Recovery Device and Recovery Method for Measurement Target

Abstract

To provide a technique capable of recovering a measurement target attached on a steel support without using man power.SOLUTION: A recovery device recovering a measurement target attached on a flange surface of a steel support through magnet force is provided with a winding-up device installed on a hand of an erector device installing the steel support and allowing a traction rope engaged on a specific part of the measurement target to be wound up, to wind up the traction rope with the wind-up device when recovering the measurement target.SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present invention relates to a recovery device and a recovery method for a surveying target.

Background Art

[0002] As a method for constructing a tunnel, the NATM method (New Austrian Tunneling Method) is known. In the NATM method, a spraying machine is set near the face, and concrete is sprayed onto the face for the first time. Then, a work vehicle equipped with an erector for building a support in the vicinity of the face is arranged, and an arched steel support is built into the tunnel wall near the face by the erector. When this is completed, the spraying machine is arranged on the face again, and secondary spraying of concrete is performed so as to embed the built tunnel support.

[0003] When building a steel support, a surveying target (mirror, prism, etc.) attached to the steel support is sighted by surveying equipment, and the steel support is built into a predetermined building position while monitoring the movement of the steel support in real time. Construction aids such as surveying targets need to be recovered after use.

[0004] As a technique for facilitating the attachment and detachment of a surveying target to a steel support, for example, a surveying target is known that includes a main body portion provided with a prism and a magnet integrated with the main body portion and fixable to the support, and an operation handle for operating the excitation and demagnetization of the magnetic force is provided in the magnet portion (see, for example, Patent Document 1). In this type of surveying target, the attachment and detachment to the support can be facilitated, and the attachment and removal work can be improved.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In recent years, regarding tunnel construction, technologies for avoiding manual work at the face and improving construction safety and workability have been increasingly strongly desired. However, conventionally, the removal of the surveying target attached to the steel support has had to be performed manually.

[0007] The present invention has been made in view of the above problems, and its object is to provide a technology capable of recovering a surveying target attached to a steel support without manual work.

Means for Solving the Problems

[0008] The present invention is a recovery device for recovering a surveying target adsorbed by magnetic force on the flange surface of a steel support, which is mounted on the hand of an erector device for building the steel support, and includes a winding device capable of winding a towing rope moored to a predetermined part of the surveying target, and is characterized in that when recovering the surveying target, the towing rope is wound by the winding device. Further, when recovering the surveying target, the surveying target may be slid on the flange surface by winding the towing rope by the winding device.

[0009] Further, the present invention is a recovery method for recovering a surveying target used in the erection construction of a steel support, including a step of mooring a towing rope wound around a winding device mounted on the hand of an erector device for building the steel support to a predetermined part of the surveying target adsorbed by magnetic force on the flange surface of the steel support, and a step of recovering the surveying target by winding the towing rope by the winding device. Further, in the step of recovering the surveying target, the surveying target may be recovered by sliding the surveying target on the flange surface.

Advantages of the Invention

Advantages of the Invention

[0010] According to the present invention, it is possible to provide a technique capable of recovering a surveying target attached to a steel support without manual labor.

Brief Description of the Drawings

[0011]

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BEST MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0013] <Embodiment 1> FIG. 1 is a side view of a tunnel support 10 according to Embodiment 1. The tunnel support 10 is applied to the NATM method (New Austrian Tunneling Method) and is an arch-shaped steel support built along the wall of the tunnel immediately after excavation to prevent the collapse of the exposed rock mass. The tunnel supports 10 are installed at regular intervals along the tunnel axis direction. The tunnel support 10 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 a pair of arc-shaped steel supports 10L and 10R. Hereinafter, the steel support 10L will be referred to as the "left steel support" and the steel support 10R will be referred to as the "right steel support".

[0014] The left steel support 10L has a first main body portion 111, a first top 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, and a pair of upper flanges 111b and lower flanges 111c orthogonal to the web 111a. Also, the first top joint plate 121 is welded to one end of the first main body portion 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 square steel flat plates and extend in a direction orthogonal to the H-shaped cross section of the first main body portion 111. Similarly, the right steel support 10R has a second main body portion 112, a second top 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, and a pair of upper flanges 112b and lower flanges 112c orthogonal to the web 112a. The first main body portion 111 of the left steel support 10L and the second main body portion 112 of the right steel support 10R have longitudinally symmetric arc shapes. Also, the second top joint plate 122 is welded to one end of the second main body portion 112, and the second bottom plate 132 is welded to the other end. The second top joint plate 122 and the second bottom plate 132 are square 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 top joint plate 121 and the second top joint plate 122 have congruent square planes. 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. The connection structure of the left steel support 10L and the right steel support 10R may be a structure capable of fastening the first top joint plate 121 and the second top joint plate 122 with one touch, as disclosed in, for example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2018-178455) filed by the applicant of the present application.

