JP7102653B2 - Construction method using surveying target, surveying target recovery device, and surveying target recovery method - Google Patents

Description

The present invention relates to a construction method using a construction assisting tool, a collecting device for the construction assisting tool, and a collecting method for the construction assisting tool.

The NATM method (New Austrian Tunneling Method) is known as a method for constructing a tunnel. In the NATM method, a sprayer is set near the face, concrete is first sprayed on the face, and then a work vehicle equipped with an erector for building a support is placed near the face, and the erector is arched. A steel support will be built in the tunnel wall near the face, and when this is completed, the sprayer will be relocated to the face and the concrete will be secondarily sprayed so as to embed the built tunnel support.

When building a steel support, the surveying target (mirror, prism, etc.) attached to the steel support is collimated with a surveying instrument, and the movement of the steel support is monitored in real time while the steel support is built. Is being built in a predetermined building position. Construction aids such as surveying targets need to be collected after use.

As a technique for facilitating attachment / detachment of a surveying target to a steel support, for example, a main body having a prism and a magnet integrated with the main body and fixed to the support are provided, and the magnet has a magnetic force. A surveying target provided with an operation handle for operating the excitation / demagnetization of the above is known (see, for example, Patent Document 1). In this type of surveying target, it is possible to easily attach / detach to / from the support work and improve the attachment / detachment work.

Japanese Unexamined Patent Publication No. 2004-301642

In recent years, with respect to tunnel construction, there is an increasing demand for a technique for avoiding manual work on the face and improving the safety and workability of the construction. However, in the past, it was necessary to manually remove the surveying target attached to the steel support.

The present invention has been made in view of the above problems, and an object of the present invention is to manually hold a construction aid attached to a steel material that is gripped or suspended by a gripping tool or a hanging tool of a construction machine. The purpose is to provide a technique that can be collected regardless of work.

In the construction method using the construction assisting tool according to the present invention, a holding tool for holding the construction assisting tool used for a predetermined purpose is provided at a predetermined position of the steel material gripped or suspended by the gripping tool or the hanging tool of the construction machine. After the installation process of attracting and holding by magnetic force and the use of the construction assisting tool, the holder is moved on the steel material in a state of being attracted to the steel material, and is moved to a storage portion provided in the gripping tool or the hanging tool. A collection step for storing the holder is provided.

Further, in the present invention, the holding tool for holding the construction assisting tool used for a predetermined purpose is collected and held by magnetic force at a predetermined position of the steel material gripped or held by the gripping tool or the hanging tool of the construction machine. The method includes a recovery step in which the holder is moved on the steel material in a state of being adsorbed on the steel material, and the holder is stored in a storage portion provided on the gripper or the hanging tool.

Further, in the present invention, the holding tool for holding the construction assisting tool used for a predetermined purpose is collected and held by magnetic force at a predetermined position of the steel material gripped or held by the gripping tool or the hanging tool of the construction machine. A collection device that moves a storage unit provided on the gripping tool or a hanging tool and the holder on the steel material in a state of being adsorbed on the steel material, and stores the holder in the storage part. It is equipped with a mechanism.

According to the present invention, after the construction aid is used, the holder for holding the construction aid is moved on the steel material in a state of being adsorbed on the steel material, and the gripping tool or hanging tool of the construction machine for gripping the steel material. It can be collected by storing it in the storage unit provided in. According to this, the construction aid attached to the steel material gripped by the gripping tool or the hanging tool of the construction machine can be recovered without manual operation. Therefore, the safety and workability of construction can be improved.

Further, in the present invention, the holder has a magnet for adsorbing to the steel material and a driving wheel for traveling on the steel material, and in the recovery step, the holder is placed on the steel material. It may travel and be stored in the storage unit.

Further, in the present invention, the drive wheels of the holder may be driven by wireless operation.

Further, in the present invention, the steel material is a steel support, the construction auxiliary tool is a surveying target, and the gripping tool is a hand of a construction machine, and the steel support is provided in the installation process. A step of arranging the steel support at a predetermined building position by using the surveying target held by the holder held by suction at the predetermined position may be further provided.

Further, in the present invention, after the recovery step, a spraying step of spraying sprayed concrete on the steel support may be further provided.

Further, in the present invention, the storage portion has an opening for collecting the holder inside the storage portion, and the opening suppresses the intrusion of the sprayed concrete into the inside of the storage portion. A concrete intrusion suppression member may be provided.

Further, in the present invention, in the spraying process, sprayed concrete is sprayed onto a part of the steel support while the steel support arranged at the built-in position is held by the hand. A grip release step of temporarily fixing the steel support and then releasing the grip of the steel support by the hand after the spraying step may be further provided.

Further, in the present invention, the holder has a fall prevention mechanism for suppressing the holder from falling from the surface of the steel material when the state of attraction to the steel material by the magnet is released. You may. In that case, the steel material is a flange of a steel support, the fall prevention mechanism includes an arm member provided on the holder, and the arm member is a hook-shaped hook-shaped hook that is loosely fitted to the flange. It may have a part.

Further, the hooking portion is contracted and deformed by an engaging piece that collides with the flange when the attracting state of the magnet to the flange is released and an impact when the engaging piece collides with the flange. At the same time, it may have a spring member that brings the holder closer to the flange by a restoring force at the time of contraction deformation.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a technique capable of recovering a construction aid attached to a steel material gripped or suspended by a gripping tool or a hanging tool of a construction machine without manual work.

FIG. 1 is a side view of the tunnel support work according to the first embodiment. FIG. 2 is a diagram illustrating a tunnel support structure according to the first embodiment. FIG. 3 is a schematic configuration diagram of a built-in system for tunnel support according to the first embodiment. FIG. 4 is a top view of the work vehicle according to the first embodiment. FIG. 5 is a side view of the work vehicle according to the first embodiment. FIG. 6 is a diagram showing a mounting position of the target on the tunnel support according to the first embodiment. FIG. 7A is a diagram showing a self-propelled target holding device according to the first embodiment. FIG. 7B is a diagram showing a self-propelled target holding device according to the first embodiment. FIG. 7C is a diagram showing a self-propelled target holding device according to the first embodiment. FIG. 8A is a partially enlarged view showing a state in which the self-propelled target holding device according to the first embodiment is sucked and held on the surface of the inner air side flange of the left steel support (right steel support). FIG. 8B is a partially enlarged view showing a state in which the self-propelled target holding device according to the first embodiment is sucked and held on the surface of the inner air side flange of the left steel support (right steel support). FIG. 9 is a schematic view showing a connecting structure for connecting the left steel support and the right steel support according to the first embodiment. FIG. 10 is a diagram showing a first crown joint plate according to the first embodiment. (A) shows a female connecting portion viewed from the outer surface side of the first top joint plate. (B) shows a female connecting portion viewed from the inner surface side of the first top joint plate. FIG. 11 is a diagram showing a second crown joint plate according to the first embodiment. (A) shows a male connecting portion viewed from the inner surface side of the second top joint plate. (B) shows a male connecting portion viewed from the outer surface side of the second top joint plate. FIG. 12 is a cross-sectional view taken along the line XX in FIG. FIG. 13 is a diagram showing a state in which the female connecting portion and the male connecting portion according to the first embodiment are connected. FIG. 14 is a diagram illustrating the operation of the erector device when connecting and building the left steel support and the right steel support according to the first embodiment. FIG. 15 is a diagram illustrating the operation of the Elekta device when connecting and building the left steel support and the right steel support according to the first embodiment. FIG. 16 is a diagram showing a hand of the elector device according to the first embodiment and its peripheral structure. FIG. 17 is a diagram showing a hand of the elector device according to the first embodiment and its peripheral structure. FIG. 18 is a diagram showing a detailed structure of a hangar installed in the hand of the elector device according to the first embodiment. FIG. 19 is a diagram showing a situation in which the first self-propelled target holding device is collected in the first hangar. FIG. 20 is a diagram showing a first modification of the hangar installed in the hand of the erector device. FIG. 21 is a diagram illustrating a sprayed concrete intrusion suppressing member of the hangar according to the first modification. FIG. 22 is a diagram showing a second modification of the hangar installed in the hand of the erector device. FIG. 23 is a diagram showing a third modification example of the hangar installed in the hand of the erector device. FIG. 24 is a diagram showing a fourth modification of the hangar installed in the hand of the erector device. FIG. 25 is a diagram showing a fifth modification example of the hangar installed in the hand of the erector device. FIG. 26A is a diagram showing a self-propelled target holding device according to the second embodiment. FIG. 26B is a diagram showing a self-propelled target holding device according to the second embodiment. FIG. 26C is a diagram illustrating an attachment portion of a slide portion of a fall prevention arm to a vehicle body in the self-propelled target holding device according to the second embodiment. FIG. 27A is a diagram showing an expanded state of a pair of fall prevention arms in the self-propelled target holding device according to the second embodiment. FIG. 27B is a diagram showing a reduced state of the pair of fall prevention arms in the self-propelled target holding device according to the second embodiment. FIG. 28A is a diagram showing a state in which the self-propelled target holding device according to the second embodiment is sucked and held on the surface of the inner air side flange of the left steel support (right steel support). FIG. 28B is a diagram showing a state in which the self-propelled target holding device according to the second embodiment is sucked and held on the surface of the inner air side flange of the left steel support (right steel support). FIG. 29 is a diagram showing the action of the engagement piece and the spring member of the pair of fall prevention arms according to the second embodiment. FIG. 30 is a diagram illustrating a trace line marked on the empty surface according to the second embodiment. FIG. 31 shows an example in which two sets of fall prevention arms are installed in a self-propelled target holding device in the second embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Embodiment 1>
FIG. 1 is a side view of the tunnel support 10 according to the first embodiment. The tunnel support 10 is an arch-shaped steel support built along the pit wall immediately after excavation in order to prevent the collapse of the ground exposed due to the tunnel excavation, and is a regular interval along the tunnel axial direction. It is installed every time. The tunnel support 10 in the present embodiment is formed of H-shaped steel having an H-shaped cross section. More specifically, the tunnel support 10 is formed in an arch shape by integrally connecting the top ends (upper ends) of the pair of arc-shaped steel support works 10L and 10R. Hereinafter, the steel support 10L will be referred to as "left steel support", and the steel support 10R will be referred to as "right steel support".

The left steel support 10L has a first main body portion 111, a first top end joint plate 121, and a first bottom plate 131. The first main body portion 111 is an H-shaped steel composed of a web 111a, a pair of ground side flanges 111b orthogonal to the web 111a, and an inner air side flange 111c. Further, the first top end joint plate 121 is welded to one end of the first main body 111, and the first bottom plate 131 is welded to the other end. The first top joint plate 121 and the first bottom plate 131 are quadrangular steel flat plates extending in a direction orthogonal to the H-shaped cross section of the first main body 111. Similarly, the right side steel support 10R also has a second main body portion 112, a second top end joint plate 122, and a second bottom plate 132. The second main body portion 112 is an H-shaped steel composed of a web 112a, a pair of ground side flanges 112b orthogonal to the web 112a, and an inner air side flange 112c. A second top joint plate 122 is welded to one end of the second main body 112, and a second bottom plate 132 is welded to the other end. The second top joint plate 122 and the second bottom plate 132 are quadrangular steel flat plates, and extend in a direction orthogonal to the H-shaped cross section of the second main body portion 112. In the present embodiment, the first crown joint plate 121 and the second crown joint plate 122 have a congruent square plane. As shown in FIG. 1, the left steel support 10L and the right steel support 10R are connected in a state where the first top joint plate 121 and the second top joint plate 122 are butted against each other.

FIG. 2 is a diagram for explaining the tunnel support structure 1 according to the first embodiment. Reference numeral 3 in FIG. 2 is a primary sprayed concrete layer. Reference numeral 6 is a secondary sprayed concrete layer. Note that FIG. 3 shows the steel support 10R on the right side of the tunnel support 10. In the tunnel construction method of the present embodiment, after the ground 7 is exposed on the side surface of the tunnel T by excavation of the face 8, the primary concrete is sprayed on the ground 7 to perform the primary spraying. The concrete layer 3 is formed. After that, the arch-shaped tunnel support 10 described above is built on the inner air side of the primary sprayed concrete layer 3 along the tunnel wall surface. The tunnel support 10 is adjacent to the face 8 side with respect to the existing tunnel support 10 located on the wellhead side of the tunnel T, and has a predetermined interval (for example, 1.0 m to 1.5 m) in the axial direction of the tunnel T. Degree). The construction of the tunnel support 10 is performed by using an elector device equipped with a hand attached to a pair of boom tips. Hereinafter, the method of building the tunnel support 10 will be described in detail.

FIG. 3 is a schematic configuration diagram of the built-in system S of the tunnel support 10 according to the first embodiment. In the figure, reference numeral 100 is an erector device for building the tunnel support 10, and reference numeral 200 is a work vehicle (heavy machine) on which the erector device 100 is mounted and capable of self-propelling. Reference numeral 300 is an automatic tracking type total station that is a distance measuring and angle measuring instrument (surveying instrument) using laser light, reference numeral 400 is a total station controller that controls the total station 300, and reference numeral 500 is a total station side that enables wireless transmission and reception with the total station controller 400. It is an antenna. The erector device 100 includes a monitor 101, an erector controller 102, an erector side antenna 103, an operation panel 104, a keyboard 105, a pointing device 106, and the like, which are display devices mounted on the cockpit.

