JP2000045696A - Erector device for shield machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an erector device for a shield machine capable of simplifying attitude control of a new segment in the rolling direction and in the pitching direction, improving working efficiency for assembling the segment and extremely simplifying its structure. SOLUTION: An erector device includes a pitching pivotally supporting mechanism 42 for pivotally supporting a segment clamper so as to be faced to a spider mainbody in the Y direction and to be rotationally movable around an axial center offset from the center of the slider mainbody, a pair of rolling pivotally supporting mechanisms 47 for pivotally supporting the segment clamper so as to be isolated from the slider mainbody in parallel to the axial center in the Y direction and to be rotationally movable around a pair of rolling axial centers offset from the center of the slider mainbody 22 and a pair of cancelling mechanisms 50 for respectively cancelling pivotally supporting connections, whereby one cancelling mechanism 50 is operated to simply control the rolling attitude of a new segment Sb via the other rolling pivotally supporting mechanism 47.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an erector device for a shield excavator, and transfers a segment to an installation position on an inner surface of a tunnel, and finely adjusts a segment posture (rolling posture, pitching posture, yawing posture). The present invention relates to an erector device that can be assembled by mounting.

[0002]

2. Description of the Related Art A shield excavator is widely used as a drilling device for constructing various shield tunnels (water and sewage tunnels, subway tunnels, communication cable tunnels, tunnels for common ditch, etc.) by a shield method. ing. The shield machine is generally configured to excavate a circular cross-section tunnel while switching between a state of excavating while rotating the cutter disk in a normal direction and a state of excavating while rotating the cutter disk in a reverse direction. An erector device for assembling segments on the inner surface of the tunnel is provided, and a plurality of segments are assembled in a ring shape on the inner surface of the tunnel by the erector device in a state where the excavation of the tunnel is stopped every time one ring of the tunnel is excavated.

Conventionally, bolts have been used to connect segments lining the inner surface of a tunnel. Recently, however, in order to improve the efficiency of assembling the segments, a special connection mechanism for connecting the segments in a boltless manner. Is being applied. It is desirable to make the axis of the excavated tunnel coincide with the axis of the ring-shaped erector base frame of the erector unit. However, there is an error between the two, and in recent erector units, the efficiency of segment assembly is increased. For this purpose, a mechanism for finely adjusting the posture of the segment gripped by the segment gripper in at least the roll direction, the pitching direction, and the yawing direction is provided.

For example, in a segment assembling apparatus described in Japanese Patent Application Laid-Open No. 7-62996, an erector main body is provided on a support frame rotatably supported on an erector base frame, and the segment is provided via a gripping mechanism of the erector main body. And the posture of the grasped segment can be finely adjusted at least in a rolling direction, a pitching direction, and a yawing direction.

That is, the erector body comprises a horizontally movable box fixed to the support frame, a swivel box which is connected to and supported by the horizontally movable box and whose position is adjusted in the circumferential direction.
A yawing box section connected to and supported by the turning box section and adjusted in attitude about the yaw axis; a rolling box section connected to and supported by the yawing box section and adjusted in attitude about one roll axis; and the rolling box section And a pitching box portion which is connected and supported to adjust the posture about one pitch axis, and holds the segment in a state where the pitching box portion comes into contact with the inner diameter surface of the segment.

The yaw axis is located substantially at the center of the erector body, the roll axis is located at a position corresponding to the center of the erector body, and the pitch axis is located at a position corresponding to the center of the erector body. It is in. Further, a guide is provided which extends from both ends in the circumferential direction of the pitching box portion so as to be able to contact an existing segment adjacent to the pitching box portion. Providing a pair of pressing portions, pressing any pressing portion against the inner diameter surface portion of the existing segment,
The inner surface of the new segment is made to coincide with the inner surface of the existing segment to prevent the occurrence of a step.

[0007]

In the erector device described in the above publication, the segment is rolled around one roll axis provided at a position corresponding to the center of the erector body to adjust the rolling posture. Therefore, if the rolling posture is adjusted so that one end of the grasped new segment coincides with the existing segment, the other end of the segment tends to be shifted in the opposite direction, and the rolling posture of the segment is shifted. Very difficult to adjust. This is almost the same for the pitching posture, and it is not easy to adjust the pitching posture of the segment.

