JP6081706B2 - Position measurement method and equipment in small-diameter propulsion method capable of sharp curve construction - Google Patents

Description

The present invention relates to a position measuring method in a propulsion method in which a buried pipe such as a wire protection pipe or a cable laying pipe is laid without cutting, and particularly when a small-diameter pipe is propelled in a sharp curve, the leading conductor and the following propulsion pipe The present invention relates to a method and an apparatus for measuring the position of an object.

The propulsion method for small-diameter pipes is an extremely efficient method as it does not hinder ground traffic compared to the open-cut method. Especially in towns, there is a need to reduce traffic restrictions near intersections to ease traffic congestion. For this reason, when laying electric wire protection pipes and cable laying pipes along the road, it is desired to promote a small-aperture with a sharp curve in accordance with a 90-degree bend at an intersection or the like. This can be done by laying and constructing wire protection pipes along the road by a small non-open-cut method, and it is possible to minimize road regulations that hinder traffic, and at the time of construction and propulsion of shafts, This is because construction can be done without using land.

Although such a small-diameter pipe can be sharply propelled itself, the propulsion method in which multiple small-diameter pipes are propelled to the same location, the planned position while measuring the position from the base point to the tunnel tip at any time. It must be promoted by correcting the direction.

In the conventional small-diameter propulsion method, the following method is used as a linear measurement method for a curved portion. The first is to run a gyro bogie in the propulsion pipe, grasp the alignment from the base shaft to the tunnel tip, and measure the position of the propulsion pipe. Secondly, a light wave transit or similar device is installed in a visible range in the propulsion pipe, and the section from the base point to the tunnel tip is automatically measured by open traverse to grasp the tip position. In this method, measurement equipment (CCD camera sensors) installed at multiple locations in the propulsion pipe is used to measure the targets in the excavator and the propulsion pipe, and the information sent from these is calculated on the ground PC. The error between the planned promotion direction and the construction direction is quickly calculated.

In addition to the above, although it is different from the small-diameter propulsion method, in the method called HDD-system, the electromagnetic wave of the transmitter housed in the pilot head pipe is caught by the ground receiver and the position of the tunnel tip There is also a way to figure out.

However, there are the following problems in using these conventional position measurement methods for position measurement in a small diameter propulsion method having an inner diameter of 150 mm, for example.

In the case of measurement by a gyro bogie, since the existing gyro bogie is a type that self-propels in the propulsion pipe, the inner diameter of the propulsion pipe must be 250 mm or more considering the size of the gyro bogie main body and the travel path. That is, it cannot be used in a small-diameter pipe having a smaller inner diameter, for example, an inner diameter of 150 mm.

In addition, in the case of open traverse surveying using a light wave transit or similar device, the device measures the position of the tunnel tip from the base point in the shaft by collimating each of the preceding and following devices. It must be on a straight line where you can see each other. Therefore, the sharper the curve, the more measurement devices are required. In addition, at present, the apparatus having an outer shape of 250 mm or more is the smallest. Therefore, the current apparatus cannot be used for a small-diameter pipe having an inner diameter of 150 mm.

Also, in the case of the HDD-system electromagnetic wave system, a receiver must be brought directly above the transmitter to measure the tip position. In some cases, such as in the case of heavy traffic crossings or intersections, construction may become impossible. Also, because of the electromagnetic wave system, there are other buried pipes and underground structures such as underground structures between the underground transmitter and the ground receiver, or there are power pipes that transmit electromagnetic waves nearby. In some cases, the measurement is difficult and the accuracy is lowered.

Therefore, as shown in Patent Document 1, in the curve propulsion method of burying the buried pipe along the curve while forming the curved buried hole with the leading conductor, for each bent portion of the buried pipe row to be pushed, Bending angle detection means capable of detecting the relative bending angle between the front part and the rear part at the location, and calculating the bending angle at each bending location detected by the bending angle detection means to calculate the leading angle. A position measuring method for knowing the position of the body and each buried pipe has been developed, and a normal angle detecting sensor device such as a rotary encoder is used as the bending angle detecting means.
JP-A-5-52093

However, the rotary encoder used in the bending angle detection means is usually used for distance measurement and is not suitable for capturing a minute change in bending angle, which is used to measure the rotation angle of curve propulsion. However, there is a problem in measurement accuracy even if it is used. Therefore, for example, in a sharp curve propulsion method with a small diameter having an inner diameter of 150 mm or less, it is currently impossible to accurately measure the position from the base point of a shaft or the like to the tunnel tip.