The total station 300 is a surveying instrument that measures (measures) the position of the target 9 by irradiating a laser beam to automatically track the target 9 including a prism and measuring the distance and angle thereof, and is inside the tunnel T. It is installed at a point where the coordinates are known (coordinate known point). In the present embodiment, the target 9 is attached to the tunnel support 10 (left steel support 10L and right steel support 10R) to be built in the face 8, and the tunnel support 10 (left steel support 10L and right steel support 10L) is made of steel. Since the target 9 is automatically tracked as the support work 10R) moves, it is preferable to select and install a place where there is no obstacle in the automatic tracking and collimation of such a target. For example, it may be installed on the floor surface of the tunnel, or a pedestal may be erected on the ceiling and the total station 300 may be installed on the pedestal.

The total station controller 400 includes, for example, a portable computer. The total station controller 400 automatically controls various mechanisms of the total station 300 by software incorporated in the computer, and processes the survey data of the total station 300. Further, the total station controller 400 can transmit and receive data by wireless communication with the erector controller 102 side, and can wirelessly remotely control various mechanisms of the total station 300 by a command from the erector controller 102 side. ..

FIG. 4 is a top view of the work vehicle 200 according to the first embodiment. FIG. 5 is a side view of the work vehicle 200 according to the first embodiment. The work vehicle 200 includes an elector device 100 and a spraying device 600. The elector device 100 includes a pair of booms 17L and 17R having the same configuration. The pair of booms 17L and 17R can freely expand and contract, tilt, swing, and rotate by operating the drive mechanism attached to them. Further, a pair of hands 18L and 18R having the same configuration are connected to the tips of the booms 17L and 17R. The pair of hands 18L and 18R can freely rotate and swing by the operation of the drive mechanism attached to them, and the left steel support 10L and the right steel support 10R can be detachably gripped and gripped, respectively. Can be (held).

Hereinafter, the boom indicated by the reference numeral 17L is referred to as a “left side boom”, and the boom indicated by the reference numeral 17R is referred to as a “right side boom”. Further, the hand indicated by the reference numeral 18L is referred to as a “left hand”, and the hand indicated by the reference numeral 18R is referred to as a “right hand”. The erector device 100 can detachably grip the left steel support 10L on the left hand 18L and the right steel support 10R on the right hand 18R. In the present embodiment, the left side steel support 10L and the right side steel support 10R are a pair of support materials in which the arch-shaped tunnel support 10 is divided into two, and after being guided to the vicinity of the face 8, these are Is assembled with the face 8 to form an arch-shaped tunnel support 10. As described above, the elector device 100 holds the left steel support 10L with the left hand 18L, holds the right steel support 10R with the right hand 18R, and builds the tunnel support 10 to build the tunnel. It is a construction machine for construction. Further, the left hand 18L and the right hand 18R that grip the left steel support 10L and the right steel support 10R are examples of gripping tools of the construction machine.

FIG. 6 is a diagram showing a mode in which the target is attached to the tunnel support according to the first embodiment. As shown in FIG. 6, the left steel support 10L and the right steel support 10R have a symmetrical arc shape. Here, the first target 9a and the second target 9b are attached to the upper end and the lower end of the left steel support 10L, respectively. Further, the right side steel support 10R has a third target 9c and a fourth target 9d attached to its upper end and lower end, respectively. Here, the first target 9a to the fourth target 9d are collectively referred to as "target 9". In this embodiment, the target 9 corresponds to a construction aid. Here, the construction assisting tool is a general term for tools, tools, and the like used to assist the construction.

Reference numeral 2 in FIG. 6 indicates a self-propelled target holding device. The self-propelled target holding device 2 holds the target 9 and is attached to these predetermined positions when the left steel support 10L and the right steel support 10R are built. As will be described in detail later, in the self-propelled target holding device 2, the inner air side flange is held by magnetic force on the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R. It is a self-propelled robot capable of traveling on the surfaces of 111c and 112c along the longitudinal direction thereof. However, in FIG. 6, the self-propelled target holding device 2 is schematically shown. In the present embodiment, the self-propelled target holding device 2 corresponds to the holding tool according to the present invention.

7A to 7C are views showing the self-propelled target holding device 2 according to the first embodiment. The self-propelled target holding device 2 has a vehicle body 21 and a pair of drive wheels 22 and the like provided on the vehicle body 21. Reference numeral 21a is the upper surface of the vehicle body 21, and reference numeral 21b is the bottom surface of the vehicle body 21. Further, reference numeral 21c is the front surface (front surface) of the vehicle body 21, and reference numeral 21d is the back surface (rear surface) of the vehicle body 21. However, in the self-propelled target holding device 2 of the present embodiment, the number, position, and the like of the drive wheels 22 are not particularly limited. For example, two pairs of drive wheels 22 may be provided, or more may be provided.

Each of the pair of drive wheels 22 has a tire 22a, and the pair of drive wheels 22 are connected via an axle 23. The vehicle body 21 is equipped with an electric motor unit and a battery (both not shown) for driving the drive wheels 22. The motor unit is provided with a motor and gears for transmitting the output shaft of the motor to the drive wheels 22. As for the electric motor, for example, the self-propelled target holding device 2 can travel on the surfaces of the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R in any of the front and rear directions along the longitudinal direction thereof. As shown above, it is configured so that it can rotate forward and backward. Further, the motor is connected to the battery by, for example, a power cable (not shown). Further, the electric motor has a drive control circuit, and can communicate with an external remote controller (not shown, hereinafter also referred to as an "external remote controller") through a communication antenna indicated by reference numeral 27. As a result, the self-propelled target holding device 2 can be operated and controlled by wireless operation by an external remote controller, and the drive wheels 22 are rotationally driven and the drive wheels 22 are steered in response to a control signal from the drive control circuit. Is controlled.

Further, as shown in FIGS. 7A and 7B, the target 9 is attached to the upper surface 21a of the vehicle body 21 in the self-propelled target holding device 2. The target 9 has a shaft-shaped shaft portion 91 erected on the upper surface 21a of the vehicle body 21 and a prism 92 connected to the tip of the shaft portion 91. Further, a permanent magnet 24 is attached to the bottom surface 21b of the vehicle body 21 in the self-propelled target holding device 2. The self-propelled target holding device 2 can be attracted and held by the magnetic force of the permanent magnet 24 on the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R. The permanent magnet 24 is arranged near the center in the width direction of the vehicle body 21 and at a position corresponding to the axle 23 in the front-rear direction. However, the number, position, size, etc. of the permanent magnets 24 arranged on the bottom surface 21b of the vehicle body 21 can be changed as appropriate.

Further, ball bearings 25a and 25b are provided on the bottom surface 21b of the vehicle body 21. The ball bearing 25a is arranged at a position closer to the front with respect to the axle 23, and the ball bearing 25b is arranged at a position closer to the rear with respect to the axle 23. Further, the ball bearings 25a and 25b are arranged near the center in the width direction of the vehicle body 21. The position and number of bearings arranged on the bottom surface 21b of the vehicle body 21 can be freely changed. Further, a line detection sensor 26 is provided in the vicinity of the front end portion of the bottom surface 21b of the vehicle body 21 along the width direction of the vehicle body 21. The line detection sensor 26 is a sensor for detecting lines such as black lines and white lines attached to the surfaces of the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R. In the present embodiment, the reflection type photo sensor is adopted as the line detection sensor 26, but the present invention is not limited to this. In addition, the position, number, and the like of the line detection sensor 26 can be freely changed.

8A and 8B show a state in which the self-propelled target holding device 2 according to the present embodiment is sucked and held on the surface of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). It is a partially enlarged view which shows. FIG. 8A shows a situation in which the self-propelled target holding device 2 in a state of being sucked and held on the surface of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R) is viewed from the side. It is a figure which shows. FIG. 8B shows a situation in which the self-propelled target holding device 2 in a state of being attracted and held on the surface of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R) is viewed from the inner air side. It is a figure which shows.

As shown in FIG. 8A, the permanent magnet 24 arranged on the bottom surface 21b of the vehicle body 21 in the self-propelled target holding device 2 is slightly separated from the inner air side flange 111c (112c), but self-propelled due to its magnetic force. The type target holding device 2 can be sucked and held on the inner air side flange 111c (112c) surface of the left side steel support 10L (right side steel support 10R). As shown in FIG. 8A, the vehicle body is in a state where the self-propelled target holding device 2 is sucked and held by the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). The pair of ball bearings 25a and 25b and the pair of drive wheel 22 tires 22a arranged on the bottom surface 21b of 21 are in contact with the surface of the inner air side flange 111c (112c). According to this, when the drive wheels 22 of the self-propelled target holding device 2 are rotationally driven by wireless operation by an external remote controller, the self-propelled target holding device 2 keeps a stable posture and the inner air side flange 111c (112c). While being attracted and held on the surface of the inner air side flange 111c (112c), it can travel on the surface along the longitudinal direction of the inner air side flange 111c (112c).

Further, as shown in FIG. 8B, a trace line TL is drawn along the longitudinal direction on the surface of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). There is. In the example shown in FIG. 8B, a trace line TL is drawn along the longitudinal direction at the central portion of the inner air side flange 111c (112c) in the width direction. The trace line TL may be formed by, for example, applying a black or white paint to the surface of the inner air side flange 111c (112c). The line detection sensor 26 in the self-propelled target holding device 2 is, for example, a photo sensor having a transmitting unit and a receiving unit.

The line detection sensor 26 emits infrared rays, LEDs, ultraviolet rays, etc. from the transmitting unit, and receives the reflected light reflected on the surface of the inner air side flange 111c (112c) by the phototransistor of the receiving unit for tracing. The presence or absence of line TL can be detected. The detection signal of the line detection sensor 26 is input to the drive control circuit, and the drive control circuit can steer the drive wheels 22 in response to the detection signal of the line detection sensor 26. As a result, the self-propelled target holding device 2 can be moved forward or backward along the tracing line TL simply by wirelessly operating the self-propelled target holding device 2 either forward or backward by using the external remote controller. Can be done. In the present embodiment, the self-propelled target holding device 2 is mounted on the permanent magnet 24 at predetermined positions of the left steel support 10L and the right steel support 10R held by the left hand 18L and the right hand 18R of the elector device 100. The position coordinates of each target 9 held by the self-propelled target holding device 2 are attracted and held by the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R by the magnetic force of While measuring with the total station 300, the tunnel support 10 assembled in an arch shape by connecting the top ends of the left steel support 10L and the right steel support 10R as described above is positioned at the predetermined building position. You can make adjustments.

Next, the spraying device 600 will be described with reference to FIGS. 4 and 5. The spraying device 600 is arranged between the left boom 17L and the right boom 17R, and is provided on the tip side of the arm 601 and the spraying robot 602 supported by the arm 601 and the spraying robot 602. It is equipped with a nozzle 603 and the like. The arm 601 can expand and contract, tilt, and the like. Further, the spraying robot 602 can tilt, rotate, and the like the spray nozzle 603. In addition, the spraying device 600 includes a concrete pump, a quick-setting admixture supply device, a compressor, a high-pressure water pump, and the like. The spraying robot 602 can spray the sprayed concrete onto the face 8 by discharging the sprayed concrete supplied from the concrete pump from the spraying nozzle 603.

Next, a method of building the tunnel support 10 in the present embodiment will be described. The NATM method consists of (1) blasting face 8 or excavating by machine → (2) carrying out scraps → (3) spraying primary sprayed concrete → (4) building tunnel support → (5) secondary blowing This is a construction method in which the tunnel T is extended in the axial direction by repeating the spraying of concrete to be attached → (6) the placement of rock bolts as one cycle. In the present embodiment, (2) after the process of carrying out the slip is completed, the work vehicle 200 equipped with the elector device 100 is arranged in the vicinity of the face 8. At that time, each hand 18L and 18R of the Electa device 100 holds the left steel support 10L and the right steel support 10R along the tunnel axis (tunnel extension direction), and holds the work vehicle 200 by itself. Run and place in the vicinity of the face 8. Then, the primary spray concrete layer is sprayed on the ground 7 (tunnel wall surface) on which the left steel support 10L and the right steel support 10R will be built by using the spray device 600. Form 3.

Next, the left steel support 10L and the right steel support 10R are held by the hands 18L and 18R, and the left steel support 10L and the right steel support 10R are driven by driving the hands 18L and 18R. Are connected to each other at the tops. Hereinafter, the connecting structure of the left steel support 10L and the right steel support 10R will be described.