[0015] The above-described tunnel support 10 can be erected by an erector device 100 mounted on a work vehicle 200, which is a construction crane shown in FIGS. 2 and 3. FIG. 2 is a top view of the work vehicle 200 according to Embodiment 1. FIG. 3 is a side view of the work vehicle 200 according to Embodiment 1. The work vehicle 200 is provided with an erector device 100 and a spraying device 600. The erector device 100 includes a pair of booms 17L and 17R having the same configuration. The pair of booms 17L and 17R can freely perform telescopic movement, tilting movement, swinging movement, and rotational movement by the operation of a drive mechanism attached thereto. Further, a pair of hands 18L and 18R having the same configuration are connected to the tips of the respective booms 17L and 17R. The pair of hands 18L and 18R can freely perform rotational movement and swinging movement by the operation of a drive mechanism attached thereto, and can detachably pinch-grip (hold) the left steel support 10L and the right steel support 10R, respectively.

[0016] Hereinafter, the boom indicated by the reference numeral 17L will be referred to as the "left boom", and the boom indicated by the reference numeral 17R will be referred to as the "right boom". Further, the hand indicated by the reference numeral 18L will be referred to as the "left hand", and the hand indicated by the reference numeral 18R will be referred to as the "right hand". However, when there is no need to particularly distinguish between the left boom and the right boom, they may simply be described as the boom 17. Similarly, when there is no need to particularly distinguish between the left hand and the right hand, they may simply be described as the hand 18.

[0017] The erector device 100 can detachably grip the left steel support 10L with the left hand 18L and the right steel support 10R with the right hand 18R. In the present embodiment, the left steel support 10L and the right steel support 10R are a pair of support members obtained by dividing the arch-shaped tunnel support 10 into two parts. After being guided near the tunnel face, these are assembled at the face to form the arch-shaped tunnel support 10.

[0018] FIG. 4 is a top view of the hand 18 in the erector device 100. In FIG. 4, the left hand 18L is illustrated, but the right hand 18R also has a substantially equivalent structure to the left hand 18L. A pair of gripping portions 18A are provided on each hand 18, and can grip the steel support workers 10R and 10L. Also, at both ends of each hand 18, a recovery device 20 is provided. The recovery device 20 is a device for recovering the surveying target adsorbed by magnetic force on the flange surface of the tunnel support worker 10 (the left steel support worker 10L and the right steel support worker 10R), and is a device for automatically recovering the surveying target using this recovery device 20. Details thereof will be described later. The pair of gripping portions 18A on the hand 18 can grip the lower flange 111c of the steel support workers 10L and 10R in a placed state.

[0019] FIG. 5 is a schematic configuration diagram of the erection system S of the tunnel support worker 10 according to Embodiment 1. In the figure, reference numeral 100 is an erector device for erecting the tunnel support worker 10, and reference numeral 200 is a work vehicle (heavy machine) that mounts the erector device 100 and is self-propelled. Reference numeral 300 is an automatic tracking total station, which is a distance and angle measuring instrument (surveying machine) using laser light, reference numeral 400 is a total station controller for controlling the total station 300, and reference numeral 500 is a total station side antenna capable of wireless transmission and reception with the total station controller 400. The erector device 100 includes a monitor 101, which is a display device mounted on the operator's seat, an erector controller 102, an erector side antenna 103, an operation panel 104, a keyboard 105, a pointing device 106, and the like. Of course, these specific configurations are an example of the erection system S.

[0020] The total station 300 is a surveying instrument that automatically tracks a surveying target 9 including a prism or the like by irradiating a laser beam, measures the distance and angle, and measures (surveys) the position of the surveying target 9. It is installed at a point in the tunnel where the coordinates are known (coordinate-known point). In this embodiment, the surveying target 9 is attached to the tunnel support 10 (left steel support 10L and right steel support 10R) built into the tunnel face, and the surveying target 9 is automatically tracked as the tunnel support 10 (left steel support 10L and right steel support 10R) moves. Therefore, it is advisable to select a place where such automatic tracking of the target and line of sight are not obstructed for installation. For example, it may be installed on the tunnel floor, or a pedestal may be erected on the ceiling, and the total station 300 may be installed on the pedestal.

