JPH05231092A - Propulsive construction method and propulsion device - Google Patents

Abstract

PURPOSE:To lay a pipeline such as a sewage pipeline, by allowing plural pipes to follow a preceding excavator while the radius of curvature of the pipeline which is currently being laid is measured. CONSTITUTION:Bar-like members 15, one end of which is connected to an excavator are arranged at plural specified positions on the circumference along the axis-lines of pipes. As the excavator A and the pipes B are propelled, the amounts of movement of the respective bar-like members are detected, and the difference between the amounts of movement is detected. From the detected results, the radius of curvature of a pipeline which is being laid is calculated. The calculated results are compared to a preset laying line, and when the difference between them is generated, the turning angle of the excavator is corrected for the propelling direction of the excavator to coincide with the laying line.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a propulsion method and a propulsion device for laying a pipe by arranging a plurality of pipes behind an excavator, and particularly when laying a curved pipe having a preset radius of curvature. The present invention relates to a propulsion method and propulsion device that are advantageous to

[0002]

2. Description of the Related Art In the case of laying a pipeline such as a water supply pipeline or a sewer pipeline in the ground, a plurality of pipes follow the digging machine while excavating the ground by a digging machine composed of a cutter head and a tail shield. In many cases, a propulsion method is used in which the propulsion method is performed by using the extruding device. In the propulsion method, it is preferable to propel the excavator while measuring whether or not the pipeline currently being laid matches a preset laying line. When the pipeline to be laid is a straight line, a visible light such as a laser beam having straightness is arranged along the axis of the pipeline to be laid, and the indicator provided on the excavator is irradiated with this visible light. By monitoring with a camera and when the position of the laser spot on the indicator is displaced, by bending the cutter head with respect to the tail shield according to the displacement,
The excavator is operated so that it is always propelled along the laying line.

Not all of the pipelines are laid in a straight line, but a pipeline that is laid in a curved shape with a preset radius of curvature, or a pipe that is laid by combining straight and curved sections. There is a road. When laying a curved pipeline, the propulsion direction of the excavator cannot be guided by laser light. For this reason, laying a curved pipeline by propelling the pipes at a predetermined angle in advance, or oscillating electromagnetic waves from the excavator and receiving this electromagnetic wave on the ground to advance the excavator. I try to guide the direction. In the pipeline laid in this way, there is a problem that the accuracy with respect to the laying wire is reduced. In order to solve the above problem, the technique disclosed in Japanese Patent Publication No. 1-56240 has been proposed. In this technique, an opening adjusting member or an intermediate pushing jack is arranged between the pipes for propulsion, and the opening adjusting member or the intermediate pushing device is operated at a desired position during propulsion to lay a curved pipeline. Is. According to this technique, the accuracy of the laid line of the laid pipeline can be improved.

However, even with the above technique, the radius of curvature of the pipeline already laid during the laying of the pipeline is measured, or whether the propulsion direction of the blade is coincident with the laying line is measured. Is difficult. Therefore, after laying the pipeline, it is necessary to measure with what accuracy the laid pipeline was laid with respect to the laid line. The technique disclosed in Japanese Examined Patent Publication No. 3-78565 has been proposed to measure such a pipeline. This technique attaches a member having magnetism to each tube and stretches a wire having a magnetic sensor over this member, and causes the magnetic sensor to reciprocate over the entire length of the conduit, and each time the magnetic sensor passes through the member having magnetism. The bending state of the conduit is measured according to the generated signal and the moving distance of the magnetic sensor.

[0005]

By adopting each of the above-mentioned techniques, it is possible to lay a curved pipe line with improved accuracy and measure the bending state of the laid pipe line. However, it is natural that it is preferable to measure whether or not the laid pipeline is along the laying line while laying the pipeline, and development of such a propulsion device is desired.

An object of the present invention is to excavate a machine when laying a straight pipeline or laying a curved pipeline so that the pipeline is aligned with the laying line while laying the pipeline. The purpose of the present invention is to provide a propulsion method and a propulsion device that can control a ship.

