JP5376995B2 - Surveying robot for propulsion method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a low-cost surveying robot device for a pipe-jacking method for directly burying a pipe to be buried in the ground, capable of stably surveying even a line formed by curve pipe-jacking through the use of an excavator. <P>SOLUTION: The surveying robot device 70 in the pipe-jacking method, wherein an inner pipe 8 having a space penetrating in its axial direction is inserted into the pipe to be buried, and the pipe is buried in the ground excavated by applying a propulsive force to an excavator with a back-pushing device installed in a starting pit, to form a pipe line, includes: a starting truck 71 which travels by itself in the penetrating space 10 of the inner pipe 8; and a surveying gyro truck 76 which is linked to this starting truck 71 and travels along a rail 12 laid in the space 10 of the inner pipe 8 in the axial direction. This starting truck 71 and the gyro truck 76 are bendably linked. The starting truck 71 has a driving machine 72 which travels by itself and pulls the gyro truck 76, a distance measuring instrument 74, and a starting truck controller 75. The gyro truck 76 has a gyro 77, and a gyro data collection instrument 79. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a surveying robot apparatus for a propulsion method for surveying the propulsion direction of an excavator that embeds a buried pipe such as a hard polyvinyl chloride pipe directly in the ground by a propulsion method.

  Conventionally, as a method of burying sewer pipes and other pipes in the ground, a propulsion method of burying buried pipes following a leading excavator is known. In this propulsion method, as shown in the plan view schematically showing the propulsion method in FIG. 13, the starting shaft 201 and the reaching shaft 202 are constructed on the planned burial line of the pipeline to be embedded, and the starting shaft 201 is installed in the starting shaft 201. The pushing device 203 applies a propulsive force to the buried pipe 204 and transmits the propelling force to the excavator 205 through the buried pipe 204 to propel the underground 207. Then, by propelling the excavator 205 up to the reaching shaft 202, a continuous pipe 204 is directly buried between the starting shaft 201 and the reaching shaft 202 to form a pipeline.

  As the buried pipe constituting the pipe line, a concrete pipe or a hard vinyl chloride pipe having a diameter of about 200 mm to 400 mm is generally adopted. For example, in the case of a small diameter pipe having a diameter of about 300 mm, Synthetic resin pipes such as rigid polyvinyl chloride pipes (also simply referred to as “PVC pipes” in this specification and claims) are widely used because of their manufacturing relationship and corrosion resistance.

  For example, in the case of a PVC pipe that has been widely adopted as a synthetic resin pipe in recent years, as shown in FIG. 13 above, when this PVC pipe is embedded, the propulsive force that can be transmitted by the PVC pipe is small. In order to prevent the propulsive force for propelling the excavator 205 from being directly transmitted to the PVC pipe 204, a metal inner tube 206 for transmitting the propulsive force to the excavator 205 is inserted into the PVC pipe 204, and this Propulsive force is transmitted to the excavator 205 via the inner pipe 206. In this case, thrust transmission to the PVC pipe 204 is performed by the main pushing device 203 provided in the start shaft 201.

  On the other hand, in such a PVC pipe propulsion method, a new PVC pipe is connected between the main pushing device provided in the start shaft and the buried PVC pipe every time the promotion of the PVC pipe of a predetermined length is completed. In addition, a new inner pipe is placed inside this PVC pipe, and power lines that transmit power to the leading excavator, signal lines that transmit control signals, and lubricant are injected between the excavator and the ground Various wires and pipes such as a lubricant supply pipe are arranged and connected. When a mud construction method machine is employed, pipes such as a mud pipe and a mud pipe are arranged and connected in addition to the wires and pipes.

  Moreover, in order to always propel the excavator in the correct direction, the excavator must be controlled so that the propulsion position of the excavator is measured and propelled on the planned buried line. In the case of a small-diameter pipe as described above, this surveying needs to accurately measure the position of the excavator from the start shaft using the internal space of the buried pipe.

  In addition, as this type of prior art, signs are set at regular intervals in the trajectory, distance measuring means, bearing measuring means, data storage memory, a fixed time deriving timer, position calculating means, sign passing detection means, and sign passing Each time the sign is detected by the detecting means, a moving body equipped with a position measuring device having sign position calculating means for correcting the position coordinate calculation result by a predetermined formula and calculating the position coordinates of the moving body, Even if the moving body travels on a rail that bends to a certain range while maintaining the distance between the rail units provided on the track by a motor driven by a battery mounted on the moving body, and travels on a route including a curved section. There is one that can measure the position with high accuracy (for example, see Patent Document 1).

  In addition, as another prior art, an ultra-compact gyroscope / reflector / prism / photoelectric switch is mounted on a surveying carriage that is pulled by the take-up device on the start shaft and the take-up device on the excavator side, and absorbs shocks. The three-dimensional coordinates of the surveying trolley are measured by supporting it in the pipeline with the wheels of the structure and pulling it with the winding device, and the measurement data is transmitted to an external personal computer connected to the surveying gyroscope. There is also a surveying robot cart that measures a curve (see, for example, Patent Document 2).