FIG. 9 is a schematic view showing a connecting structure 30 for connecting the left steel support 10L and the right steel support 10R according to the first embodiment. The connecting structure 30 is a female type connection recessed in the first top joint plate 121 of the left steel support 10L, the second top joint plate 122 of the right steel support 10R, and the first top joint plate 121. The portion 40 includes a male connecting portion 50 and the like projected on the second top joint plate 122. FIG. 9 shows a state before the first crown joint plate 121 of the left steel support 10L and the second crown joint plate 122 of the right steel support 10R are connected via the connection structure 30, that is, the first state. It shows a state in which the 1 top end joint plate 121 and the 2nd top end joint plate 122 are separated from each other.

Here, reference numeral 121a is an outer surface of the first top end joint plate 121, and reference numeral 121b is an inner surface of the first top end joint plate 121. Reference numeral 122a is an outer surface of the second top end joint plate 122, and reference numeral 122b is an inner surface of the second top end joint plate 122. FIG. 10A shows the female connecting portion 40 viewed from the outer surface 121a side of the first top joint plate 121, and FIG. 10B shows the female connecting portion 40 viewed from the inner surface 121b side of the first top joint plate 121. The female connecting portion 40 is shown. Further, FIG. 11A shows a male connecting portion 50 viewed from the inner surface 122b side of the second top joint plate 122, and FIG. 11B shows a view from the outer surface 122a side of the second top joint plate 122. The female connecting portion 40 is shown.

Reference numeral 121c is the upper edge of the first top end joint plate 121, reference numeral 121d is the lower edge of the first top end joint plate 121, and reference numeral 121e is the left and right side edges of the first top end joint plate 121. Reference numeral 122c is the upper edge of the second top joint plate 122, reference numeral 122d is the lower edge of the second top joint plate 122, and reference numeral 122e is the left and right side edges of the second top joint plate 122. FIG. 9 shows the height direction and the width direction of the first crown joint plate 121, and FIG. 10 shows the height direction and the width direction of the second crown joint plate 122. The height direction of the first top end joint plate 121 is parallel to the extension direction of the side edge 121e, and is parallel to the extension direction of the web 111a at the position where the first main body 111 is connected to the first top end joint plate 121. Is. Further, the width direction of the first top end joint plate 121 is parallel to the extension direction of the upper edge 121c and the lower edge 121d, and the ground side at the position where the first main body 111 is connected to the first top end joint plate 121. It is parallel to the stretching direction of the flange 111b and the inner air side flange 111c. Further, the height direction of the second crown joint plate 122 is parallel to the stretching direction of the side edge 122e, and the stretching direction of the web 112a at the position where the second main body 112 is connected to the second crown joint plate 122. Is parallel to. The width direction of the second top end joint plate 122 is parallel to the extension direction of the upper edge 122c and the lower edge 122d, and the ground side flange 112b at the position where the second main body portion 112 is connected to the second top end joint plate 122. And parallel to the stretching direction of the inner air side flange 112c.

As shown in FIGS. 10 (a) and 10 (b), the first crown joint plate 121 has a female connecting portion 40 in each of the first region indicated by the reference numeral A1 and the second region indicated by the reference numeral A2. It is provided. The first region A1 is located on one side of the plane region of the first top joint plate 121 with the web 111a of the first main body 111 as a boundary, and the ground side flange 111b, the inner air side flange 111c and the web 111a. The area surrounded by. The second region A2 is located on the other side of the plane region of the first top joint plate 121 with the web 111a of the first main body 111 as a boundary, and is located on the ground side flange 111b, the inner air side flange 111c, and the web 111a. The area surrounded by. Similarly, as shown in FIGS. 11A and 11B, the second crown joint plate 122 is connected to the first region indicated by reference numeral A1 and the second region indicated by reference numeral A2, respectively. A unit 40 is provided. The first region A1 is located on one side of the plane region of the second top joint plate 122 with the web 112a of the second main body portion 112 as a boundary, and the ground side flange 112b, the inner air side flange 112c and the web. The area surrounded by 112a. The second region A2 is located on the other side of the plane region of the second top joint plate 122 with the web 112a of the second main body portion 112 as a boundary, and the ground side flange 112b, the inner air side flange 112c and the web. The area surrounded by 112a.

First, the male connecting portion 50 projecting on the second top joint plate 122 will be described. A pair of opening holes 122f are formed in the second top joint plate 122 at a position where the male connecting portion 50 is provided. The male connecting portion 50 has a rod-shaped male locking member 51. The male locking member 51 is a shaft member having a diameter slightly smaller than the opening hole 122f of the second top joint plate 122, and a male screw 51a is engraved at the base end portion thereof. An annular crossguard 51b is provided in the middle of the male locking member 51. Further, a male screw 51c is formed on the outer peripheral portion of the male locking member 51 at a portion closer to the tip side than the crossguard portion 51b. The male screw 51c of the male locking member 51 is a plurality of male-side locking grooves in the circumferential direction arranged side by side on the outer periphery of the male locking member 51. Further, the tip portion 51d of the male locking member 51 is formed with a tapered surface 51e whose diameter is reduced toward the tip.

Further, around the opening hole 122f on the outer surface 122a side of the second top joint plate 122, a counterbore portion 122g which is one step recessed from the periphery is formed. The collar portion 51b of the male locking member 51 is larger than the diameter of the opening hole 122f of the second crown joint plate 122. The base end side of the male locking member 51 is inserted into the opening hole 122f from the outer surface 122a side of the second top joint plate 122, and the male screw 51a of the base end portion is arranged with the crossguard portion 51b in the counterbore portion 122g. The nut 52 is screwed into the. As a result, the male locking member 51 can be fixed to the second crown joint plate 122 in a state where the male locking member 51 protrudes from the second crown joint plate 122.

Next, the female connecting portion 40 will be described. The first top joint plate 121 is provided with a pair of opening holes 121f at a position where the female connecting portion 40 is provided, and a metal cylindrical casing 41 is fixed to the inner surface 121b by welding wp or the like. Has been done. The axis of the casing 41 is located substantially at the center of the opening hole 121f. A storage chamber 42 is formed in the casing 41. A tapered hole 43 having a tapered surface 43a whose inner diameter gradually decreases from the rear end side to the tip side is formed in the front portion (front portion) of the storage chamber 42. A spring storage portion 42a is formed in the middle portion of the storage chamber 42, and a female screw 45 is engraved on the inner circumference of the rear portion of the storage chamber 42. Further, an insertion port 48 is formed at the tip of the tapered hole 43. The insertion port 48 located at the front end of the casing 41 has substantially the same diameter as the opening hole 121f formed in the first top end joint plate 121 and communicates with the opening hole 121f. Further, the insertion port 48 is arranged at a position where it overlaps with the opening hole 121f in a state where the casing 41 is fixed to the first top joint plate 121.

Further, in the tapered hole 43, the divided female locking member 46 is slidably arranged in the axial direction. In the present embodiment, as shown in FIG. 12, a wedge-shaped female locking member 46 divided into three in the circumferential direction is slidably arranged in the axial (front-back) direction of the casing 41. .. Here, the outer surface of the female locking member 46 is formed as a tapered surface 46a that can slide along the tapered surface 43a in the tapered hole 43. The outer diameter of the tapered surface 46a of the female locking member 46 gradually increases from the tip end side to the rear end side. Further, a female screw 46b is formed on the inner surface of each female locking member 46. The female screw 46b is a plurality of female-side locking grooves in the circumferential direction arranged side by side on the inner surface of each female locking member 46. The female screw 46b is an arc centered on the axial center of the casing 41 and is engraved in the direction along the axial center. From the above, a female screw hole is formed by the plurality of female locking members 46, and the tapered surface 46a of each female locking member 46 retracts along the tapered surface 43a of the tapered hole 43, whereby the female screw is formed. The diameter of the hole is expanded, and the female screw hole is reduced in diameter by moving forward (toward). The female screw 46b formed on the inner surface of each female locking member 46 can be meshed with the male screw 51c formed on the outer peripheral portion on the tip end side of the male locking member 51.

Further, in the spring accommodating portion 42a of the accommodating chamber 42, a pressing spring 44, which is a pressing member that presses (elastically biases) the female locking member 46 forward (frontward), is provided after each female locking member 46. It is stored in a compressed state between the spring receiver 47 provided at the end and the lid plate 49, and each female locking member 46 is constantly pressed forward by the pressing force of the pressing spring 44. The lid plate 49 can hold the pressing spring 44 in a compressed state by being screwed onto the female screw 45 engraved on the rear inner peripheral side of the storage chamber 42. A hexagonal hole 49a is provided on the outer surface of the lid plate 49, and the lid plate 49 can be detached from the casing 41 by a hexagon wrench.

In the female connecting portion 40 and the male connecting portion 50 configured as described above, the female screw 46b formed on the inner surface of each female locking member 46 and the outer peripheral portion of the male locking member 51 are formed. The male screw 51c is formed so that the screw pitch is smaller than the pitch of the fine screw specified in JIS. Further, in the female connecting portion 40 of the present embodiment, a spiral female screw 46b is formed on the inner surface of each female locking member 46, but instead of the female screw 46b, the circumferential direction of each female locking member 46 A parallel groove in which an annular peak portion and an annular valley portion extending in parallel are arranged alternately and in parallel may be provided on the inner surface of each female locking member 46. Similarly, in the male connecting portion 50, instead of the male screw 51c formed on the outer peripheral portion of the male locking member 51, an annular ridge portion and an annular valley portion extending in the circumferential direction of the male locking member 51 The parallel grooves may be provided on the outer peripheral surface of the male locking member 51 so as to be arranged alternately and in parallel.

Next, the operation of the connecting structure 30 when connecting the left steel support 10L and the right steel support 10R will be described. As shown in FIG. 9, the first crown joint plate 121 in the left steel support 10L and the second crown joint plate 122 in the right steel support 10R are approaching and facing each other. The separation distance between the first crown joint plate 121 and the second crown joint plate 122 is gradually increased so that the male connecting portion 50 (male locking member 51) is inserted into the opening hole 121f of the crown joint plate 121. Narrow down to.

Here, the outer diameter of the male locking member 51 is slightly smaller than the opening hole 121f of the first top joint plate 121 and the insertion port 48 of the female connecting portion 40 (casing 41), and each female mold. In a state where the locking member 46 is arranged at the most advanced position of the tapered hole 43 (tapered surface 43a), the diameter is set to be slightly larger than the diameter of the female screw hole formed by each female locking member 46. .. When the male locking member 51 projecting from the second top joint plate 122 enters through the opening hole 121f of the first top joint plate 121 from the insertion port 48 of the female connecting portion 40, the pressing spring 44 is pushed. The tip portion 51d of the male locking member 51 comes into contact with the front end surface 46c of each female locking member 46 positioned at the most advanced position of the tapered hole 43 (tapered surface 43a) at the front end portion by pressure. Then, the male locking member 51 opposes the pressing force of the pressing spring 44 and directs each female locking member 46 to the rear in the axial direction of the female connecting portion 40 (casing 41) along the tapered surface 43a. The male locking member 51 is inserted into the storage chamber 42 while expanding the diameter of the female screw hole formed by the female screw 46b on the tapered surface 46a of each female locking member 46.

Then, the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 come into surface contact with each other, and the male locking member in the storage chamber 42 of the female connecting portion 40 comes into contact with each other. When the insertion of the male locking member 51 is stopped and the insertion of the male locking member 51 into the storage chamber 42 is stopped, each female locking member 46 is moved forward by the pressing force of the pressing spring 44. ), And the female screw hole formed by the tapered surface 46a of each female locking member 46 is reduced in diameter. As a result, as shown in FIG. 13, the female screw 46b (female side locking groove) of each female locking member 46 in the female connecting portion 40 and the male screw of the male locking member 51 in the male connecting portion 50. 51c
(Male side locking groove) mesh with each other. As a result, as shown in FIG. 1, the left steel support 10L and the right steel support 10R are integrally connected in a state where the first top joint plate 121 and the second top joint plate 122 are in surface contact with each other. Will be done. In the present embodiment, the outer edges of the first top joint plate 121 and the second top joint plate 122 are in a state where the male locking member 51 is inserted and locked with respect to the female connecting portion 40. It is set so that all the positions of each other match. That is, in a state where the female connecting portion 40 of the first crown joint plate 121 and the male locking member 51 of the second crown joint plate 122 are connected, the upper edge 121c and the lower edge of the first crown joint plate 121 The edge 121d and the pair of side edges 121e overlap the upper edge 122c, the lower edge 122d, and the pair of side edges 122e of the second top joint plate 122, respectively.

