CN113006832A - Small-excavation segment welded type underground vacuum pipeline and construction method thereof - Google Patents

Small-excavation segment welded type underground vacuum pipeline and construction method thereof Download PDF

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CN113006832A
CN113006832A CN202110508802.3A CN202110508802A CN113006832A CN 113006832 A CN113006832 A CN 113006832A CN 202110508802 A CN202110508802 A CN 202110508802A CN 113006832 A CN113006832 A CN 113006832A
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pipe
underground
vacuum pipeline
underground vacuum
pile foundation
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CN113006832B (en
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张耀平
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Xijing University
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Xijing University
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/14Lining predominantly with metal
    • E21D11/18Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/003Linings or provisions thereon, specially adapted for traffic tunnels, e.g. with built-in cleaning devices
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/04Lining with building materials
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/10Geothermal energy

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Lining And Supports For Tunnels (AREA)
  • Underground Structures, Protecting, Testing And Restoring Foundations (AREA)

Abstract

The invention discloses a small-excavation segment welded type underground vacuum pipeline and a construction method thereof, the small-excavation segment welded type underground vacuum pipeline comprises an underground vacuum pipeline which is built by splicing and welding segments, the underground vacuum pipeline is supported by a front pile foundation, and a reinforcing rib ring is arranged on the periphery of the underground vacuum pipeline, and the construction method comprises the following steps: the method comprises the following steps: excavating according to a section slightly larger than the outer diameter of the underground vacuum pipeline and smaller than two times of the diameter of the underground vacuum pipeline in the extending direction of a traffic line of the vacuum pipeline in a mountain or underground, and constructing a front pile foundation according to the linear position precision requirement when excavating a distance forwards; step two: installing a support and a rib ring, assembling other duct pieces and welding; step three: excavating in an extending way and paving a front pile foundation; step four: repeating the cycle construction until the construction is completed; the structure and the construction method can effectively reduce the construction cost of the underground vacuum pipeline; the anti-seismic and anti-geological deformation capacity of the underground vacuum pipeline is improved, and the underground vacuum pipeline is guaranteed to have high linear position accuracy and high construction progress.