Japanese Patent No. 3447480 Japanese Patent No. 3943050

  By the way, in recent years, as an environment for embedding PVC pipes (synthetic resin pipes) such as sewer pipes, the influence on ground restrictions and surrounding traffic conditions should be minimized, and the construction cost of start and reach shafts can be reduced. Therefore, there is a desire to increase the interval between the shafts. As a countermeasure, for example, development of a long-distance propulsion method of about 200 m is a high industry need. Moreover, there is also a desire to bury the PVC pipe by bending between the starting shaft and the reaching shaft due to restrictions on the ground.

  However, when trying to embed the PVC pipe close to 200m, it is necessary to install a lot of components inside the narrow PVC pipe, such as pipes such as mud pipe for long-distance excavation, electric wires such as electric wiring, etc. In addition, the position of the excavator must be accurately measured so that the propulsion direction of the excavator does not deviate from the planned burial line. It's difficult to do it. In particular, when a small-diameter polyvinyl chloride pipe is constructed over a long distance, there is no device that can accurately measure the position of the excavator to bend and match the propulsion direction with the planned buried line.

  Moreover, in the case of the propulsion method, when the PVC pipe is buried in the ground, all inner pipes, pipes, wires, etc. are collected in the direction of the start shaft, but the inner pipes, pipes, wires, etc. There is no device that can accurately measure even when a curved construction is made using the inner pipe.

  In addition, in the case of the said patent document 1, the rail unit which has a rail which bends | curves to a fixed range with the distance between two rails maintained is required, and many installation expenses are required. In addition, since the traveling motor and the battery are mounted on the same moving body as the gyro or the like as the direction measuring means, the moving body becomes large and cannot be used for surveying of an excavator that excavates a small-diameter section.

  Further, in Patent Document 2, the surveying robot carriage may meander or translate at a certain angle under the influence of the traction force of the winding device on the start shaft side and the winding device on the excavator side. Yes, in that case the surveying accuracy will be reduced. In addition, since the vehicle travels in a rectangular refracted traveling tube, the accuracy of surveying may be reduced by meandering in the traveling tube through the gap of the damper movement where the shock absorbing structure absorbs the impact at the refracted portion. .

  Therefore, the present invention provides a low-cost surveying robot apparatus for a propulsion method capable of stably surveying even a route in which an excavating machine is curvedly propelled by a propulsion method in which a buried pipe is directly buried in the ground. Objective.

  In order to achieve the above-described object, the present invention inserts an inner pipe having a space penetrating in the axial direction into a buried pipe, and excavates by applying a propulsive force to the excavator with a main pushing device installed in a start shaft. A surveying robot apparatus in a propulsion method for burying the buried pipe in the ground and forming a pipe line, the starter carriage self-propelled in the space penetrating the inner pipe, and the inner pipe connected to the starter carriage A surveying gyro bogie that runs along at least one rail laid in the axial direction of the space of the space, the starter cart and the surveying gyrobogie are bendably connected, and the starter cart is self-propelled and moves A surveying gyro dolly has a drive device, a distance measuring instrument, and an activation dolly controller, and the surveying gyro dolly has a gyro and a gyro data collection and storage function of the gyro. When That. As a result, the starter truck and the surveying gyro car that are self-propelled can be separated and miniaturized and connected to run, so that they can be used even on small cross-section roads, and can also be used for surveying small-diameter cross-section lines (tunnels) Can be possible. In addition, since the rolling of the surveying gyro cart can be suppressed by at least one rail connected in the axial direction of the inner pipe, the distance and azimuth from when the surveying gyro cart stops to the surveying end point can be accurately measured. And the position of the excavator can be measured accurately.

  Further, the starting carriage and the surveying gyro carriage may be connected by a connecting portion that can be bent in the horizontal direction and the vertical direction. In this way, the starter truck and the surveying gyro car can be bent at the bendable connecting part, and can be stably surveyed even on a horizontal curved line that has a gentle slope in the vertical direction. it can.

  Further, the surveying gyro cart may have a communication function of the collected and stored gyro data. In this way, a plurality of gyro data from the survey start point to the survey end point can be stored in the survey gyro cart, and the gyro data can be verified after the survey gyro cart returns to the start shaft, and the gyro data processing can be performed. It can be done easily.

  Further, the drive unit of the starter truck may include at least two drive wheels, and the distance measuring device may include one measurement wheel. In this way, the force that causes the starter truck to travel can be reliably transmitted by the two driving wheels, and the measuring wheel to which the distance measuring device (for example, encoder) is attached is used as one measuring wheel. Therefore, the measurement accuracy of the distance measuring instrument can be further stabilized.

  Furthermore, the surveying gyro bogie may have a rescue hole at the rear end. In this way, when something goes wrong with the start-up carriage or surveying gyro-carriage and it cannot return, for example, it has a traction string at the rear end and a rescue hole locking device (hook) and camera at the front end. By running another self-propelled starter truck, the rescue hall locking tool can be hooked on the rescue hole of the surveying gyro car, and the truck with troubles in the direction of the start shaft can be collected with the tow string.

  According to the present invention, in the propulsion method in which the buried pipe is directly buried in the ground, it is possible to accurately measure the position of the excavator using the inner space of the inner pipe even during curve promotion.