In order to solve the above-mentioned problems, the propulsion method according to the present invention uses the tail shield and the excavator having a cutter head bendably connected to the tail shield and capable of correcting the bending amount while excavating a face. In a propulsion construction method of laying a pipeline by propelling a pipe following the excavator by an extruding device, a plurality of holding portions are provided at predetermined positions on a circumference around the axis of the pipe. Holding a plurality of rod-shaped members, one end of which is fixed to the tail shield by the holding portion, individually detects the amount of movement of each rod-shaped member due to the propulsion of the excavator and the pipe, and from these detection results The present invention is characterized in that the bending state of a pipe line that has already been laid is determined, and the bending amount of the cutter head with respect to the tail shield is corrected according to the pipe line to be laid.

Further, the propulsion device includes a tailing machine having a tail shield having a locking portion for fixing a rod-shaped member and a cutter head connected to the tail shield through a bending means.
A pipe having a plurality of holding members for holding a rod-shaped member at a predetermined position on the circumference centered on the axis, and a plurality of through holes for penetrating the rod-shaped member at a predetermined position, and contacting the rear end of the pipe. An original pushing device having a push wheel that contacts and drives the excavator and the pipe, and one end held by the holding member of the pipe and fixed to the locking portion of the tail shield and the other end penetrating the through hole of the push wheel. A plurality of arranged rod-shaped members, a plurality of detection means provided corresponding to the individual rod-shaped members for detecting the amount of movement of the rod-shaped members associated with propulsion, and movement of the individual rod-shaped members detected by the individual detection means And a calculation means for calculating the bending state of the conduit from the amount.

[0009]

According to the above-mentioned propulsion method, the radius of curvature of the pipeline currently being laid is calculated while the pipeline is being laid, and the bending amount (bending angle) of the cutter head with respect to the tail shield of the excavator is calculated based on this result. By modifying the above, the pipeline can be laid along a preset laying line of the pipeline. That is, assuming a cross section in a direction orthogonal to the axis of the tube, a horizontal axis and a vertical axis centering on the axis of the tube are set. The tube is on a circumference centered on the axis of the tube and has a horizontal axis and / or
Or, if a plurality of holding portions are provided at symmetrical positions on the vertical axis, and a rod-shaped member having one end fixed to the tail shield is held in each holding portion, the excavator and the pipe following this excavator are propelled. Along with this, the rod-shaped member also moves. When the excavator and the pipe are linearly propelled, the movement amounts of the plurality of rod-shaped members are equal to each other, and when the excavator and the pipe are propelled curvilinearly, they are arranged on the center side of the curve. There is a difference in the amount of movement between the rod-shaped member that is present and the rod-shaped member that is arranged outside. Therefore, by detecting the amount of movement of each rod-shaped member that moves with the propulsion of the machine and the pipe individually and calculating the difference in the amount of movement of each rod-shaped member, whether the pipeline being laid is straight Alternatively, it can be determined whether it is curved.

Since one end of the rod-shaped member is fixed to the tail shield and is held by a holding portion provided for each pipe subsequent to the excavator, the rod-shaped member bends in an arc shape in a curved pipe line. That is, the difference in the amount of movement of each rod-shaped member caused by propulsion is the difference in the lengths of the inner arc and the outer arc of the curved pipe line. Further, the positions of the holding portions provided on the plurality of tubes are constant, and the separation distance of the holding portions does not change even if the plurality of tubes are arranged subsequently. Therefore, the radius of curvature of the pipe line corresponding to the propulsion length is determined by the difference in the amount of movement of each rod-shaped member generated for each unit length or the length of one pipe and the distance between the holding portions in the pipe. You can ask. For this reason, the radius of curvature is calculated for each unit length of thrust, and when the obtained value is compared with the laying line and there is a difference, the bending angle of the cutter head with respect to the tail shield is reduced so as to reduce this difference. By modifying the above, it is possible to lay a pipeline along a preset laying line. Further, the radius of curvature of the curved portion can be obtained from the total propulsion length in the curved portion of the pipe and the total amount of difference in the movement amount of each rod-shaped member caused by this propulsion.

