JP2954418B2 - Underwater work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater working machine which is remotely operated in a submerged environment and operates unmannedly when constructing a deep underground space.

[0002]

2. Description of the Related Art When constructing an underground space, such as a tunnel, excavation is generally performed in the atmosphere. In some cases, excavation may be performed by increasing the air pressure, muddy water, earth pressure, etc.

It is indispensable to immediately cover the excavated wall with concrete or the like after the excavation, and the excavated wall is covered simultaneously with the excavation work. As a general method of lining this excavation wall, a lining material such as concrete or mortar (hereinafter, referred to as a lining material) is batched while assembling a formwork at a predetermined distance from the excavation wall by an operator. After setting, leave for a certain period of time and wait for curing (hardening), then remove the formwork,
A method of moving the place, reassembling and placing the lining material, and a method of spraying and placing the lining material on the excavated wall surface are adopted.

[0004]

By the way, in order to construct a large dome-shaped free space deep underground (generally 50 m or more underground), a shaft is provided up to the space construction place, and the entire space is excavated at once. Instead of excavating the dome-shaped space of the planned depth centered on the shaft from the bottom of the shaft, which is considered as the top of the space, excavating the so-called bench cut step downward in the vertical direction A construction method has been proposed in which the drilling and wall lining are repeatedly performed for each drilling bench-cut step to construct the building.

When excavating in the atmosphere to construct such a deep underground space as described above, even when excavating a bench-cut step, the danger of collapse of the excavated wall surface increases in depth. Excavation under submerged environment is considered effective. That is, in excavation under submerged environment,
Internal pressure is applied to the excavation wall surface by water pressure to maintain the balance with the groundwater level, which has the effect of preventing collapse of the wall surface.In muddy water conditions, the pressure difference with the groundwater level increases, and drilling in the atmosphere The safety is higher than that.

However, it is extremely difficult for an operator to directly enter and exit to engage in excavation work and lining of excavated walls in a submerged environment, particularly in a deep underground space where high water pressure is applied. Therefore, it is required to perform unmanned construction by remote control underwater and muddy water.

The present invention has been made in view of the above points, and provides an underwater working facility which enables unmanned construction in a submerged environment when constructing a deep underground space and has an increased geological limit. The purpose is to do.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the gist of the present invention is to vertically extend a dome-shaped space having a predetermined depth from the lower part of the shaft, which is the top of the space, to the center of the shaft. Excavation is divided into stages in the direction, and lining materials such as concrete and mortar are cast on the excavation wall,
In this way, the underwater work equipment used in the method of repeating excavation and wall lining for each excavation bench cut step,
Ground support equipment installed on the top of the shaft previously provided, and input and extraction into the underground space via the shaft,
It consists of a working machine that can be operated under submerged environment.The ground support equipment is equipped with a swivel base on a fixed bogie that can be moved as a main equipment. It is equipped with a winch mechanism for moving, an operating mechanism for remotely operating each operating part of the working machine, and a logistics mechanism for circulating goods between the working machines. A boom mechanism and an operating mechanism for operating each operating unit are provided.Each equipment of the ground support equipment and each equipment of the work equipment are provided with various cables and various kinds of equipment that can be used for distribution of various cables and objects so that the work equipment can be remotely controlled from the ground support equipment. An underwater working facility characterized by being linked by a linking mechanism comprising a flexible pipe.

[0009]

[Function] The space construction site below the shaft and under the shaft is submerged, and the loading and unloading of the working machine to the space building site is performed while the projected area of the entire working machine is minimized and suspended on the ground support equipment. This is done through a shaft. The work machine is set directly beneath the shaft so that the center of rotation can be controlled, and the lining is installed
, And is operated by remote control from the ground support equipment, and the work equipment at the end of the boom mechanism accurately performs a predetermined work at the work position.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic general perspective view of the present invention, FIG. 2 is a schematic general perspective view of a ground support facility of the present invention, and FIG. 3 is a schematic general perspective view of a working machine of the present invention.