Description

Small-excavation segment welded type underground vacuum pipeline and construction method thereof
Technical Field
The invention belongs to the technical field of vacuum pipeline high-speed magnetic levitation traffic engineering construction, and particularly relates to a small-excavation segment welded underground vacuum pipeline and a construction method thereof.
Background
The vacuum pipeline high-speed magnetic suspension traffic is the same as the traditional railway and highway, and can be built on the ground (including an overhead structure) or underground. When a mountain is encountered or the construction is carried out in an urban area with dense buildings, the mountain has to be constructed underground.
The railway tunnel and the highway tunnel are usually constructed by a mine method, a drilling and blasting method or a shield method and then are reinforced by concrete lining. Besides the construction method of the railway tunnel and the highway tunnel, some subway tunnels are constructed by an excavation method. The subway tunnel section of single hole single line is less, also has to adopt prefabricated section of jurisdiction concatenation to carry out the lining.
The common characteristics of railway tunnels, highway tunnels and subway tunnels are that the speed of running vehicles is not high, the lining structure does not require air tightness, the requirements on the precision of tunnel cavities and line shapes are not high, and appropriate deformation is allowed. After the tunnel is slightly deformed, the shape of the line can meet the precision requirement of train running by adjusting the track bed and the track.
Some smaller holes, such as water delivery pipelines and municipal pipelines, are generally short in distance and low in requirement on line shape precision, and pipe jacking construction is adopted.
The vacuum pipeline transportation needs to be vacuumized, and the maintenance of good long-term sealing and air tightness is the most fundamental value basis of the vacuum pipeline transportation, so that the vacuum pipeline is preferably made of metal pipelines such as steel pipes, and is not preferably made of concrete materials with porous structures. Therefore, the underground vacuum pipeline is not suitable for the construction method and the concrete lining structure of railway tunnels, highway tunnels and subway tunnels.
The running speed of the vacuum pipeline traffic vehicle is very high, the inner space of the pipeline is small, the low pressure is kept for a long time after the vacuum pumping, the internal inspection and maintenance work is difficult, and the frequent maintenance work arrangement is avoided. The method puts higher requirements on the line precision of the pipeline, and the pipeline line cannot be greatly changed due to general geological deformation after the pipeline is built.
One possible arrangement of the underground vacuum pipeline is to construct a tunnel by the traditional method and then lay the pipeline in the tunnel, which is characterized in that a large enough space for manual and mechanical operation is provided between the outer wall of the pipeline and the inner wall of the hole body, and the whole pipe sections (pipe joints) can be transported to the front for extending and splicing from the space between the outer side of the laid pipeline and the hole body. The method has the defects that the tunnel excavation section is large, and the secondary construction is realized by laying the vacuum pipeline, so that the engineering construction cost is increased.
Without major excavation, a pipe section of the same diameter cannot be transported through the interior of the already laid pipeline to the location where it is to be extended ahead.
The pipe-jacking construction is only suitable for water delivery and municipal pipe network engineering with short distance, and the pipe-jacking construction is not economical and cannot ensure the shape and position accuracy of the built pipeline when the underground vacuum pipeline traffic line is long.
How to lay underground vacuum pipelines with lower cost and smaller excavation section needs to provide a proper scheme through exploration and creative design.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a small-excavation segment welded underground vacuum pipeline and a construction method thereof, which can reduce the construction cost of the underground vacuum pipeline, improve the geological deformation resistance and ensure the linear precision.
In order to achieve the purpose, the invention adopts the following technical scheme:
a small-excavation segment welded type underground vacuum pipeline comprises an underground vacuum pipeline which is built by splicing and welding segments, wherein the underground vacuum pipeline is supported by a front pile foundation (pipe pier), and a reinforcing rib ring is arranged on the periphery of the underground vacuum pipeline.
Preferably, the underground vacuum pipeline is an airtight metal pipeline.