[0021] The total station controller 400 is configured to include, 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 surveying data of the total station 300. Further, the total station controller 400 can transmit and receive data by wireless communication with the electra controller 102 side, and can wirelessly remotely control various mechanisms of the total station 300 according to commands from the electra controller 102 side.

[0022] FIG. 6 is a diagram showing the target 9 according to Embodiment 1. The target 9 has a magnet 92 provided on a holder 91 and a prism 93 attached to the tip side of the holder 91. The holder 91 has a generally cylindrical shape, and the magnet 92 may be embedded on the bottom surface 91A side thereof. Since the left steel support 10L and the right steel support 10R are made of steel, the target 9 can be detachably attached to the left steel support 10L and the right steel support 10R by the magnetic force of the magnet 92 provided on the holder 91. As shown in FIG. 6, the holder 91 is provided with an attachment portion 94 for mooring the tip of a towing rope 26 described later.

[0023] FIG. 7 is a diagram showing an attachment mode of a target to the tunnel support work according to Embodiment 1. As shown in FIG. 7, the left steel support 10L and the right steel support 10R are symmetric arc shapes. Here, the first surveying target 9a and the second surveying target 9b are attached to the upper end and the lower end of the left steel support 10L, respectively. Further, the third surveying target 9c and the fourth surveying target 9d are attached to the upper end and the lower end of the right steel support 10R, respectively. Here, the first surveying target 9a to the fourth surveying target 9d are collectively referred to as the "surveying target 9". Note that the attachment position, number, etc. of the "surveying target 9" with respect to the left steel support 10L and the right steel support 10R are not particularly limited, and the mode shown in FIG. 7 is an example.

[0024] Next, the operation of the erector device 100 when connecting and installing the left steel support 10L and the right steel support 10R will be described. When connecting and installing 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 to move the left steel support 10L and the right steel support 10R so as to be orthogonal to the tunnel axis. Note that the driving of each boom 17L, 17R and each hand 18L, 18R in the erector device 100 can be performed by operating the operation panel 104.

[0025] The operations of each boom 17L, 17R and each hand 18L, 18R in the erector device 100 can be performed based on the three-dimensional position coordinates of each surveying target 9 obtained in real time using the total station 300. For example, the erector controller 102 wirelessly remotely operates the total station 300 via the total station controller 400, automatically tracks each surveying target 9 (the first target 9a to the fourth target 9d), and sequentially automatically surveys the coordinates of each surveying target 9. The total station 300 is installed at a location with known coordinates. By irradiating laser light from the total station 300 installed at such a location with known coordinates and aiming at each surveying target 9 to perform distance measurement and angle measurement, the three-dimensional position coordinates of the first surveying target 9a to the fourth surveying target 9d can be obtained. The erector controller 102 sets respective driving amounts for relative movement of the hands 18L, 18R based on the surveying data of each surveying target 9 obtained from the total station 300, and forms the arch-shaped tunnel support 10 by connecting the first top joint plate 121 of the left steel support 10L and the second top joint plate 122 of the right steel support 10R in a state where they are abutted against each other as shown in FIG. 7.

[0026] Regarding the details of the control for interconnecting the left steel support 10L and the right steel support 10R while sequentially and automatically measuring the coordinates of each measurement target 9 (the first target 9a to the fourth target 9d), since it is disclosed in Patent Document 1 (Japanese Patent Application Laid-Open No. 2018-178455) filed by the applicant of the present application, further detailed description thereof will be omitted. In addition, by adopting the one-touch joint structure disclosed in FIG. 9 of the above Patent Document 1 (Japanese Patent Application Laid-Open No. 2018-178455) for the connection structure of the left steel support 10L and the right steel support 10R, the left steel support 10L and the right steel support 10R can be connected with one touch by the hand operation of the erector device 100. Here, the hand operation mentioned herein includes not only directly operating the hands 18L and 18R by operating the drive mechanisms of the hands 18L and 18R, but also indirectly operating the hands 18L and 18R by driving the booms 17L and 17R to which the hands 18L and 18R are attached.