Therefore, the present invention is based on these conventional techniques, and for example, even in a sharp curve propulsion method with a small diameter of 150 mm, it is easy to detect each position of the leading conductor and the propelling pipe behind the leading conductor, and the measurement accuracy. It is an object of the present invention to provide a position measuring method and apparatus capable of high measurement.

The invention of claim 1 is a small-diameter propulsion method in which a plurality of propulsion pipes are sequentially connected to the rear side of a leading conductor via a joint, and the leading conductor and the plurality of propulsion pipes are propelled into the soil. The one joint member and the other joint member are connected by a vertical pin so as to be horizontally rotatable, and the rotation of the vertical pin integral with the one joint member relative to the other joint member is rotationally amplified to the other joint member. It is detected by the rotary encoder provided, the horizontal rotation angle of each of these multiple joints is detected, the distance between these and the front and rear joints is calculated, and the vertical position measurement near the tip conductor is further calculated . A position measurement method was performed in which the position from the base point of each propulsion pipe to the leading conductor was measured in three-dimensional coordinates .

According to a second aspect of the present invention, in the first aspect of the present invention, the rotationally amplifying means includes a vertical pin integral with the one joint member and a rotary encoder provided on the other joint member. The pulleys or gears having different positions were provided, and the position measurement method was performed by rotationally connecting these pulleys or gears.

Further, the invention of claim 3 has a small diameter in which a plurality of propulsion pipes are sequentially connected to the rear side of the leading conductor via a joint that is rotatable in the horizontal direction, and the leading conductor and the plural propulsion pipes are propelled into the soil. In the propulsion device, each of the joints is such that one joint member and the other joint member are connected by a vertical pin so as to be horizontally rotatable, and the rotation of the vertical pin integral with the one joint member with respect to the other joint member is amplified. An existing water-filled vertical direction in which a rotation encoder is provided, and a rotary encoder that detects the rotation of the vertical pin through the rotation amplification unit is provided in the other joint member to measure the position in the vertical direction near the leading conductor. Position measuring means is provided, the rotation angle of each joint by the rotary encoder and the distance between the front and rear joints are totaled, and the vertical position measuring means obtains the vertical position near the leading conductor, Based comprises means for calculating measured position until the leading body in three-dimensional coordinates from the origin of the propulsion tube, and a position measuring device.

According to a fourth aspect of the present invention, the rotation amplifying means includes a pulley or a gear having different diameters on a vertical pin integrated with the one joint member and a rotary encoder provided on the other joint member. The position measuring device according to claim 3, wherein these pulleys or gears are rotationally connected .

The invention according to claim 5 provides the position measuring device according to claim 3 or 4, wherein the joint member is provided with a stopper structure that can rotate the vertical pin of the one joint member only by a certain width. It was .

Further, the invention of claim 6 covers the outer periphery of one joint member and the other joint member of each of the joints by covering a ring made of a stretchable member, and provided a reinforcing spring on the inner periphery of the ring. The position measuring device according to any one of claims 3, 4 and 5 .

The invention according to claim 7 is the position measuring device according to claim 6 in which the wiring and piping passing through the joint portion are wound in a spiral shape around the circumference of the joint .

According to the first and third aspects of the invention, in the sharp curve propulsion method, the horizontal rotation of the vertical pin of each joint is rotationally amplified, and then the rotationally amplified rotation is detected by the rotary encoder. Can be reliably and accurately detected. Accordingly, for example, even in small-diameter propulsion having an inner diameter of 150 mm, which is impossible with the conventional method, the position of the leading conductor and the subsequent propulsion pipe can be measured easily and accurately simultaneously with excavation.

In addition to the above effects, the vertical position detection can be performed by adopting a conventionally used water-filled measurement in addition to the horizontal curve angle detection. As a result, the position of the leading conductor can be measured in three dimensions, and the position of the propulsion pipe following the leading conductor also follows the locus of the leading conductor because each joint bends only in the horizontal direction. As a result, three-dimensional measurement is possible, and a higher measurement accuracy can be obtained.

According to the second and fourth aspects of the present invention, the rotation amplifying means includes a pulley or a gear having different diameters in a vertical pin integrated with one joint member and a rotary encoder provided on the other joint member. Since each is provided and these pulleys or gears are rotationally connected, rotation amplification can be reliably performed.