It is sectional drawing of the axial direction which shows the excavation machine side in the surveying apparatus for propulsion methods of one Embodiment using the surveying robot apparatus which concerns on this invention. It is II-II sectional drawing shown in FIG. It is sectional drawing of the axial direction which shows the structure following the excavation machine side of the surveying apparatus for propulsion methods shown in FIG. It is IV-IV sectional drawing shown in FIG. It is sectional drawing of the axial direction in the starting shaft side of the surveying apparatus for propulsion methods shown in FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation fixed pipe in the surveying apparatus for propulsion methods of FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation folding tube in the surveying apparatus for propulsion methods of FIG. It is the side view which carried out partial cross section of the surveying robot apparatus for propulsion construction methods concerning one embodiment of the present invention. It is IX-IX sectional drawing shown in FIG. It is XX sectional drawing shown in FIG. (a) is XIa-XIa sectional drawing shown in FIG. 8, (b) is a XIb arrow directional view. It is a top view which shows typically the bending state of the excavation machine which surveys with the surveying apparatus for propulsion methods shown in FIG. It is a top view which shows the conventional propulsion method typically.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Also in the following description, a PVC pipe will be taken as an example of the buried pipe, and the excavator will be explained by taking a muddy water type as an example and taking the right direction in the figure as the start shaft direction. Moreover, in the document of this specification and a claim, the advancing direction which an excavation machine digs is also called the front side, and a back direction is also called a rear side. In addition, the same code | symbol is attached | subjected and demonstrated to the structure same as the structure shown in FIG. 13 mentioned above.

  FIG. 1 is a cross-sectional view in the axial direction showing the excavator side in a surveying apparatus for propulsion method according to an embodiment using a surveying robot apparatus according to the present invention, and FIG. 2 is a cross-sectional view taken along the line II-II shown in FIG. 3 is a sectional view in the axial direction showing the configuration following the excavator side of the propulsion method surveying apparatus shown in FIG. 1, FIG. 4 is a sectional view taken along IV-IV shown in FIG. 3, and FIG. 5 is shown in FIG. FIG. 6 is an axial cross-sectional view of the starter shaft of the surveying device for the propulsion method, FIG. 6 is an axial cross-sectional view showing the starting carriage storage fixed tube in the surveying device for the propulsion method, and FIG. 7 is the propulsion of FIG. It is sectional drawing of the axial direction which shows the starting trolley accommodation middle folded pipe in the surveying apparatus for construction methods. Based on these drawings, a surveying apparatus for a propulsion method using a surveying robot apparatus according to the present invention will be described first.

  As shown in FIG. 1, the propulsion method surveying apparatus 1 includes an activation carriage storage pipe 2, a station pipe 5, an adapter pipe 6, and a rear side of the excavator 205 (in the direction of the start shaft). It has. The starter truck storage pipe 2 includes a starter truck storage fixed pipe 3 located on the side of the excavator 205 and a starter truck storage middle folded pipe 4 located on the station pipe 5 side. These tubes are connected by bolts. A leading inner tube 7 is connected to the rear end of the adapter tube 6, and an inner tube 8 having a predetermined length is connected to the rear of the leading inner tube 7. The PVC pipe 9 is connected to the rear side of the pipe portion 6a of the adapter pipe 6 so that the inner pipe 8 is disposed inside, and these parts are integrally driven in the ground 207.

  The inner pipe 8 is formed of a hollow tube having a rectangular cross section, a space 10 penetrating in the axial direction of the inner pipe 8, a leading inner pipe 7 connected to the front of the inner pipe 8, an adapter pipe 6, A surveying robot apparatus 70 including a starter truck 71 that self-propels and a surveying gyroscope 76 that is connected to the starter truck 71 runs in the space 11 connected to the station pipe 5 and the starter truck storage pipe 2. Yes. In the specification and claims, the spaces 10 and 11 are also referred to as “traveling roads 10 and 11”.

  The starter truck storage fixed pipe 3 has a storage space for the starter truck 71, and the station pipe 5 has a storage space for the surveying gyro truck 76. This station pipe 5 is the surveying end point on the side of the excavator 205, and the distance from the stop position of the survey gyro cart 76 of this station pipe 5 to the tip of the excavator 205 is set in advance. In addition, the adapter pipe 6 and the leading inner pipe 7 are provided to efficiently transmit the propulsive force transmitted from the rear inner pipe 8 to the excavator 205 side, and a vertical axis indicated by a one-dot chain line. 26 can be bent horizontally in the front-rear direction. The bent portion 25 that can be bent by the shaft 26 is bent in the horizontal direction at the connecting portion of the inner pipes 7 and 8 corresponding to the curve propulsion of the excavator 205.

  The starting carriage 71 and the surveying gyro carriage 76 are connected by a connecting portion 90 that can be bent in the horizontal direction and the vertical direction, and are laid at the lower part of the central portion in the width direction of the space 11 as shown in FIG. The vehicle travels along the rail 12. As shown in FIG. 1, the rail 12 is laid so as to be continuous in the axial direction from the inner pipe 8 to the starting carriage storage pipe 2. The rail 12 serves both for running the carriages 71 and 76 and for preventing the carriage from meandering, and is laid so that one rail is continuous in the axial direction at the lower center in the width direction of the spaces 10 and 11. By using one rail 12 in this way, the displacement is small even when the shaft 26 is refracted during curve construction. The starter truck 71 and the surveying gyroscope truck 76 travel along the rail 12 from the start shaft 201 to the starter truck storage pipe 2 and the station pipe 5 to return to the survey.