Preferably, the underground vacuum pipeline is formed by splicing a plurality of pipe sections;
furthermore, the pipe section is formed by splicing 3-5 pipe pieces, and a welding groove in the pipeline is arranged on the splicing seam of the pipe pieces;
furthermore, a duct piece staggered joint splicing mode is adopted between two adjacent pipe sections;
furthermore, the inner joint and the outer joint of the underground vacuum pipeline are welded by adopting an automatic robot welding process;
furthermore, a manhole used for maintenance is arranged on one of the pipe sheets of the pipe sections, and a hole cover of the manhole is fixed on the pipe sheet through an internal detachable bolt.
Preferably, the pilot pile foundation comprises a pile foundation pile and a bearing platform at the top of the pile foundation pile.
Furthermore, the radian of the top surface of the bearing platform of the front guide pile foundation is matched with that of the bottom pipe piece of the underground vacuum pipeline.
Preferably, the pile foundation pile of the pilot pile foundation is a precast pile with the maximum length smaller than the height of the excavated hole body, and specifically is a steel pipe pile or a reinforced concrete pile.
Preferably, the front guide pile foundation is an excavated cast-in-place pile with a pile hole depth larger than the excavation height of the tunnel body or a bearing platform paved on the surface of the hard rock body.
Furthermore, two underground vacuum pipelines are laid in parallel synchronously to form a single-hole double-pipeline bidirectional underground vacuum pipeline traffic line.
Furthermore, a plurality of transverse connecting channels are arranged between the two parallel underground vacuum pipelines at intervals.
The invention also discloses a construction method of the small-excavation segment welded underground vacuum pipeline, which comprises the following steps:
the method comprises the following steps: excavating a mountain or underground according to a section slightly larger than the outer diameter of the underground vacuum pipeline and smaller than two times of the diameter of the underground vacuum pipeline in the extending direction of a traffic line of the vacuum pipeline in the mountain or underground, and constructing a front pile foundation according to the linear position precision requirement after excavating a certain distance forwards;
step two: the pile foundation pile of the leading pile foundation solidifies stably, after the cushion cap is installed in place, a bottom segment is laid on the cushion cap, a support and a rib ring are installed, other upper segments are assembled, and then welding which can meet the strength requirement and has durability and air tightness is carried out on the segment splicing seams;
step three: after splicing and laying of a section of underground vacuum pipeline, continuously excavating the hole body for a certain distance, and constructing a pile foundation pile and a bearing platform of the front pile foundation according to the method;
step four: and (3) conveying the pipe piece to the front guide pile foundation position through the built pipe section, repeating the circulating construction according to the method and the steps of the second step, and installing the underground vacuum pipeline extension pipe section until the pipe piece penetrates through the whole mountain body or completing the line construction of all the underground vacuum pipelines.
Preferably, the rib ring is an integrally formed rib ring, the diameter of the rib ring is larger than the inner diameter of the underground vacuum pipeline, and the rib ring is transported and installed by adopting a construction mode of pre-storing in a hole body and gradually moving forwards.
Compared with the prior art, the invention has the following technical effects:
the excavation section of the invention is slightly larger than the diameter of the pipeline and smaller than two times of the diameter of the pipeline, the excavation section is small, and the construction cost of the underground vacuum pipeline is reduced;
the front guide pile foundation arranged in the invention is beneficial to improving the earthquake resistance and geological deformation resistance of the underground vacuum pipeline and ensuring that the underground vacuum pipeline has higher linear position precision;
the invention adopts a segment welding type process, so that segments can be conveniently conveyed to the front hole digging position through the inside of the built pipeline, the pipeline installation and extension can be completed through splicing and welding, and the construction progress is fast.
Drawings
FIG. 1 is a schematic view of a segment welded underground vacuum pipe construction method for a pilot pile foundation structure for small excavation according to the present invention, which shows the state of the excavated cavity at the initial stage of the entrance and the installation of the pipe;