In the elector device described in the above publication, a pressing portion is provided on each of a pair of guides, and the pressing portions are pressed against the existing segment to set the positions of the existing segment and the new segment in the radial direction of the tunnel. In addition, the size of the erector body becomes large, and the structure becomes complicated. In addition to the guide and the pressing portion, an expensive force sensor or the like for detecting a pressing force when the pressing portion presses is required, which is disadvantageous in manufacturing cost. An object of the present invention is to simplify the posture adjustment of the new segment in the rolling direction, to simplify the posture adjustment of the new segment in the pitching direction, to increase the work efficiency of assembling the segments, and to simplify the structure as much as possible. And so on.

[0009]

According to a first aspect of the present invention, there is provided an erector device for a shield excavator, comprising: an erector base frame rotatable around an axis parallel to an excavation direction in which a shield excavator excavates a tunnel; A slider device is provided on the base frame so as to be movable in a first direction orthogonal to the axis. The slider device includes a slider body supported movably in a second direction parallel to the axis, and a segment. In the erector device for a shield machine equipped with a segment gripper to be gripped, the segment gripper is oriented in a third direction perpendicular to both the first and second directions with respect to the slider body and with respect to a center of the slider body. A pitching pivot mechanism for pivotally pivoting about an offset axis; and separating the segment gripping portion from a slider body in a third direction in parallel with the axis. A pair of rolling support mechanisms rotatably supported around a pair of rolling axes offset with respect to the center of the slider body, and a pivot connection of the pair of rolling support mechanisms is released. And a possible pair of release mechanisms.

When grasping a segment, the slider device is moved in the first direction and lowered, and the slider body is moved in the second direction to grasp the segment by the segment grasping portion. Next, when moving the segment to the position to be assembled, the slider device is moved in the first direction in the diameter reduction direction, and then the erector base frame is rotated in the circumferential direction. Next, the slider device is moved in the radial direction in the first direction so that the new segment approaches the inner surface of the tunnel,
The posture of the segment is finely adjusted in the rolling direction, the pitching direction, and the yawing direction, respectively, and assembled on the inner surface of the tunnel.

[0011] The segment gripper is a pair of rolling pivots that are rotatably supported about a pair of rolling axes that are parallel to the axis and are separated in the third direction and offset with respect to the center of the slider body. Since a pair of release mechanisms that are pivotally supported by the erector body via the support mechanism and that can release the pivotal connection of the pair of rolling support mechanisms respectively are provided, when adjusting the rolling posture of the segment, By operating one of the release mechanisms, the rolling posture of the segment can be adjusted via the other rolling pivot mechanism. At this time, when aligning the position of one end of the new segment with the existing segment, the position of the other end does not shift in the opposite direction, and the rolling posture can be easily and efficiently adjusted.

Further, the segment holding portion is pivotally supported so as to be rotatable around an axis centered on the slider main body in a third direction orthogonal to both the first and second directions and offset from the center of the slider main body. When the new segment is aligned with the excavation front end position with the existing segment, the excavation rear end position does not shift in the opposite direction, making it easier and more efficient. The pitching posture can be adjusted.

According to a second aspect of the present invention, in the erector device for a shield excavator according to the first aspect of the present invention, the segment gripping portion is pivotally supported on the slider main body so as to be rotatable around an axis parallel to the first direction. And a yaw pivoting mechanism. The yaw attitude can be adjusted by rotating the segment gripper about an axis parallel to the first direction with respect to the slider body via the yawing pivot mechanism.

According to a third aspect of the present invention, in the erector device for a shield excavator according to the second aspect, the slider main body includes:
A first frame movably supported in a second direction;
A second frame connected to the frame via the yawing pivot mechanism; a third frame connected to the second frame via the pitching pivot mechanism; and a pair of rolling pivot mechanisms to the third frame. And a fourth frame connected via the second frame. Therefore,
Through the first, second, third, and fourth frames, the yaw pivoting mechanism, the pitching pivoting mechanism, and the rolling pivoting mechanism can reliably function.