Here, as shown in FIG. 13, the first crown joint plate is in a state where the female screw 46b of the female connecting portion 40 and the male screw 51c of the male connecting portion 50 (male locking member 51) are meshed with each other. When an external force acts in the direction of separating the 121 and the second crown joint plate 122, the pulling force acts in the direction of pulling out the male locking member 51 from the storage chamber 42 in the female connecting portion 40. This pulling force is transmitted to each female locking member 46 via the male screw 51c and the female screw 46b that mesh with each other. By the way, the outer diameter of the tapered surface 46a of each female locking member 46 gradually decreases from the rear side to the front side. Therefore, even if the pulling force acts on each female locking member 46, the displacement of each female locking member 46 toward the front of the tapered hole 43 is restricted. That is, according to the connecting structure 30 according to the present embodiment, even if an external force acts in the direction of pulling out the male locking member 51 from the storage chamber 42 of the female connecting portion 40, the connecting state is maintained against the external force. Can be maintained. That is, according to the connecting structure 30 in the embodiment, only the operation of inserting the male connecting portion 50 (male locking member 51) from the insertion port 48 of the female connecting portion 40 with respect to the female connecting portion 40. Since the male connecting portion 50 is connected, the left steel support 10L and the right steel support 10R can be easily fastened integrally. Further, even if a pulling force acts in the direction of pulling out the male locking member 51 from the storage chamber 42 in the female connecting portion 40, it is possible to prevent the female connecting portion 40 and the male connecting portion 50 from being disconnected. can.

Here, the operation of the elector device 100 when connecting and building the left steel support 10L and the right steel support 10R will be described. When connecting and building the left steel support 10L and the right steel support 10R, the erector device 100 extends and tilts the left boom 17L and the right boom 17R, and rotates the left hand 18L and the right hand 18R. Then, the left steel support 10L and the right steel support 10R are moved so as to be orthogonal to the tunnel axis. The booms 17L and 17R and the hands 18L and 18R in the elector device 100 can be driven by operating the operation panel 104.

Next, the pair of hands 18L and 18R holding the left steel support 10L and the right steel support 10R are relatively moved to be recessed in the first top joint plate 121 and the left steel support 10L. The female connecting portion 40 provided and the male connecting portion 50 (male locking member 51) projecting on the second crown joint plate 122 of the right steel support 10R are connected to each other, and the left steel is connected. The tunnel support 10 is formed by connecting the support 10L and the steel support 10R on the right side in an arch shape. At that time, the relative movement amount of the hands 18L and 18R is calculated based on the survey data obtained by surveying the positions of the targets 9 attached to the left steel support 10L and the right steel support 10R from the known coordinate points. Set and drive. In the present embodiment, the female connecting portion 40 recessed in the first crown joint plate 121 of the left steel support 10L and the second crown joint plate 122 of the right steel support 10R are projected. The male connecting portion 50 (male locking member 51) functions as a one-touch joint that is connected with one touch by hand operation of the elector device 100.

As shown in FIG. 14, the left steel support 1
The self-propelled target holding device 2 holding the target 9 at a predetermined position of 0L and the right side steel support 10R is attracted by the magnetic force of the permanent magnet 24. More specifically, the self-propelled target holding device 2 (hereinafter, "No. 1") holds the first target 9a on the inner air side flange 111c of the first target installation position Ps1 set on the upper end side of the left steel support 10L. 1 Self-propelled target holding device 2A ”) is attached. Further, the self-propelled target holding device 2 (hereinafter, "second self") holding the second target 9b on the inner air side flange 111c of the second target installation position Ps2 set on the lower end side of the left steel support 10L. (Also referred to as "running target holding device 2B") is attached. Further, the self-propelled target holding device 2 (hereinafter, "third self") holding the third target 9c on the inner air side flange 112c of the third target installation position Ps3 set on the upper end side of the right side steel support 10R. (Also referred to as "running target holding device 2C") is attached. Further, the self-propelled target holding device 2 (hereinafter, "fourth self") holding the fourth target 9d on the inner air side flange 112c of the fourth target installation position Ps4 set on the lower end side of the right steel support 10R. (Also called "running target holding device 2D") is attached.

In the present embodiment, marks indicating positions for attaching the self-propelled target holding devices 2 to the target installation positions Ps1 to Ps4 in the left steel support 10L and the right steel support 10R are marked in advance with paint or the like. For example, a mark for positioning the permanent magnet 24 provided on the bottom surface 21b of the vehicle body 21 in each self-propelled target holding device 2 is marked on the inner air side flange 112c (122c), and the permanent magnet 24 is aligned with the above mark. In this way, each self-propelled target holding device 2 may be attached to the inner air side flange 112c (122c). As a result, the self-propelled target holding devices 2 can be accurately and easily attached to the target installation positions P1 to P4 in the left steel support 10L and the right steel support 10R. The orientation of the self-propelled target holding device 2 when the self-propelled target holding device 2 is attached to the inner air side flange 112c (122c) is not particularly limited, but here, for convenience, the self-propelled target holding device 2 (vehicle body). An example will be described in which the self-propelled target holding device 2 is attached so that the front surface 21c in 21) faces the hand 18L (18R) side of the erector device 100.

Further, the self-propelled target holding device 2 is attached (suctioned) to the left steel support 10L and the right steel support 10R with the booms 17L and 17R sufficiently lowered so as not to be aerial work. It can be carried out. As shown in FIG. 14, box-shaped first hangars 180a and second hangars 180b are provided on both sides of the hand 18L in the erector device 100, respectively. Similarly, box-shaped third hangars 180c and fourth hangars 180d are provided on both sides of the hand 18R, respectively. Each of these hangars 180a to 180d is a hangar for collecting and storing the self-propelled target holding device 2. Hereinafter, when the first hangar 180a to the fourth hangar 180d are collectively referred to, they are referred to as "hangar 180". In the present embodiment, the hangar 180 corresponds to the storage unit according to the present invention. Note that in FIGS. 4 and 5, the hangar 180 is not shown.

When connecting the left steel support 10L and the right steel support 10R, for example, the erector controller 102 wirelessly remotely operates the total station 300 via the total station controller 400, and each target 9 (first target 9a to fourth target 9a to fourth target). By automatically tracking 9d), the coordinates of each target 9 are automatically measured in sequence. Here, the total station 300 is installed at a coordinate known point (x0, y0, z0). By irradiating a laser beam from the total station 300 installed at a known coordinate point and collimating each target 9 to perform distance measurement and angle measurement, the position coordinates of the first target 9a to the fourth target 9d ( x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) can be obtained. Then, the survey data including the position coordinates of each target 9 is sequentially wirelessly transmitted from the total station controller 400 side to the erector controller 102. The elector controller 102 is a total station 3
Based on the survey data of each target 9 acquired from 00, the respective drive amounts for moving the hands 18L and 18R relative to each other are set, and the first crown joint plate 121 and the right steel of the left steel support 10L are made. The second crown joint plate 122 of the support work 10R is connected to each other. That is, as described with reference to FIGS. 10 to 13, the female connecting portion 40 recessed in the first top joint plate 121 of the left steel support 10L and the right steel support 10R No. 1 2 The male connecting portion 50 (male locking member 51) projecting on the top joint plate 122 is connected with one touch by hand operation of the elector device 100. As a result, as shown in FIG. 15, the tunnel support 10 is assembled in an arch shape.

The movement amount of the hands 18L and 18R set by the elector controller 102 is displayed on the monitor 101. The total station 300 in this embodiment can automatically track and collimate each target 9. Therefore, the amount of movement of each hand 18L, 18R required to interconnect the top ends of the left steel support 10L and the right steel support 10R by operating the hands 18L, 18R is displayed on the monitor 101 in real time. The display can be displayed, and the operator can easily connect the left steel support 10L and the right steel support 10R by sequentially operating the operation panel 104 while looking at the monitor 101. In addition to operating the hands 18L and 18R here by operating the drive mechanism of the hands 18L and 18R to directly operate the hands 18L and 18R, the boom 17L to which the hands 18L and 18R are attached is used. It also includes indirectly operating the hands 18L and 18R by driving the hands 18L and 17R.

After assembling the tunnel support 10 in an arch shape as described above, the elector device 100 drives the hands 18L and 18R to arrange the tunnel support 10 at a predetermined built-in position in the vicinity of the face 8 (support). Construction process). For example, the erector controller 102 has the respective positions of the first target 9a to the fourth target 9d based on the survey data including the coordinate positions of the respective targets 9 (first target 9a to fourth target 9d) acquired from the total station 300. May be displayed on the monitor 101. Further, the monitor 101 may display the target positions of the first target 9a to the fourth target 9d in addition to the respective positions of the first target 9a to the fourth target 9d. The operator who operates the elector device 100 can arrange the tunnel support 10 at the regular built-in position by driving the booms 17L and 17R and the hands 18L and 18R while looking at the monitor 101.

In the present embodiment, the tunnel support 10 (left steel support 10L and right steel support 10R) is placed at a predetermined built-in position on the face 8 by hand operation of the elector device 100, and then the self-propelled target. The holding device 2 is collected in a hangar 180 (see FIGS. 14, 15 and the like) provided in each of the hands 18L and 18R. Hereinafter, the process of collecting the self-propelled target holding device 2 in the hangar 180 will be described.

FIG. 16 is a diagram showing the hand 18L of the erector device 100 and its peripheral structure. FIG. 17 is a diagram showing the hand 18R of the erector device 100 and its peripheral structure. FIG. 18 is a diagram showing a detailed structure of the hangar 180 installed in the hands 18L and 18R of the elector device 100. Note that in FIG. 18, the hands 18L and 18R are not shown. Here, the hangar 180 has a back wall portion 181 fixed to the hand 18L (18R) by welding or the like, a top wall portion 182 connected to an end portion of the back wall portion 181, and a back wall portion 181 and a top wall portion. It includes a pair of left and right side wall portions 183 connected to 182. The pair of side wall portions 183 in the hangar 180 are arranged so as to face each other, and in the example shown in FIG. 18, the flange of the inner air side flange 111c (112c) in the left steel support 10L (right side steel support 10R). The width and the width dimension of the hangar 180 are substantially the same.

An opening 185 is formed at the end of the hangar 180 in the direction opposite to the back wall portion 181. The opening 185 is used as an entrance / exit of the self-propelled target holding device 2 to the hangar 180. Further, FIGS. 16 and 17 show a self-propelled target holding device 2 stored in the hangar 180 with a broken line. As described above, the self-propelled target holding device 2 in the present embodiment can self-propell in a state where the surfaces of the inner air side flanges 111c and 112c are attracted to each other. Further, in the hangar 180, the surface facing the top wall portion 182 is an open surface, and when the left steel support 10L and the right steel support 10R are gripped by the hands 18L and 18R of the elector device 100, respectively. In addition, the hangar 180 is prevented from interfering with the inner air side flanges 111c and 112c.

In the present embodiment, as shown in FIG. 15, after the tunnel support 10 is assembled in an arch shape, the tunnel support 10 is arranged at a predetermined built-in position in the vicinity of the face 8 and the inner air side flange 111c is arranged. , 112c, each self-propelled target holding device 2 in a state of being sucked and held at a predetermined position is wirelessly operated by an external remote control, and the surfaces of the inner air side flanges 111c and 112c are self-propelled to be collected in the storage 180. Specifically, an external remote controller is used to wirelessly operate the drive wheels 22 of the self-propelled target holding device 2 to move forward. As a result, the self-propelled target holding device 2 can be made to travel on the surface of the inner air side flange 111c (112c) toward the hangar 180 while being attracted to the surface of the inner air side flange 111c (112c). Here, ball bearings 25a and 25b are provided on the bottom surface 21b of the vehicle body 21 in the self-propelled target holding device 2, and both ball bearings 25a and 25b are in contact with the surface of the inner air side flange 111c (112c). The structure is such that the drive wheels 22 can be rotated while being in contact with each other. As a result, the self-propelled target holding device 2 can be run on the surfaces of the inner air side flanges 111c and 112c in a stable posture.

Here, the details of the tracing line TL marked on the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R will be described. The left steel support 10L and the right steel support 10L and the right steel support will be described. Each of the 10Rs is provided with two tracing lines TL. Specifically, as shown in FIG. 15, the left steel support 10L has a first trace line TL1 extending from the first target installation position Ps1 starting from the first target installation position Ps1 and a second target. The second trace line TL2 extending from the second target installation position Ps2 starting from the installation position Ps2 is displayed. On the other hand, on the right side steel support 10R, the third trace line TL3 extending from the third target installation position Ps3 starting from the third target installation position Ps3 and the fourth target starting from the fourth target installation position Ps4. The fourth trace line TL4 extending from the installation position Ps4 is displayed.

Here, the end of the first trace line TL1 is referred to as "first storage position Pe1", and the end of the second trace line TL2 is referred to as "second storage position Pe2". Further, the end of the third trace line TL3 is referred to as a "third storage position Pe3", and the end of the fourth trace line TL4 is referred to as a "fourth storage position Pe4". Hereinafter, the first storage position Pe1 to the fourth storage position Pe4 may be collectively referred to simply as "storage position Pe".

Here, the first storage position Pe1 is a position covered by the first hangar 180a when the left steel support 10L is gripped by the hand 18L among the inner air side flanges 111c of the left steel support 10L. Is set to. Further, the second storage position Pe2 is set to a position covered by the second hangar 180b when the left steel support 10L is held by the hand 18L among the inner air side flanges 111c of the left steel support 10L. It is set. Further, the third storage position Pe3 is the third hangar 1 when the right steel support 10R is gripped by the hand 18R among the inner air side flanges 112c of the right steel support 10R.
It is set to a position covered by 80c. Further, the fourth storage position Pe4 is located at a position covered by the fourth hangar 180d when the right steel support 10R is gripped by the hand 18R among the inner air side flange 112c of the right steel support 10R. It is set. In FIG. 15, the trace lines TL1 to TL4 are shown apart from the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R in drawing, but they are actually shown. Is displayed along the longitudinal direction on the inner air side surfaces (outer surfaces) of the inner air side flanges 111c and 112c.