  As shown in FIG. 3, as the inner pipe connected to the rear of the inner pipe 8, a standard inner pipe 8 identical to the inner pipe 8 and a pusher 15 that receives the propulsion resistance force received by the polyvinyl chloride pipe 9 at predetermined intervals. A pusher inner pipe 16 provided and a lubricant inner pipe 21 provided with a lubricant injection pipe 20 for supplying a lubricant between the PVC pipe 9 and the underground 207 are provided.

  The pusher inner pipe 16 is protruded toward the PVC pipe 9 by a pusher in / out mechanism 17 that projects / stores the pusher 15 in the radial direction from the inner pipe 8 side, and is engaged with the PVC pipe 9. The pusher 15 is provided at the upper and lower portions of the pusher inner tube 16. The pusher entry / exit mechanism 17 includes a swing lever 18 for projecting / storing the pusher 15 and a pull rod 19 for swinging the swing lever 18. By pulling the pull rod 19 in the direction of the starting shaft, the swing lever 18 moves the pusher 15 inward in the radial direction and stores it.

  The pusher 15 is provided at a position where the propulsive force for propelling the plurality of PVC pipes 9 does not exceed the allowable propulsive force of the PVC pipe 9, and transmits the propulsive force required for propelling the PVC pipe 9 only by the PVC pipe 9. Instead, the propulsive force of the PVC pipe 9 positioned forward from the pusher 15 is loaded by the inner pipe 8, and the propulsive force loaded by the PVC pipe 9 in a certain length unit is limited to the allowable propulsive force range of the PVC pipe 9. Further, a further propulsive force is applied to the inner tube 8 so that a long distance can be propelled. Thereby, it is possible to extend the construction distance limited by the low strength of the PVC pipe 9 to the construction distance by the allowable propulsive force of the inner pipe 8 having high strength.

  Further, the lubricant inner tube 21 is protruded toward the PVC tube 9 by a lubricant injection tube insertion / removal mechanism 22 for projecting / storing the lubricant injection tube 20 in the radial direction from the inner tube 8 side. The lubricant can be injected from the position into the ground. The lubricant injection pipe 20 is provided on the upper part of the lubricant inner pipe 21. This sliding material injection tube entrance / exit mechanism 22 has a swing lever 23 for projecting / storing the lubricant injection tube 20 and a pull rod 24 for swinging the swing lever 23. By pulling the pull rod 24 in the direction of the starting shaft, the swing lever 23 moves the lubricant injection pipe 20 radially inward and stores it. The pull rod 24 is connected to the pull rod 19. The lubricant injection pipe 20 is provided, for example, at a position where the polyvinyl chloride pipe 9 is propelled by about 100 m. By supplying the lubricant from the lubricant injection pipe 20 between the PVC pipe 9 and the underground 207, the thrust resistance is increased. The long-distance propulsion of 100m or more can be performed.

  With such a configuration, by pulling the pull rods 19 and 24 in the direction of the starting shaft, the pusher 15 and the lubricant injection pipe 20 are retracted radially inward from the protruding state via the rocking levers 18 and 23 to be vinyl chloride. If it stores to the position which does not interfere with the inner surface of the pipe | tube 9, the pusher 15 and the lubricant injection pipe | tube 20 with the inner pipes 8, 16, and 21 can be collect | recovered in the start shaft direction.

  Further, the connecting portions of these inner tubes 8, 16, 21 are also bendable portions 25, and the front and rear inner tubes 8 (16, 21) with respect to a vertical axis 26 indicated by a one-dot chain line in the figure. ) Can be bent in the horizontal direction.

  Further, these inner pipes 8, 16, 21 are provided with support rollers 27 protruding in the radial direction from the inner pipes 8, 16, 21 in front of the bent portion 25. As shown in FIG. 4, the support roller 27 is provided at one position in front of the bent portion 25 so as to support the rear portion of the inner tube 16 (8, 21) with the inner surface of the PVC tube 9. In this example, support rollers 27 are diagonally opposed to the left and right corners of the upper and lower positions of the inner pipe 16 (8, 21). By disposing the support roller 27 in this way, a wheel that reduces the contact resistance when the inner pipe 16 (8, 21) is pulled back in the direction of the starting shaft by the function of receiving the reaction force from the underground 207 via the PVC pipe 9. It also serves as a function. A predetermined gap is provided between the support roller 27 and the inner surface of the PVC pipe 9 so that the inner pipe 16 (8, 21) is recovered in the direction of the start shaft. I am doing so.

  Furthermore, the space 10 at the center of the inner pipe 16 (8, 21) is used as a survey area, so that various pipes, wirings, etc. can be installed at arbitrary locations all around the inner pipe 8, 16, 21. ing. In this embodiment, a pipe support fitting 28 is provided between the side surface of the inner pipe 16 (8, 21) and the inner face of the PVC pipe 9, and a water supply pipe 29a, a drain pipe 29b, and a transmission are provided above the pipe support fitting 28. A tube 30a, a power line 30b, a lubricant tube 31 and the like are provided. A mud pipe 33 and a mud pipe 32 are disposed below the pipe support fitting 28.