According to a fourth aspect of the present invention, there is provided the erector device for a shield machine according to any one of the first to third aspects, wherein each of the rolling pivot mechanisms includes a pair of pivot holes on a third frame side; A pair of fitting pins which are removably fitted in the pair of pivot holes and are provided on the fourth frame side, wherein each of the release mechanisms can drive the pair of fitting pins in and out. It has a special hydraulic cylinder.

That is, when each rolling pivot mechanism is operated, one pair of pivot holes is formed by the hydraulic cylinder.
When the pair of fitting pins are held in a fitted state, and when each rolling pivot mechanism is not operated, the pair of fitting pins are separated from the pair of pivot holes by the hydraulic cylinder. Keep separated. Therefore, one of the desired rolling pivot mechanisms can be selectively operated, and the other rolling pivot mechanism can be kept separated.

According to a fifth aspect of the present invention, there is provided the shield excavator erector device according to the fourth aspect of the present invention, wherein
A pair of step difference detecting means for detecting a step in the radial direction of the tunnel between the newly provided segment and the existing segment is provided at both ends in the direction, and the center of the newly provided segment in the third direction of the fourth frame is provided. It is characterized in that a circumferential position detecting means for detecting the circumferential position is provided.

A pair of steps detecting means detects a step in the radial direction of the tunnel between the newly-installed segment and the existing segment near both ends of the newly-installed segment, and adjusts the rolling attitude based on the detection result. it can. The circumferential position of the newly provided segment is detected by the circumferential position detecting means, and based on the detection result, the erector base frame is rotated to adjust the circumferential position of the tunnel of the newly provided segment.

According to a sixth aspect of the present invention, in the erector device for a shield machine, in the fifth aspect of the present invention, the step detecting means includes a laser beam projector and a CCD camera. By irradiating the end face of the existing segment with laser light, the image is captured by a CCD camera, and the image is analyzed to accurately detect the step in the tunnel radial direction of the new segment with respect to the existing segment and eliminate the step. Adjust the segment's posture until you do.

According to a seventh aspect of the present invention, in the erector device for a shield machine, in the sixth aspect of the present invention, the step detecting means is capable of switching the position of the laser beam projector and the CCD camera between the step detecting position and the storage position. It is characterized by having. The laser beam projector and the CCD camera can be switched to the step detection position by the position switching means to accurately detect the step in the tunnel radial direction of the new segment with respect to the existing segment and adjust the position of the segment. The camera can be switched to the storage position so as not to interfere with the shield jack or the like.

According to an eighth aspect of the present invention, the step detecting means is such that the laser beam projector and the CCD camera when the step detecting position is at a predetermined position with respect to the inner surface of the segment. An urging mechanism for urging them so as to be related to each other is provided. The laser light projector and the CCD camera are switched to the step detecting position by the position switching means, and the laser light projector and the CCD camera always have a predetermined positional relationship with respect to the inner surface of the new segment by the urging force of the urging mechanism. Therefore, the alignment of the laser beam projector and the CCD camera can be easily performed.

According to a ninth aspect of the present invention, there is provided the erector device for a shield machine according to the fifth aspect, wherein the circumferential position detecting means has a laser beam projector and a CCD camera. For example, a plurality of reference lines are marked on the surface of an existing segment, a laser beam is emitted from a laser beam projector onto the surface of the existing segment, and the laser beam and the reference line are imaged by a CCD camera. The segment is circumferentially adjusted until a predetermined reference line is met.

According to a tenth aspect of the present invention, in the erector device for a shield excavator according to the fourth aspect of the present invention, the rolling hydraulic cylinder capable of driving the segment gripping portion forward and reverse in the rolling direction, and the segment gripping portion being rotated in the yawing direction. And a yaw hydraulic cylinder that can be driven in the reverse direction. At the time of correcting the yawing attitude, the segment gripper is rotated forward and reverse in the yawing direction and adjusted by driving the yawing hydraulic cylinder. When correcting the rolling posture, hold one of the rolling pivot mechanisms that needs to be moved in the separated state,
Keeping the other rolling pivot mechanism functional,
The rolling hydraulic cylinder adjusts the segment gripper and the segment by rotating them around the other rolling axis, so that the posture can be adjusted by hydraulic pressure without depending on human power, thereby saving labor. Efficiency is also improved.