When the first self-propelled target holding device 2A attached to the first target installation position Ps1 of the left steel support 10L is collected in the first hangar 180a, the first self-propelled target is held by wireless operation by an external remote controller. The drive wheels 22 of the device 2A are driven forward to travel toward the first hangar 180a. FIG. 19 is a diagram showing a situation in which the first self-propelled target holding device 2A is collected in the first hangar 180a. The first self-propelled target holding device 2A traveling on the surface of the inner air side flange 111c along the first trace line TL1 reaches the first storage position Pe1 and is located at the first storage position Pe1 for the first trace. When the line detection sensor 26 detects the end of the line TL1, the first self-propelled target holding device 2A is automatically stopped. As a result, the first self-propelled target holding device 2A can be collected and stored inside the first hangar 180a.

Further, when the second self-propelled target holding device 2B attached to the second target installation position Ps2 of the left steel support work 10L is collected in the second hangar 180b, the wireless operation by the external remote controller is performed by the wireless operation by the external remote controller. Drives the drive wheels 22 of the second self-propelled target holding device 2B forward, and causes the second self-propelled target holding device 2B to travel toward the second hangar 180b. Then, the second self-propelled target holding device 2B traveling on the surface of the inner air side flange 111c along the second tracing line TL2 reaches the second storage position Pe2 and is located at the second storage position Pe2. When the line detection sensor 26 detects the end of the trace line TL2, the second self-propelled target holding device 2B is automatically stopped. As a result, the second self-propelled target holding device 2B can be collected and stored inside the second hangar 180b.

Similarly, when the third self-propelled target holding device 2C attached to the third storage position Pe3 of the right steel support 10R is collected in the third hangar 180c, the third self-propelled type is operated wirelessly by an external remote controller. The drive wheels 22 of the target holding device 2C are driven forward to drive the third self-propelled target holding device 2C toward the third hangar 180c. Then, the third self-propelled target holding device 2C traveling on the surface of the inner air side flange 112c along the third tracing line TL3 reaches the third storage position Pe3 and is located at the third storage position Pe3. When the line detection sensor 26 detects the end of the trace line TL3, the third self-propelled target holding device 2C is automatically stopped. As a result, the third self-propelled target holding device 2C can be collected and stored inside the third hangar 180c.

Further, when the 4th self-propelled target holding device 2D attached to the 4th storage position Pe4 of the right steel support 10R is collected in the 4th hangar 180d, the 4th self-propelled target is operated wirelessly by an external remote controller. The drive wheels 22 of the holding device 2D are driven forward to drive the fourth self-propelled target holding device 2D toward the fourth hangar 180d. Then, the fourth self-propelled target holding device 2D traveling on the surface of the inner air side flange 112c along the fourth trace line TL4 reaches the fourth storage position Pe4 and is located at the fourth storage position Pe4. When the line detection sensor 26 detects the end of the trace line TL4, the fourth self-propelled target holding device 2D is automatically stopped. As a result, the fourth self-propelled target holding device 2D can be collected and stored inside the fourth hangar 180d. In the present embodiment, the self-propelled target holding device 2 is attached to the left steel support 10L (right steel support 10R) and placed on the left steel support 10L (right steel support 10R). The drive wheel 22, the electric motor, the permanent magnet 24, the external remote control, and the like of the self-propelled target holding device 2 to be moved correspond to the recovery mechanism (recovery means) according to the present invention, and the present invention includes these and each storage 180. Such a recovery device is configured.

In the present embodiment, after each self-propelled target holding device 2 attracted and held by the left steel support 10L and the right steel support 10R as described above is sequentially collected in each storage 180 (recovery step). , Secondary spray concrete is sprayed from the spraying device 600 while holding the tunnel support 10 (left side steel support 10L and right side steel support 10R) on the hands 18L and 18R of the elector device 100, and the tunnel. Temporarily fix the support work 10 to the wall surface of the tunnel (spraying process). More specifically, it is two with respect to the leg 111d of the left steel support 10L and the leg 112d of the right steel support 10R (see FIG. 1) and the surrounding tunnel wall surface (primary spray concrete layer 3). By spraying the next sprayed concrete, the tunnel support 10 is temporarily fixed to the tunnel wall surface. In this way, after the tunnel support 10 is temporarily fixed to the tunnel wall surface, the tunnel support 10 is released from being gripped by the hands 18L and 18R of the elector device 100 (grasping release step).

Next, secondary spray concrete is sprayed between the new tunnel support 10 and the existing tunnel support 10 (new section) adjacent to the axial direction of the tunnel T, and the longitudinal direction of the new tunnel support 10 is sprayed. By embedding the entire area in the secondary sprayed concrete, the newly constructed tunnel support 10 is fixed to the tunnel wall surface (primary sprayed concrete layer 3) (spraying process). As a result, the secondary sprayed concrete layer 6 having a predetermined thickness is formed on the inner air side of the primary sprayed concrete layer 3. In the spraying step, the secondary sprayed concrete is sprayed to a thickness substantially reaching the inner air side flanges 111c and 112c in the tunnel support 10. Next, one cycle of the construction of the tunnel T is completed by driving the lock bolt into the ground 7 through the secondary sprayed concrete layer 6 and the primary sprayed concrete layer 3.

As described above, according to the construction method of the tunnel T in the present embodiment, the left steel support 10L and the right steel support 10R are held by the pair of hands 18L and 18R in the Electa device 100, and the hands 18L, By driving the 18R, the female connecting portion 40 recessed in the first crown joint plate 121 and the male connecting portion 50 projecting in the second crown joint plate 122 are engaged with each other and made of steel on the left side. The top joint plates of the support 10L and the right steel support 10R can be connected in an arch shape. According to this, as in the conventional case, personnel are placed on the work scaffolding built near the face, the man cage of the elector device, etc., and the personnel are moved to the vicinity of the top of the tunnel to reach the top of the pair of steel support works. Since it is not necessary to perform manual work near the face such as fastening the joint plates to each other with bolts and nuts, safety and workability can be improved as compared with the conventional case. Further, according to the connecting structure 30 of the tunnel support 10 in the present embodiment, the female connecting portion 50 (male locking member 51) is simply inserted from the insertion port 48 of the female connecting portion 40. Since the male connecting portion 50 can be engaged with the mold connecting portion 40, the left steel support 10L and the right steel support 10R can be easily connected in a shorter time.

Further, according to the tunnel T construction method in the present embodiment, the left steel support 10L and the right steel support 10R are held by the pair of hands 18L and 18R of the elector device 100 mounted on the work vehicle 200. By spraying secondary spray concrete from the spray nozzle 603 of the spray device 600, the left steel support 10L and the right steel support 10R can be temporarily fixed at the regular building positions. The step of connecting the tunnel support works 10 adjacent to each other in the axial direction of the tunnel T with a connecting material can be omitted. According to this, it is not necessary to allocate personnel to the work scaffolding built near the face or the man cage of the elector device to install the connecting material, so that the safety and workability of the tunnel T can be improved more than before. Can be improved.

Then, according to the construction method of the tunnel T in the present embodiment, after the arch-shaped tunnel support 10 formed by connecting the left steel support 10L and the right steel support 10R is arranged at the built-in position. Before temporarily fixing the tunnel support 10 by spraying the secondary sprayed concrete by the spraying device 600, the inner air side flange is attached to the self-propelled target holding device 2 attached to each target installation position Ps1 to Ps4. By running on 111c and 112c, it can be collected in each hangar 180.

In this way, by collecting each target 9 (self-propelled target holding device 2) and storing it in the hangar 180 before spraying the secondary sprayed concrete by the spraying device 600, each target 9 (self-propelled target holding device 2) is collected. It is possible to prevent the secondary sprayed concrete from the spraying device 600 from adhering to the self-propelled target holding device 2). Further, according to the present embodiment, each target 9 (self-propelled target holding device 2) can self-propell on the inner air side flanges 111c and 112c to collect the hangar 180, so that each target 9 (self-propelled target holding device 2) can be collected. It is not necessary to manually perform the collection work of the traveling target holding device 2) by using a man cage or the like of the Elekta device. As a result, the efficiency and safety of the construction of the tunnel T can be improved as compared with the conventional case.

In the present embodiment, the number of hangars 180 installed in each of the hands 18L and 18R in the elector device 100 is not particularly limited, and the target 9 attached to the left steel support 10L and the right steel support 10R (self-propelled). It can be appropriately changed according to the position and number of the traveling target holding devices 2). For example, in the left steel support 10L and the right steel support 10R, the target 9 (self-propelled target holding device 2) is attached only to the second target installation position Ps2 and the fourth target installation position Ps4, and the tunnel support 10 Only the second hangar 180b needs to be installed in the hand 18L, and the installation of the first hangar 180a can be omitted. Further, the fourth hangar 180d may be installed on the hand 18R, and the installation of the third hangar 180c can be omitted.

Further, the shape and size of the hangar 180 installed in each of the hands 18L and 18R in the elector device 100 can be changed as appropriate. FIG. 20 is a diagram showing a first modification example of the hangar 180 installed in the hands 18L and 18R of the elector device 100. Although FIG. 20 shows the hands 18L on behalf of the hands 18L and 18R, the hands 18R can also have substantially the same structure. The hangar 180 according to the first modification includes a back wall portion 181 and a bottom wall portion 186 connected to a pair of side wall portions 183 while facing the top wall portion 182. The bottom wall portion 186 is arranged along the surfaces of the inner air side flanges 111c and 112c when the left steel support 10L and the right steel support 10R are gripped by the hands 18L and 18R, respectively. In the hangar 180 according to the first modification as shown in FIG. 20, when the self-propelled target holding device 2 is collected and stored inside, the degree of isolation of the self-propelled target holding device 2 from the outside is further increased. Therefore, it is possible to make it more difficult for the secondary sprayed concrete by the spraying device 600 to adhere to the target 9.

In the first modification shown in FIG. 20, in the opening 185 of the hangar 180, a sprayed concrete intrusion suppressing member 187 for suppressing the intrusion of the secondary sprayed concrete sprayed from the spraying device 600 into the inside is provided. Have been placed. FIG. 21 is a view for explaining the sprayed concrete intrusion suppressing member 187 of the hangar 180 according to the first modification, and is a view of the hangar 180 viewed from the front side where the opening 185 is formed. The sprayed concrete intrusion suppressing member 187 shown in FIGS. 20 and 21 is formed by a plurality of plate-shaped members erected from the top wall portion 182 of the hangar 180. The sprayed concrete intrusion suppressing member 187 has appropriate flexibility and flexibility, and blows from the spraying device 600 without hindering the smooth collection of the self-propelled target holding device 2 into the hangar 180. Invasion from the opening 185 of the secondary sprayed concrete to be attached can be suitably suppressed. However, the shape, number, material, etc. of the sprayed concrete intrusion suppression member 187 are not limited to the above examples. In the hangar 180 according to the first modification as shown in FIG. 20, when the self-propelled target holding device 2 is collected and stored inside, the degree of isolation of the self-propelled target holding device 2 from the outside is further increased. Therefore, it is possible to make it more difficult for the secondary sprayed concrete by the spraying device 600 to adhere to the target 9.

Further, FIG. 22 is a diagram for explaining the hangar 180 according to the second modification. In FIG. 22, as in FIG. 20, only the hand 18L side is shown on behalf of each hand 18L and 18R, but the hand 18R can also have substantially the same structure. FIG. 22 shows a modified example of a method of getting the self-propelled target holding device 2 into the hangar 180 and collecting the self-propelled target holding device 2 when the self-propelled target holding device 2 is collected in the hangar 180.

The hangar 180 according to the second modification shown in FIG. 22 includes a bottom wall portion 186 facing the top wall portion 182. The bottom wall portion 186 is connected to the back wall portion 181 and the pair of side wall portions 183, and the self-propelled target holding device 2 that runs on the inner air side flange 111c (112c) is bottomed from the opening 185 of the hangar 180. The bottom wall portion 186 has a slope structure so that it can ride on the wall portion 186. Here, the bottom wall portion 186 of the hangar 180 is formed of a ferromagnetic steel material so that the self-propelled target holding device 2 can be adsorbed. Further, a trace line TL that can be detected by the line detection sensor 26 of the self-propelled target holding device 2 may be provided on the traveling surface of the self-propelled target holding device 2 on the bottom wall portion 186. Further, when the self-propelled target holding device 2 is collected in the hangar 180, the self-propelled target holding device 2 is self-propelled on the back wall portion 181 of the hangar 180 and the front (front) 21c of the vehicle body 21 of the self-propelled target holding device 2. A magnet for attracting and holding the front surface (front surface) 21c of the target holding device 2 (vehicle body 21) to the back wall portion 181 may be provided. As a result, when the self-propelled target holding device 2 is collected in the hangar 180, the vehicle body 21 of the self-propelled target holding device 2 can be held in a state of being attracted to the back wall portion 181.