According to the above propulsion device, the movement amounts of the plurality of rod-shaped members arranged in the pipe are individually detected, and the difference between the movement amounts of the individual rod-shaped members is calculated, and at the same time, the installed pipe line The radius of curvature can be calculated. Therefore, the above-mentioned propulsion method can be implemented rationally.

[0012]

EXAMPLE An example of the above-mentioned propulsion method and propulsion apparatus will be described below with reference to the drawings. 1 is a plan view for explaining the propulsion method, FIG. 2 is a plan view of a laying line of a preset pipeline, FIG. 3 is a schematic cross-sectional view showing an example of the excavator, FIG. 4 is a front view of an indicator, and FIG. 6 is a front view illustrating a holding portion provided on the pipe, FIG. 6 is a side view of the original pushing device, FIG. 7 is a schematic cross-sectional view of a push wheel portion of the original pushing device, and FIG. 8 is a block diagram of a control system. In the propulsion method according to the present invention, while the excavator A and the pipe B following the excavator A are propelled by the original pushing device C, the curved state of the laid pipe D is obtained, and the obtained pipe D The excavator A can be propelled along the laying line E by comparing the curved state with the preset laying line E of the pipeline and correcting the traveling direction of the excavator A. ..
By adopting this propulsion method, it is possible to make the laid pipe D coincide with the laid line E. Further, the propulsion device according to the present invention is configured to be able to carry out the above-mentioned propulsion method.

In laying a pipeline such as a sewer pipeline,
The laying line E shown in FIG. 2 is set in advance. The laying line E is set as appropriate according to roads and other ground conditions. The laying line E has a starting point for laying a manhole or a pipeline, depending on conditions such as the diameter of the pipeline, the downflow gradient, and the pipeline length.
The position of the shaft F, which is the end point of the laying, is set.

First, individual devices and members constituting the excavation device will be described. The configuration of the excavator A will be described with reference to FIGS. 3 and 4. In the figure, an excavator A is configured by connecting a tail shield 1 and a cutter head 2 in a bendable manner. That is, the tail shield 1 and the cutter head 2 are connected via a plurality of jacks 3 and rods 4 each consisting of a hydraulic cylinder, and the cutter head 2 is attached to the tail shield 1 by operating the individual jacks 3 simultaneously or independently. On the other hand, it can be bent at a desired angle. Inside the tail shield 1, there is an indicator 5 and a television camera 6 for photographing the indicator 5.
Is attached. A plurality of brackets 7 for fixing the rod-shaped member 15 are provided at the rear end of the tail shield 1 (on the right side in FIG. 3). The cutter head 2 is divided into a cutting face side and a room side by a partition wall 2a provided at a predetermined position, and a cutter 8 is arranged on the cutting face side which is the front end (left side in FIG. 3) of the cutter head 2 and the inside of the cutter head. A motor 9 for driving 8 is arranged. An arm 10a reaching the indicator 5 is fixed to the partition wall 2a of the cutter head 2, and the index 10 is fixed to the tip of the arm 10a. In the excavator A configured as described above, the cutter head is driven by driving the hydraulic device (not shown) provided in the tail shield 1 and operating the hydraulic valve to supply the pressure oil to the plurality of jacks 3 simultaneously or individually. When 2 is bent at a desired angle with respect to the tail shield 1, the index 10 moves on the indicator 5 as the cutter head 2 is bent with respect to the tail shield 1. Therefore, by photographing and monitoring the indicator 5 with the television camera 6, the bending angle of the cutter head 2 with respect to the tail shield 1 can be visually recognized.