FIG. 2 is a schematic view of a segment welded underground vacuum pipe construction method for a pilot pile foundation structure for small excavation according to the present invention, which shows a state in which excavation of a second stage cavity is completed, construction of the pilot pile foundation is completed at the second stage, and the second stage pipe is not spliced/welded and installed;
FIG. 3 is a schematic view of a segment welded underground vacuum pipe construction method for a pilot pile foundation structure for small excavation according to the present invention, wherein the underground pipe completely passes through a mountain and is in a state when the construction process is completed;
FIG. 4 is a view of the pipeline installation step of the present invention showing the installation of the bottom segment onto the pipe pier (pilot pile foundation);
FIG. 5 is a view of a duct installation step of the present invention showing a bottom segment and a second segment installed on a duct pier;
FIG. 6 is a view of the steps of installing the pipeline according to the present invention, showing the installation of a segment of pipe being completed;
FIG. 7 is a view of the steps of installing a pipeline according to the present invention, showing a segment of pipe being installed after splicing and the construction of the pilot pile foundation of the segment of pipe being completed;
FIG. 8 is a view of a step of installing a pipeline according to the present invention, showing a schematic view of a segment transport with segments entering the segment;
FIG. 9 is a view of a pipeline installation step of the present invention showing a segment transport schematic, where segments have been transported to leading pile foundations;
FIG. 10 is a view of a step of installing a duct according to the present invention, illustrating a step of splicing segments in an extended state;
FIG. 11 is a view of a step of installing the pipeline according to the present invention, showing the two pipe sections assembled and installed;
FIG. 12 is a schematic view of segment stagger-splice installation;
FIG. 13 is a schematic view of an underground pipe provided with a manhole;
FIG. 14 is a schematic view of an underground pipe installation with a reinforcing rib ring, illustrating the rib ring installation process;
FIG. 15 is a schematic view of the installation and construction of an underground pipe provided with a reinforcing rib ring, showing the position and state of the prepared rib ring;
FIG. 16 is a cross-sectional view of a single-cavity double-pipeline small excavation mode underground vacuum pipeline;
FIG. 17 is a schematic view of the cross-connect channel arrangement in the dual-duct mode.
The meaning of each reference number in the figures is: 1-pipe piece, 2-underground vacuum pipeline, 3-front guide pile foundation, 4-rib ring, 5-pipe section, 6-manhole, 7-hole cover and 8-connecting channel;
1' -bottom segment, 301-pile foundation pile, 302-cap.
Detailed Description
The present invention will be explained in further detail with reference to examples.
As shown in fig. 1 to 17, the small-excavation segment welded type underground vacuum pipeline provided in the present embodiment includes an underground vacuum pipeline 2 constructed by splicing and welding segments 1, the underground vacuum pipeline 2 is supported by a front pile foundation 3 (pipe pier), a reinforcing rib ring 4 is provided on the periphery of the underground vacuum pipeline 2, and the reinforcing rib ring 4 is provided to improve the structural strength of the pipeline.
The underground vacuum pipe 2 is an airtight metal pipe such as a steel pipe.
The underground vacuum pipeline 2 is formed by splicing a plurality of pipe sections 5, the pipe sections 1 are prefabricated in a factory and then are conveyed to a construction site, transportation is facilitated, the excavation section is small during construction, and the construction progress is faster due to prefabrication;
the pipe section 5 is formed by splicing 3-5 pipe pieces 1, and a pipeline internal welding groove is arranged on a splicing seam of the pipe pieces 1 so as to facilitate the implementation of welding from the inside of the pipeline and ensure the welding quality;
a duct piece staggered joint mode is adopted between two adjacent pipe sections 5 so as to ensure the welding quality and the stable pipeline structure;
the inner joint and the outer joint of the underground vacuum pipeline 2 are welded by adopting an automatic robot welding process, the spliced joints are welded from the inside of the pipeline, and the spliced joints are welded from the outside of the pipeline wall by adopting a welding robot so as to improve the welding quality;
a manhole 6 for maintenance is arranged on one of the pipe sheets 1 of the pipe section 5, and a manhole cover 7 of the manhole 6 is fixed on the pipe sheet 1 through an internal detachable bolt, so that the manhole cover 7 can be opened from the inside of the pipeline to inspect and maintain the outside of the pipeline or survey a hole body and geological conditions in future when necessary.