[0027] After assembling the tunnel support 10 in an arch shape as described above, the erector device 100 drives the hands 18L and 18R to place the tunnel support 10 at a predetermined erection position near the tunnel face. For example, the erector controller 102 may display the position of each of the first to fourth measurement targets 9a to 9d on the monitor 101 based on the measurement data including the coordinate positions of each measurement target 9 (the first measurement target 9a to the fourth measurement target 9d) acquired from the total station 300. In addition to the positions of the first to fourth measurement targets 9a to 9d, the monitor 101 may also display the target positions of the first to fourth measurement targets 9a to 9d. The operator operating the erector device 100 can place the tunnel support 10 at the normal erection position by driving the booms 17L and 17R and the hands 18L and 18R while looking at the monitor 101.

[0028] In this embodiment, at an appropriate timing, for example, when the erection of the tunnel support work 10 (left steel support work 10L and right steel support work 10R) at a predetermined erection position is completed, each surveying target 9 is recovered from the tunnel support work 10 (left steel support work 10L and right steel support work 10R). Each hand 18L, 18R of the erector device 100 according to this embodiment is equipped with a recovery device 20 for recovering each surveying target 9 adsorbed by magnetic force on the flange surface of the tunnel support work 10 (left steel support work 10L and right steel support work 10R), and each surveying target 9 can be automatically recovered using this recovery device 20 without relying on manual labor. Hereinafter, the details of the recovery device for the surveying target and its recovery method will be described.

[0029] Referring to FIGS. 8 and 9, the recovery device 20 mounted on each hand 18L, 18R will be described. FIG. 8 is an external perspective view of the recovery device 20 according to Embodiment 1. FIG. 9 is a diagram for explaining the state where the cover of the recovery device 20 according to Embodiment 1 is removed. The recovery device 20 includes a base plate 21 attached to the ends of each hand 18L, 18R, a winch 22 (winding device) installed on the base plate 21 respectively, a battery 23 (power source), a control box 24, and a cover 25. The base plate 21 is provided with screw holes for directly attaching the winch 22, the battery 23, and the control box 24, or for attaching them via brackets or the like, and the winch 22, the battery 23, and the control box 24 are fixed at predetermined positions on the base plate 21 using screws, brackets, or the like.

[0030] The winch 22 is, for example, an electric winch, and a towing rope 26 is wound around a drum portion 22A that is rotationally driven in both forward and reverse directions. The winch 22 is driven by receiving power supply from a battery 23, and its drive is controlled by a control unit including a control board and the like stored in a control box 24. For example, when the drum portion 22A of the winch 22 is rotationally driven in the forward direction, the towing rope 26 is pulled out, and when the drum portion 22A is rotationally driven in the reverse direction, the towing rope 26 is wound up. The recovery device 20 may include a remote controller (remote control) for remotely operating the drive of the winch 22. FIG. 10 is a diagram showing an example of the remote control in the recovery device 20. The remote control 30 has, for example, a pull-out button 31 and a winding-up button 32. The remote control 30 can communicate with the control unit in the control box 24, and the operator can drive the winch 22 by operating the remote control 30. For example, while the operator keeps pressing the pull-out button 31 of the remote control 30, the drum portion 22A of the winch 22 is rotationally driven in the forward direction, and the towing rope 26 is pulled out at a constant speed. While the winding-up button 32 is being pressed continuously, the drum portion 22A of the winch 22 is rotationally driven in the reverse direction, and the towing rope 26 may be configured to be wound up at a constant speed. In addition, the remote control 30 may have an on-off button.

[0031] Further, a guide member 27 for guiding the pulling out and winding up of the towing rope 26 is provided on the base plate 21 of the recovery device 20, and the towing rope 26 is passed through a guide hole 27A of the guide member 27. At the tip of the towing rope 26, a loop 26A for attaching a mounting fitting 28 such as a carabiner is formed. A mounting fitting 28 such as a carabiner can be attached to the loop 26A of the towing rope 26, and the loop 26A of the towing rope 26 can be moored to a mounting portion 94 provided on a holder 91 of the surveying target 9 via this mounting fitting 28. Note that a notch portion 25A for exposing the guide member 27 to the outside is provided in the cover 25 of the recovery device 20, and the guide hole 27A of the guide member 27 is configured not to be covered by the cover 25 even when the cover 25 is attached to the base plate 21.

