10 in the telescopic column 11 are connected by a column raising / lowering electric cylinder 53 so that the telescopic column 11 can stand or fall. Yes.

  A pair of brackets 15 are provided at the upper portion of the inner cylinder 9 on the side surface perpendicular to the mounting portion of the hoisting electric cylinder 14 so as to protrude in the running direction with a gap therebetween. Is provided with a horizontal axis insertion hole.

  Further, both ends of the cylinder 17 in the arm hoisting electric cylinder 14 are detachably provided on the upper portion of the inner cylinder 9 by a horizontal axis.

  The inner tube 9 is non-rotating with respect to the outer tube 10 by the inner tube 9 having a rectangular tube shape slidably provided inside the rectangular tube-shaped outer tube 10 so as to be slidable in the vertical direction. Has been. In addition, on the upper part of the inner cylinder 9, various attachments (attachment 20 dedicated for fastening or dismantling of bolts or nuts, attachment 21 dedicated for pulling out or pushing in pins, attachment 22 dedicated for gripping / removing connection pieces, and attachment 23 dedicated for greasing ) Are mechanically connected, and in this embodiment, the hoisting electric cylinder 14 at the upper part of the inner cylinder 9 and the bracket 15 constitute a mechanical connecting portion. Further, by appropriately combining the telescopic operation of the column hoisting electric cylinder 53 and the telescopic operation of the arm hoisting electric cylinder 14, it is easy to adjust the verticality and the horizontality in the work operation part of the various attachments. Thus, the work operation can be performed by positioning the work operation unit at an accurate position.

  The above-mentioned endless track type remote self-propelled cart 1 is equipped with the above-mentioned various attachments 20, 21, and 22. Various dedicated operations such as fastening or dismantling of bolts or nuts, mounting, and pulling out of pins are possible. Remote self-propelled robots 20a, 21a, and 22a are configured. Further, as will be described later, when the greasing attachment 23 is mounted on the remote self-propelled carriage 1, a remote self-propelled robot 23a for greasing is configured.

  The endless track type remote self-propelled cart (hereinafter referred to as a remote self-propelled cart) 1 includes a battery 24 and includes a travel motor provided in the remote self-propelled cart 1. (Refer FIG. 25), The electric power raising / lowering jack 12 and the power supply which operates the various attachments 20, 21, 22, and 23 mentioned later are provided. Although illustration is omitted, the remote self-propelled robots 20a, 21a, 22a, and 23a are equipped with control devices such as lighting equipment and various sensors necessary for the work of the robot and the operator 49. The power supply is a battery 24.

  Further, the vehicle body of the remote self-propelled carriage 1 is provided with a suspension receiving bracket 25 as shown in FIGS. 16 to 18, and the suspension receiving bracket 25 is fed from a crane 26 (see FIG. 19). Various attachments to be described later so as to be attached to the remote self-propelled carriage 1 by engaging and connecting a hanging metal fitting 27 (see FIGS. 16 to 18) provided at the leading end of the rope. The crane is lifted by the crane 26 in a state of being equipped with 20 to 23 and folded, and can be carried out from the material shaft 28 to the ground. Further, on the ground, the remote self-propelled carriage 1 is equipped with various attachments 20 to 23 described later, and is suspended by a crane in a folded state, and can be carried into the working chamber from the material shaft 28. ing.

The suspension bracket 25 and the suspension bracket 27 will be described.
First, the suspension bracket 25 shown in FIG. 18 is attached to the vehicle body of the remote self-propelled carriage 1 or to the excavator traveling carriage 41 that travels under the ceiling slab or to the hydraulic unit 42 that is separably attached to the rear portion thereof. Furthermore, it is necessary to attach it to the traveling rail 43 or the like formed into a short unit under the ceiling slab, or to attach it to the remote self-propelled transport cart 44 (see FIG. 22), or to transport and install it in the other working room. An image from a surveillance camera 47 having a zoom function in the work room is attached to a required position of the equipment machine and lifted and carried out from below the material shaft 28 or carried into the work room 46 from the material shaft 28. The operator 49 on the ground can remotely control the remote control device from the image on the monitor 48 on the ground by the signal, and the vehicle can be The length of the rope 40 fed from the crane 26 as required side with the movement monkey instruct the crane operator, a bracket for facilitating the task of engaging the fitting 27 hanging the hanging receiving metal 25.

  A remote self-propelled transport cart 44 (which will be described in detail later) as shown in FIG. 22 is arranged in advance inside the work chamber 46 and is carried by the lifting table 51 of the remote self-propelled transport cart 44. Or when carrying out, it can receive a carrying-in thing or a carrying-out thing.

  The hanging bracket 25 has a pair of brackets 30 fixed to a base plate 29 having a mounting flange, an outer tube 31 fixed to the pair of brackets 30, and an inner tube 32 being rotatable on the outer tube 31. The outer tube 31 is supported so as not to move in the axial direction. For example, a shaft retaining ring or the like may be engaged with the annular groove at the outer end of the inner tube 32 on the outer side of the end plate of the outer tube 31. In order to prevent the inner tube 32 from freely rotating with respect to the outer tube 31, a frictional resistance is applied between the outer tube 31 and the inner tube 32 by a thickening agent such as grease or a spring or the like. The structure does not rotate unless a certain input works due to the mechanical action.

  In an initial state in which the hanging metal fitting 27 is not engaged, a laterally long lateral slit 33 extending in the axial direction and a central opening position of the laterally long slit 33 are connected to the center in the circumferential direction on the front side of the outer tube 31. An outer arc-shaped slit 34 extending toward the circumferential base plate is provided, and the inner tube 32 is connected to the axially extending lateral slit 35 and the center of the lateral slit 35 and at the circumferential base plate side. An extending inner arc-shaped slit 36 is provided, and a hanging bracket locking bracket 37 having a vertical slit on the front side is provided inside the inner arc-shaped slit 36 in the radial direction. The outer arc-shaped slit 33 and the inner arc-shaped slit 36 are provided in a range of 90 degrees in the circumferential direction.

  The hanging metal fittings 37 are provided with a guide portion having an inclined guide surface that is open at the lower end and opens outward in the radial direction, and the hanging metal fittings 37. In the upper part of the housing, a small-diameter cylindrical portion for positioning the locking flange 38 is provided, and the suspension fitting insertion side is provided with a vertical slit. The width of the inner arc-shaped slit 36 is smaller than the outer diameter dimension of the lower end locking flange 38 of the hanging bracket 27 so that the lower end locking flange 38 of the hanging bracket 27 can be locked.

  In the case of lifting and transporting the apparatus with the hanging bracket 25 constructed as described above by the hanging bracket 27 via the shackle 145 at the tip of the rope fed from the crane 26, FIG. 18 (a) (e) 18 (b) (f), the front end locking flange 38 of the suspension fitting 27 and the rod-shaped portion 39 on the upper portion thereof are engaged with the suspension fitting 25 to slightly move the suspension fitting 27 upward. As shown in FIG. 3, the front end locking flange 38 of the hanging bracket 27 is engaged with the hanging bracket 25. An intermediate through hole of the rod-like portion 39 is swingably attached to a detachable horizontal shaft of the shackle 145.