According to the invention of claim 5 , since the rotation angle of each joint can be limited to a certain angle, the joint connecting the propulsion pipe does not bend more than necessary. For this reason, the tunnel hole wall is prevented from being damaged due to excessive meandering prevention during straight line propulsion and excessive bending of the joint portion during soft ground curve propulsion, and propulsion is facilitated.

According to the invention of claim 6 , since the outer periphery of each joint is covered with a ring made of a stretchable member, earth and sand do not flow from the outside, and a reinforcing spring is provided on the inner periphery of the ring. Therefore, it is possible to withstand external pressure and reliably secure the rotation space of each joint, and it is possible to ensure measurement accuracy without interfering with the bending operation and position measurement of the propulsion pipe.

Further, according to the invention of claim 7, since the wiring and piping passing through the joint location are wound spirally at the joint location, there is play, and even if the joint location is bent, this is absorbed. Can cope with bent joints. Moreover, the rotation space of each joint can be ensured reliably, and the measurement accuracy can be ensured without interfering with the bending operation and position measurement of the propulsion pipe.

The present invention relates to a small-diameter propulsion method in which a plurality of propulsion pipes are sequentially connected to a rear side of a leading conductor via a joint, and the leading conductor and the plurality of propelling pipes are propelled into the soil. The joint can be rotated freely and / or vertically, and the joint can be rotated in the horizontal direction. One joint member and the other joint member are rotatably connected by a vertical pin, and are integrated with the one joint member. The rotation of the vertical pin with respect to the other joint member is detected by a rotary encoder that is rotationally amplified and provided on the other joint member, and is configured to be rotatable in the vertical direction of the joint. These joint members are connected rotatably by a horizontal pin, and the rotation of the horizontal pin integral with the one joint member relative to the other joint member is amplified by a rotary encoder provided on the other joint member. Then, the horizontal and vertical detected rotation angles of these joints and the distance between the front and rear joints are calculated and calculated, and the position from the base point of the propulsion pipe to the tip of the leading conductor is simultaneously three-dimensionally coordinated. The position measurement method obtained by

As a result, even in small-diameter propulsion having an inner diameter of 150 mm, which is impossible with the conventional method, for example, the position measurement by the three-dimensional coordinates of the leading conductor and the subsequent propulsion pipe can be easily and accurately performed simultaneously with excavation.

Embodiment 1 of the present invention will be described below with reference to the drawings. 1 is a side sectional view of the joint of the present invention, FIG. 2 is a plan view of the joint of the present invention, FIG. 3 is an explanatory plan view of the rotation amplification means of the joint of the present invention, and FIG. 4 is a rotation amplification means of the joint of the present invention. FIG. 5 is an explanatory view showing the structure for restricting the rotation width of the joint according to the present invention. FIG. 5 (a) shows a state in which the joint is connected on a straight line, and FIG. 5 (b) shows the joint. FIG. 6 is a view showing a state bent to the rotation regulation width, FIG. 6 is an explanatory view showing a state in which the joint of the present invention and the propulsion pipe are connected as one unit, and FIG. 7 is a plan view showing a use state of the small-diameter propulsion device of the present invention. FIG.

First, the small-diameter propulsion method and the apparatus according to the present invention will be described with reference to FIG. As shown in FIG. 7, the shaft 1 is sequentially propelled into the soil while connecting a leading conductor 2 and a number of propulsion pipes 3 following the leading conductor 2. At that time, the leading conductor 2 and the subsequent propulsion pipes 3 and the respective propulsion pipes 3 are connected by a joint 4.

The propulsion is performed by pushing the leading conductor 2 into the soil by a jack (not shown) provided at the rear portion of the leading conductor 2, and by pushing a propelling pipe 3 behind the leading conductor 2 by a pushing device 5 provided on the shaft 1. Extrude.

The direction of the curved portion is corrected by press-fitting with a hydraulic jack (not shown) in the leading conductor 2 in the direction in which the oblique cutting head 2a whose end is closed is to be corrected. The direction of the oblique cutting head 2a is grasped by measuring the rotational position with a sensor. Further, the curve construction including the curvature radius of 15 mR is performed by combining the curve construction by press-fitting by stopping the rotation of the oblique cutting head 2a and the linear construction by press-fitting by rotating the oblique cutting head 2a.