Further, FIG. 23 is a diagram for explaining the hangar 180 according to the third modification. FIG. 24 is a diagram illustrating a hangar 180 according to a fourth modification. For convenience, FIGS. 23 and 24 show only the relationship between the inner air side flange 111c (112c) of the left steel support 10L (10R) and the hangar 180, and show the hand 18L (18R) holding the hangar 180. It is omitted. The hangar 180 according to the third modification shown in FIG. 23 has a slope-shaped bottom wall portion 186 as in the second modification described with reference to FIG. 22. The bottom wall portion 186 in this modification has a first bottom wall portion 186a located on the opening 185 side and a second bottom wall portion 186b located on the back wall portion 181 side and connected to the first bottom wall portion 186a. And include. Here, the first bottom wall portion 186a is formed of a ferromagnetic steel material, and can attract the permanent magnet 24 arranged on the bottom surface 21b of the vehicle body 21 in the self-propelled target holding device 2. On the other hand, the second bottom wall portion 186b is formed of a material that does not attract the permanent magnet 24, such as a non-magnetic material such as resin or wood.

As shown in FIG. 23, the ceiling height of the hangar 180 is higher in the second storage space 188b located on the back side, that is, on the back wall portion 181 side, than in the first storage space 188a located on the opening 185 side. It's getting higher. That is, in the top wall portion 182, a step 182c is formed between the first top wall portion 182a corresponding to the first storage space 188a and the second top wall portion 182b corresponding to the second storage space 188b. .. Further, as shown in FIG. 23, a cushioning material (cushioning material) 182d such as rubber or urethane is attached to the surface of the second top wall portion 182b on the second storage space 188b side. In the hangar 180 in the third modification, the second bottom wall portion 186b of the bottom wall portion 186 and the second top wall portion 182b of the top wall portion 182 are associated with the second storage space 188b.

In the hangar 180 according to the third modification configured as described above, when the self-propelled target holding device 2 is collected in the hangar 180, the self-propelled target holding device that self-propells the inner air side flange 111c (112c). 2 rides on the first bottom wall portion 186a of the slope-shaped bottom wall portion 186 from the opening 185. At that time, since the first bottom wall portion 186a is formed of a ferromagnetic material, the self-propelled target holding device 2 is attracted to the first bottom wall portion 186a and first toward the second storage space 188b. It can travel on the bottom wall portion 186a. Then, after the self-propelled target holding device 2 reaches the second bottom wall portion 186b, the permanent magnet 24 arranged on the bottom surface 21b of the self-propelled target holding device 2 is placed on the second bottom wall portion 186b of the bottom wall portion 186. Since the second bottom wall portion 186b is a non-magnetic material, the self-propelled target holding device 2 loses the attractive force of the permanent magnet 24 to the bottom wall portion 186, so that the self-propelled target holding device 2 becomes the bottom wall portion 186 ( It falls from the second bottom wall portion 186b) and is supplemented by the supplementary portion 188c formed in the second storage space 188b. The supplementary portion 188c is a recessed portion formed by a step between the second storage space 188b and the first storage space 188a. Since the cushioning material 182d is provided in the supplementary portion 188c as described above, it is possible to prevent the self-propelled target holding device 2 from being damaged when the self-propelled target holding device 2 falls into the supplementary portion 188c. be able to.

Next, the hangar 180 according to the fourth modification will be described with reference to FIG. 24. The hangar 180 according to the fourth modification has a front hanging wall portion 184 that hangs vertically from the front end portion of the top wall portion 182. Further, the hangar 180 according to the fourth modification has a substantially U-shaped traveling guide member 189 in its internal space. The traveling guide member 189 is made of a ferromagnetic metal capable of attracting the permanent magnet 24. Further, in the traveling guide member 189, the fixed end 189a on one end side is fixed in the vicinity of the connection portion of the top wall portion 182 with the front hanging wall portion 184, the other end side is formed as a free end 189b, and the hand 18L (18R) is formed. It comes into contact with the surface of the inner air side flange 111c (112c) of the steel support work 10L (10R) to be gripped. In the hangar 180 according to the third modification configured as described above, when the self-propelled target holding device 2 is collected in the hangar 180, the self-propelled target holding device that self-propells the inner air side flange 111c (112c). 2 rides on the traveling guide member 189 from the opening 185 from the free end 189b. After that, the self-propelled target holding device 2 travels on the surface of the traveling guide member 189 in a state of being adsorbed on the surface of the traveling guide member 189, and reaches, for example, the fixed end 189a. Here, the self-propelled target holding device 2 is placed in the hangar 180 on the front hanging wall portion 184 of the hangar 180 according to the fourth modification and on the front (front) 21c of the vehicle body 21 of the self-propelled target holding device 2. A magnet may be provided to attract and hold the front surface (front surface) 21c of the self-propelled target holding device 2 (vehicle body 21) to the front hanging wall portion 184 when the self-propelled target holding device 2 (vehicle body 21) is collected. As a result, when the self-propelled target holding device 2 is collected in the hangar 180, the self-propelled target holding device 2 travels on the traveling guide member 189 to the fixed end 189a, and then the self-propelled target holding device 2 The vehicle body 21 can be held in a state of being attracted to the front hanging wall portion 184.

Further, in the above-described embodiment, the surfaces of the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R are run on the self-propelled target holding device 2 to run the self-propelled target holding device 2. Although the mode of collecting the 2 in the hangar 180 has been described, each self-propelled target holding device 2 in the state of being stored in the hangar 180 may be evacuated from the hangar 180 by wireless operation. In that case, each self-propelled target holding device 2 travels along each trace line TL1 to TL4 starting from each storage position Pe1 to Pe4. Then, the line detection sensor 26 of the self-propelled target holding device 2 detects the end of the tracing lines TL1 to TL4 corresponding to the target installation positions Ps1 to Ps4, so that the self-propelled target holding device 2 automatically stops. Will be done. As a result, each self-propelled target holding device 2 can be accurately and easily sucked and held at each target installation position Ps1 to Ps4 by wireless operation instead of manual work by an operator.

However, in the present embodiment, the driving of each self-propelled target holding device 2 is not limited to wireless operation. FIG. 25 is a diagram showing a fifth modification example of the hangar 180 installed in each of the hands 18L and 18R in the elector device 100. Inside the hangar 180 according to the second modification, a hoisting machine 191 for winding the tow wire 190 for pulling the self-propelled target holding device 2 is provided. The tip of the tow wire 190 is connected to the self-propelled target holding device 2. Further, the hoisting machine 191 is an electric winch, and the hoisting can be remotely controlled by wireless operation by, for example, an external remote controller (not shown). The tow wire 190 may be pulled out manually from the hoisting machine 191. For example, when connecting and building the left steel support 10L and the right steel support 10R, the left steel support 10L and the right steel support 10L and the right steel support are supported while manually pulling out the tow wire 190 from the hoisting machine 191. The self-propelled target holding device 2 holding the target 9 at each target installation position Ps1 to Ps4 of the work 10R is attracted and held by the magnetic force of the permanent magnet 24 (installation step).

Further, when collecting each self-propelled target holding device 2 in the hangar 180 before temporarily fixing the left steel support 10L and the right steel support 10R with sprayed concrete, the hoisting machine 191 is operated by remote control. Activate and wind up the tow wire 190. As a result, the self-propelled target holding device 2 travels on the surfaces of the inner air side flanges 111c and 112c of the left steel support 10L and the right steel support 10R toward the hangar 180. In this modification, the self-propelled target holding device 2 can be collected and stored in the hangar 180 by towing the self-propelled target holding device 2 with the tow wire 190. In the hoisting machine 191 in this modification, the electric winch may be replaced with an electric reel.

In the above-described embodiment, a surveying target 9 is taken as an example as a construction auxiliary tool, and the left steel support 10L and the right steel support 10R related to tunnel construction are connected and built using the target 9. However, the application of the present invention is not limited to this. That is, in the present invention, the holding tool that is gripped or held by the gripping tool or the hanging tool of the construction machine is attracted and held by magnetic force at a predetermined position, and the holding tool that holds the construction assisting tool used for the predetermined use is collected. A collection device including a storage unit provided on a gripping tool or a hanging tool, and a collection mechanism for moving the holder on the steel material in a state of being attracted to the steel material and storing the holder in the storage material. Any device may be used, and the application target of the present invention is not limited to the above embodiment.

For example, the present invention may be applied when aligning the steel frame steel material when building the steel frame steel material such as H-shaped steel by a crane heavy machine or the like. In this case, the above-mentioned hangar 180 is attached to the hanging tool for suspending the steel frame steel material. Then, when the steel frame steel material is built, the self-propelled target holding device 2 that holds the target 9 at a predetermined position on the steel frame steel material is attracted and held by the magnetic force of the permanent magnet 24 (installation step). Then, by measuring the position coordinates of each target 9 held by the self-propelled target holding device 2 by the total station 300, the steel frame steel material is built while aligning the steel frame steel material. Further, after the steel frame steel material is built, the self-propelled target holding device 2 can be moved on the surface of the steel frame steel material toward the hangar 180, and the self-propelled target holding device 2 can be collected in the hangar 180 ( Recovery process).

Further, the present invention may be applied when a steel pile is built by a heavy crane or the like. In this case, the above-mentioned hangar 180 is attached to the hanging tool for suspending the steel pile. Then, when the steel pile is piled up, the self-propelled target holding device 2 that holds the target 9 at a predetermined position on the steel pile is attracted and held by the magnetic force of the permanent magnet 24 (installation step). Then, the position coordinates of each target 9 held by the self-propelled target holding device 2 are measured by the total station 300 to perform pile driving while aligning the steel piles. Further, after the steel pile is piled up, the self-propelled target holding device 2 may be made to travel on the surface of the steel pile toward the hangar 180, and the self-propelled target holding device 2 may be collected in the hangar 180. Can be done (collection process).

<Embodiment 2>
Next, the second embodiment will be described. 26A and 26B are diagrams showing the self-propelled target holding device 2E according to the second embodiment. Hereinafter, the differences from the self-propelled target holding device 2 described in FIGS. 7A to 7C, 8 and 8B in the first embodiment will be mainly described. In the self-propelled target holding device 2E of the present embodiment, the same elements as the self-propelled target holding device 2 of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The self-propelled target holding device 2E according to the second embodiment travels on the surface of the inner space side flange 111c (112c) of the left steel support 10L (right side steel support 10R) in a state of being attracted by a magnetic force. A fall prevention mechanism 27 for suppressing the fall from the surfaces of the inner air side flanges 111c and 112c is provided.

FIG. 26A is a front view of the self-propelled target holding device 2E according to the second embodiment. FIG. 26B is a bottom view of the self-propelled target holding device 2E according to the second embodiment. The fall prevention mechanism 27 has a pair of fall prevention arms 271,272 extending from the left and right sides of the vehicle body 21 in the self-propelled target holding device 2E toward the outside of each side. The pair of fall prevention arms 271,272 are slidably mounted in the width direction of the vehicle body 21 with slide portions 2710, 2720 and hook-shaped hook-shaped hook-shaped hooking portions 2711, 2721 provided at the tips of the slide portions 2710, 2720. have. Here, the slide portions 2710 and 2720 of the fall prevention arms 271,272 are elongated flat plate pieces, and are elongated holes for inserting the slide pin 28 which is a shaft member vertically protruding from the bottom surface 21b of the vehicle body 21. The holes 2710a and 2720a are formed along the extending direction of the slide portions 2710 and 2720.

As shown in FIG. 26B, the long axis directions of the slide holes 2710a and 2720a in the fall prevention arms 271,272 extend in parallel with the extending direction of the slide portions 2710 and 2720 and the width direction of the vehicle body 21. Of the slide holes 2710a and 2720a, the ends located inside the vehicle body 21 in the width direction are referred to as inner ends 2710b and 2720b, and the ends located outside the width direction of the vehicle body 21 are referred to as outer ends 2710c and 2720c.

Here, FIG. 26C is a diagram illustrating attachment portions of slide portions 2710 and 2720 of the fall prevention arms 271,272 to the vehicle body 21 in the self-propelled target holding device 2E according to the second embodiment. The hole width orthogonal to the long axis direction of the slide holes 2710a and 2720a is slightly larger than the diameter of the slide pin 28, and the slide pin 28 is slid along the long axis direction of the slide holes 2710a and 2720a to prevent the slide from falling. The sliding portions 2710 and 2720 of the arms 271,272 are slidable along the width direction of the vehicle body 21. Reference numeral 28a is a retaining member provided at the tip of the slide pin 28, and has a diameter larger than the hole widths of the slide holes 2710a and 2720a. As a result, the slide pin 28 inserted into the slide holes 2710a and 2720a is prevented from falling out of the slide holes 2710a and 2720a.