  Next, when the rope 40 fed out from the crane 26 is hoisted and the suspension fitting 27 is raised, the inner pipe 32 is held at a fixed position, so that the outer pipe 31 with respect to the inner pipe 32. Is rotated relatively counterclockwise (the state shown in FIGS. 18C and 18G), the horizontally long slit portion of the outer tube 31 is positioned on the arc-shaped slit 34 side on the inner tube 32 side, and the horizontally long portion. Is closed, and the horizontally long slit portion 33 in the outer tube 31 is positioned at the rod-shaped portion 39 in the hanging metal fitting 27 (states (d) and (h) in FIG. 18). In this state, since the hanging bracket 27 is detached from the inner horizontally long slit 35 of the inner tube 32, the hanging bracket 27 does not move in the tube axis direction with respect to the inner tube 32. Further, since the suspension fitting 27 is engaged with the suspension fitting locking fitting 37 in the inner tube 32, it does not come off from the inner tube 32 and the outer tube 31.

  In the above-described state, by further hoisting the rope 40 fed from the crane 26, various devices with the hanging brackets 25 are carried out from the caisson work chamber to the ground via the material shaft, Can be carried into the caisson working chamber via the material shaft.

  The equipment to be carried out or carried in includes the remote self-propelled carriage 1, the hydraulic unit 42 serving as a power unit for the caisson excavator 52b, the excavator traveling carriage 41 that travels along the traveling rail under the ceiling slab, and the excavator. The excavator telescopic boom 52 attached to the traveling carriage 41, the short traveling rail 43 below the ceiling slab unitized in a short unit, and the like are targeted. Suspension brackets 25 are provided in advance in these appropriate parts (the rear side surface of the excavator traveling carriage, the side surface or rear surface on the proximal end side of the shovel telescopic boom, the axial end portion or the outer side surface of the traveling rail).

  In addition, as equipment in the caisson work room to be carried out or carried in, various measuring devices, power supply facilities, and other equipment for loading excavated soil, etc. (not shown) are provided as necessary. The hanging bracket 25 is provided in advance at an appropriate portion. Further, among these light-weight devices that do not require the hanging bracket 25, each device is provided with a one-touch type shoe connecting function and a magnet-type attaching / detaching function such as accessory shoes and hot shoes, which are existing technologies. Thus, it is possible to carry out or carry in by remote operation by using a mechanism such as a pin pull-out or push-in attachment 21 and a connection piece gripping attachment / detachment attachment 22 described later.

  By lifting and lowering the rope 40 fed out from the crane 26, the hanging bracket 27 is moved downward so that it can move up and down on a transfer device or a caisson work chamber ground disposed on the ground. When a lifting or hanging transported object such as a device is gradually placed from one end side on a remote self-propelled transporting carriage 44 having the above, the suspension bracket 27 and the suspension bracket 25 are moved in the reverse operation. The engagement can be released. In addition, when the suspended load is released, the hanging bracket 25 returns to the initial state in which the horizontally long slit and the arc-shaped slit portion in the outer tube 31 and the inner tube 32 are overlapped in the radial direction. The entrance / exit of the inner pipe 32 is opened, and the suspension bracket 27 and the suspension bracket 27 can be separated by guiding the suspension bracket 27 to the outlet side thereof.

  A plurality of monitoring cameras 47 are provided on the side walls of the caisson work chamber in order to confirm the engagement and release of the above-mentioned hanging brackets 25 and 27. Further, it is also possible to divert the conventional technique for ensuring the positioning accuracy by performing laser irradiation or the like from one of the hanging bracket 25 or the hanging bracket 27 to the other.

  In the form shown in FIG. 1 and FIG. 2, the base end side of the dedicated attachment 20 for fastening or removing the nut is connected to the remote self-propelled carriage 1 having a shared endless track so that the nut can be fastened or One form of the self-propelled remote robot 20a for dismantling is shown. Moreover, since it can implement also about a volt | bolt, without changing the structure for the fastening or removal, description is abbreviate | omitted here. Further, attachments 21 and 22 (details will be described later) replacing the attachment 20 are shown.

  Further, the configuration of the bolt or nut dedicated attachment / detachment attachment 20 will be described. The horizontal axis insertion hole in the support arm 54 having a rectangular cross section provided on the base end side with the horizontal axis insertion hole is disposed between the brackets 15. The base end side of the support arm 54 and the upper end portion of the inner cylinder 9 are connected by the hoisting electric cylinder 14 and are connected by the detachable horizontal shaft 55 inserted through these members. By extending or shortening the hoisting electric cylinder 14, the support arm 54 is configured to be able to undulate (expand or fold) with respect to the telescopic support column 11 and not to rotate about the central axis of the support arm 54. ing.

  A support plate 56 is fixedly provided at the distal end of the support arm 54, and a storage box 58 storing an electric drive device (impact wrench drive portion) 57 formed of an electric motor is fixed to the support plate 56. As shown in FIG. 3, the drive gear 59 fixed to the output shaft of the electric drive device 57 is meshed with the driven gear 61 in the gear box 60 fixed to the storage box 58, and the driven gear An intermediate portion of the hollow shaft-like turning wrench 62 is fixed to 61.

  The hollow shaft-like turning wrench 62 is supported on the vertical center axis so as to be horizontally rotatable and not to be moved in the vertical direction. Inside the hollow shaft-like turning wrench 62, a turning vertical through hole 63 having a hexagonal cross section or the like is provided. The lower part of the hollow shaft-like turning wrench 62 has a central axis that is connected to the turning vertical through-hole 63 and that is the same as the central axis of the vertical through-hole 63 in the hollow shaft-like turning wrench 62. A nut storage cylinder portion 64 having a circular cross section is fixed to the support plate 56, and a nut lifting support device 65 is built in the lower portion of the nut storage cylinder portion 64.

  The nut lifting / lowering support device 65 is composed of an electric telescopic jack, and the diameter of the electric telescopic piston 66 is smaller than the inner diameter of the nut housing cylinder 64, and the through hole 63 of the hollow shaft turning wrench 62 is formed. The nut 67 is smaller than the inscribed circle and larger than the female screw hole of the hexagon nut 67, so that the nut 67 can be supported up and down via the upper end portion of the piston 66 or a raised seat 68 having the same cross section. In a state in which the nut 67 is supported, the nut lifting and lowering support device 65 is shortened by an integral multiple of the height of the nut 67 to store the nut 67 or an integral multiple of the height of the nut 67. It is configured so that it can be raised and placed in the engaging portion of the hollow shaft-like turning wrench 62.

  When the electric drive device 57 is driven in a state where the nut 67 is supported near the upper end of the hollow shaft-like turning wrench 62 by the nut lifting and lowering support device 65, the nut 67 in the hollow shaft-like turning wrench 62 is driven. Is rotated so as to approach the bolt shaft portion to be screwed, and is automatically separated from the nut lifting / lowering support device 65.

  Further, when the nut 67 is supported in the vicinity of the upper end portion of the hollow shaft-like turning wrench 62 by the nut lifting / lowering support device 65, the electric drive device 57 is driven to rotate in the reverse direction and the nut lifting / lowering support device 65 is lowered. The nut 67 in the hollow shaft-shaped turning wrench 62 is rotated and rotated so as to be detached from the screwed bolt shaft portion, and is automatically separated from the bolt to be in the nut housing cylinder portion 64 or It is stored in the through hole 63. The same applies to the case where the bolt head is rotated instead of the nut 67, and the same applies to the case where the bolt is attached / detached / stored. Therefore, the nut storage cylinder 64 is used as a bolt storage cylinder. The nut lifting device 65 can also function as a bolt lifting device.