Next, the joint 4 will be described. As shown in FIGS. 1 to 4, the joint 4 projects a plate-like tongue piece 6 horizontally from the center of the tip of one joint member 4 a in the longitudinal direction. The vertical pin 7 is fixed integrally with the tongue piece 6 through the central portion of the tongue piece 6.

The other joint member 4b is provided opposite to the joint member 4a. The other joint member 4b is provided with an opening groove 8 into which the tongue piece 6 is inserted, the center of which is horizontally cut out, and above and below the opening groove 8, the vertical pin. Holes 9 and 9 are provided in which upper and lower portions of 7 are rotatably fitted.

The tongue piece 6 of the one joint member 4a is inserted into the opening groove 8 of the other joint member 4b, and the upper and lower portions of the vertical pin 7 of the tongue piece 6 are the upper and lower holes 9, 9 of the opening groove 8. Is fitted. Thereby, one joint member 4a integral with the vertical pin 7 and the other joint member 4b having the opening groove 8 are connected by the vertical pin 7 so as to be rotatable in the horizontal direction.

Further, a first large-diameter pulley 10 that rotates integrally with the vertical pin 7 is provided at the lower end of the vertical pin 7, and a first small-diameter pulley 11 is provided at the lower end surface of the other joint member 4b. Is provided. The first large-diameter pulley 10 and the first small-diameter pulley 11 are connected by a toothed belt 12.

The rotary shaft 13 of the first small-diameter pulley 11 passes through the top and bottom of the other joint member 4b, and a second large-diameter pulley 14 is provided at the upper end of the rotary shaft 13 protruding from the upper end surface thereof. Yes. The rotating shaft 13 and the first small diameter pulley 11 and the second large diameter pulley 14 are integrated.

The other joint member 4b is provided with a rotary encoder 15, a rotary shaft 15a of the rotary encoder 15 is provided with a second small-diameter pulley 16, and the second small-diameter pulley 16 and the second large-diameter pulley 16 are provided. The diameter pulley 15 is connected by a toothed belt 17.

Thereby, when one joint member 4a bends at an angle with respect to the other joint member 4b, the vertical pin 7 rotates with respect to the other joint member 4b, and this rotation is the first large-diameter pulley 10, The toothed belt 12, the first small-diameter pulley 11, the rotating shaft 13, the second large-diameter pulley 14, the toothed belt 17, and the second small-diameter pulley 16 are transmitted to and integrated with the rotating shaft of the rotary encoder 15. 15a rotates.

At that time, the first large-diameter pulley 10 is rotated and amplified in two stages from the first small-diameter pulley 11 and the second large-diameter pulley 14 to the second small-diameter pulley 16 to increase the number of rotations. Therefore, even if the rotation of the vertical pin 7 is slight, the rotation shaft 15a of the rotary encoder 15 rotates greatly, and the rotation angle can be easily detected.

Further, the both side edges 6a of the tip end of the tongue piece 6 of the one joint member 4a in the opening groove 8 of the other joint member 4b are not curved along the outer peripheral diameter of the vertical pin 7, FIG. As shown to (a), since the center part is substantially linear and the both-sides edge is curving slightly, and the back end face 8a of the opening groove 8 of the other joint member 4b is linear, When the joint member 4a rotates, as shown in FIG. 5 (b), the tip one side edge 6a of the tongue piece 6 hits the back end face 8a of the opening groove 8 and cannot be rotated any more. That is, it has a stopper structure that restricts the rotation of the joint 4.

A ring 18 is provided on the outer periphery of the joint 4 so as to connect the outer periphery of one joint member 4a and the other joint member 4b. The ring 18 is an elastic rubber ring, and a reinforcement spring 19 is provided on the inner periphery of the ring 18. This prevents the external earth and sand from entering the joint member 4a or 4b, can withstand pressure from the outside, and ensures smooth movement of the joint member 4a or 4b. And since the ring 18 is telescopic, it can respond also to the bending of one joint member 4a and the other joint member 4b.

Further, as shown in FIG. 6, the propulsion pipes 3 and 3 are connected to the joint members 4a and 4b of the joint 4, respectively. In a factory or the like, propulsion pipes 3 and 3 are connected to both ends of each joint 4, and a large number of these are prepared as one unit, which are carried into a propulsion construction site. When the propulsion pipes 3 are sequentially connected to the rear of the two, the propulsion pipes 3 are connected in a straight line by bolts or the like. In this way, when the joints of the propulsion pipes 3 and 3 connected in advance to both ends of the joint 4 are set as one unit, the straight line connection between the propulsion pipes 3 on the site can be easily performed.