  As shown in FIG. 5, a main pushing device 203 is installed in the starting shaft 201, and propulsive force is applied to the excavator 205 (FIG. 1) via the inner pipe 21 (8, 16) by this main pushing device 203. Communicated. This propulsive force is also transmitted to the PVC pipe 9 via the pusher 15 of the pusher inner pipe 16 (FIG. 3).

  In addition, a launcher 35 serving as a survey start point of the survey gyro cart 76 is provided in the start shaft 201 during surveying. The launcher 35 has a storage space for the surveying gyro bogie 76 that is open at the top, and includes a base point detection mechanism 36 for the surveying gyro bogie 76 and a cart collision buffer mechanism 41.

  The base point detection mechanism 36 includes a prism 37, a transition 38, and a mirror 39 provided at the rear end of the surveying gyro cart 76, and the reflection reflected on the prism 37 and the mirror 39 of the surveying gyro cart 76 by the transit 38. The survey start point (survey base point) is set by checking the light 40 and measuring the position of the survey gyro cart 76.

  Further, the cart collision buffer mechanism 41 has a shock absorber 42 at the rear end portion of the launcher 35, and relieves shock when the surveying gyro cart 76 is moved backward to come into contact with the shock absorber 42. Yes. The position at which the rear end of the surveying gyro cart 76 is brought into contact with the shock absorber 42 is the surveying start point.

  Further, the launcher 35 supports the rear end portion of the surveying gyro bogie 76 with a shock absorber 42 serving as a positioning portion at the time of setting the survey start point, and a connecting portion 90 between the surveying gyro bogie 76 and the starter cart 71. Is provided with a refracting portion 45 that can be slightly displaced in the vertical direction. The refracting portion 45 has a hinge 48 that includes a launcher body front portion 46 connected to the rear end of the inner tube 21 (8, 16) and a launcher body rear portion 47 provided with the carriage collision buffer mechanism 41 at the rear end. They are connected and allow refraction in the vertical direction.

  Thus, the vertical angle of the launcher body rear portion 47 can be changed with respect to the launcher body front portion 46 set to the same angle as the axial center angle of the inner pipe 21 (8, 16). By making the angle changeable in this manner, even when the inner pipe 21 (8, 16) is inclined downward, the launcher main body rear portion 47 is inclined upward, so that the surveying gyro cart 76 is set at the time of setting the survey start point. The rear end portion is arranged to be inclined upward so as to contact the shock absorber 42 so that a stable survey start point can be set in this state.

  On the other hand, as shown in FIG. 6, a stop magnet 51 that is detected by a magnetic sensor 87 (FIG. 1) provided at the tip of the starter truck 71 is provided in the starter truck storage fixed tube 3. When the stop magnet 51 is detected by the magnetic sensor 87 of the starting carriage 71, the starting carriage 71 is stopped. This is the stop sensor 50 that stops the starting carriage 71. A stop signal switch 52 is provided in the vicinity of the stop magnet 51 so as to detect that the stop is made when the tip of the starting carriage 71 comes into contact.

  In addition, on the excavator side (front side) of the starter truck storage fixed pipe 3, a car collision buffer mechanism 53 that supports the front end of the starter truck 71 is provided. The cart collision buffer mechanism 53 has a shock absorber 54 that reduces the impact when the front end of the starting cart 71 comes into contact.

  Further, as shown in FIG. 7, the starter cart housing folded tube 4 is provided with a horizontally folded portion 55 that is bent in the horizontal direction, and can be folded at the rear position of the launch vehicle housing tube 2. It has become. The middle folded portion 55 is formed by connecting a front flange 57 projecting rearward from the front middle folded tube 56 and a rear flange 59 projecting forward from the rear middle folded tube 58 by a vertically arranged pin 60. It is what. Thus, the pin 60 can be bent between the front flange 57 and the rear flange 59 around the pin 60. The middle folding portion 55 is provided with a middle folding sensor 61 so that the middle folding angle of the middle folding portion 55 can be detected. A cylindrical seal receiver 62 projects from the rear folded tube 58 on the outer periphery of the middle folded section 55, and a seal material 63 is provided on the seal receiver 62. A collar 64 provided on the front folded tube 56 is in contact with the outer periphery of the sealing material 63 and sealed.

  As shown in FIG. 1, when the starting carriage 71 is stored in the starting carriage storage fixed pipe 3 of the starting carriage storage pipe 2, the surveying gyroscope is placed at a predetermined position of the station pipe 5 serving as a surveying end point. The carriage 76 is stopped. In this way, until the survey gyro carriage 76 reaches the survey end point, the azimuth angle is measured by the gyro 77 at a predetermined interval from the survey start point of the launcher 35 (FIG. 5) provided in the start shaft 201, and the gyro data is Is recorded in a gyro data collector 79 (to be described later) of the surveying gyro cart 76.

  FIG. 8 is a side view, partially in section, of a surveying robot apparatus for propulsion method according to an embodiment of the present invention, FIG. 9 is a cross-sectional view taken along the line IX-IX shown in FIG. 8, and FIG. FIG. 11A is a cross-sectional view taken along the line XIa-XIa shown in FIG. 8, and FIG. 11B is a cross-sectional view taken along the line XIb.