  Further, the gear box 60 is provided with a monitoring camera 69, and an on-ground monitor 48 shows an approaching state, an engaging state, a separating state of a nut to be disassembled or connected, and a coupling state after the nut is fastened. This makes it possible for the operator to check the operation of each drive unit by remote control. When the self-propelled remote robot 20a is folded and carried out or carried in, the hollow shaft-like turning wrench 62 can be used even when the upper end of the hollow shaft-like turning wrench 62 is upward or inclined sideways. By making the upper end portion higher than the lower end portion, the stored nut (or bolt) does not jump out of the storage portion and fall.

  FIG. 23 and FIG. 24 show a modification of the attachment 20 dedicated to fastening or removing nuts. In this embodiment, a cylindrical storage portion 71 with a slit having a vertical slit 70 for accommodating a nut 67 is provided in the vicinity of the lower portion of the hollow shaft-like turning wrench 62, and the inside of the cylindrical storage portion 71 with a slit is provided. The nut lifting / lowering support arm 72 has a distal end side, and nuts 67 are supported in multiple stages via a raised seat 68 placed on the nut lifting / lowering support arm 72.

  A vertical screw rod 73 is provided in parallel with the cylindrical storage portion 71 with slits and supported at its upper and lower portions by bearings so that it can rotate at a fixed position. The vertical screw rod 73 has a base of the nut lifting and lowering support arm 72. By rotating the driven bevel gear 75 fixed to the vertical screw rod 73 by the driving bevel gear 77 fixed to the output shaft of the electric drive device 76 by the female screw of the end 74 being screwed in, the vertical screw rod 73 is The nut 67 accommodated is moved up and down by rotating and lifting the nut lifting support arm 72. Since the other configuration is the same as that in the case of FIG. A self-propelled remote robot 20a equipped with the attachment 20 shown in FIGS. 23 and 24 may be used.

(Attachment for pulling out or inserting pin)
1 and 6 to 10 show a self-propelled remote robot 21a for pulling out or pushing in a pin equipped with a pin pull-out or push-in attachment 21 detachably attached to the remote self-propelled carriage 1 and its vicinity. A bracket 79 (see FIG. 1) having a horizontal axis insertion hole is provided at the base end portion of the retractable / push-out telescopic cylinder 78, and a flat U-shaped anti-profile is provided at the intermediate portion of the cylinder 78. An intermediate portion of the force receiving frame 80 is fixed, and a support shaft is provided in the intermediate portion of the cylinder 78 so as to be connectable to the piston tip portion of the hoisting electric cylinder 14.

  Further, in this embodiment, a slide member 83 that fixes the base end portion of the hook-like locking holding portion 82 is provided inside the pair of arms 81 in the reaction force receiving frame 80 inside the opposing arm 81. It is supported by a slide support groove (not shown) and is movable in the longitudinal direction of the arm 81.

  The rear end portion of the slide member 83 is connected to the front end portion of the piston rod in the retractable / push-out telescopic cylinder 78.

  The hook-shaped locking holding portion 82 is made of a steel member having a rectangular cross section, and an upper hook body 83 and a downward vertical portion 84 are integrally provided at the tip thereof, and the downward vertical portion is provided. The portion 84 is integrally provided with a lower locking holding portion 85 parallel to the hook body 82 (see FIG. 10).

  The distance between the hook main body 82 and the lower latch holding portion 85 is slightly larger than the member thickness dimension of the latched portion of the hook receiving metal fitting 86 with the pin. Further, the hook receiving metal fitting 86 with a pin has a rectangular cross section, and when it is disposed between the lower surface of the hook main body 82 and the upper surface of the lower locking holding portion 85, the hook receiving metal fitting 86 with the pin does not rotate. The vertical support plate 87 integral with the pin-fitted hook receiving metal fitting 86 and the vertical support plate 87 are integral with the pin 88 provided integrally at right angles to the plate. Has been.

  A pin storage vertical box 89 is provided on the inner side of the tip of each arm 81 in the reaction force receiving frame 80 so as to be movable up and down, and the side surface on the arm side of the pin storage vertical box 89 is vertically oriented. A rack 90 is integrally provided, and an electric drive device 92 having a drive pinion 91 for moving the rack 90 up and down while guiding the rack 90 and raising and lowering an integrated pin storage vertical box 89 is provided below the tip of the arm 81. Is provided.

  Further, the vertical box 89 for pin storage includes a partition plate 93 arranged in parallel in the vertical direction, and the partition plate 93 is fixedly supported by a side plate 95 and is supported by the partition plate 93. A plurality of pin storage portions 94 partitioned by each other, each pin storage portion 94 being a through opening through which a hook-like locking holding portion 82 can move forward or backward, and each through opening A plate-like stopper member 96 is provided on the upper surface of the partition plate 93 on the base end side of the section so as to extend between the side plates 95.

  Further, in order to close the opening through which each pin storage portion 94 positioned above the arm 81, the upper surface of the arm 81 has a pin storage vertical box 89 positioned above the arm 81. In order to close the front and rear of the opening, the lower portions of the rectangular front opening closing plate 97 and the rear opening closing plate 98 are fixed to the distal ends of the arms 81 by welding or the like. In FIG. 1, FIG. 6, etc., the front opening closing plate 97 and the rear opening closing plate 98 are omitted.

  Therefore, the hook receiving metal fitting 86 with the pin disposed in the pin housing portion 94 positioned above the arm 81 does not fall from the housing portion. Accordingly, the hook receiving metal fitting 86 with the pin is pulled out or pushed in at the same level as the arm 81, and the hook receiving metal fitting 86 with the pin pulled out and stored in the storage portion 94 is provided with the vertical box 89 for pin storage. By raising the pin accommodating portion 94 by one pitch, it can be closed by the front and rear opening closing plates 97 and 98.

  Further, the hook receiving metal fitting 86 with the pin housed in the pin housing portion 94 (see FIG. 10) is joined to the bracket 50 of the shovel traveling carriage 41 and the shovel telescopic boom bracket 52a of the shovel telescopic boom 52 in the caisson working chamber 46. In order to attach or detach the pin to or from the portion, the pin storage vertical box 89 is moved downward so that the pin storage portion 94 storing the hook receiving metal fitting 86 with the pin is at the same level as the arm 81.

  An empty pin housing portion 94 (or a pin housing portion 94 housing the pin hook receiving metal fitting 86) in which the hook receiving metal fitting 86 with pin is not housed is at the same level as the arm 81 (the locking holding portion 82 of the pin 88). In this state, the telescopic cylinder 78 for pulling out and pushing in the pin is extended, the locking holding portion 82 is protruded from the empty pin storage portion 94, the remote self-propelled carriage 1 is advanced, and the arm 81 The hoisting electric cylinder 14 or the propeller hoisting electric cylinder 53 is appropriately operated to lock the locking holding portion 82 of the pin 88 to the hook receiving metal fitting 86 with a pin, and the tip of the arm 81 is connected to the pin The reaction force is applied by pressing against the machine etc. (or the machine to be pin-joined). In this state, the pin pulling / pin pushing telescopic cylinder 78 is shortened so that the hooked metal fitting 86 with a pin is pulled into the pin housing portion 94.

  Although not shown in the drawings, the tip of the hook receiving metal fitting 86 with a pin that is pulled out is provided with a retaining portion that can be elastically expanded or contracted, and can be pushed or pulled out with one touch. Has been.