As described above, as shown in FIG. 7, the earth is propelled while being connected from the shaft 1 through the leading conductor 1 and the joint 4 of the propulsion pipe that follows this. At that time, the bending angles of the joints 4 are detected by the rotary encoders 15 and summed up, and the lengths of the leading conductor 2, the propelling pipe 3 and the joint 4 are known in advance. The position of the leading conductor 2 and the subsequent propulsion pipe 3 is calculated and measured.

Actually, the angle detection data of the rotary encoder 15 of each joint 4 is accumulated in a central control device provided in the shaft 1 by multiplex transmission, and the leading conductor 2 is measured from the measurement base point of the rearmost propulsion pipe 3 of the shaft 1. The position or trajectory up to the tip of can be obtained.

At that time, as shown in FIG. 8, a conventional water filling method is adopted for the vertical position detection. In this position detection, a puddle measuring instrument 21 which is a liquid differential pressure sensor is provided in the vicinity of the leading conductor 2, and a puddle reference device 22 provided in the shaft 1 is connected by a water conduit 23, and a puddle reference device is provided. The position of the leading conductor 2 with respect to the reference point of 22 is measured by the puddle measuring instrument 21, and in addition to the accumulated data of the horizontal rotation angle and the distance between the front and rear joints, the position detection value in the vertical direction is matched, The position or trajectory can be obtained with three-dimensional coordinates. In addition, when multiple lines are constructed at the same location, the second and subsequent constructions can be facilitated, including prior studies.

In this way, the tunnel is completed by propelling in the soil and the leading conductor 2 reaches a reaching shaft (not shown), and then each propulsion pipe 3 is removed from the tunnel and simultaneously replaced with a cable laying pipe.

FIG. 9 shows a joint 24 according to Embodiment 2 of the present invention. In the second embodiment, only the joint 24 is different from the first embodiment, and other configurations are the same.

The joint 24 can freely rotate in the horizontal direction and in the vertical direction, and is configured to detect these rotation angles. In the joint 24, an intermediate joint member 24c is provided between one joint member 24a and the other joint member 24b.

One end of the intermediate joint member 24c is provided with a tongue piece 25 and a vertical pin 26 similar to the tongue piece 6 and the vertical pin 7 of the joint member 4a of the first embodiment, and the one joint member 24a can be freely rotated. An opening groove (not shown) and a hole 27 are provided in the same manner as the opening groove 8 and the hole 9 in the first embodiment. The tongue piece 25 is fitted into the opening groove and the vertical pin 26 is fitted into the hole 27, respectively, and the one joint member 24a and the intermediate joint member 24c are connected to be rotatable in the horizontal direction around the vertical pin 26. ing.

The other end of the intermediate joint member 24c is provided with a plate-like tongue piece 28 obtained by shifting the tongue piece 25 by 90 degrees, and a horizontal pin 29 is fixed through the tip of the tongue piece 28. In addition, an opening groove 30 into which the tongue piece 28 can be inserted is provided at the tip of the other joint member 24 b, and holes 31, 31 are provided before and after the opening groove 30. The tongue 28 is inserted into the opening groove 30 and the front and rear portions of the horizontal pin 29 are inserted into the holes 31 and 31, respectively. The intermediate joint member 24c and the other joint member 24b are vertically centered on the horizontal pin 29. It is connected so that it can rotate freely in the direction.

The one joint member 24a and one end of the intermediate joint member 24c, the other end of the intermediate joint member 24c and the other joint member 24b are configured to be shifted by 90 degrees, and are rotatable in the horizontal and vertical directions. Each of these rotation angles is rotationally amplified in the same manner as in the first embodiment, and each rotary encoder 32 detects the amplified rotation. The configurations of the rotation amplification means and the rotary encoder 32 are the same as those of the joint 4 that is rotatable in the horizontal direction in the first embodiment.

Thus, the horizontal rotation angle and the vertical rotation angle of each joint 24 locations are detected by each rotary encoder 32, and the angle detection data is accumulated in a centralized control device provided in the shaft 1 by multiplex transmission, The position or locus from the measurement base point of the last propelling pipe 3 of the shaft 1 to the tip of the leading conductor 2 can be obtained in three-dimensional coordinates.

