JPH0350879B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention is particularly applicable to small diameter pipes (φ250m/m to φ600m/m).
It is suitable for use in the propulsion method of buried pipe arrays targeting (m/m);
A cutter is provided at the front end of the propulsion unit located at the head of the buried pipe row, and while the cutter is removing excavated soil, the cutter guides the buried pipe row as the pipes are pushed in from the starting shaft one after another. The present invention relates to a propulsion direction correction device for a buried pipe array that includes a tubular propulsion device and a target line tracking mechanism that corrects the traveling direction of the propulsion device.

[Conventional technology]

This type of underground pipe propulsion method, which does not require excavation at the installation site for roads, etc., has many achievements due to its excellent advantages, but these are actual results with large-diameter pipes and are not suitable for small pipes. As for tubes, no one suitable for practical use has yet been proposed.

As a conventional propulsion direction correction device for buried pipe arrays, a laser sight is installed on the starting shaft side, and a parallel reflector such as a light receiver or a cube corner is installed in the center of the cutter. The system was configured to detect the positional deviation of the buried pipe, and based on the detection result, correct the direction using a plurality of attitude correction jacks arranged parallel to the propulsion direction of the buried pipe (for example, Japanese Patent Laid-Open No. 51-35360 Public notice,
(Refer to Japanese Patent Application Laid-open No. 56-34896).

[Problem to be solved by the invention]

However, in the above-mentioned conventional device, since the laser sight is installed on the starting shaft side, even if the positional deviation of the cutter with respect to the target line can be detected, the inclination of the cutter cannot be detected. Since the direction cannot be corrected until after the cutter has deviated from the target line by a predetermined amount or more, a delay in correction tends to occur.

In order to solve this problem, it is sufficient to install a laser sight on the cutter side, but simply installing it on the cutter side will cause the direction of the cutter axis to change every time the posture is corrected using the posture correction jack. In addition, the position of the axis tends to be misaligned with respect to the target line, making it difficult to easily correct the propulsion direction with high precision. In other words, even if some of the posture correction jacks are extended while others are contracted, depending on the soil resistance of the buried location and the accuracy of the jacks, the cutter axis will be completely aligned with the center axis of the propulsion machine. It is extremely difficult to correct the direction while keeping it consistent with the direction, and the control of the jacking tends to become complicated. It was difficult to use it as a propulsion direction correction device when pushing over a long distance of 200 m.

An object of the present invention is to provide a laser sight on the cutter side so that the inclination of the cutter with respect to the target line can be detected. The object is to avoid misalignment with respect to the target line as much as possible and to easily correct the propulsion direction with high precision.

[Means to solve the problem]

The technical means of the present invention taken to achieve the above object is that a cutter is provided at the front end of the propulsion machine body located at the head of the buried pipe row, and while the excavator excavates earth with the cutter, In a propulsion direction correction device for a buried pipe array, which includes a propulsion device with a tubular external shape that guides the buried pipe array as the pipe is pushed in, and a target line tracking mechanism that corrects the traveling direction of the propulsion device, the following The present invention includes the configurations described in [A] to [D].

[B] The target line tracking mechanism includes an attitude changing means for changing the relative attitude of the cutter with respect to the propulsion machine body, an attitude change detecting means for detecting a change in the attitude of the cutter, and an attitude change detecting means for detecting a change in the attitude of the cutter, and a change in the attitude based on the detection result of the attitude change. and a control means for outputting a control command to the changing means.

[B] The attitude changing means holds the cutter against the propulsion unit body through a spherical surface whose axis of the cutter coincides with the central axis of the propulsion unit body and whose center of curvature lies on the central axis. The cutter is rotatably attached to the propulsion device body and includes a correction jack for changing the attitude of the cutter around the center of curvature.

[C] The attitude change detection means is comprised of a laser sight mounted with a laser beam aligned with the axis of the cutter, and a target that detects the laser beam emitted from the laser sight on the starting shaft side. be.

[d] The control means is constituted by a controller that issues a control command to the correction jack to align the cutter axial direction with the target line of the buried pipe array based on the detection result at the target. has been done.