  In order to enable storage and placement in the vertical box 89 for pin storage, a hook receiving metal fitting 86 with a pin held by a hook-like locking holding portion 82 has a rectangular cross section on the rectangular vertical support plate 87. A hook receiving portion 99 made of a planar U-shaped steel material is provided, and a pair of leg portions in the receiving portion 99 is fixed to the vertical support plate 87 by welding or the like. Further, the horizontal portion 100 parallel to the vertical support plate 87 connecting the leg portions has a rectangular cross section, and the upper and lower surfaces thereof are arranged close to each other between the hook body 83 and the lower latch holding portion 85. As a result, the posture of the hook receiving metal fitting 86 with the pin is maintained.

  In order to disengage the latch holding portion 82 and the hook bracket 86 with the pin in a state where the latch holder 82 is disposed in the pin storage vertical box 89, the pin bracket 86 with the pin is attached to the partition plate 93. While being supported, the latch holding portion 82 is moved forward between the lengths of the legs of the hook receiving portion 99, the pin storage vertical box 89 is moved downward, and the latch holding portion 82 is moved backward. You can do it. Thereafter, the vertical box 89 for pin storage is moved up and closed by the front and rear opening closing plates 97 and 98.

  When the above-mentioned hook receiving metal fitting 86 with pin is pushed out from the inside of the vertical box 89 for pin storage, the hook receiving metal fitting 86 with pin is pushed out by the front end portion of the locking holding portion 82 and the pin 88 is inserted. It only has to be attached to the power part. For example, the excavator telescopic boom 52 is remotely self-propelled having the lifting table 51 for pin connection between the swivel bracket 50 below the excavator traveling carriage 41 below the ceiling slab and the shovel telescopic boom bracket 52a of the shovel telescopic boom 52. In a state where the pin insertion hole of the shovel telescopic boom bracket 52a on the shovel telescopic boom 52 side is positioned between the pin insertion holes of the bracket 50 on the swivel base side while being placed on the transport carriage 44, a hook receiver with a pin What is necessary is just to push in the pin 88 in the metal fitting 86.

  In order to enable the above-mentioned work by remote operation, one or more monitoring cameras 69 are appropriately provided at the distal end of the arm 81 to monitor the distal end side of the arm 81 or the inside of the storage unit and monitor on the ground. It is performed while confirming at 48.

(Attachment / detachment of power cable connection and hydraulic coupler connection)
FIGS. 1 and 11 to 14 show the connection piece gripping / removing attachment 22 of the power feeding cable connecting portion and the hydraulic coupler connecting portion which is detachably attached to the remote self-propelled carriage 1 or the state where this is attached. A traveling remote robot 22a is shown, and a bracket 103 having a horizontal axis insertion hole is provided at a base end portion of a cylinder 102 of an extendable arm 101 made of an electric cylinder, and a support shaft is provided at an intermediate portion of the cylinder 102. Is provided so as to be detachably connectable to the piston tip of the hoisting electric cylinder 14. The bracket 103 is attached to the bracket 15 on the inner tube 9 side of the telescopic support column 11 by a horizontal axis, and the intermediate support shaft of the telescopic arm 101 is attached to the hoisting electric cylinder 14. The cylinder 102 and the piston 104 in the telescopic arm 101 are made non-rotatable.

  A casing side of a turning drive device 105 composed of a turning motor is fixed to a tip end portion of the piston 104 of the telescopic arm 101, and a turning table 106 is fixed to an output shaft of the turning drive device 105. Further, the base end side piece 109 of the planar L-shaped guide frame 108 in the connection piece gripping / removing device 107 is attached.

  On the other piece 110 side perpendicular to the base end piece 109 of the guide frame 108, a transverse male screw member 111 is supported in a cantilever manner so as to be rotatable at a fixed position. The proximal end portion of 112 is fixed. The traversing male screw member 111 is connected to the output shaft of the electric drive device 113 attached to the other piece 110 and is rotatable at a fixed position.

  The guided portion 115 of the traverse female screw member 114 screwed to the traverse male screw member 111 is fitted into a guide groove (not shown) of the base end side piece 109 parallel to the male screw member 111 and traverse slide. It has been made movable. On the distal end side of the female screw member 114, male screw members 115 and 116 having different screw directions are housed and arranged in a direction perpendicular to the outer side of the guide rod 112 so as to be rotatable at fixed positions. The female screw holes of the arms 117 are screwed in, the arms 117 are guided along the end surfaces of the female screw members 114, respectively, so that they cannot be rotated, and the electric drive devices 118 are respectively provided at the ends of the female screw members 114. The arm 117 is provided so as to be able to move toward and away from each other by rotating the male screw members 115 and 116 by the electric driving device 118, and each arm 117 has a roller arrangement hole penetrating therethrough. The gripping roller 119 is disposed in the hole, and the gripping roller 119 is disposed on the inner surface side of the arm 117. Provided so as to protrude, and a connecting piece gripping device 122 of the transverse movable movable to the roller 119 to the output shaft of the drive unit 120 mounted to the arm 117 is rotatable coupled.

  Further, on the distal end side of the other piece 110, a grip piece 121 that can move toward and away from each other by a male screw member (not shown) that is rotated at a fixed position by the electric drive device 118 as described above. The gripping device 123 on the fixed side that cannot move in the transverse direction is provided, and the gripping device 122 that can move in the transverse direction and the gripping device 123 on the fixed side constitute a gripping / removing device 107 for the connecting piece.

  Using the connection piece gripping / removing device 107, as shown in FIGS. 13A to 13F, one joining piece 124 with a female thread and the other joining piece 125 in the feeding cable joining portion are Each of them is gripped by a movable holding device 122 that can move in the transverse direction, and if necessary, one joining piece 124 with a female screw is rotated and moved transversely, and the one joining piece 124 is moved backward (or advanced) and detached. (Or joining) enables feeding cable joining pieces to be joined or separated from each other. Further, as schematically shown in FIGS. 14A to 14E, using the gripping and desorbing device 107, one joining piece (female-side joining piece) 124 in the one-touch type hydraulic pipe joint coupler is attached. If separation is possible by moving in the axial direction of the joint with respect to the male side, one of the joint pieces 124 on the female side is gripped by the movable-side connecting piece gripping device 122 capable of traversing and moved laterally. The hydraulic pipe joint coupler can be joined or separated by moving one joint piece 124 backward (or forward) and detaching (or joining).

  As the power supply cable connection portion as described above, it is applied to connection or disconnection of a joint portion such as a device fed with power from the caisson working chamber 46 via the power supply cable and its joint portion, and as a hydraulic coupler connection portion, The present invention can be applied to the joining and separation of machinery installed in the caisson work chamber 46 including a hydraulic pipe joining coupler between a shovel traveling carriage below the slab ceiling and a hydraulic unit attached to the excavator.

  Although not shown in the drawings, the vicinity of one end of the joining piece 124 and the vicinity of the end of the other joining piece 125 in the feeder cable joint or hydraulic pipe joint coupler are brackets or the like in the equipment or machine in the caisson working room. If it is supported by the above, the feeding cable joint or hydraulic pipe joint coupler does not hang down, so that the joining or separating work is facilitated.

(Attachment for grease injection)
FIGS. 1 and 15 show a grease-injection attachment 23 for grease injection that is detachably attached to the endless track remote self-propelled carriage 1, and is inserted into the base end portion of the arm 127 along the horizontal axis. A hole is provided, and a support shaft is provided at an intermediate portion of the arm 127 so as to be detachably connectable to a piston tip portion of the hoisting electric cylinder 14. A base end portion of the arm 127 is attached to a bracket on the inner tube 9 side of the telescopic support column by a horizontal axis, and a support shaft of the arm 127 is attached to the hoisting electric cylinder 14.