Moreover, by making the propulsion pipe 3 longer in accordance with the sharp curve to be constructed, the total joint locations can be reduced, and the measurement accuracy can be increased.

Compared to the joint 4 and the joint 24, the joint 4 ′ in FIG.

In FIG. 10, the structure of the joint 4 ′ itself is the same as that of the joint 4 and is rotatable in the horizontal direction. A first large-diameter pulley 34 is provided integrally with the vertical pin 7 at the lower end of the vertical pin 7, and a first small-diameter pulley 35 is provided at the lower end surface of the other joint member 4b. The first large-diameter pulley 34 and the first small-diameter pulley 35 are connected by a toothed belt 36.

A second large-diameter pulley 38 having a common rotating shaft 37 for the first small-diameter pulley 35 is provided under the first small-diameter pulley 35. The first small-diameter pulley 35 and the second small-diameter pulley 35 The large-diameter pulley 38 is rotatable integrally with the rotation shaft 37 as a center.

In addition, a rotary shaft 39 that passes through the top and bottom of the vertical pin 7 and the first large-diameter pulley 34 is provided at the center position of the vertical pin 7, and the rotary shaft 39 includes the vertical pin 7 and the first large pin 34. It is rotatable independently of the diameter pulley 34. A second small-diameter pulley 40 is fixed to the lower end of the rotating shaft 39 and is connected to the second large-diameter pulley 38 by a toothed belt 41.

A third large-diameter pulley 42 is fixed to the upper end of the rotary shaft 39, and a third shaft provided integrally with the rotary shaft 15a of the rotary encoder 15 provided on the upper side of the rotary shaft 37 of the other joint member 4b. The small-diameter pulley 43 and the third large-diameter pulley 42 are connected by a toothed belt 44.

In this case, the rotation of the vertical pin 7 is amplified in three stages and transmitted to the rotary encoder 15. Further, the rotary shaft 37 of the other joint member 4b can be shortened, and the rotary encoder 15 can be provided on the upper portion, thereby saving space. Further, FIG. 10 shows the joint 4 that is rotatable in the horizontal direction, but such a configuration can also be applied to the joint 24 and other joints that are rotatable in the vertical direction. In this way, any sharp curve can be handled by narrowing the distance between the front and rear joints.

11 and 12 show a configuration in which wiring / pipings 45 such as a water supply hose, a hydraulic hose, a power cable, etc. at the joint 4 are bent.

As shown in the drawing, the wiring and piping 45 are piped and wired around the joint 4 in a spiral manner. As a result, even if the joint 4 is bent, the wiring / piping 45 can cope with the difference between the length L1 due to the outward expansion of the bending of the joint 4 and the length L2 due to the inner contraction. Since the wiring / piping 45 is spirally piped in this way, there is a margin in the piping length outside the curve, so that the inward displacement of the joint 4 can be minimized, and each member such as the joint members 4a and 4b Installation and movable space can be secured.

Such wiring / piping 45 may be wound once or several times. Further, although the illustrated one is applied to the joint 4, it can also be applied to the joint 24 and other joints that are rotatable in the vertical direction.

In the above embodiment, the pulley and the toothed belt are applied as the rotation amplifying means. However, other appropriate means such as meshing of the gears are possible.

This construction method can be easily constructed because the position is accurately known when a plurality of strips such as a small-diameter pipe for electricity are constructed. In addition to electrical pipes, it is also possible to deal with small-diameter gas pipes, water pipes, communication line pipes, and the like.

It is side surface sectional drawing of the coupling of Example 1 of this invention. It is a top view of the coupling of Example 1 of this invention. It is a description top view of the rotation amplification means of the coupling of Example 1 of this invention. It is a description side view of the rotation amplification means of the joint of Example 1 of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory plan view showing a structure for restricting the rotation width of a joint according to Embodiment 1 of the present invention, in which (a) shows a state in which the joint is connected on a straight line, and (b) shows the rotation restriction width of the joint. It is a figure which shows the state bent to. It is explanatory drawing which shows the state which connected the coupling and propulsion pipe of Example 1 of this invention as 1 unit. It is a top view which shows the use condition of the small diameter propulsion apparatus of Example 1 of this invention. It is the side view which provided the conventional water-fill type | formula vertical direction position detection apparatus in the small aperture propulsion apparatus of Example 1 of this invention. It is a top view of the joint which can rotate in the horizontal direction and the vertical direction of Example 2 of this invention. It is a side view of the joint rotatable in the horizontal direction in the other Example of this invention. It is a side view of the joint location of the further another Example of this invention. It is sectional drawing of the joint location of other Example of this invention, and is AA sectional view taken on the line of FIG.