[Effect]

The effects of the present invention obtained by taking the above technical means are as follows.

a Since the cutter is installed on the cutter side rather than on the starting shaft side, changes in the direction of the cutter axis relative to the target line can be immediately detected.

b The cutter has a spherical surface and is supported by the propeller body, and is equipped with a laser sight that emits a laser beam aligned with the axis of the cutter located on the center of curvature of the spherical surface.
Even if the direction of the cutter axis with respect to the central axis of the propulsion device body changes, the laser beam light source can always be placed at the center of the propulsion device body, making it easy to avoid positional deviation of the light source from the target line.

c Also, because the cutter axis is on the central axis of the propulsion device, even if the tubular propulsion device rotates during propulsion, the measurement of the cutter axis in that state will appear as an error at the measurement point side. There is no. Therefore, direction correction can always be made simply using unified measurement values.

d As a means to prevent the position of the light source from shifting, it is a simple structure that uses a spherical surface for the support structure of the cutter and takes into consideration the positional relationship between the laser sight and the center of curvature of the spherical surface. Can be configured.

〔Effect of the invention〕

From the above action, the following effects can be expected.

(b) From the effect of a above, the direction of the cutter axis can be corrected at an early stage before the direction of propulsion of the propulsion machine changes significantly, and the direction of the propulsion machine can be corrected while there is little change in the direction of propulsion of the buried pipe. In regards to this,
Since the amount of correction is relatively small, it has the advantage of being easy to perform.

(b) Due to the effects of b and c above, even though the laser sight is installed on the cutter side, it is possible to avoid misalignment of the light source with respect to the central axis of the propulsion unit, and it is easy to make highly accurate direction corrections. be.

(c) From the effects b to d above, there is an advantage that a propulsion direction correction device capable of highly accurate direction correction can be provided with a simple control device and a simple structure.

〔Example〕

Next, embodiments of the present invention will be described based on illustrative drawings.

The propulsion device 1 is located at the head of the buried pipe array A and guides it along the target line.The propulsion device 1 is a steel pipe machined with the same outer diameter as the buried pipe A using a large lathe, and is placed in the main body of the propulsion device. 1A, and has a cutter 3 of the same diameter at its front end.

The cutter 3 has a rotary scraping part 5 which has a conical shape as a whole and has a radial surface lattice 4 portion starting from the center, and a receiving space 6 on the back surface of which receives the excavated soil pushed through the surface lattice 4. death,
A cutter holding part 7 that supports the rotary scraping part 5
These cutters 3 as a whole have spherical surfaces 8 and 8' that define a rotation center a for correcting the cutter axis B on the central axis C of the propulsion unit body 1A, that is, have a center of curvature on the central axis C. It is rotatably attached to the tip of the propulsion unit main body 1A via the spherical surfaces 8 and 8'.

Note that the cutter 3 is driven by a hydraulic motor provided in the propulsion device 1 at a low speed depending on the hardness of the soil.

The direction correction of the cutter axis B passing through the rotation center a is performed by the following target line tracking mechanism.

The target line tracking mechanism includes an attitude changing means for changing the relative attitude of the cutter 3 with respect to the propulsion unit main body 1A, an attitude change detecting means for detecting a change in the attitude of the cutter 3, and an attitude change detecting means for detecting a change in the attitude of the cutter 3. and a control means for outputting a control command to the changing means.

First, the attitude changing means includes the spherical surfaces 8 and 8' that support the cutter 3 with respect to the propulsion unit main body 1A;
The cutter 3 around the center of curvature of the spherical surfaces 8 and 8'
three correction jacks 9 for supporting the free end portion of the cutter holding portion 7 in the propulsion device main body 1A from a radial direction dividing the circumferential direction into three equal parts so as to change the attitude of the cutter holding portion 7; It is configured.

Further, the attitude change detection means includes a laser sight 11 that is mounted so that the laser beam D coincides with the axis B of the cutter 3;
The target 12 detects the laser beam D emitted from the starting shaft 10 side.

The control means controls the cage target 12.
The controller includes a controller (not shown) that issues a control command to the correction jack 9 to align the cutter axis B direction with the target line of the buried pipe array A based on the detection result at .

Furthermore, to specifically explain the remote control for correcting the deviation of the cutter axis B from the target line based on the measurement results of the laser beam D, the starting shaft 10
A surveying target 12 using a phototransistor is installed on the bearing wall of the cutter, and while constantly measuring the deviation (deviation amount) of the cutter axis B from the target line using a backward orthogonal laser beam D, the above is measured using feedback control. The correction jacks 9 are electrically controlled via electromagnetic valves.

The posture change detection means shown in the figure is a laser beam D.
Although the survey target 12 is explained using a phototransistor that electrically and automatically measures Of course, it is also possible to control and correct the direction artificially.