Leading pile foundation 3 includes pile foundation pile 301 and pile foundation pile 301 top cushion cap 302, and leading pile foundation 3 requires to have good antidetonation, anti geological deformation ability to and stable structure, and cushion cap 302 requires to have good linear position precision to guarantee that underground vacuum pipe 2 has good linear precision.
The radian phase-match of the cushion cap 302 top surface of preceding pile foundation 3 and the bottom section of jurisdiction 1' of underground vacuum pipe 2 for underground vacuum pipe installs more accurately, guarantees stable in structure.
Pile foundation pile 301 of preceding pile foundation 3 is the precast pile that the maximum length is less than excavation hole body height, specifically is steel-pipe pile or reinforced concrete pile, and length is shorter, and maximum length is less than excavation hole body height, and this kind of precast pile buries the depth, and is with low costs.
The front guide pile foundation 3 is a pile cap 302 laid on the surface of an excavated cast-in-place pile or hard rock mass with the pile hole depth larger than the excavation height of the tunnel body, the excavated cast-in-place pile is firstly excavated, then a reinforcement cage is placed, and then concrete is poured to form a pile foundation pile 301; when the pile hole is deep, if the depth is larger than the excavation height of the cave body, the reinforcement cage sinks into the pile hole through sectional connection (such as screwed pipe connection or welding); when the line extension section is a stable hard rock body, the pile foundation pile 301 of the pilot pile foundation 3 is not needed to be arranged, the bearing platform 302 is directly built on the surface of the excavated rock body, and the bottom segment 1' is laid.
Two underground vacuum pipelines 2 are laid in parallel synchronously to form a single-hole double-pipeline bidirectional underground vacuum pipeline 2 traffic line.
A plurality of transverse connecting channels 8 are arranged between the two parallel underground vacuum pipelines 2 at intervals, construction and installation are facilitated, inspection, maintenance and emergency rescue during operation are facilitated, and pneumatic resistance of vehicle operation is further reduced.
The construction method of the small-excavation segment welded underground vacuum pipeline comprises the following steps:
the method comprises the following steps: in the extending direction of a traffic line of a vacuum pipeline in a mountain or underground, excavating a mountain or underground according to a section slightly larger than the outer diameter of the underground vacuum pipeline 2 and smaller than two times of the diameter of the underground vacuum pipeline 2, and constructing a front pile foundation 3 according to the linear position precision requirement when excavating a distance of 20-100 m forwards;
step two: the pile foundation pile 301 of the leading pile foundation 3 is solidified stably, after the bearing platform 302 is installed in place, a bottom segment 1' is laid on the pile foundation pile, the mounting support and the rib ring 4 are assembled, other upper segments 1 are assembled, and then welding which can meet the strength requirement and has durability and air tightness is carried out on the splicing seams of the segments 1;
step three: after splicing and laying of a section of underground vacuum pipeline 2, continuously excavating the hole body for a certain distance, and building a pile foundation pile 301 and a bearing platform 302 of the front pile foundation 3 according to the method;
step four: and (3) conveying the pipe piece 1 to the front guide pile foundation 3 position through the interior of the previously built pipe section 5, repeating the circulating construction according to the method and the steps of the step two, and installing the underground vacuum pipeline 2 to extend the pipe section 5 until the underground vacuum pipeline penetrates through the whole mountain or completing the line construction of the whole underground vacuum pipeline 2.
The rib ring 4 is an integrally formed rib ring, the diameter of the rib ring is larger than the inner diameter of the underground vacuum pipeline 2, and the rib ring is transported and installed by adopting a construction mode of pre-storing in a hole body and gradually advancing, namely when the initial hole body is excavated and no pipeline is laid, the rib rings required by all underground pipeline lines are stored to the proper position of the front part of the hole body in advance; the excavation length of the hole body is required to be properly prolonged, and the stored prepared rib ring does not influence the pipeline laying; as the underground pipe extends, the number of reserve rib turns deposited is less and less, and when reaching the outlet end, the rib turns are just used up.