[0032] In this embodiment, the towing rope 26 is formed of, for example, a wire rope, but is not particularly limited as long as it can tow the surveying target 9 along the flange surface when the surveying target 9 is recovered. For example, the towing rope 26 may be formed of synthetic fibers such as nylon, polyester, polypropylene, polyethylene, and vinylon, or may be formed of natural fibers such as hemp and cotton. Next, with reference to FIGS. 11 to 14, an automatic recovery method for each surveying target 9 using the recovery device 20 will be described. FIG. 11 is a diagram showing a state immediately before each surveying target 9 is recovered using the recovery device 20. As an example, FIG. 11 shows a state in which the tunnel shoring 10 assembled in an arch shape is installed at a predetermined building position. FIG. 11 shows a left hand 18L that grips the left steel shoring 10L and a right hand 18R that grips the right steel shoring 10R. For the sake of convenience, the illustration of the booms 17L and 17R is omitted.

[0033] Of the set of recovery devices 20 mounted on the left hand 18L, the recovery device for recovering the first surveying target 9a installed on the top end (upper end) side of the left steel shoring 10L is called the "left first recovery device 20 (L1)", and the recovery device for recovering the second surveying target 9b installed on the lower end side of the left steel shoring 10L is called the "left second recovery device 20 (L2)". Similarly, of the set of recovery devices 20 mounted on the right hand 18R, the recovery device for recovering the third surveying target 9c installed on the top end (upper end) side of the right steel shoring 10R is called the "right first recovery device 20 (R1)", and the recovery device for recovering the fourth surveying target 9d installed on the lower end side of the right steel shoring 10R is called the "right second recovery device 20 (R2)". Note that the recovery devices 20 (L1), 20 (L2), 20 (R1), and 20 (R2) are shown differentiated in relation to the surveying target 9 to be recovered, and their structures and functions themselves are substantially equivalent.

[0034] ​

[0035] In FIG. 11, the towing rope 26 of the left first recovery device 20 (L1) is connected to the first surveying target 9a by mooring the mounting fitting 28 at the tip side to the mounting portion 94 of the first surveying target 9a. Further, the towing rope 26 of the left second recovery device 20 (L2) is connected to the second surveying target 9b by mooring the mounting fitting 28 at the tip side to the mounting portion 94 of the second surveying target 9b. The towing rope 26 of the right first recovery device 20 (R1) is connected to the third surveying target 9c by mooring the mounting fitting 28 at the tip side to the mounting portion 94 of the third surveying target 9c. Further, the towing rope 26 of the right second recovery device 20 (L2) is connected to the fourth surveying target 9d by mooring the mounting fitting 28 at the tip side to the mounting portion 94 of the fourth surveying target 9d. As shown in FIG. 11, the towing ropes 26 of the respective recovery devices 20 are in a slack state so that a large tension is not applied to the surveying targets 9 to which they are connected. In the present embodiment, marks are pre-labeled with paint or the like at the specified positions Ps1 and Ps2 where the first surveying target 9a and the second surveying target 9b should be attached to the lower flange 112c of the left steel support 10L, and the first surveying target 9a and the second surveying target 9b are attached to the specified positions Ps1 and Ps2, respectively. Similarly, marks are pre-labeled with paint or the like at the specified positions Ps3 and Ps4 where the third surveying target 9c and the fourth surveying target 9d should be attached to the lower flange 112c of the right steel support 10R, and the third surveying target 9c and the fourth surveying target 9d are attached to the specified positions Ps3 and Ps4, respectively.

[0036] Here, before connecting and erecting the left steel support 10L and the right steel support 10R, the towing ropes 26 may be sufficiently pulled out from the respective recovery devices 20 and connected to the mounting portions 94 (predetermined portions) of the respective surveying targets 9 in a slack state. By doing so, it is not necessary to perform the operation of mooring the tip of the towing rope 26 to the mounting portion 94 of each surveying target 9 near the tunnel face, and the safety of the operation can be further improved.

[0037] Here, the remote controller 30 shown in FIG. 10 may be prepared for each recovery device 20. The recovery of each surveying target 9 is performed by operating the winding button 32 of the remote controller 30 corresponding to each recovery device 20 and winding the towing rope 26 by the winch 22 of each recovery device 20. At that time, each surveying target 9 may be recovered by sliding on the flange surfaces of the lower flanges 112c and 122c of each surveying target 9.

[0038] FIG. 12 shows, as an example, the situation in the middle of recovering the first surveying target 9a by the left first recovery device 20 (L1). FIG. 13 shows, as an example, the situation in the middle of recovering the second surveying target 9b by the left second recovery device 20 (L2). In FIG. 13, the recovery of the first surveying target 9a by the left first recovery device 20 (L1) has been completed. The automatic recovery of the third surveying target 9c and the fourth surveying target 9d using the right first recovery device 20 (R1) and the right second recovery device 20 (R2) can also be performed by sliding on the flange surface of the lower flange 112c of the right steel support 10R, similar to the first surveying target 9a and the second surveying target 9b. FIG. 14 shows the state where the automatic recovery of all the surveying targets 9 has been completed.