A pair of guide walls 21e and 21e are erected along both side surfaces of the slide portion 2710 in the fall prevention arm 271 on the bottom surface 21b of the vehicle body 21. Similarly, a pair of guide walls 21e and 21e are erected along both side surfaces of the slide portion 2720 in the fall prevention arm 272. The pair of guide walls 21e and 21e erected along both side surfaces of the slide portions 2710 and 2720 in the fall prevention arms 271,272 are arranged in parallel with each other from the bottom surface 21b of the vehicle body 21 and slide. The portions 2710 and 2720 are provided at intervals slightly larger than the lateral width orthogonal to the extending direction.

The pair of guide walls 21e, 21e are provided on both side surfaces 271a, 271a of the fall prevention arm 271 (272) when the slide portion 2710 (2720) of the fall prevention arm 271 (272) slides along the width direction of the vehicle body 21. By sliding (272E, 272a), the slide direction of the slide portion 2710 (2720) in the fall prevention arm 271 (272) is regulated. That is, the pair of guide walls 21e and 21e guide the slide direction so as to slide along the width direction of the vehicle body 21 when the slide portion 2710 (2720) in the fall prevention arm 271 (272) slides. ..

As described above, the pair of fall prevention arms 271,272 freely expand and contract within a predetermined range along the width direction of the vehicle body 21 by sliding the slide portion 2710 (2720) along the width direction of the vehicle body 21. Can be made to.

FIG. 27A shows a state in which the pair of fall prevention arms 271,272 in the self-propelled target holding device 2E according to the second embodiment is expanded (extended) to the maximum extent (hereinafter, referred to as “expanded state”). FIG. 27B shows a state in which the pair of fall prevention arms 271,272 in the self-propelled target holding device 2E according to the second embodiment is reduced to the maximum (hereinafter referred to as “reduced state”). In the expanded state shown in FIG. 27A, the pair of fall prevention arms 271,272 are pulled out from the vehicle body 21 outward in the width direction to the limit, and the slide pin 28 is the inner end portion of the slide holes 2710a and 2720a. It is in contact with 2710b and 2720b. On the other hand, in the reduced state shown in FIG. 27B, the pair of fall prevention arms 271,272 are in a state of being pulled (stored) inward from the vehicle body 21 to the limit in the width direction, and the slide pin 28 is a slide hole 2710a. , 2720a are in contact with the outer ends 2710c, 2720c.

Next, the hook-shaped hook-shaped hook-shaped hooking portions 2711 and 2721 provided at the tips of the slide portions 2710 and 2720 of the fall prevention arms 271,272 will be described with reference to FIG. 26A. The hooking portions 2711 and 2721 are provided in an L-shaped hook shape from the slide portions 2710 and 2720, and the guide wall portion is vertically erected from the hooking stoppers 2711 and 2721 in a direction away from the bottom surface 21b of the vehicle body 21. It includes 2712, 2722 and engaging wall portions 2713, 2723 that are bent in the orthogonal direction from the tip of the guide wall portion 2722 and extend inward in the lateral width direction of the slide portions 2710, 2720.

As will be described in detail later, in the self-propelled target holding device 2E provided with the fall prevention mechanism 27, the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 are provided with the left steel support 10L (right steel support). The surface of the inner air side flange 111c (112c) is sucked and traveled in a state of being hooked on the inner air side flange 111c (112c) of the work 10R). When the self-propelled target holding device 2E is attracted to the inner air side flange 111c (112c) of the left steel support 10L (right steel support 10R), the hooking portions 2711, 2721 on the fall prevention arms 271,272 The guide wall portions 2712, 2722 of the above have guide wall surfaces 2712a, 2722a arranged to face the side end faces of the inner air side flanges 111c (112c).

Further, the engaging pieces 2713b and 2723b are attached to the engaging wall portions 2713 and 2723 of the hooking stopper portions 2711 and 2721 via the spring members 2713a and 2723a. The engaging surfaces 2713c and 2723c of the engaging pieces 2713b and 2723b face the slide portion 2710 (2720) of the fall prevention arm 271 (272), and are of the left steel support 10L (right steel support 10R). When the self-propelled target holding device 2E is attracted to the inner air side flange 111c (112c), it is arranged to face the outer surface of the inner air side flange 111c (112c). The reference numerals Hd shown in FIG. 26A are the engaging wall portions 2 of the hooking stoppers 2711 and 2721.
It is a separation dimension between the engaging surfaces 2713c and 2723c of the engaging pieces 2713b and 2723b in 713 and 2723 and the slide portions 2710 and 2720.

Further, the distance between the engaging wall portion 2713 of the hooking portion 2711 in the fall prevention arm 271 and the engaging wall portion 2723 of the hooking portion 2721 in the fall prevention arm 272 is referred to as "dimension between engaging wall portions Wd". .. In the self-propelled target holding device 2E, the inter-wall dimension Wd of the pair of fall prevention arms 271,272 is variable between the maximum inter-wall dimension Wd1 and the minimum inter-wall dimension Wd2. It has become. The maximum engagement wall dimension Wd1 corresponds to the engagement wall dimension Wd in the expanded state shown in FIG. 27A, and the minimum engagement wall dimension Wd2 corresponds to the engagement wall dimension Wd2 in the contracted state shown in FIG. 27B. Corresponds to the dimension Wd between the walls. In the present embodiment, the maximum engaging wall portion is larger than the flange width dimension of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R) to which the self-propelled target holding device 2E is attached. The inter-wall dimension Wd1 is large and the minimum engagement wall inter-wall dimension Wd2 is set to a small dimension.

In FIGS. 28A and 28B, the self-propelled target holding device 2E according to the second embodiment is mounted on the surface 111h (112h) of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). It is a figure which shows the state which adsorbed and held. FIG. 28A shows a self-propelled target holding device 2E in a state of being sucked and held on the surface 111h (112h) of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). It is a figure which shows the situation which was viewed along the axial direction of the support work 10L (right side steel support work 10R). FIG. 28B shows the self-propelled target holding device 2E in a state of being sucked and held on the surface 111h (112h) of the inner air side flange 111c (112c) of the left steel support 10L (right side steel support 10R). It is a figure which shows the situation seen from the side.

In FIGS. 28A and 28B, for example, the self-propelled target holding device 2E is attracted to each target installation position (first target installation position Ps1 to fourth target installation position Ps4) described in the first embodiment. It is shown. In the suction holding state shown in the figure, the hook-shaped hook-shaped hook-shaped hooks 2711 and 2721 provided at the tips of the pair of fall prevention arms 271,272 (fall prevention mechanism 27) in the self-propelled target holding device 2E are supported by steel on the left side. It is in a state of being loosely fitted to the side edge portion 111f (112f) of the inner air side flange 111c (112c) of the work 10L (right side steel support work 10R).

Specifically, in the suction holding state shown in FIGS. 28A and 28B, the pair of fall prevention arms 271,272 in the self-propelled target holding device 2E are the guide wall portions 2712, 2722 (guides) of the hooking portions 2711, 2721. The degree of expansion and contraction of the pair of fall prevention arms 271,272 is adjusted so that the wall surfaces 2712E and 2722a) come into contact with the side edge surfaces 111e (112e) of the inner air side flange 111c (112c). When the self-propelled target holding device 2E is attracted to the surface 111h (112h) of the inner air side flange 111c (112c) in the left steel support 10L (right side steel support 10R), it is shown in FIG. 27B. As described above, by temporarily expanding the pair of fall prevention arms 271,272, the self-propelled target holding device prevents the hooking portions 2711 and 2721 from interfering with the inner air side flanges 111c (112c). 2E is adsorbed.

Specifically, in a state where the dimension Wd between the engaging walls of the pair of fall prevention arms 271,272 is wider than the flange width Wf of the inner air side flange 111c (112c), the inner air side flange 111c (112c) The self-propelled target holding device 2E is adsorbed on the surface. After that, by sliding the slide portions 2710, 2720 of the pair of fall prevention arms 271,272 toward the inside in the width direction of the vehicle body 21, the guide wall portions 2712, 2722 (guide wall surfaces 2712a, 2722a) of the hooking portions 2711, 2721 ) Is the inner air side flange 111c (112c)
) In contact with the side edge surface 111e (112e), the state shown in FIGS. 28A and 28B is obtained.

In the state shown in FIGS. 28A and 28B, the pair of fall prevention arms 271,272 in the self-propelled target holding device 2E has the guide wall portions 2712, 2722 (guide wall surfaces 2712a, 2722a) of the hooking portions 2711, 2721. , The engagement pieces 2713b, 2723b (engagement surfaces 2713c, 2723c) in the engagement wall portions 2713, 2723 are in contact with the side edge surface 111e (112e) of the inner air side flange 111c (112c), and the inner air side flange 111c. The hooking portions 2711 and 2721 are loosely fitted to the side edge portion 111f (112f) in a state where the back surface (inner surface) 111g (112g) of the side edge portion 111f (112f) of (112c) faces the side edge portion 111f (112g) with a small gap C. ing. In other words, the self-propelled target holding device 2E in the present embodiment is suction-held on the surface 111h (112h) of the inner space side flange 111c (112c) of the left steel support 10L (right side steel support 10R). At that time, a small gap C is formed between the engaging pieces 2713b, 2723b (engaging surfaces 2713c, 2723c) of the pair of fall prevention arms 271,272 and the back surface 111g (112g) of the inner air side flange 111c (112c). The separation dimension Hd between the engaging surfaces 2713c and 2723c and the slide portions 2710 and 2720 is adjusted so as to be performed.

Also in the present embodiment, as in the first embodiment, after the tunnel support 10 is assembled in an arch shape (see FIG. 15), the tunnel support 10 is arranged at a predetermined building position in the vicinity of the face 8. , Each self-propelled target holding device 2E in a state of being sucked and held at each target installation position (first target installation position Ps1 to fourth target installation position Ps4) on the inner air side flanges 111c and 112c is wirelessly operated by an external remote control or the like. The surfaces 111h (112h) of the inner air side flanges 111c and 112c are self-propelled and collected in the storage 180. At the time of collecting each self-propelled target holding device 2E, the back surface (inner surface) 111 g (112 g) and the pair of fall prevention arms 271,272 on the side edge portion 111f (112f) of the inner air side flange 111c (112c) are hooked. Since a small gap C is formed between the engaging pieces 2713b and 2723b (engaging surfaces 2713c and 2723c) in 2711 and 2721, each self-propelled target holding device 2E is placed on the surface of the inner air side flange 111c (112c). 111h (112h) can be smoothly run and collected.

Then, for example, the surface 111h (112h) of the inner air side flange 111c (112c) is exposed to the inner air side flange 111c (112c) due to some factor such as unevenness (unevenness), rust, or deposits such as water and oil. Even if the suction state of the self-propelled target holding device 2E is unexpectedly released, the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 are the side edge portions 111f of the inner air side flange 111c (112c). Since it is loosely fitted to (112f), it is possible to prevent the self-propelled target holding device 2E from falling from the inner air side flange 111c (112c).

Further, the hooking portions 2711, 2721 of the pair of fall prevention arms 271,272 are loosely fitted to the side edge portions 111f (112f) of the inner air side flange 111c (112c) and are loosely fitted to the inner air side flange 111c (112c). When the suction of the self-propelled target holding device 2E that has been sucked is suddenly released and the self-propelled target holding device 2E tries to fall downward, as shown in FIG. 29, the inner air side flange 111c (112c) The engaging pieces 2713b, 2723b (engaging surfaces 2713c, 2723c) of the hooking portions 2711, 2721 collide with the back surface (inner surface) 111g (112g) of the side edge portion 111f (112f).

Since the spring members 2713a and 2723a are provided between the engaging wall portions 2713 and 2723 and the engaging pieces 2713b and 2723b, the back surface 111g of the side edge portion 111f (112f) of the inner air side flange 111c (112c) Engagement pieces 2713b, 272 on (112 g)
The elastic force (restoring force) of the spring members 2713a and 2723a contracted by the impact when 3b (engagement surfaces 2713c and 2723c) collide acts on the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272. The elastic force (restoring force) of the spring members 2713a and 2723a acts in a direction in which the vehicle body 21 of the self-propelled target holding device 2E approaches the surface 111h (112h) of the inner air side flange 111c (112c), so that the self-propelled target holding device 2E is self-propelled. The formula target holding device 2E can be again attracted to the surface 111h (112h) of the inner air side flange 111c (112c). That is, even if the self-propelled target holding device 2E sucked on the inner air side flange 111c (112c) is suddenly released, the self-propelled target holding device 2E is sucked by the action of the spring members 2713a and 2723a. It can be returned to the state. As a result, each self-propelled target holding device 2E can smoothly travel on the surface 111h (112h) of the inner air side flange 111c (112c) again. In FIG. 29, the hooking portion 2721 of the fall prevention arm 272 has been illustrated and described, but the same applies to the fall prevention arm 271.