The pipe B is formed with an inner diameter corresponding to the pipe line to be laid and a preset length. A fume tube is generally used as the tube B. Inside the tube B, a plurality of holding members 11 are provided as shown in FIGS. The holding member 11 is assumed to be a plane orthogonal to the axis of the tube B, and an XY orthogonal coordinate centered on the axis of the axis of the tube B is provided on this plane. It is set and provided at a plurality of positions symmetrical with respect to the X axis and / or the Y axis. The holding member 11 is formed with a hole 11a into which the rod-shaped member 15 is loosely fitted, and the rod-shaped member 15 inserted into the hole 11a can be held without being restrained. The position of the holding member 11 in the longitudinal direction of the tube B is not particularly limited. However, since the propulsion method is to propel a large number of tubes B continuously, it is preferable that the holding member 11 be provided at a substantially constant position in the longitudinal direction of the tubes B, and especially at the rear end side. desirable.

Next, the original pushing device C for propelling the excavator A and the pipe B following the excavator A will be described with reference to FIGS. 6 and 7. In the figure, the original pushing device C contacts the base frame 12 and the rear end of the excavator A or the rear end of the pipe B and reciprocates on the base frame 12 to move the excavator A and the pipe B.
And a jack 14 composed of a plurality of hydraulic cylinders for moving the push wheel 13. The former pushing device C is installed in the vertical shaft F, and the base frame 12
The vertical frame 12a is configured to be in contact with the side wall of the vertical shaft F to transmit the propulsion reaction force to the ground. Further, the horizontal frame 12b of the base frame 12 includes the excavator A, the pipe B, and the push ring 1.
3. Has a function to guide the jack 14.

The push wheel 13 of the original pushing device C has a plurality of through holes 13a through which the rod-shaped member 15 is inserted depending on the arrangement position of the rod-shaped member 15.
Are formed. Further, each of the through holes 13a is provided with an urging cylinder 16 which serves as urging means for urging the inserted rod-shaped member 15 in one direction (direction of pulling to the free end side). The urging cylinder 16 has a casing 16a having an insertion portion through which the rod-shaped member 15 is inserted at the center, and a piston 16b composed of a piston portion slidably arranged inside the casing 16a and a rod portion protruding outside the casing 16a. , Bar-shaped member 15
When the piston 16b is screwed into
nut 16c for transmitting the urging force acting on b to the rod member 15
It is composed of and. Casing 16a and piston
Compressed air having a constant pressure is supplied between the piston portions of 16b, whereby a constant force is applied to the piston 16b, and the rod-shaped member 15 is moved toward the free end side via a nut 16c that abuts against the piston 16b. It is possible to urge.

A wire 17 is connected to the rod portion of the piston 16b, and the wire 17 is connected to a rotary encoder 18 serving as a detecting means. Further, a tension applying member (not shown) such as a spiral spring is connected to the wire 17 to prevent the occurrence of slack by constantly applying a constant tension. The rotary encoders 18 are provided so as to correspond to the number of the rod-shaped members 15 arranged in the pipe B, and the individual rod-shaped members 15 are provided.
The axial movement of is detected as a pulse signal. The pulse signal is transmitted to the arithmetic unit 23, and the arithmetic unit 23 counts the number of pulses to detect the movement amount of the rod-shaped member 15.

In this embodiment, a case where the curved line portion of the laying line E is set as a horizontal curved line will be described. Therefore, the pipe B having the two holding members 11 shown in FIG.
Is used, and two rod-shaped members 15a and 15b are arranged corresponding to the respective holding members 11, and two rotary encoders 18a and 18b are provided as rotary encoders so that the radius of curvature in the horizontal direction can be measured. ing.

An end of a wire 19 is connected to a side surface of the push wheel 13, and the wire 19 is connected to a rotary encoder 20 which serves as a distance detecting means. For wire 19, use wire 17
Similarly to the above, a constant tension is always applied to prevent the occurrence of slack. Rotary encoder 20
Is configured to detect the movement distance of the push wheel 13 by detecting the movement of the push wheel 13 as a pulse signal when propelling the machine A and the pipe B, and transmitting the pulse signal to the calculation unit 23 to count the pulse signal. There is.

As the rod-shaped member 15, it is possible to use a steel material having rigidity. In this embodiment, PC steel is used which has threads formed on both ends or the entire length. However,
In this embodiment, the urging force applied to the rod-shaped member 15 is not large. Therefore, it is not always necessary to use PC steel having high rigidity and tensile strength. That is, any rod-shaped material having appropriate rigidity and appropriate flexibility can be used.