  A proximal-side intermediate portion of a planar U-shaped greasing pipe support arm 128 is fixed to the distal end portion of the arm 127 by welding or the like, and a bracket 129a is lubricated to the distal end portion of the arm 127. An electric telescopic cylinder 129 is fixed to the bracket 129a of the pipe support arm 128, and a grease injection pipe 132 is provided at the tip of the piston rod 130 in the electric telescopic cylinder 129. The proximal end side blocking portion is connected by a pin or the like, and an intermediate portion of the grease injection pipe 132 is disposed in the grease supply pipe support arm 128 and is slidably supported by a support device (not shown). The tip of the support arm 128 is provided with a grease injection tube opening.

  A grease outlet hose 133 is connected to the grease injection pipe 132 at a position slightly away from the rear end of the grease supply pipe support arm 128, and the grease supply hose 133 is mounted on the remote self-propelled carriage 1. The grease injection port 135 is connected to the grease pump 134 with a greasing tank, and the grease injection port 135 is provided at the tip of the grease injection tube 132. ). A monitoring camera 69 is provided at the tip of the one or the other greasing pipe support arm 128.

  By extending the electric telescopic cylinder 129, the grease injection port 135 provided at the distal end portion of the grease injection tube 132 can be moved forward to be crimped to the grease injection destination. When the self-propelled remote robot 23a composed of the remote self-propelled carriage 1 equipped with the above-mentioned dedicated greasing attachment 23 is equipped on the ground, suspended in the caisson working chamber, and grease is supplied, The remote self-propelled carriage 1 is moved to a predetermined position to be lubricated, the second support base 6 is moved laterally as appropriate, and the telescopic strut 11 is appropriately expanded and contracted to roughly adjust the height of the arm 127, After operating the hoisting electric cylinder 14 and the hoisting electric cylinder 12 to adjust the position of the tip of the arm 127, the electric telescopic cylinder 129 should be extended to inject the grease inlet 135. Place in position.

  Next, an embodiment of the remote self-propelled transport cart 44 that is remotely operated will be described with reference to FIG. 22. Although not shown in the remote self-propelled transport cart 44, FIGS. 16 to 18 are omitted. And a battery 138, a remote operation transmitter / receiver 156, and a driving motor 158 (illustrated) powered by the battery 138 and driven by a signal from the remote operation receiver 156. An electric travel drive device is provided.

  An elevating base frame 139 is fixed to a frame of a traveling vehicle body having a caterpillar 2 that forms an endless track with a bolt or the like, and the elevating base frame 139 and the elevating table 51 may be one level (in the case of illustration) or a plurality of levels. The guide rail 141 is provided on the lifting table 51 side, and a roller 143 guided and moved by the guide rail 141 is attached to one end side of the link 142. .

  Each link 142 is connected by a hydraulic expansion / contraction cylinder 144 by a hydraulic pump that is powered and driven by the battery 138. By extending or shortening the hydraulic expansion / contraction cylinder 144, the elevating table 51 is moved downward or upward, A part or all of the equipment is supported on the lifting table 51, and is lifted and carried out from the working room to the ground or suspended and carried from the ground into the working room. In addition, the placement and support state of the transported object (equipment / machine or these parts) supported on the upper surface of the lift table 51 can be confirmed by the monitoring camera 47 in the work chamber. Note that a monitoring camera may be provided on the side of the lifting table 51 or the like as needed to monitor the receiving state of the upper surface of the lifting table 51. The movement of the remote self-propelled transport cart 44 as a whole is based on the video information from a plurality of monitoring cameras 47 arranged under the ceiling slab in the work room, etc. The remote self-propelled transport cart 44 is moved or raised by operating the monitoring camera operator 146 on the ground while confirming with the ground monitor 48. Although not shown, as another form, a surveillance camera (not shown) is arranged on the side of the lifting table 51 and the like, and the position of the lifting table is adjusted while checking the state of the upper surface of the lifting table 51. The conveyed product may be set to a stable placement position and placement state.

(About various work)
Next, referring to FIG. 6, FIG. 9 and FIG. 10, the self-propelled remote robot 21a and the remote self-propelled transport comprising the remote self-propelled transport carriage 1 equipped with the attachment 21 for pulling out or pushing in the pins are described. Using the carriage 44, the traveling rail 43 installed under the caisson slab ceiling, the excavator traveling carriage 41 with respect to the caisson shovel 52b traveling along this, the hydraulic unit 42 detachably attached thereto, the excavator The case where it is disassembled into the telescopic boom 52 and carried out will be described. The remote self-propelled transport cart 44 is suspended and carried from the ground into the work room 46, and is driven to run when the caterpillar 2 is seated on the work room ground. Then, the entire caterpillar 2 is seated on the ground in the working room. In the case of carrying out, the reverse operation may be performed. In addition, a foldable self-propelled remote robot configured by mounting various attachments 20 to 23 on the remote self-propelled transport carriage 1 may be carried in and out. It is the same.

  In a state where the shovel telescopic boom 52 is leveled, the remote self-propelled transport cart 44 is remotely operated to place the lifting table 51 directly below the shovel telescopic boom 52, and the lifting table 51 is lifted to move the shovel telescopic boom 52. Support the lower surface. In this state, the self-propelled remote robot 21a equipped with the pin pull-out or push-in attachment 21 is placed on the side of the remote self-propelled transport carriage 44, and the bracket at the bottom of the swivel base and the boom base end are connected. The pin-attached hook receiving metal fitting 86 is housed in the pull-out pin storage vertical box 89. On the other hand, the remote self-propelled transport carriage 44 on which the shovel telescopic boom 52 is placed is transported directly below the material shaft 28, and the hanging bracket 27 from the crane 26 is attached to the hanging bracket 25 attached to the shovel telescopic boom 52. The automatic bottom door 18 at the lower end of the material shaft 28 and the open / close door (not shown) of the material lock 19 at the upper end of the material shaft 28 are appropriately opened and closed, and are carried out to the ground.

  The self-propelled remote robot 21a dedicated to pulling out or pushing in the pin is retracted to a corner in the work chamber 46 or folded and conveyed directly under the material shaft 28 to be self-propelled remote robot. The suspension bracket 27 attached to the remote self-propelled carriage 1 in 21a is engaged with the suspension bracket 27 from the crane 26 to open and close the automatic bottom door 18 at the lower end of the material shaft 28 and the material lock 19 at the upper end of the material shaft. Open and close as appropriate to carry it out to the ground. Detached and attached to the other attachments 20, 22 to 23 by removing the attachment 21 dedicated to pulling out or pushing in the remote self-propelled robot 21a dedicated to pulling out or pushing in the pins carried out to the ground. Then, it is carried into the working chamber from the material shaft 28, and a remote operation robot for the next work is prepared.

  Next, the hydraulic piping coupler of the hydraulic unit 42 attached to the excavator traveling carriage 41 is separated by the loaded connection piece gripping / removing attachment 22, and the hydraulic unit 42 is supported by the lifting / lowering table 51. The hook receiving metal fitting 86 with the pin joining the bracket 42 and the excavator traveling carriage 41 is pulled out and separated, and conveyed by the remote self-propelled conveyance carriage 44 directly below the material shaft 28 to the hydraulic unit 42. Using the attached hanging bracket 28, it is carried out to the ground in the same manner as described above. Also, the self-propelled remote robot 22a having the connection piece gripping / removing attachment 22 is withdrawn in the work room or folded, carried out of the material shaft, and replaced with another attachment on the ground. Carry in.