DESCRIPTION OF SYMBOLS 1 Vertical shaft 2 Leading conductor 2a Diagonal cutting head 3 Propulsion pipe 4 Joint 4a Joint member
4b Joint member 4 'Joint 5 Main pushing device 6 Tongue piece 6a Front side edge 7 Vertical pin 8 Open groove 8a Open back end face 9 Hole 10 First large diameter pulley 11 First small diameter pulley 12 Toothed belt 13 Rotating shaft 14 Second large-diameter pulley 15 Rotary encoder 15a Rotating shaft 16 Second small-diameter pulley 17 Toothed belt 18 Ring 19 Reinforcement spring 21 Filling meter 22 Filling reference device 23 Conduit pipe 24 Joint 24a Joint member 24b Joint member 24c Intermediate Joint member 25 Tongue piece 26 Vertical pin 27 Hole
28 tongue piece 29 horizontal pin 30 opening groove 31 hole 32 rotary encoder 34 first large-diameter pulley 35 first small-diameter pulley 36 toothed belt 37 rotating shaft 38 second large-diameter pulley 39 rotating shaft 40 second small-diameter pulley 41 Toothed belt 42 Third large-diameter pulley 43 Third small-diameter pulley 44 Toothed belt 45 Wiring and piping

Claims (7)

In the small-diameter propulsion method in which a plurality of propulsion pipes are sequentially connected to the rear of the leading conductor via a joint, and the leading conductor and the plural propelling pipes are propelled into the soil.
Each of the joints is connected such that one joint member and the other joint member are horizontally rotatable with a vertical pin,
The rotation of the vertical pin integral with the one joint member relative to the other joint member is detected by a rotary encoder that is rotationally amplified and provided on the other joint member;
The horizontal rotation angle of each of these multiple joints is detected, the distance between these and the front and rear joints is calculated, and the vertical position measurement near the leading conductor is performed with the existing water filling formula,
A position measuring method, wherein a position from a base point of each propulsion pipe to the leading conductor is measured in three-dimensional coordinates. The means for amplifying the rotation includes a vertical pin integral with the one joint member and a rotary encoder provided on the other joint member, and pulleys or gears having different diameters from each other, and rotates these pulleys or gears. The position measuring method according to claim 1, wherein the position measuring method is performed by being connected . In a small-diameter propulsion device that sequentially connects a plurality of propulsion pipes via a joint that is rotatable in the horizontal direction behind the leading conductor, and propels the leading conductor and the plurality of propelling pipes into the ground.
Each of the joints includes a rotation amplifying means for amplifying the rotation of the vertical pin integral with the one joint member with respect to the other joint member, wherein one joint member and the other joint member are connected to each other by a vertical pin. Provided,
A rotary encoder that detects the rotation of the vertical pin through the rotation amplification means is provided on the other joint member,
An existing water-filled vertical position measuring means for measuring the vertical position near the leading conductor is provided,
The rotation angle of each joint by the rotary encoder and the distance between the front and rear joints are totaled, the vertical position measurement means obtains the vertical position near the leading conductor, and based on these, from the base point of the propulsion pipe A position measuring apparatus comprising means for calculating and measuring the position up to the leading conductor in three-dimensional coordinates . The rotation amplifying means is provided with pulleys or gears having different diameters on a vertical pin integral with the one joint member and a rotary encoder provided on the other joint member, and these pulleys or gears are rotationally connected. The position measuring device according to claim 3, wherein 5. The position measuring device according to claim 3, wherein the joint member is provided with a stopper structure that can rotate only a fixed width of the vertical pin of the one joint member . The outer periphery of one joint member and the other joint member of each joint is covered with a ring made of a stretchable member, and a reinforcing spring is provided on the inner periphery of the ring. The position measuring device according to any one of 4 and 5 . The position measuring device according to claim 6, wherein wiring / pipings passing through the joint portion are wound in a spiral shape around the outer periphery of the joint .