Next, the rotary encoders 18a, 18b,
A control system for calculating the radius of curvature of the pipeline D laid based on the signal from 20 will be described with reference to FIG. In the figure, the storage unit 21 stores data of the separation distance of the holding member 11 in the tube B, data of an arithmetic expression and the like. The signals from the rotary encoders 18a, 18b, 20 are transmitted to the calculation unit 23 via the interface 22, and the movement distance of the push wheel 13, the movement amount of each rod-shaped member 15a, 15b, and the difference between the movement amounts are calculated. Then, the calculation result is displayed on the display 24.

Next, the propulsion method will be described with reference to FIG. Prior to carrying out the propulsion method, the former pushing device C is installed in the vertical shaft F. And the horizontal frame 12b of the former pushing device C
Place the excavator A, which has the cutter head 2 in a straight shape with respect to the tail shield 1, and press the push wheel at the rear end of the tail shield 1.
13 is brought into contact and the cutter 8 is rotated to excavate the face, and the jack 14 is operated to propel it. When the propulsion of the excavator A is completed, the push ring 13 is returned to its original position and the horizontal frame 12
Place tube B on b. Then, one end of the rod-shaped member 15 is inserted into the hole 11a of the holding member 11 of the pipe B to form a through hole 13 formed in the push ring 13.
It is inserted into the urging cylinder 16 from a, and the other end is fixed to the bracket 7 provided on the tail shield 1 of the excavator A. As this fixing method, a nut may be used as shown in FIG. 1, or a female screw may be formed on the bracket 7 and screwed. However, it is not preferable that the rod-shaped member 15 fixed to the bracket 7 moves in the axial direction. After fixing the end portion of the rod member 15 to the tail shield 1, the push wheel 13 is moved forward to move the push wheel 13 to the pipe B.
The rear end of the excavator A is brought into contact with the front end of the pipe B by advancing the push wheel 13 further forward. At this time, the rod-shaped member 15
Has a front end fixed to the tail shield 1 of the excavator A and a rear end free from the biasing cylinder 16. Compressed air is supplied to the urging cylinder 16 to cause the piston 16b to project, a nut 16c is screwed onto the free end side of the rod member 15, and the nut 16c is brought into contact with the piston 16b. As a result, the excavator A, the pipe B, and the push ring 13 are in close contact with each other, and the nut 16c screwed to the rod-shaped member 15 is also in close contact with the piston 16b, and the preparation for propulsion is completed. Next, when the jack 14 is operated to move the push wheel 13 forward, the excavator A and the pipe B are propelled along with the forward movement. In the propulsion process, a rod-shaped member
15 is always urged toward the free end side by a constant force, so that no slack occurs inside the tube B. After the completion of the propulsion of the first pipe B, the push wheel 13 is retracted to mount the new pipe B on the horizontal frame 12b and to connect the new rod-shaped member 15,
By repeating the same operation as described above, it is possible to lay the pipeline D by arranging a plurality of pipes B after the excavator A.

In the process of laying the pipeline, when the laying line E is set in a straight line, the shaft centers of the excavator A and the pipe B are propelled straight as the push wheel 13 advances. Bar-shaped member 15
a and 15b move parallel to each other. Therefore, there is no difference in the number of pulse signals transmitted from the rotary encoders 18a, 18b, 20 to the arithmetic unit 23, and the arithmetic unit judges that the already installed pipeline D is in a linear state and the display 24 To display.