[0039] As described above, according to the recovery device 20 for the surveying target 9 and the recovery method using the same in the present embodiment, the surveying target 9 can be automatically recovered. Therefore, it is not necessary to manually perform the recovery work of each surveying target 9 by using the man cage or the like of the erector device 100. As a result, the efficiency and safety of tunnel construction can be improved compared to the prior art.

[0040] Note that the process after the recovery operation of each survey target 9 is completed is not particularly limited. For example, with the tunnel support workers 10 (left steel tunnel support worker 10L and right steel tunnel support worker 10R) gripped by each hand 18L, 18R of the erector device 100, secondary shotcrete may be sprayed from the spraying device 600 to temporarily fix the tunnel support workers 10 to the tunnel wall surface. At that time, first, by spraying secondary shotcrete on the legs of the left steel tunnel support worker 10L and the right steel tunnel support worker 10R and the tunnel wall surface (the surface of the primary shotcrete) around them, after temporarily fixing the tunnel support workers 10 to the tunnel wall surface, the gripping of the tunnel support workers 10 by the hands 18L, 18R of the erector device 100 may be released. Then, next, secondary shotcrete may be sprayed between the newly installed tunnel support workers 10 and the existing tunnel support workers 10 adjacent in the axial direction of the tunnel (the new construction section), and by embedding the entire longitudinal direction of the newly installed tunnel support workers 10 in the secondary shotcrete, the newly installed tunnel support workers 10 may be fixed to the tunnel wall surface (the surface of the primary shotcrete).

[0041] <Conditions for the survey target to slide without falling during target recovery> Next, when the survey target 9 is pulled by the towing rope 26 of the recovery device 20, conditions for sliding the survey target 9 along the lower flanges 112c, 122c of the left steel tunnel support worker 10L and the right steel tunnel support worker 10R without the survey target 9 falling from the lower flanges 112c, 122c are considered.

[0042] Hereinafter, the pattern of pulling the surveying target 9 obliquely downward by the towing rope 26 of the recovery device 20 arranged at a position lower than the surveying target 9 (hereinafter referred to as the "oblique downward pulling pattern") and the pattern of pulling the surveying target 9 obliquely upward by the towing rope 26 of the recovery device 20 arranged at a position higher than the surveying target 9 (hereinafter referred to as the "oblique upward pulling pattern") will be described separately. The modes when the first surveying target 9a and the third surveying target 9c are respectively recovered by the above-described left first recovery device 20 (L1) and right first recovery device 20 (R1) correspond to the oblique downward pulling pattern. On the other hand, the modes when the second surveying target 9b and the fourth surveying target 9d are respectively recovered by the above-described left second recovery device 20 (L2) and right second recovery device 20 (R2) correspond to the oblique downward pulling pattern.

[0043] FIG. 15 is a diagram for explaining the forces acting on the surveying target 9 when the surveying target 9 is recovered in the oblique downward pulling pattern. That is, FIG. 15 shows the forces acting on the surveying targets 9a and 9c when the first surveying target 9a adsorbed on the flange surface F1 of the lower flange 112c of the left steel support 10L (first main body 111) is recovered by the left first recovery device 20 (L1), or when the third surveying target 9c adsorbed on the flange surface F1 of the lower flange 112c of the right steel support 10R (first main body 121) is recovered by the right first recovery device 20 (R1). Therefore, the surveying target 9 in the description of FIG. 15 specifically refers to the surveying targets 9a and 9c.