  Next, the case where the traveling rail 43 supporting the excavator traveling carriage 41 is carried out will be described. Since the traveling rail 43 is a short segmented rail unit having a curved or linear shape, Alternatively, a self-propelled remote robot 20a equipped with an attachment 20 dedicated to fastening or dismantling of nuts on the remote self-propelled carriage 1 is assembled on the ground, folded and carried into the work room, and the short traveling rail 43 is remotely operated. All nuts 67 fixing the short traveling rail 43 are sequentially removed while being supported by the transport cart 44, and the lifting table 51 in the remotely operated transport cart 44 is lowered to anchor the short travel rail 43 to the anchor. Remove from the bolt, and lift the hanging bracket 25 of the short traveling rail 43 from the material shaft 28 from the crane. 27 to be engaged, to carry-out. Alternatively, a box-type container such as a bucket for unloading used for excavating soil can be put into the caisson working chamber 46, and the traveling rail 43 can be stored using the caisson excavator 42b before being unloaded. Yes, the carrying-out method is selected in consideration of the dimensions and shape of the traveling rail 43 provided.

  Next, when the excavator traveling carriage 41 is carried out, the excavator traveling carriage 41 is supported by the lifting table 51 in the remote self-propelled transportation carriage 44 and is moved to a portion where the traveling rail 43 is not present, and then immediately below the material shaft 28. The suspension receiving bracket 25 attached to the excavator traveling carriage 41 is engaged with the hanging bracket 27 from the crane, and is carried out.

  In the caisson work room, other equipment to be removed equipped with the hanging bracket 25 is separated from the pins, bolts or nuts by the above-mentioned various self-propelled remote robots and supported by the remote self-propelled transport cart 41. Then, it is transported to the material shaft 28 and carried out. In addition, as described in paragraph 0099, for the monitoring camera 47 and other items with small machine dimensions or member dimensions, a storage box-type container is put into the caisson work chamber 46 for storage, and then it is unloaded collectively. If the method to do is selectable, it will lead to high work efficiency.

  FIG. 25 shows a system system diagram of the above embodiment. Briefly explaining this system system diagram, each of the dedicated attachments 20 to 20 is attached to the remote self-propelled cart 1 indicated by a two-dot chain line in the center. By connecting a power supply line of a motor or a driving unit such as a cylinder to the control panel 45, the self-propelled remote robots 20a, 21a, 22a, 23a dedicated to various operations are configured. In the self-propelled remote robots 20a, 21a, 22a, and 23a, a wireless video signal transmitted from a camera 69 with a transmitter provided at the tip of an attachment is received by a repeater 147 in a work room. The monitor 148 is connected to the tuner 148 of the ground working room via the wiring in the caisson housing via 147, and an image is displayed on the monitor 48. The control panel 45 is connected to the battery 24, and the camera 69 with a transmitter is connected to the battery 24 via a transformer 149. The self-propelled remote robots 20a to 23a dedicated to various operations are operated by the operation device 150 on the ground, and send an operation signal from the operation device 150 to the wireless transmitter 151 via the wiring. The wireless signal is received by the receiver 152 and various driving devices are driven via a control circuit in the control panel 45.

  Further, the remote self-propelled transport carriage 44 indicated by a two-dot chain line on the right side of FIG. 25 is operated by the operating unit 153 in the remote control room 154 on the ground, and the signal from the operating unit 153 is transmitted to the work room via the wiring. To the wireless transmitter 155, receive a wireless signal from the wireless transmitter 155 by the receiver 156, and drive the traveling motor 158 or the hydraulic pump 159 via the control panel (control circuit) 157. ing. The hydraulic pump 159 is driven by a signal from the control panel (control circuit) 157 to drive the hydraulic telescopic cylinder 144.

  As shown on the left side of FIG. 25, a plurality of (5 in the illustrated case) zoom cameras 47 provided on the lower surface of the ceiling slab in the work chamber 46 are connected via signal and power supply connection lines. Each is connected to the monitoring camera operating unit 146 in the ground operation room, and is connected to the monitor 48 via the monitoring camera operating unit 146.

  The caisson excavator 52b is operated by the excavator operator 160 on the ground while viewing the video on the monitor 48, and sends a signal from the excavator operator 160 to the wireless transmitter 161 in the work room via the connection line. A radio signal from the radio transmitter 161 is received from the excavator receiver 162 on the traveling carriage side, and the control valve 163 is controlled and operated.

  In order to enable loading or unloading into the work room as described above, the transported objects including the self-propelled remote robots 20a to 23a, the remote self-propelled transport cart 44, and parts / equipment are folded. The inner diameter of the material shaft 28 is smaller than the inner diameter of the loading / unloading path, and is smaller than the length of the space formed by the upper opening / closing door of the material lock 19 and the opening / closing door of the automatic bottom door 18. Of course, if the carry-out or carry-in is sized to fit in the space formed by the upper and lower doors of the material lock 19, it is not necessary to open and close the automatic bottom door 18.

  In the said embodiment, the remote self-propelled conveyance trolley 44 and the remote self-propelled trolley | bogie 1 combined and the caisson shovel 52b was carried out from the working room to the ground, or the form carried in into the working room from the ground was shown. However, when carrying out the present invention, although not shown in the drawings, the remote self-propelled carriage 1 is incorporated with the lifting table 51 and any one of various attachments 20 to 23 is attached to the remote self-propelled carriage 1. A self-propelled remote robot that can be foldable is constructed, and one of the self-propelled remote robots may be operated in the working room. You may make it carry out from the material shaft 28, or carry in in a working chamber in the folded state.

Although illustration is omitted, in the equipment in the caisson work room, when disassembling or assembling equipment installed with its own weight by hooks and slide rails, a self-propelled remote self-propelled type having a lifting table 51 is provided. With respect to the installation equipment by the vertical self-weight by the transporting carriage 44, the mounting equipment is received and lifted by the lifting table 51 by lifting the lifting table 51, and the hook portion of the fixed hook is removed by the traveling of the remote self-propelling transportation carriage 44. What is necessary is just to make it, and what is necessary is just to carry out in the reverse order in an assembly.
Also, with respect to the mounting equipment using the slide rail, the mounting equipment is received by the lifting / lowering table 51 by the lift-up of the lifting / lowering table 51, and the remote self-propelled transport carriage 44 can be removed from the slide rail portion. Similarly, the installation work of the installation equipment may be performed in the reverse order. Such a function is used in combination with the dismantling / assembly member support / transport function, while the other self-propelled remote robot is dismantling or assembling the fastening part such as a nut or bolt. The efficiency is improved by supporting the member by the remote self-propelled transport carriage 44 and transporting the member to the opening directly below the material shaft for carrying the member to the ground.

  The effective operation time (remaining battery capacity) of the various self-propelled remote robots 20a to 23a and the remote self-propelled transport cart 44 is determined by indicators installed in these devices, and the situation is indicated in the operation room on the ground. Are displayed on the monitor 48 and can be sequentially grasped in real time.

  In addition, after carrying out the equipment in the working chamber, the caisson foundation is constructed by filling the working chamber with concrete.

  In the figure, 164b is a caisson housing, 165 is a man shaft, and 166 is a manlock.