  As shown in FIG. 8, the start-up cart 71 of the surveying robot device 70 for propulsion method measures the driving distance 72 from the surveying gyro cart 76, the battery 73 as the power source, and the travel distance from the survey start point. A distance measuring device 74 and an activation cart controller 75. The surveying gyro cart 76 includes a gyro 77, a gyro controller 78, a gyro data collector 79, a communication antenna 80, and the like.

  As shown in FIGS. 8 and 9, the starting carriage 71 that travels in the space 10 (traveling path 10) of the inner pipe 8 is provided with a driving wheel 81 at the tip, and this driving wheel 81 is connected to the above-mentioned via a gear mechanism 82. It is driven by a drive machine 72. The gear mechanism 82 drives the shaft 81a of the drive wheel 81 via a bevel gear that transmits the power of the drive device 72 to an orthogonal shaft and a plurality of gears that decelerate the power. The gear mechanism 82 may have other configurations. The driving wheel 81 is provided with two wheels apart on both sides of the rail 12 laid at the center in the width direction of the inner pipe 8. By using two driving wheels 81, even if one of the wheels 81 slips, the starter carriage 71 can reliably run on the other side.

  Further, a side wheel 85 is provided in front of the drive wheel 81 so as to sandwich the rail 12 from the left and right. The side wheels 85 are rotatably provided on a support shaft 86 that protrudes downward from the starting carriage 71.

  One rail 12 laid on the inner pipe 8 is provided at the lower center of the inner pipe 8 in the width direction, and a minimum gap is provided between the side surface of the rail 12 and the side wheel 85. By arranging so as to be sandwiched between the side wheels 85, the starter truck 71 and the surveying gyro truck 76 are prevented from meandering. The gap between the rail 12 and the side wheel 85 is set to be a gap that does not affect the surveying accuracy, and the survey gyro cart 76 does not move in parallel. Further, the gap between the side wheels 85 and the rails 12 is further narrowed at the positions of the launcher 35 and the station tube 5 in order to improve the survey accuracy at the survey start point and the survey end point.

  Furthermore, by providing the starter truck 71 with a battery 73 (power source) and providing a power supply function for driving the drive device 72, the starter truck 71 can be self-propelled without having wiring or the like. The towed surveying gyro cart 76 can be made to travel stably. An activation carriage controller 75 is provided behind the battery 73. The starting carriage controller 75 has a function of stopping the starting carriage 71 by stopping the driving machine 72 when the magnetic sensor 87 detects the stop magnet 51 (FIG. 6). Note that a contact member 89 that contacts the shock absorber 54 (FIG. 1) at the time of stopping is provided at the front end of the starting carriage 71.

  As shown in FIGS. 8 and 10, a distance measuring device 74 is provided behind the start-up cart controller 75. The distance measuring device 74 of this embodiment is an encoder, and is provided on a shaft 83a of a measuring wheel 83 which is a driven wheel rotatably supported by a bracket 71a provided on the starting carriage 71. The measuring wheel 83 is provided with one wheel at the center in the width direction and travels along the upper surface of the rail 12 provided at the center of the inner pipe 8. By making this measuring wheel 83 one wheel, the wheels supporting the starter truck 71 are made three wheels, and the weight acting on the one measuring wheel 83 is increased so that it is difficult to slip, thereby stabilizing the measurement accuracy. I am trying. Further, by providing one wheel in the center, even if a curved construction is performed, an inner ring difference or the like does not occur through the central portion of the inner pipe 8.

  Further, a side wheel 85 is provided in front of the measurement wheel 83 so as to sandwich the rail 12 from the left and right, and the starter truck 71 is connected to the rail 12 by the side wheel 85 in front of the drive wheel 81. It is guided to run along.

  Furthermore, as shown in FIG. 8, in this embodiment, a magnetic sensor 88 is also provided above the distance measuring device 74, and the inner tube number count / distance provided at a predetermined position on the inner tube 8 side. The calculation point magnet 13 is detected. This inner tube count / distance calculation point magnet 13 is provided for each inner tube 8 having a predetermined length. The number of inner pipes detected by the magnetic sensor 88, the distance measured by the distance measuring instrument 74, and the like are stored in the storage unit of the starter truck controller 75.

  The starting carriage 71 and the surveying gyro carriage 76 are connected by a connecting bar 91 provided in the connecting portion 90. The connecting bar 91 is connected by a pin 92 provided in the vertical direction from the starter truck 71 and the surveying gyro car 76, and is connected in a state in which it can rotate in the horizontal direction. Further, a slight displacement (refraction) is also possible in the vertical direction due to the gap between the pins 92.

  As shown in FIGS. 8 and 11, the surveying gyro cart 76 is provided with a plurality of guide wheels 93 and 94 before and after the gyro 77, and the guide wheels 93 and 94 guide the traveling path 10 of the inner pipe 8. It is designed to run stably. The upper guide wheel 94 is provided with an impact absorbing mechanism (not shown) and normally travels with a predetermined gap from the inner surface of the inner tube 8 and comes into contact with the inner tube 8 when displaced upward. It is designed to absorb shocks. The surveying gyro bogie 76 is also provided with side wheels 85 at the front and rear portions so as to sandwich the rail 12 laid on the inner pipe 8 from the left and right as described above. By minimizing the gap, the meandering of the surveying gyro cart 76 is minimized and the surveying accuracy is improved.