[0044] Here, the tangential direction of the flange surface F1 at the position where the surveying target 9 contacts the flange surfaces F1 of the lower flanges 112c and 122c is defined as the x-direction. On a plane including the x-direction and the vertical direction and orthogonal to the x-direction, the direction orthogonal to the x-direction is defined as the y-direction. The positive direction of the x-direction is the direction from the surveying target 9 toward the recovery device 20 (20(L1), 20(R1)) for recovering the surveying target 9. The positive direction of the y-direction is the direction from the flange surfaces F1 of the lower flanges 112c and 122c toward the surveying target 9. Also, the dimension in the x-direction of the portion of the surveying target 9 that contacts the flange surface F1 is defined as length a. Further, the distance along the y-direction from the attachment portion 94 to the flange surface F1 in the surveying target 9 is defined as length b. Since the bottom surface 91A of the surveying target 9 is adsorbed to the flange surface F1, length b is substantially equal to the height dimension from the attachment portion 94 to the bottom surface 91A in the surveying target 9. Also, the distance along the y-direction from the center of gravity of the surveying target 9 to the flange surface F1 is defined as length c. Also, the mass of the surveying target 9 is m, and the gravitational acceleration is g. Also, the vertical resistance force received by the surveying target 9 from the flange surface F1 is N. Also, the magnetic force acting between the surveying target 9 and the flange surface F1 is S. Also, the tension applied to the towing rope 26 connected to the attachment portion 94 of the surveying target 9 is T. Also, the angle formed by the horizontal direction and the x-direction is α, and the angle formed by the horizontal direction and the direction of the towing rope 26 is θ. Note that the angles α and θ are positive in the counterclockwise direction from the horizontal direction.

[0045] Here, if the magnitude of the vertical resistance force N of the surveying target 9 is positive, the adsorption state to the flange surface F1 is maintained and the surveying target 9 does not fall. Since the surveying target 9 in the state adsorbed to the flange surface F1 does not move in the y-direction, the equilibrium equation of the forces in the y-direction of the surveying target 9 is Equation 1 below and Equation 2 obtained by transforming this. S = mgcosα + Tsin(θ - α) + N ··· (Equation 1) N = S - mgcosα - Tsin(θ - α) ··· (Equation 2) Here, as described above, if the vertical resistance N is a positive value, the adsorption state of the surveying target 9 is maintained. Therefore, the conditional expression A for preventing the surveying target 9 from falling is obtained as follows. S > mgcosα + Tsin(θ - α) ··· (conditional expression A)

[0046] Next, the surveying target 9 starts to slide on the flange surface F1 when the resultant force acting in the x - direction becomes larger than the maximum static friction force. Therefore, the condition for the stationary surveying target 9 to slide along the flange surface F1 can be expressed by Equation 3 - 1. And by further transforming Equation 3 - 2 which is obtained by transforming Equation 3 - 1, the conditional expression B is derived. μN < mgsinα + Tcos(θ - α) ··· (Equation 3 - 1) μ(S - mgcosα - Tsin(θ - α)) < mgsinα + Tcos(θ - α) ··· (Equation 3 - 2) S < (mgsinα + Tcos(θ - α)) / μ + mgcosα + Tsin(θ - α) ··· (conditional expression B) Here, μ is the maximum static friction coefficient between the flange surface F1 and the surveying target 9 (9a, 9c).

[0047] Next, the condition for the stationary surveying target 9 to continue sliding along the flange surface F1 is satisfied when the resultant force in the x - direction is larger than the dynamic friction force. Therefore, the condition for the surveying target 9 to continue sliding along the flange surface F1 can be expressed by the following Equation 4 - 1. And by further transforming Equation 4 - 2 which is obtained by transforming Equation 4 - 1, the conditional expression C is derived. μ′N < mgsinα + Tcos(θ - α) ··· (Equation 4 - 1) μ′(S - mgcosα - Tsin(θ - α)) < mgsinα + Tcos(θ - α) ··· (Equation 4 - 1) S < (mgsinα + Tcos(θ - α)) / μ′ + mgcosα + Tsin(θ - α) ··· (conditional expression C) Here, μ′ is the coefficient of kinetic friction between the flange surface F1 and the surveying target 9. Since μ′ is smaller than μ, when conditional expression B is satisfied, conditional expression C will also be satisfied simultaneously.

[0048] Furthermore, when the surveying target 9 is being pulled, if the clockwise moment acting on the surveying target 9 is smaller than the counterclockwise moment, the surveying target 9 will not topple over. The clockwise moment acting on the surveying target 9 is represented by Equation 5. cmgcosα+(a / 2)mgsinα+aTsin(θ-α)···(Equation 5) On the other hand, the counterclockwise moment acting on the surveying target 9 is represented by the following Equation 6-1. (a / 2)×S+bTcos(θ-α)···(Equation 6-1) From the above, the condition for the surveying target 9 not to topple over during pulling holds when the following Equation 6-2 is satisfied, and by transforming Equation 6-2, conditional expression D is derived. cmgcosα+(a / 2)mgsinα+aTsin(θ-α)<(a / 2)×S+bTcos(θ-α)···(Equation 6-2) S<mg((2c / a)cosα+sinα)+T(2sin(θ-α)-(2b / a)cos(θ-α))···(Conditional Expression D)