FIG. 5 is a schematic perspective view showing a state where a remote self-propelled carriage used in the present invention is equipped with an attachment dedicated for fastening or dismantling of bolts or nuts, an attachment dedicated for pulling out or pushing in a pin, and an attachment dedicated for gripping and removing a connecting piece. . It is a schematic perspective view which expands and shows a part of FIG. 1 in the state which equips the remote self-propelled trolley | bogie with the attachment for fastening of a bolt or a nut, or a dismantling. It is a vertical side view which expands and shows the nut storage part vicinity in the torque wrench (hollow shaft-shaped rotation wrench) vicinity. It is a schematic longitudinal cross-sectional front view which shows the state which has removed or attached the nut which has attached the rail arrange | positioned at the ceiling slab lower surface. It is a figure which expands and shows a part of FIG. It is a schematic perspective view showing the relationship between the pin hole in the lower part of the excavator traveling cart and the self-propelled remote robot dedicated to pulling out or pushing in the pin equipped with the attachment for pulling out or pushing in the remote self-propelled cart. is there. The pin pulling or pushing state is shown by a self-propelled remote robot dedicated to pulling or pushing the pin. (A) shows a state where the vertical box for pin storage is moved and positioned. FIG. 4B is a schematic perspective view, FIG. 5B is a schematic perspective view of a state in which the hook receiving metal is locked by a hook penetrating the storage portion in the pin storage vertical box, and FIG. It is a schematic perspective view which shows the state which stored and pulled the hook back. It is a perspective view which expands and shows the support arm and the vertical box vicinity for pin accommodation. It is a vertical side view of the part shown in FIG. (A) is a perspective view showing a state in which a hook support fitting attached to a bracket on a shovel travel trolley side is locked by a hook tip portion, and (b) is a view of a telescopic boom side bracket on a shovel travel trolley side bracket. It is a vertical front view which shows the state in which the bracket is attached by the hook receiving metal fitting with a pin. The self-propelled remote robot equipped with the joint gripping / removing self-propelled remote robot equipped with the joint gripping / removing device on the remote self-propelled traveling carriage of the present invention and the self-propelled remote robot equipped with various dedicated attachments can be folded. It is a figure which shows the representative form shown, Comprising: (a)-(c) is a schematic side view, (d) is a front view which expands and shows a part, (e)-(g) is a side view which shows a folding process. (E) is a basic state at the time of use, (f) is a side view showing a state in which the electric cylinder for hoisting is shortened and the attachment side is folded to the telescopic support column side, and (c) is a telescopic type It is a schematic side view which shows the state which folded the support | pillar side to the trolley | bogie side. FIG. 2 shows the vicinity of a joining piece gripping / removing device, where (a) is a plan view, (b) is a front view, and (c) is an explanatory view showing a mechanism for moving the gripping pieces toward or away from each other, (d) Is a side view. The process drawing which shows the condition which hold | grips one and the other joining piece in an electric wire cable junction part connector with the joining piece holding | disconnection removal apparatus, and isolate | separates or joins joining pieces mutually is shown, (a)-( c) is a process diagram in the case of joining or separating by gripping and approaching or separating the joining pieces, and (d) to (f) are cases where one joining piece is a female screw member and the other is a male screw member. FIG. 5 is an explanatory diagram showing a state where the joint piece is further gripped and rotated or joined or separated. (A)-(e) is process explanatory drawing in the case of grasping and removing a coupler of a hydraulic piping joint part, a state where a grasping / detaching device is arranged opposite to a female side coupler, (b) grasping a female side coupler (C) is a state in which the female coupler is gripped and is slid by the holding / removing device, (d) is a state in which the female coupler is separated, and (e) is a lateral movement of the separated female coupler. It is a side view which shows a state. It is a perspective view which shows the self-propelled remote robot for lubrication and the greasing part which were equipped with the attachment for greasing removably on the remote self-propelled traveling cart. FIG. 2 is a diagram illustrating a process of lifting a transported object provided with a hanging bracket in advance using a hanging bracket and a hanging bracket, or a step of separating the hanging bracket from the conveyed transported object, wherein (a) is supported by a crane. The perspective view which shows the state which is inserted in the opening part in the hanging bracket which is attached to this by the trolley | bogie side etc. in the suspended state, and is horizontally moved, (b) is the gentle inclination just before lifting The perspective view which shows a state, (c) is a perspective view which shows the steep inclination state just before lifting, (d) It is a perspective view which shows a lifting state. 16A is an enlarged perspective view showing a part of FIG. 16A, FIG. 16B is an enlarged perspective view showing a part of FIG. 16C, and FIG. It is a perspective view which expands and shows a part. The engagement process of a hanging metal fitting and a hanging metal fitting is shown, Comprising: (a)-(d) is a top view, (e)-(h) is sectional drawing corresponding to (a)-(d), respectively. (A) and (b) correspond to FIG. 16 (a) or FIG. 17 (a), (c) corresponds to FIG. 16 (c) or FIG. 17 (b), and (d) corresponds to FIG. This corresponds to (d) or FIG. It is a partial longitudinal cross-sectional front view which shows the whole condition which shows the disassembly condition or assembly condition of the installation or machine in a working chamber. It is a vertical front view which shows the state which has disassembled and is conveying. It is explanatory drawing which shows the relationship with a remote control room. It is a side view which shows one Embodiment of the remote self-propelled conveyance trolley operated remotely. It is a vertical side view which expands and shows the nut storage part vicinity in the torque wrench vicinity in the other form of fastening of a volt | bolt or a nut, or a disassembly exclusive attachment. It is a schematic perspective view of the part shown in FIG. It is a figure of the system type | system | group example of this invention.