  Further, the gyro controller 78 is provided in the front part of the surveying gyro bogie 76, and the data collection interval by the gyro 77 is controlled. The gyro data collector 79 is provided at the rear portion of the surveying gyro cart 76 so that the gyro data collected by the gyro 77 is stored. On the side surface of the gyro data collector 79, a stop magnet (not shown; provided at a position corresponding to the position of the magnetic sensor 95 shown in FIG. 5 and having the same configuration as the stop magnet 51) is returned to the launcher 35. A launcher-side stop magnetic sensor 95 for detecting the above is provided.

  Further, at the rear part of the gyro data collector 79, there are provided a mirror 39 for reflecting light for measuring the positive diagonal at the survey start point, a communication antenna 80 projecting rearward, and a rescue hole 97. The traction member 96 is provided. The communication antenna 80 has a communication function for transmitting gyro data stored in the gyro data collector 79 to a personal computer or the like. As shown in FIG. 11 (b), the rescue hole 97 provided in the rear end portion of the pulling member 96 is a hole penetrating in the vertical direction, and is hooked by a hook 98 (locking tool) from behind. It is provided in a shape that can be used. The rear end of the pulling member 96 is a portion that abuts against the shock absorber 42 of the launcher 35 (FIG. 5).

  As described above, the space 10 penetrating in the axial direction of the inner pipe 8 is used as a travel path, and the starter truck 71 and the surveying gyro car 76 are traveled along the rails 12 extending in the axial direction laid on the travel path 10. As a result, the distance and azimuth angle from the survey start point of the start shaft 201 set by the launcher 35 to the survey end point where the start cart 71 is stored in the start cart storage tube 2 and the survey gyro cart 76 stops at the station tube 5 are accurately determined. Thus, the position of the excavator 205 can be accurately measured.

  The position of the surveying machine 205 at the surveying end point where the surveying gyro bogie 76 is stopped at a predetermined position of the station tube 5 is the distance and azimuth to the surveying gyro bogie 76 stopped at the station tube 5 and the surveying of the station tube 5 described above. It is obtained by calculation from a preset distance from the stop position of the gyro cart 76 to the excavator 205 and the detection angle of the middle folding sensor 61.

  The surveying robot apparatus 70 as described above performs survey of the curved route as follows.

  First, in the start shaft 201, the dolly is set in the inner pipe 8 and the launcher 35 in the order of the start dolly 71 and the surveying gyro dolly 76 from the upper opening of the launcher 35. Then, the back of the surveying gyro cart 76 is backed by radio until the rear end of the survey gyro cart 76 contacts the shock absorber 42 of the launcher 35, and the gyro of the gyro on the launcher 35 is adjusted in a state where the rear end of the survey gyro cart 76 contacts the shock absorber 42. The operator actually measures the diagonal.

  Thereafter, when a start signal is given wirelessly, after the gyro initialization time elapses, the start cart 71 automatically accelerates while controlling the speed, and pulls the surveying gyro cart 76. The azimuth angle is detected by the gyro 77 at every certain distance, and the travel distance is measured by the distance measuring device 74 and stored in the gyro data collector 79.

  Next, it is activated by detecting a decelerating magnet (for example, a magnet 13 provided on the inner pipe 8 of the several pipes before the leading inner pipe 7; not shown) at a previously stored location before the station pipe 5. The carriage 71 starts decelerating. At that time, monitoring is performed so that the starting carriage 71 can be stably stopped at a predetermined position of the starting carriage housing fixing tube 3 by constantly comparing the distance detected by the distance measuring instrument 74 (encoder).

  Then, the starter truck 71 is stopped by detecting the stop magnet 51 on the excavator side. At this time, even if the tip of the starting carriage 71 contacts the shock absorber 54, the impact is alleviated. In the state where the starting carriage 71 is stopped at the predetermined position, the stop is detected by a signal from the stop signal switch 52, and the surveying gyro carriage 76 is stopped at the predetermined position of the station pipe 5, and the end point of the surveying is reached at that position. Measurement is performed.

  After the surveying gyro bogie 76 is thus stopped at a predetermined position of the station pipe 5 and the surveying end point is measured, the starting cart 71 automatically returns to the start shaft 201 side. Then, the surveying gyro cart 76 returned to the launcher 35 detects a stop magnet (not shown) and stops. At this time, even if the rear end of the surveying gyro bogie 76 contacts the shock absorber 42, the impact is alleviated. In this way, with the surveying gyro bogie 76 returning to the launcher 35, the normal diagonal of the surveying gyro bogie 76 on the launcher 35 is measured again by the operator.

  If there is no major abnormality in the normal diagonal, the surveying gyro cart 76 and a personal computer (not shown) are connected, the collected and stored gyro data is transmitted to the personal computer, and the route is calculated by the personal computer from the gyro data. The result of the route (curved route) is output.

  If there is no problem with the route result, the carts are collected in the order of the surveying gyro cart 76 and the start cart 71 from the upper opening of the launcher 35.