[0049] Next, the "diagonal upward pulling pattern" will be described. FIG. 16 is a diagram for explaining the forces acting on the surveying target 9 when the surveying target 9 is recovered in a diagonal upward pulling pattern. That is, FIG. 16 shows the forces acting on the second surveying target 9b adsorbed on the flange surface F1 of the lower flange 112c of the left steel support 10L (the first main body 111) when the second surveying target 9b is recovered by the left second recovery device 20 (L2), or the forces acting on the fourth surveying target 9c adsorbed on the flange surface F1 of the lower flange 112c of the right steel support 10R (the first main body 121) when the fourth surveying target 9c is recovered by the right second recovery device 20 (R2). Therefore, the surveying target 9 in the description of FIG. 16 specifically refers to the surveying targets 9b and 9d.

[0050] In FIG. 16, with respect to the reference axis directions such as the x-direction and y-direction, their positive and negative directions, the vertical resistance N, the mass m, the gravitational acceleration g, the magnetic force S, etc., they are the same as those described in FIG. 15. As described in FIG. 15, since the angles α and θ are set with the counterclockwise direction from the horizontal direction as positive, in the "diagonal upward traction pattern" shown in FIG. 16, mainly the angles α and θ will take negative values, but the positive and negative of the angles α and θ are not particularly limited.

[0051] Regarding the diagonal upward traction pattern shown in FIG. 16, if the magnitude of the vertical resistance N is positive, the adsorption state of the measurement target 9 on the flange surface F1 will be maintained and it will not fall. Therefore, for the diagonal upward traction pattern as well, similar to the case of the diagonal downward traction pattern described above, when the conditional expression 1 is satisfied, the adsorption state of the measurement target 9 on the flange surface F1 is maintained and falling is suppressed.

[0052] Also, regarding the diagonal upward traction pattern, as conditions for the stationary measurement target 9 to slide out along the flange surface F1 and the conditions for the measurement target 9 to continue sliding along the flange surface F1, they can be represented by the same conditional expressions (2) and (3) as those of the diagonal downward traction pattern. Also, regarding the diagonal upward traction pattern, the condition for the measurement target 9 not to fall during traction can be represented by the same conditional expression (4) as that of the diagonal downward traction pattern.

[0053] As described above, in both the diagonal downward traction pattern and the diagonal upward traction pattern, by satisfying the conditional expressions 1, 2, and 4, when the recovery device 20 recovers the measurement target 9, the measurement target 9 can continue to slide along the flange surface F1 without falling or toppling. Thereby, the measurement target 9 can be smoothly pulled and recovered along the flange surface F1.

[0054] The embodiments of the recovery device and the recovery method for recovering the measurement target have been described above. However, each configuration and their combinations in the embodiments are merely examples, and within the scope not departing from the gist of the present invention, addition, omission, substitution, and other changes of the configuration can be made as appropriate. In addition, each aspect disclosed in this specification can be combined with any other features disclosed in this specification.

Explanation of Signs

[0055] 9 ··· Measurement target 10 ··· Tunnel support 18 ··· Hand 18A ··· Gripping part 20 ··· Recovery device 22 ··· Winch 26 ··· Towing rope 27 ··· Guide member 91 ··· Holder 92 ··· Magnet 93 ··· Prism 94 ··· Mounting part 100 ··· Erector device

Claims

1. A recovery device for recovering a surveying target adsorbed by the magnetic force of a magnet provided on a holder with respect to the flange surface of a steel support, comprising: a winding device mounted on a hand of an erector device for erecting the steel support and capable of winding a towing rope moored to a predetermined portion of the surveying target; when recovering the surveying target, by winding the towing rope by the winding device, it is possible to slide the bottom surface of the holder in the surveying target on the flange surface in a state where the bottom surface of the holder is adsorbed to the flange surface; A recovery device for a surveying target.

2. A recovery method for recovering a surveying target used in the erection construction of a steel support, comprising: a step of mooring a towing rope wound around a winding device mounted on a hand of an erector device for erecting the steel support to a predetermined portion of the surveying target adsorbed by the magnetic force of a magnet provided on a holder with respect to the flange surface of the steel support; a step of recovering the surveying target by winding the towing rope by the winding device; and in the step of recovering the surveying target, it is possible to slide the bottom surface of the holder in the surveying target on the flange surface in a state where the bottom surface of the holder is adsorbed to the flange surface. A recovery method for a surveying target.

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