When the laying line E is curved, the jack 3 of the excavator A is operated to operate the cutter head 2.
When the pushing wheel 13 is moved forward with the bending angle with respect to the tail shield 1 set on the arc of the set curve, the excavator A is propelled at the set bending angle, and a plurality of machines following the excavator A are driven. The pipe B of is also propelled along the path of the excavator A. At this time, the bar-shaped member placed on the center side of the curve
The moving amount of 15a is detected by the rotary encoder 18a and a pulse signal corresponding to the moving amount is generated, and the moving amount of the rod-shaped member 15b arranged outside the center is also detected by the rotary encoder 18b and a pulse signal is generated. .. At the same time, the rotary encoder 20 generates a pulse signal according to the moving distance of the push wheel 13. The calculation unit 23 counts the respective pulse signals transmitted from the rotary encoders 18a, 18b, 20 to determine the rotary encoder 18a and
In addition to calculating the difference with 18b, the radius of curvature of the conduit D is calculated from the data of the difference, the moving distance of the push wheel 13 detected by the rotary encoder 20 and the separation distance of the holding member 11 in the pipe B.

The above calculation is performed as follows. That is, unit propulsion length l (movement distance of push wheel 13), unit propulsion length l
Of the movement amount of the rod-shaped members 15a and 15b in the above, Δl, the unit driving length l, the angle Δθ with respect to the center of the curved portion,
Unit propulsion length l Curvature radius r when propelled, Curvature radius R of the curved line in the laid pipe D, Propulsion length L of the curved part in the laid pipe D (installed in the curved line The total length of the pipe B, or the unit propulsion length 1 × the number of times of propulsion n, which is a macroscopic arc length), the central angle θ forming the curved portion in the laid pipe D, and the pipe B Assuming that the separation distance S of the holding member 11 is (where, the radii of curvature r and R are the distances from the center of the curved portion to the holding member 11 located on the center side), 1 / r = (Δl ) / S r = S · l / (Δl) Δl = S · l / r Δθ = 180 · l / R · π, and when the curved line section is laid, the installed pipeline D Where θ = 180 · L / R · π L = n · l = π · R · θ / 180 R = S · L / ΣΔl. Accordingly, the rotary encoder 20 detects the unit propulsion length l, and at the same time, the rotary encoders 18a and 18b detect the difference Δl in the movement amount of the rod-shaped members 15a and 15b, thereby measuring the curvature radius r for each unit propulsion length. Each time the propulsion for one tube B is completed, the propulsion length corresponding to the length of the tube B and the difference between the movement amounts of the rod-shaped members 15a and 15b at this time are stored in the storage unit 21. Then, by accumulating and calculating this data, it is possible to calculate the radius of curvature R and the length L of the curved portion over the entire curved portion in the laid pipe D. It is also clear that the propulsion length L can be calculated from the length of the pipe B and the number of propelled pipes B without using the rotary encoder 20. Therefore, the propulsion method of this embodiment can be implemented without using the rotary encoder 20.

When laying the pipeline as described above, the radius of curvature r is measured for each unit propulsion length l, and the radius of curvature r is compared with the radius of curvature R set on the laying line E. It is possible to judge whether or not the pipeline D being laid matches the laying line E, and when it does not match, the jack 3 of the excavator A is operated to operate the cutter head 2
It is possible to correct the bending angle with respect to the tail shield 1. Also, when laying a straight pipe,
When the radius of curvature is calculated at 23, it means that the laid conduit D is bent in either direction. Therefore, by operating the jack 3 so as to bend the excavator A in a direction opposite to the bending direction, it is possible to lay a straight pipe line D.

In the above-mentioned embodiment, the pipe B shown in FIG.
Although the case where the horizontal curved line portion is set in the laying line E has been described by using, the laying line E has horizontal and vertical curved portions, that is, the laying line E has a three-dimensional curved shape. If it has, use a pipe B provided with holding members 11 at four places as shown in FIG. 2B and adopt a construction method similar to that described above to construct a pipeline along the laying line E. Is possible.

[0029]

As described in detail above, according to the propulsion method of the present invention, the propulsion method is provided on the circumference centered on the axial center of the pipe and symmetrically with respect to the horizontal axis and / or the vertical axis. The rod-shaped member having one end fixed to the tail shield is held by the plurality of holding portions, and the movement amount of the rod-shaped member when the excavator and the pipe following this excavator is propelled is detected, and each rod-shaped member By calculating the difference in the movement amount, it is possible to determine whether the pipeline being laid is linear or curved. Therefore, by correcting the bending angle of the cutter head with respect to the tail shield of the excavator based on the above calculation result, the pipeline currently being laid can be laid along the preset laying line of the pipeline. ..