  As described above, according to the surveying robot apparatus 70 having the above-described components and functions, the position of the excavator 205 in the small-diameter propulsion method is stabilized by sufficiently exerting the accuracy of the gyro 77 by the above operation. Surveying is possible.

  FIG. 12 is a plan view schematically showing the bending state of the excavator surveyed by the propulsion method surveying apparatus shown in FIG. 1, and the excavator 205 is curvedly propelled as described above to follow the curve construction. Thus, even when the inner pipe 8 and the PVC pipe 9 are embedded, the surveying robot apparatus for propulsion method using the space 10 of the inner pipe 8 and the starting carriage 71 and the surveying gyro carriage 76 (FIG. 1). By running 70, the position of the excavator 205 can be accurately measured from the start pit 201 side.

  As described above, according to the surveying robot device 70 for the propulsion method, even when the PVC pipe 9 is curved by using the space 10 in the central portion of the inner pipe 8 as a surveying area and bending the excavator 205. The position of the excavator 205 can be accurately measured by running the surveying gyro bogie 76 along the rail 12 of the space 10 of the inner pipe 8, so that the excavator 205 is always bent in the correct direction based on the data. Can be controlled to advance.

  That is, since the space 10 penetrating the inner pipe 8 is used as a surveying area as a space in which piping and wiring are not arranged, the starter truck 71 that self-runs in the space 10 and the starter truck 71 are laid in the space 10. With the surveying gyro cart 76 that runs along the rails 12 that extend in the axial direction, the accuracy of the gyro 77 can be fully demonstrated, and it is possible to accurately measure the curve construction of the excavator 205 and changes in all directions. Become.

  In the above embodiment, the mud type excavator 205 has been described as an example. However, the type of the excavator 205 may be determined according to the geology and the like, and is not limited to the above embodiment.

  Moreover, although the said embodiment demonstrated the example which used the internal space of the inner pipe | tube 8 of a rectangular cross section as the travel paths 10 and 11, the travel paths 10 and 11 are not restricted to a rectangular cross section, A round travel path is also used. The cross-sectional shape of the traveling paths 10 and 11 is not limited to the above embodiment.

  Furthermore, the above-described embodiment shows an example, and various modifications can be made without departing from the gist of the present invention, and the present invention is not limited to the above-described embodiment.

  The surveying robot device for the propulsion method according to the present invention is used for the propulsion method when a buried pipe having a diameter of about 300 mm or more such as a sewer pipe is subjected to a curve construction with a curvature radius of about 50 m to 60 m and is buried at a long distance. it can.

Surveying device for 1 propulsion method
2 Starting dolly storage tube
5 Station tube
6 Adapter tube
7 Leading inner pipe
8 Inner pipe
9 PVC pipe 10 Space (Runway)
11 Space (Runway)
12 Rail 13 Inner tube count and distance calculation point magnet 25 Bending part 26 Axis 35 Launcher 36 Base point detection mechanism 37 Prism 38 Transit 39 Mirror 40 Reflected light 41 Dolly collision buffering mechanism 45 Refraction part 46 Launcher body front part 47 Launcher body rear part 48 Hinge 50 Stop sensor 51 Stop magnet 52 Stop signal switch 53 Cart collision buffer mechanism 55 Middle folding section 70 Surveying robot device 71 Start-up cart 72 Drive machine 73 Battery 74 Distance measuring instrument 75 Start-up cart controller 76 Survey gyro-cart 77 Gyro 78 Gyro Controller 79 Gyro data collector 80 Communication antenna 81 Drive wheel 83 Measuring wheel 85 Side wheel 87 Magnetic sensor 88 Magnetic sensor 90 Connecting part 91 Connecting bar 92 Pin 95 Launcher side stop magnetic sensor 96引部 material 97 rescue hole

Claims (5)

An inner pipe having a space penetrating in the axial direction is inserted inside the buried pipe, and the buried pipe is buried in the ground excavated by applying a driving force to the excavator with a main pushing device installed in the start shaft. A surveying robot device in a propulsion method that forms a path,
An activation carriage that self-travels along one rail laid in the axial direction of the space through which the inner pipe penetrates, and a surveying gyro carriage that travels along the rail connected to the activation carriage,
The starting cart and the surveying gyro cart are connected so as to be bendable,
The starter truck has a drive unit that self-propels and pulls the surveying gyroscope, a distance measuring instrument, and an starter truck controller,
The surveying gyro bogie has a gyro and a gyro data collection and storage function of the gyro ,
The drive machine has two drive wheels provided apart on both sides of the rail,
The distance measuring device is provided with a wheel at the center in the width direction of the distance measuring device, and has a measuring wheel capable of traveling along the upper surface of the rail .   The surveying robot apparatus for propulsion method according to claim 1, wherein the starting carriage and the surveying gyro carriage are connected by a connecting portion that can be bent in a horizontal direction and a vertical direction.   The surveying robot apparatus for propulsion method according to claim 1 or 2, wherein the surveying gyro bogie has a communication function for the collected and stored gyro data. The propulsion method according to any one of claims 1 to 3, wherein at least one of the starting carriage and the surveying gyro carriage has side wheels provided so as to sandwich the rail from right and left. Surveying robot device.   The surveying robot device according to any one of claims 1 to 4, wherein the surveying gyro bogie has a rescue hole at a rear end.

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