Next, the inner air side flanges 111c (112c) are loosely fitted with the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 on the side edge portions 111f (112f) of the inner air side flanges 111c and 112c. The configuration when the self-propelled target holding device 2E self-propelled on the surface 111h (112h) is collected in the hangar 180 will be described. FIG. 30 is marked on the surface 111h (112h) of the inner air side flange 111c (112c) in the vicinity of the hangar 180 provided in each of the hands 18L and 18R holding the left steel support 10L and the right steel support 10R. It is a figure which shows the trace line TL which was done. In the present embodiment, the positions at which the left steel support 10L and the right steel support 10R are gripped by the hands 18L and 18R are predetermined.

As shown in FIG. 30, of the tracing lines TL marked on the surface 111h (112h) of the inner air side flange 111c (112c), an S shape is formed in the vicinity of the hangar 180 provided on each of the hands 18L and 18R. A disengagement line portion TLr having a shape is formed. As shown in the drawing, the trace line TL is the same as that described in the first embodiment except for the disengagement line portion TLr, and the central portion in the width direction of the inner air side flange 111c (112c) is axially oriented. It extends linearly along. Of the tracing line TLs shown in FIG. 30, the area located on the hangar 180 side of the disengagement line portion TLr is called the “storage line portion TLe”, and the storage line portion TLr is referred to with the disengagement line portion TLr as a reference. The area located on the opposite side to the above is called "general line portion TLs". The terminal side of the storage line portion TLe (the side opposite to the disengagement line portion TLr) is covered by the hangar 180, and the terminal of the storage line portion TLe is set as the storage position Pe.

Here, the reference numerals TLr1 and TLr2 shown in FIG. 30 are a "disengagement first region" and a "disengagement second region" that divide the disengagement line portion TLr into two. As shown in FIG. 31, since the disengagement line portion TLr has an S shape, the disengagement first region TLr1 and the disengagement second region TLr2 are separated from each other by the inner air side flange 111c (112c). It protrudes in opposite directions in the width direction with respect to the center line of.

Here, the connection position of the disengagement line portion TLr with the general line portion TLs in the disengagement first region TLr1 is referred to as "first region start end position Prs1", and the disengagement disengagement first region TLr1 and disengagement th. The connection position with the two-region TLr2 is referred to as "second region start position Prs2", and the connection position between the disengagement second region TLr2 and the storage line portion TLe is referred to as "second region end position Pre2". Further, in the disengagement first region TLr1, the portion located on the outermost side in the width direction of the inner air side flange 111c (112c) is referred to as "first region outermost position Prm1". Further, the portion of the disengagement second region TLr2 located on the outermost side in the width direction of the inner air side flange 111c (112c) is referred to as "second region outermost position Prm2". In addition, FIG. 30
In the drawing, the disengagement first region TLr1 in the disengagement line portion TLr is indicated by a solid line, the disengagement second region TLr2 is indicated by a broken line, the general line portion TLs is indicated by a dash-dotted line, and the storage line portion is shown. TLS is indicated by a chain double-dashed line.

Next, when the self-propelled target holding device 2A is collected, the loose-fitting state of the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 is released at the engagement disengagement line portion TLr.

At the time of recovery of the self-propelled target holding device 2E, the self-propelled target holding device 2E traveling on the general line portion TLs has the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 in FIGS. 28A and 28B. As described above, the self-propelled parts are provided with the hooking portions 2711 and 2721 loosely fitted to the side edge portions 111f (112f) of the inner air side flanges 111c and 112c. Then, when the traveling position of the self-propelled target holding device 2E changes from the general line portion TLs to the disengagement line portion TLr, the self-propelled target holding device 2E passes through the disengagement first region TLr1 and the disengagement second region TLr2 in that order.

First, when the self-propelled target holding device 2E travels in the first region TLr1 for disengagement, after passing through the first region start end position Prs1, the self-propelled target holding device reaches the outermost position Prm1 in the first region. The 2E travels diagonally to the left front with respect to the center line of the inner air side flange 111c (112c). At that time, the self-propelled target is held in a state where the guide wall portion 2712 (guide wall surface 2712a) of the hooking portion 2711 of the fall prevention arm 271 is in contact with the side edge surface 111e (112e) of the inner air side flange 111c (112c). Since the device 2E meanders to the left, the fall prevention arm 271 gradually extends with the relative slide of the slide portion 2710 with respect to the vehicle body 21.

After passing through the outermost position Prm1 of the first region, the self-propelled target holding device 2E shifts to the disengagement second region TLr2 while maintaining the extended state of the fall prevention arm 271. When traveling in the second region TLr2 for disengagement, the self-propelled target holding device 2E is obliquely to the right with respect to the center line of the inner air side flange 111c (112c) until it reaches the outermost position Prm2 in the second region. Drive forward. At that time, the self-propelled target is held in a state where the guide wall portion 2722 (guide wall surface 2722a) of the hooking portion 2721 of the fall prevention arm 272 is in contact with the side edge surface 111e (112e) of the inner air side flange 111c (112c). Since the device 2E meanders to the right, the fall prevention arm 272 gradually extends with the relative slide of the slide portion 2720 with respect to the vehicle body 21.

In the present embodiment, in the process of the self-propelled target holding device 2E passing through the disengagement line portion TLr, the dimension Wd between the engagement walls of the pair of fall prevention arms 271,272 is set to the inner air side flange 111c (112c). ) Is expanded to a size larger than the flange width size. As a result, the loosely fitted state of the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 can be released.

Then, after passing through the outermost position Prm2 of the second region, the self-propelled target holding device 2E travels on the disengagement second region TLr2 while maintaining the extended state of the pair of fall prevention arms 271,272. It shifts to the storage line portion TLe via the second region end position Pre2. Then, when the self-propelled target holding device 2E reaches the storage position Pe located at the end of the storage line portion TLe, the line detection sensor 26 of the self-propelled target holding device 2E sets the storage position Pe (see FIG. 30). Detect. As a result, the self-propelled target holding device 2E is automatically stopped at the storage position Pe. As a result, the self-propelled target holding device 2E can be collected and stored inside the hangar 180. As the structure of the hangar 180 in the present embodiment, various structures described in the first embodiment can be applied. That is, the hangar 180 having various structures described with reference to FIGS. 18 to 24 can be applied.

As described above, according to the self-propelled target holding device 2E according to the present embodiment, since the fall prevention mechanism 27 is provided, the inner air side flange of the left steel support 10L (right side steel support 10R) is provided. When traveling on the surface 111h (112h) of the 111c (112c) in a state of being attracted by a magnetic force, it is possible to suppress the fall from the surface 111h (112h) of the inner air side flanges 111c and 112c.

More specifically, in the self-propelled target holding device 2E, the hooking portions 2721 of the pair of fall prevention arms 271,272 are loosely fitted to the side edge portions 111f (112f) of the inner air side flange 111c (112c). Since the suction traveling on the surface 111h (112h) of the empty side flange 111c (112c) is possible, even if the suction state of the self-propelled target holding device 2E is unexpectedly released during the suction traveling, the inner empty side flange 111c It is suppressed that the self-propelled target holding device 2E falls from (112c).

Further, according to the pair of fall prevention arms 271,272 in the self-propelled target holding device 2E, since the sliding portions 2710 and 2720 that are slidable in the width direction of the vehicle body 21 are provided, they can be expanded and contracted in the width direction of the vehicle body 21. It has become. According to this, the expansion / contraction state of the pair of fall prevention arms 271,272 can be adjusted according to the width dimension of the inner air side flange 111c (112c).

In the self-propelled target holding device 2E of the present embodiment, the positions of the pair of fall prevention arms 271,272 installed on the vehicle body 21 in the front-rear direction can be appropriately changed. For example, in the above-described embodiment, as shown in FIG. 26B, it is provided on the front side of the axle 23 in the vehicle body 21, but it may be provided on the rear side of the axle 23. Further, one of the pair of fall prevention arms 271,272 may be arranged on the front side of the axle 23 and the other may be arranged on the rear side of the axle 23 with the axle 23 of the vehicle body 21 interposed therebetween. Further, the self-propelled target holding device 2E may be provided with two or more sets of fall prevention arms. For example, FIG. 31 shows an example in which two sets of fall prevention arms 271,272 are installed in the self-propelled target holding device 2E in the second embodiment.

In the second embodiment described above, the disengagement line portion TLr marked on the surface 111h (112h) of the inner air side flange 111c (112c) is the disengagement first region TLr1 and the disengagement second region TLr2. Although it has an S-shape as a whole by connecting the above, it suffices to include the disengagement first region TLr1 and the disengagement second region TLr2, and has a shape other than the S-shape as a whole. You may do it. Further, in the second embodiment, the self-propelled target holding device 2E meanders along the disengagement first region TLr1 and the disengagement second region TLr2, so that the pair of fall prevention arms 271,272 are hooked. The loosely fitted state of the stoppers 2711 and 2721 has been released, but the present invention is not limited to this. For example, the hooking portions 2711 and 2721 of the pair of fall prevention arms 271,272 may be movable with respect to the slide portions 2710 and 2720, and the hooking portions 2711 and 2721 may be driven by wireless operation of an external remote controller or the like. The loosely fitted state of the hooking stoppers 2711 and 2721 may be released. For example, the hooking portions 2711 and 2721 are rotatably or slidably attached to the slide portions 2710 and 2720, and the hooking stoppers 2711 and 2721 are attached to the slide portions 2710 and 2720 by using a drive source such as a motor (not shown). On the other hand, it may be movable.

Although the embodiments and modifications of the present invention have been described above, the construction method using the construction assisting tool according to the present invention, the collecting device and the collecting method of the construction assisting tool are not limited to these, and these are combined as much as possible. Can be done.

1 ... Tunnel support structure 2 ... Self-propelled target holding device 3 ... Primary sprayed concrete layer 6 ... Secondary sprayed concrete layer 7 ... Ground 8 ... Face 9 ...・ Target 10 ・ ・ ・ Tunnel support 10L ・ ・ ・ Left steel support 10R ・ ・ ・ Right steel support 180 ・ ・ ・ Hangar

Claims (12)

An installation process in which a holder that holds a surveying target is attracted and held by a magnetic force at a predetermined position of a steel material that is gripped or suspended by a gripping tool or a hanging tool of a construction machine.
After using the surveying target , the holding tool is moved on the steel material in a state of being adsorbed on the steel material, and the holding tool is stored in a storage portion provided in the gripping tool or the hanging tool. ,
To prepare
Construction method using a surveying target . The holder has a magnet for attracting to the steel material and a driving wheel for traveling on the steel material.
In the recovery step, the holder travels on the steel material and is stored in the storage portion.
A construction method using the surveying target according to claim 1. The construction method using the surveying target according to claim 2, wherein the drive wheel is driven by wireless operation of the holder. The holder has a fall prevention mechanism for suppressing the holder from falling from the surface of the steel material when the state of attraction to the steel material by the magnet is released.
A construction method using the surveying target according to claim 2 or 3. The steel material is a flange for steel support.
The fall prevention mechanism includes an arm member provided on the holder.
The arm member has a hook-shaped hook-shaped hook that is loosely fitted to the flange.
A construction method using the surveying target according to claim 4. The hooking portion is contracted and deformed and contracted by an engaging piece that collides with the flange when the attracting state of the magnet to the flange is released and an impact when the engaging piece collides with the flange. It has a spring member that brings the holder closer to the flange by a restoring force at the time of deformation.
A construction method using the surveying target according to claim 5. The steel material is a steel support, and the gripping tool is a hand of a construction machine.
The installation step further includes a step of arranging the steel support at a predetermined building position using the surveying target held by the holder held by suction at a predetermined position of the steel support.
A construction method using the surveying target according to any one of claims 1 to 6. The construction method using the surveying target according to claim 7, further comprising a spraying step of spraying sprayed concrete onto the steel support after the recovery step. The storage unit has an opening inside the storage unit for collecting the holder.
The opening is provided with a concrete intrusion suppressing member that suppresses the intrusion of the sprayed concrete into the inside of the storage portion.
A construction method using the surveying target according to claim 8. In the spraying step, the steel support is provided by spraying sprayed concrete onto a part of the steel support while the steel support arranged at the built-in position is held by the hand. Temporarily fixed,
After the spraying step, a grip releasing step of releasing the grip of the steel support by the hand is further provided.
A construction method using the surveying target according to claim 8 or 9. It is a recovery device that collects the holder that holds the surveying target by being attracted and held by magnetic force at a predetermined position of the steel material that is gripped or held by the gripping tool or hanging tool of the construction machine.
With the storage part provided in the gripping tool or the hanging tool,
A collection mechanism that moves the holder on the steel material in a state of being adsorbed on the steel material and stores the holder in the storage portion.
To prepare
Surveying target recovery device. It is a collection method for collecting a holding tool that holds a surveying target by being attracted and held by a magnetic force at a predetermined position of a steel material gripped or held by a holding tool or a hanging tool of a construction machine.
A collection step is provided in which the holder is moved on the steel material in a state of being adsorbed on the steel material, and the holder is stored in a storage portion provided on the gripping tool or the hanging tool.
How to collect surveying targets .

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