Furthermore, taking as an example a case in which the buried pipe array A is propelled along a target line having a constant slope, the irradiation point of the laser beam D is from the tip of the propulsion device 1 that is always moving forward to the survey target 12. The buried pipe array A is moved along the target line while correcting the cutter axis B using feedback control so that it comes to the deviation point from the target center point determined by the propulsion distance and the slope of the setting conditions. The slope of the cutter axis B, which is determined by the relationship between the propulsion device 1 itself and the inclination of the propulsion device 1 itself determined by the electronic level device 13 provided in the propulsion device 1, matches the slope of the target line. The buried pipe array A may be advanced along the target line while correcting the cutter axis B by feedback control so that the irradiation point of the laser beam D always comes to the center point of the target 12. Incidentally, when the propulsion device 1 reaches a shaft (not shown) provided at a certain distance from the starting shaft 10, it is removed from the shaft.

Next, the removal of the excavated soil received by the cutter 3 will be explained.
The excavated soil pushed into the receiving space 6 from between the
The earth is sequentially discharged to the starting shaft 10 side along with the flow of pressurized mud water sent and discharged by the mud water pipes 14 and 14' communicating with the space 6, and the mud water discharged into the shaft 10 is The water is sent to a sedimentation tank 16 provided in a region below the starting platform 15, and after being subjected to sedimentation treatment there, it is returned to the receiving space 6 of the cutter 3. Furthermore, the aforementioned mud water pipe 14,
Reference numeral 14' is a flexible pipe which is successively added when the pipe 2 is added.

As the sedimentation tank 16, the starting shaft 11 in which steel sheet piles are driven around the excavated hole is dug a little deeper than the predetermined position, and the lower area of the starting platform 15 is used as it is as the settling tank 16. The bottom plate needs to be concreted at the same time as the bearing wall to sufficiently stop water.

If the excavated soil accumulates in the sedimentation tank 16 in an amount exceeding a certain level, it is taken out from the shaft 10 using a vacuum hose or a graph bucket, and transported to a disposal site for final treatment.

In the figure, 17 is a hydraulic jack installed on the starting platform 16 placed in the shaft 11 on a horizontal basis;
18 is a steel collar interposed at the connection point of the buried pipe 2, 19 is a water pump, and 20 is a sludge pump.
The pressurized mud water sent and discharged into the receiving space 6 is subjected to a pressure that opposes the earth pressure applied to the area corresponding to the excavation, and the mud water pressure prevents the excavation area from collapsing due to the earth pressure from around the excavation area.

[Brief explanation of drawings]

The drawings show an embodiment of the device for correcting the propulsion direction of a buried pipe array according to the present invention, and FIG. 1 is a longitudinal side view schematically showing the entire working state, and FIGS. 2 and 3 are schematic views of the device for correcting the propulsion direction. FIG. 4 is a perspective view showing the entire propulsion. 1... Propulsion machine, 1A... Propulsion machine body, 2...
Pipe, 3...Cutter, 6...Reception space, 8,
8'...Spherical surface, 9...Modified jack, 10...Starting shaft, 11...Laser sight, 14,14'
...Mud water pipe, A...Buried pipe row, B...Cutter axis, C...Central axis of propulsion machine, D...Laser beam, a...Rotation center.

Claims (1)

[Claims] 1. Propulsion unit main body 1 located at the head of buried pipe row A
A propulsion machine 1 with a tubular outer shape, which is equipped with a cutter 3 at the front end of A, and guides the buried pipe row A as the pipes 2 are pushed in from the starting shaft 10 one after another while the cutter 3 is used to remove earth from the excavator. and a target line tracking mechanism for correcting the traveling direction of the propulsion unit 1, and a propulsion direction correction device of a buried arrangement, characterized in that it is equipped with the configurations described in [A] to [D] below. [B] The target line tracking mechanism includes an attitude change means for changing the relative attitude of the cutter 3 with respect to the propulsion unit main body 1A, an attitude change detection means for detecting a change in the attitude of the cutter 3, and an attitude change detection means based on the detection result of the attitude change. and a control means for outputting a control command to the attitude changing means. [B] The attitude changing means moves the holding portion 7 of the cutter 3 relative to the propulsion unit main body 1A to the position of the cutter 3.
The axis B of the propulsion device main body 1A coincides with the central axis C of the propulsion device main body 1A, and the propulsion device main body 1A is
The cutter 3 is rotatably attached to the cutter 3 and is provided with a correction jack 9 for changing the attitude of the cutter 3 around the center of curvature. [C] The attitude change detection means includes a laser sight 11 that is mounted so that the laser beam D coincides with the axis B of the cutter 3, and the laser sight 1.
Start shaft 1 with laser beam D emitted from 1.
The target 12 is detected on the 0 side. [d] The control means issues a control command to the correction jack 9 to align the cutter axis B direction with the target line of the buried pipe array A based on the detection result at the target 12. It is composed of a controller.