As a basic configuration of the present invention, a ground support facility 1 which is provided in advance on the ground above a shaft A, and a work machine 2 which is put into an underground space B below the shaft via the shaft A
Consists of

The ground support equipment 1 has a turntable 5 mounted on a fixed truck 4 movable on a rail 3 laid on the ground so that the turntable 5 can rotate, and a central portion of the turntable 5 corresponds to a shaft A. A through-hole 6 is provided, and a control mechanism 7 for remotely controlling each operation unit of the work implement 2 on the swivel table 5, a winch mechanism 9 for suspending the work implement 2 via a suspension cable 8, a work implement 2 A logistics mechanism 10 for distributing goods between them is provided as main equipment.

The work machine 2 operates in a submerged environment , and
The work machine main body 2a is mounted on a base 12 provided with an outrigger 11 to be fixedly set on the ground directly below the shaft A, and is rotatable around the entire circumference. An operating mechanism (not shown) for operating each operating unit is provided as a main facility, including a boom 13 having a working device 14 attached to a tip thereof which can be extended and retracted and raised and lowered on the machine main body 2a. The operation is performed by remote control from the ground support equipment 1.

In order to remotely control the work equipment 2 from the ground support equipment 1, the equipment of the ground support equipment 1 and the equipment of the work equipment 2 are composed of various cables and objects for controlling the operation parts of the work equipment 2. Are connected by a linking mechanism 15 composed of various flexible pipes used for the distribution of the power, and a cable used as the linking mechanism 15 is a power wire or a control communication wire serving as various power sources of the working machine 2. There is a working machine 2 as flexible piping.
There is an oil pipe for supplying the operating oil to the hydraulic device constituting each operation unit, and a supply pipe for supplying the working materials to the work equipment 14. When a formwork mechanism 14 'for performing wall covering work is attached as the work equipment 14 as in the embodiment, a supply pipe for supplying a lining material to the formwork mechanism 14' corresponds thereto. I do.

A suspension cable 8 for suspending the work machine 2 is provided by extending four suspension cables 8a from the front, rear, left and right of the work machine main body 2a to an appropriate height above the work machine main body 2a with the boom 13 in front. The spacing metal fitting 16 is mounted between the front and rear suspension cables 8a, and the left and right suspension cables 8a are respectively connected to each other so as to be suspended at two points, so that there is no mutual interference when the boom 13 moves up and down. When loading and unloading, it is possible to move up and down while maintaining horizontal balance.

When the work machine 2 is suspended by the suspension cable 8 and the horizontal balance of the work machine 2 cannot be maintained by the suspension cable 8 alone, an appropriate balance adjusting member may be attached to the work machine 2. is there. In addition, when the depth of the shaft is shallow as well as at a large depth in the construction of the underground space, a track that can be easily moved, a simple movable cart, or the like may be used as the ground support equipment 1.

In the above configuration, when constructing the dome-shaped deep underground space B immediately below the shaft A, the work equipment 1
The outline of the operation procedure for lining the excavation wall using the formwork mechanism 14 'as 4 will be described with reference to FIG.

FIGS. 4A, 4B and 4C are process diagrams showing an embodiment of the present invention.

(A) The work machine 2 is suspended by the suspension ropes 8 and put into the space B below the shaft through the shaft A.

At this time, in order to minimize the projected area of the plane as a whole, the work machine 2 is configured such that the boom 13 is reduced to the shortest position and is positioned at the maximum standing position as shown in FIG. The frame mechanism 14 ′ is folded so as to be substantially parallel to the boom 13 and has a form capable of freely moving up and down the shaft A.

(B) The work machine 2 reaches the space B and is fixedly set on the ground floor immediately below the shaft A.

Here, when the turning center of the work machine main body 2 is set and fixed to the ground bottom by the outrigger 11 of the base 12, adjustment of the height and horizontal position of the work machine main body 2a from the ground bottom is also determined by the outrigger 11. .

(C) In the lining work of the excavation wall C, the boom 13 is extended to make the formwork mechanism 14 'reach the work position, and the formwork mechanism 14' is made to face the excavation wall C and into the formwork. The formwork mechanism 14 'is moved while the lining material is charged and hardened. As the lining material used here, naturally, an underwater lining material is used,
At the tip of the boom 13, a liquid quick-setting agent is added and mixed just before the form is charged so as to shorten the curing time. In this case, the same function can be performed even if the underwater lining material into which the quick-setting agent has been kneaded is pressure-fed from the ground and curing is started after the mold is put into the mold.