Claims (10)

1. A small-excavation segment welded type underground vacuum pipeline is characterized by comprising an underground vacuum pipeline (2) which is built by splicing and welding segments (1), wherein the underground vacuum pipeline (2) is supported by a front pile foundation (3), and a reinforcing rib ring (4) is arranged on the periphery of the underground vacuum pipeline (2).
2. The welded underground vacuum pipe of a duct piece for a small excavation according to claim 1, wherein the underground vacuum pipe (2) is an airtight metal pipe.
3. The dugout segment welded underground vacuum pipe of claim 2, wherein the underground vacuum pipe (2) is formed by splicing a plurality of pipe segments (5);
the pipe section (5) is formed by splicing 3-5 pipe pieces (1), and a splicing seam of the pipe pieces (1) is provided with a welding groove inside the pipeline;
the adjacent two pipe sections (5) are spliced in a pipe piece staggered joint mode;
the inner joint and the outer joint of the underground vacuum pipeline (2) are welded by adopting an automatic robot welding process;
a manhole (6) for overhauling is arranged on one pipe piece (1) of the pipe sections (5), and a hole cover (7) of the manhole (6) is fixed on the pipe piece (1) through an internal detachable bolt.
4. A welded underground vacuum pipe for a dugout segment as claimed in claim 1, wherein the leading pile foundation (3) comprises a pile foundation pile (301) and a cap (302) at the top of the pile foundation pile (301).
The radian of the top surface of a bearing platform (302) of the front guide pile foundation (3) is matched with that of a bottom segment (1') of the underground vacuum pipeline (2).
5. The dug segment welded underground vacuum pipe of claim 4, wherein the leading pile foundation (3) is a precast pile, specifically a steel pipe pile or a reinforced concrete pile, with a maximum length less than the height of the excavated cavity.
6. The under-ground vacuum welded segment pipe as claimed in claim 4, wherein the leading pile foundation (3) is a pile cap (302) laid on the surface of an excavated cast-in-place pile or hard rock mass having a pile hole depth greater than the excavation height of the tunnel body.
7. The dugout segment welded underground vacuum pipe as claimed in claim 3, wherein two underground vacuum pipes (2) are laid in parallel synchronously to form a single-cavity double-pipe bidirectional underground vacuum pipe (2) traffic line.
8. The welded underground vacuum pipe of a mini-segment as claimed in claim 7, wherein a plurality of transverse connecting channels (8) are provided between two parallel underground vacuum pipes (2).
9. A method of constructing a mini-segment welded underground vacuum pipe as claimed in any one of claims 1 to 8, comprising the steps of:
the method comprises the following steps: excavating a mountain or underground according to a section slightly larger than the outer diameter of the underground vacuum pipeline (2) and smaller than two times of the diameter of the underground vacuum pipeline (2) in the extending direction of a traffic line of the vacuum pipeline in a mountain or underground, and excavating a distance forwards each time, namely constructing and constructing a front pile foundation (3) according to the linear position precision requirement;
step two: the pile foundation pile (301) of the front guide pile foundation (3) is solidified stably, after the bearing platform (302) is installed in place, a bottom segment (1') is laid on the pile foundation pile, a support and rib rings (4) are installed, other upper segments (1) are assembled, and then welding which can meet the strength requirement and has durability and air tightness is carried out on the splicing seams of the segments (1);
step three: after splicing and laying of a section of underground vacuum pipeline (2), continuously excavating a hole body for a certain distance, and building a pile foundation pile (301) and a bearing platform (302) of the front pile foundation (3) according to the method;
step four: and (2) conveying the pipe piece (1) to the front guide pile foundation (3) position through the inside of the pipe section (5) which is built before, repeating the circulating construction according to the method and the steps of the step two, and installing the extending section pipe section (5) of the underground vacuum pipeline (2) until the pipe section penetrates through the whole mountain body or completing the line construction of the whole underground vacuum pipeline (2).
10. The method for constructing a mini-tunnel segment welded underground vacuum pipe as claimed in claim 9, wherein the rib ring (4) is an integrally formed rib ring having a diameter larger than the inner diameter of the underground vacuum pipe (2), and is transported and installed by a construction method of pre-storing in a tunnel and gradually moving forward.
CN202110508802.3A 2021-05-11 2021-05-11 Small excavation pipe piece welded type underground vacuum pipeline and construction method thereof Active CN113006832B (en)

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JPH10280896A (en) * 1997-04-10 1998-10-20 Konoike Constr Ltd Method for supplying and assembling segment in shield work, and segment supplying and assembling device
JP2006009343A (en) * 2004-06-24 2006-01-12 Kyowa Seisakusho:Kk Segment assembling work method for shield tunneling method and segment feeder
WO2012077941A2 (en) * 2010-12-07 2012-06-14 한국건설기술연구원 Drain system of shield tunnel lining and method for constructing shield tunnel using same
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CN213105233U (en) * 2020-07-29 2021-05-04 石家庄焊晖科技有限公司 Automatic welding robot for large pipeline
CN112709250A (en) * 2020-12-24 2021-04-27 西京学院 Be favorable to reducing seabed vacuum pipeline pile foundation cushion cap structure of buoyancy
CN112709251A (en) * 2020-12-24 2021-04-27 西京学院 Integral type seabed vacuum pipeline pile foundation cushion cap structure

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