Further, according to the propulsion device of the present invention, the moving amounts of the plurality of rod-shaped members arranged in the pipe are individually detected, and the difference between the moving amounts of the individual rod-shaped members is calculated, and the propulsion device is installed. It has a feature that the radius of curvature of the existing pipeline can be calculated.

[Brief description of drawings]

FIG. 1 is a plan view illustrating a propulsion method.

FIG. 2 is a plan view of a preset laying line of a pipeline.

FIG. 3 is a schematic cross-sectional view showing an example of an excavator.

FIG. 4 is a front view of an indicator.

FIG. 5 is a front view illustrating a holding portion provided on a tube.

FIG. 6 is a side view of the original pushing device.

FIG. 7 is a schematic cross-sectional view of a push wheel portion of the original pushing device.

FIG. 8 is a block diagram of a control system.

[Explanation of symbols]

A is an excavator, B is a pipe, C is an extruding device, D is a laid pipeline, E is a laying line, F is a shaft, 1 is a tail shield, 2 is a cutter head, 3 is a jack, 4 is a rod, 5 is an indicator, 6 is a television camera, 7 is a bracket, 8 is a cutter, 9 is a motor, 10 is an index, 11 is a holding member, 11
a is a hole, 12 is a base frame, 13 is a push ring, 13a is a through hole,
14 is a jack, 15, 15a and 15b are rod-shaped members, 16 is a biasing cylinder, 16b is a piston, 17 and 19 are wires, 18 and 18
a, 18b, 20 are rotary encoders, 21 is a storage unit, 22
Is an interface, 23 is a calculation unit, and 24 is a display.

Claims (5)

[Claims] 1. A pipe line is laid by excavating a face by an excavator having a tail shield and a cutter head flexibly connected to the tail shield while propelling a pipe following the excavator by an extruding device. In the propulsion method
A plurality of holding portions are provided at predetermined positions on the circumference centered on the axial center of the pipe, and each holding portion holds a plurality of rod-shaped members whose one end is fixed to the tail shield, and the excavator and The amount of movement of each rod-shaped member due to the propelling of the pipe is individually detected, and the bending state of the pipe line that has already been laid is judged from these detection results, and the tail of the cutter head is determined according to the pipe line to be laid. A propulsion method characterized by correcting the amount of bending with respect to the shield. 2. An excavator having a tail shield having a locking portion for fixing a rod-shaped member and a cutter head connected to the tail shield via a bending means, and at a predetermined position on a circumference around an axis. An element having a pipe having a plurality of holding members for holding a rod-shaped member, and a plurality of through-holes for penetrating the rod-shaped member at predetermined positions, and abutting against the rear end of the pipe to propel the excavator and the pipe A pushing device, a plurality of rod-shaped members which are held by the holding member of the pipe, one end of which is fixed to the locking portion of the tail shield and the other end of which is arranged to penetrate through the through hole of the push ring, and the individual rod-shaped members. A plurality of detecting means provided corresponding to the members for detecting the movement amount of the rod-shaped member due to propulsion, and a calculation means for calculating the bending state of the pipeline from the movement amount of each rod-shaped member detected by each detecting means Characterized by having And the propulsion device. 3. The propulsion device according to claim 2, wherein the rod-shaped member has an appropriate rigidity and is configured to be connectable in a longitudinal direction. 4. An urging means for urging the rod-shaped member arranged in the through hole in one direction in correspondence with the through hole formed in the push wheel of the former pressing device. Propulsion device. 5. The former pushing device is provided with a distance detecting means for detecting a moving distance of the pushing wheel, and the moving distance data of the pushing wheel detected along with the propulsion of the excavator and the pipe is transmitted to the calculating means, and the pipeline under construction. The propulsion device according to claim 2, wherein the propulsion device is configured to be able to calculate the bending state of.