In this way, the ring-shaped unit lining body d is formed on the excavation wall C by laterally moving the form mechanism 14 'while supplying the lining material into the form and hardening the lining material. . Thus, one unit lining body d
Is completed, the required number of unit linings d
Are formed in a stacking manner, and a bench cut step lining wall D (see FIG. 1) is constituted by a plurality of unit lining bodies d.

The turning table 5 of the ground support equipment 1 also turns in accordance with the movement of the working machine 2 during the above-mentioned excavation wall lining work, particularly the turning movement of the working machine main body 2a. Also, during the operation, the suspension cable 8 is kept in a lightly tensioned state so as not to be loosened, and various cables and various flexible pipes constituting the linking mechanism 15 are provided at appropriate places so as not to be entangled or entangled with each other. The length of the boom 13 is adjusted by the extension and contraction of the boom 13 and absorbed by a reel mechanism provided on the work machine main body 2a.

When the danger of collapse of the excavation wall surface is extremely small, the above-described formwork mechanism 1 is not necessarily required.
The coating method can also be adopted without forming the bench cut step lining wall D by forming the unit lining bodies d in a stacking manner using 4 ′.

[0028]

According to the present invention having the above configuration, the following effects can be obtained.

[0029] (1) to build a large space directly below the vertical shaft, underwater, because made it possible to lining striking setting work in the unmanned state by remote control in the muddy water, the worker was under a comfortable environment, Difficult work that cannot be approached by humans can be labor-saving and performed efficiently.

(2) Since the condition of the object to be constructed in the underground space and the working condition of the working machine can be determined by image processing by the computer at the ground support facility, the working machine put into the underground space via the ground support facility and the shaft. Work can be performed accurately regardless of the distance, and in some cases, continuous work is possible regardless of day or night.

(3) Since the working space of the working machine is submerged, the internal pressure is applied to the excavated wall surface to maintain the balance with the groundwater level and prevent the wall surface from collapsing. The restrictions on conditions will be relaxed, and the application places for the construction of deep underground spaces will be expanded.

[Brief description of the drawings]

FIG. 1 is an overall schematic diagram of the present invention.

FIG. 2 is a schematic overall perspective view of the ground support equipment constituting the present invention.

FIG. 3 is a schematic overall perspective view of a working machine constituting the present invention.

FIGS. 4 (a), (b) and (c) are process diagrams showing an embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Ground support equipment 2 ... Working machine 5 ... Turning table 7 ... Control mechanism 8 ... Suspension line 9 ... Winch mechanism 10 ... Logistics mechanism 11 ... Outrigger 12 ... Base 13 ... Boom 14 ... Working equipment 15 ... Linkage mechanism A ... Shaft B: Underground space C: Excavated wall D: Bench cut step lining wall

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Hironobu Momoda 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (56) References JP-A-2-112600 (JP, A) JP-A 3-13696 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E02F 5/00 E21D 13/00

Claims (1)

(57) [Claims] 1. A dome-shaped space having a predetermined depth centered on a shaft from a lower part of a shaft, which is regarded as a roof of the space, is excavated in steps in a vertical direction, and a lining material such as concrete or mortar is formed on the excavated wall surface. In this way, the underwater work equipment used in the method of repeating the excavation and wall lining for each excavation bench cut step, ground support equipment installed on the ground above the shaft previously provided, It consists of a working machine that can be loaded and unloaded into the underground space through a shaft, and can be operated in a submerged environment. The ground support equipment is equipped with a swivel on a fixed bogie that can be moved as a main equipment. The platform is equipped with a winch mechanism that suspends and raises and lowers the work machine via a suspension cable, an operation mechanism that remotely controls each operation unit of the work machine, and a logistics mechanism that distributes goods between the work machines. As working equipment A telescopic boom mechanism that can be attached and retracted, and an operating mechanism that operates each operating unit.Each equipment of the ground support equipment and each equipment of the work equipment enable the work equipment to be remotely controlled from the ground support equipment. An underwater work facility, which is linked by a link mechanism comprising various cables and various flexible pipes used for distribution of goods.