Explanation of symbols

1 Remote self-propelled bogie 2 Endless track (caterpillar)
3 First support base 4 Guide member 5 Guide groove 6 Second support base 7 Electric cylinder 8 Bracket 9 Inner cylinder 10 Outer cylinder 11 Telescopic column 12 Electric cylinder 13 Piston 14 Elevating electric cylinder 15 Bracket 16 Horizontal shaft 17 Cylinder 18 Automatic bottom door 19 Material lock 20 Attachment 20a for fastening or dismantling of bolts or nuts Self-propelled remote robot (for fastening or dismantling of bolts or nuts)
21 Dedicated pin pull-out or push-in attachment 21a Self-propelled remote robot (for pin pull-out or push-in)
22 Connection piece gripping attachment / detachment attachment 22a Self-propelled remote robot (connection piece holding / removal)
23 Lubrication dedicated attachment 23a Self-propelled remote robot (for greasing)
24 Battery 25 Suspension bracket 26 Crane 27 Suspension bracket 28 Material shaft 29 Base plate 30 Bracket 31 Outer tube 32 Inner tube 33 Horizontal slit (outer tube)
34 Outer arc-shaped slit (outer tube)
35 Horizontal slit (inner tube)
36 Inside arc-shaped slit (inner tube)
37 Suspension bracket locking bracket 38 Locking flange 39 Rod-like portion 40 Rope 41 Excavator traveling carriage 42 Hydraulic unit 43 Traveling rail 44 Remote self-propelled carriage 45 Control panel 46 Work room 47 Monitoring camera 48 Monitor 49 Worker 50 Bracket 51 Lifting table 52 Excavator telescopic boom 52a Excavator telescopic boom bracket 52b Caisson shovel 53 Electric cylinder for raising / lowering support 54 Support arm 55 Horizontal shaft 56 Support plate 57 Electric drive device 58 Storage box 59 Drive gear 60 Gear box 61 Driven gear 62 Hollow Axis-turning wrench 63 Rotating vertical through-hole 64 Nut storage cylinder 65 Nut lifting support device 66 Piston 67 Nut 68 Raising seat 69 Monitoring camera 70 Slit 71 Cylindrical storage 72 with slit Lifting support arm 73 Vertical screw杆 74 Base end 75 Driven bevel gear 76 Electric drive device 77 Drive bevel gear 78 Pull-out / push-out telescopic cylinder 79 Bracket 80 Reaction force receiving frame 81 Arm 82 Locking holding portion (hook body)
83 Slide member 84 Vertical portion 85 Lower latch holding portion 86 Pin hook receiving bracket 87 Vertical support plate 88 Pin 89 Pin storage vertical box 90 Rack 91 Drive pinion 92 Electric drive device 93 Partition plate 94 Pin storage portion 95 Side plate 96 Stopper member 97 Front opening closing plate 98 Rear opening closing plate 99 Hook receiving portion 100 Horizontal portion 101 Telescopic arm 102 Cylinder 103 Bracket 104 Piston 105 Turning drive device 106 Swing stand 107 Connecting piece gripping / removing device 108 Guide frame 109 Proximal end piece 110 Other piece 111 Traverse male screw member 112 Guide rod 113 Electric drive device 114 Traverse female screw member 115 Male screw member 116 Male screw member 117 Arm 118 Electric drive device 119 Grasp roller 120 Drive device 121 Grasp piece 122 Movable side Connection Single gripping device 123 Fixed connection piece gripping device 124 One joint piece 125 The other joint piece 126 One joint piece 127 Arm 128 Grease supply pipe support arm 129 Electric telescopic cylinder 129a Bracket 130 Piston rod 131 Traveling motor 132 Grease injection pipe 133 Grease grease hose 134 Grease pump 135 Grease inlet 137 Remote self-propelled grease robot 138 Battery 139 Base frame 140 Link mechanism 141 Guide rail 142 Link 143 Roller 144 Hydraulic telescopic cylinder 145 Shackle 146 Surveillance camera operation Device 147 Repeater 148 Tuner 149 Transformer 150 Operation device 151 Wireless transmitter 152 Receiver 153 Operation device 154 Remote operation room 155 Wireless transmitter 156 Transmitter / receiver 157 Control panel 158 Motor 159 Hydraulic Pump 160 Excavator 161 Radio transmitter 162 Excavator receiver 163 Control valve 164 Caisson housing 165 Man shaft 166 Man lock

Claims (10)

About one or more of maintenance work, dismantling work, transportation work or assembly work for equipment or machines placed in the caisson work room on at least one remote self-propelled car that is self-propelled by remote control The remote self-propelled trolley is equipped with a remote-controllable dedicated device on the ground to form a remote self-propelled trolley with a dedicated device, and the remote self-propelled trolley with the special device is connected to the outside of the caisson by a crane. Maintenance and dismantling of equipment or machinery located in the caisson work room by hanging it on the ground of the caisson work room via the material shaft and remotely operating a remote self-propelled carriage with a dedicated device while watching the monitor on the ground , Transport, or carry out dismantling, etc. in conjunction with the crane or parts of equipment or machinery in the caisson work room Pneumatic caisson work room facilities machine remote maintenance and recovery and assembling method characterized by assembling carry the carry of. In the caisson work room, in addition to the remote self-propelled cart with the dedicated device, a remote self-propelled transport cart having a liftable table is arranged, and the remote self-propelled transport cart is made of a material shaft by a crane from outside the caisson. Through the joint work of the remote self-propelled trolley and the remote self-propelled transport trolley that is remotely operated while watching the monitor on the ground, Carry out maintenance, dismantling, and transportation of equipment or machines located in the caisson work room, and transport and assemble items such as equipment or machine parts that are suspended from the outside of the caisson by a crane. The method for remotely maintaining / recovering / assembling a pneumatic caisson work room equipment according to claim 1. The remote-controllable dedicated device used in the remote maintenance / recovery / assembly method of the pneumatic caisson workroom equipment machine according to claim 1 or 2, wherein the remote-controllable dedicated device is located in the caisson workroom. Attachment for exclusive use of fastening or disassembling bolts or nuts, characterized in that it comprises an electric turning tool for disassembling or fastening bolts or nuts in a dismantled or assembled facility or machine. The remote-controllable dedicated device used in the remote maintenance / recovery / assembly method of the pneumatic caisson workroom equipment machine according to claim 1 or 2, wherein the remote-controllable dedicated device is located in the caisson workroom. A pin engagement holding part for pulling out a pin of a pin connection part or pushing a pin in a dismantling or assembling facility or machine to be arranged, or a pin engagement holding part for moving forward and backward is provided. A pull-out or push-in attachment. The remote-controllable dedicated device used in the remote maintenance / recovery / assembly method of the pneumatic caisson workroom equipment machine according to claim 1 or 2, wherein the remote-controllable dedicated device is located in the caisson workroom. Grasp and remove one and the other connecting piece of the connector of the power cable connecting part connected to the dismantled or assembled equipment or machine to be assembled or one and the other connecting piece of the coupler of the hydraulic pipe connecting part A transverse movable side gripping device capable of approaching and moving away from a pair of gripping pieces and a fixed side gripping device capable of moving toward and away from the pair of gripping pieces. An attachment dedicated for connecting and disconnecting the connection piece, characterized by comprising: The remote-controllable dedicated device used in the remote maintenance / recovery / assembly method of the pneumatic caisson workroom equipment machine according to claim 1 or 2, wherein the remote-controllable dedicated device is located in the caisson workroom. apparatus for greasing equipment or machinery is located, and a support arm which is detachably connected to the column at a remote self-propelled carriage is supported on the support arm, provided with a greasing port at the tip portion A greasing attachment characterized by comprising a greasing pipe. Lifting brackets are provided in advance on the equipment or machines arranged in the caisson work room or the equipment or machines that are carried into the caisson work room, or these parts, and the hanging metal fitting is provided at the tip of the suspension rope that is fed out of the crane. The pneumatic caisson work room equipment according to claim 1 or 2 , wherein the suspension metal fitting is engaged with and connected to a suspension receiving metal and is carried into or out of the caisson work room. Remote maintenance / recovery / assembly method . The suspension bracket has a hollow outer tube fixed to the bracket in a non-rotatable manner, and a hollow inner tube is concentrically fitted to the hollow outer tube and is rotatably supported. 8. An opening comprising an axially long slit and a circular arc slit connected to the lateral slit is provided at each concentrically overlapping position. Remote maintenance / recovery / assembly method for machine equipment in matic caisson working room.   The remote self-propelled robot which consists of a remote self-propelled cart with a special apparatus which equips the remote attachment with the exclusive attachment in any one of Claims 3-6. 3. The remote maintenance / recovery / assembly method of the pneumatic caisson work room equipment according to claim 1 , wherein a dedicated device capable of remotely operating at least one of dismantling work, transport work and assembly work is provided. The remote self-propelled cart with the dedicated device or the remote self-propelled cart equipped with the dedicated attachment according to any one of claims 3 to 5 is provided with a lifting bracket, and the caisson working room and the ground A method for disassembling or assembling a caisson work room facility or machine, comprising transporting and disassembling and assembling parts of the work room or machine in the work room.

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