According to an eleventh aspect of the present invention, in the erector device for a shield machine according to the fourth aspect, a first origin setting means for setting an origin in the pitching direction and a pair of origins respectively setting the origin in the pair of rolling directions. A second origin setting means is provided. Therefore, the origin of the segment holding portion can be set in the pitching direction and the rolling direction for each assembly of the segments.

[0025]

Embodiments of the present invention will be described below with reference to the drawings. First, a shield machine will be schematically described, and then an erector device applied to the shield machine will be described. As shown in FIGS. 1 and 2, the shield machine 1 has a front trunk 1 a and a rear trunk 1 b connected to the rear side, and the front trunk 1 a and the rear trunk 1 b are formed by a bent part 2 and a plurality of It is connected via a center folding jack 3.

A cutter disk 4 is disposed on the front end side of the front body 1a. The cutter disk 4 includes a disk body 5 and an annular cutter drum 6 connected to the disk body 5 by a plurality of connecting members 5c. Have. Disk body 5
Is a ring member 5a having substantially the same diameter as the front body 1a.
A plurality of cutter spokes 5b, a number of cutter bits 7 provided on the front surface of the cutter spokes 5b,
A copy cutter device 8 is provided in some of the cutter spokes 5b and is capable of protruding radially outward.

A chamber 9 is formed at the back of the disk body 5, and a rear end of the chamber 9 is liquid-tightly partitioned by a partition wall 11 which is welded to the inside of the front body 1a in a transverse manner. The partition 11 has a central wall 11a protruding forward at the center thereof, and includes a front wall 11b joined to the outer peripheral front surface of the partition 11 and the front trunk 1a, respectively. A plurality of cutter drive motors 12 are attached to the partition 11, and the cutter drum 6 rotates forward and reverse between the front wall portion 11 b and the central wall portion 11 a by driving the cutter drive motors 12.

A plurality of shield jacks 13 are provided in the front trunk 1a and the rear trunk 1b for generating a thrust during tunnel excavation, and each shield jack 13 is located near the inner surface of the front trunk 1a in the front-rear direction. And the jack bodies are fixed to an annular support frame 10 provided along the inner periphery of the front trunk 1a. An eccentric fitting 14 is connected to the rear end of the rod of each shield jack 13, and a spreader 15 is connected to the eccentric fitting 14. When tunneling,
At the front end of the existing segment Sa lined on the inner surface of the tunnel, a plurality of spreaders 15 take reaction force to generate excavation thrust.

The partition 11 has a swivel joint 1
6 is provided, and a center member 17 extending rearward from the disk main body 5 is provided. Swivel joint 16
The center member 17 is provided with a plurality of oil passages and a grease introduction passage (both not shown), and is led to the copy cutter device 8.

With respect to the earth discharging facility, a screw conveyor 18 is provided rearward from the front wall portion 11b, and the screw conveyor 18 communicates with the chamber 9 so that the earth and sand in the chamber 9 can be conveyed by a belt conveyor (shown in the figure) in the rear trunk 1b. Etc.), and the earth and sand sent to the belt conveyor is conveyed to the rear in the tunnel by the belt conveyor or the carriage, and is conveyed to the ground.

Next, an erector device for assembling a segment on the inner surface of a tunnel will be described with reference to FIGS. As shown in FIGS. 3 and 4, the erector device 19 mainly includes an erector base frame 20 and a slider device 21. The slider device 21 includes a slider main body 22 and a segment gripping portion 23. First
Second, third, and fourth frames 35, 38, 43, and 48 are provided.

A ring frame 24 is fixed to the inner periphery of the rear body 1b, and a guide roller 25 composed of a free running roller is attached to the ring frame 24 via a plurality of brackets 24a. Is supported by the plurality of guide rollers 25, so that the erector base frame 20 is rotatably supported around an axis parallel to the excavation direction. The connecting member 2 is provided on the rear surface of the
A pair of guide cylinders 28 are disposed at symmetrical positions in FIG. 4 via a pair 7, and a chain 20 a is provided on the outer peripheral surface of the erector base frame 20. The annular frame 24 is provided with a drive motor 29 for rotatingly driving the erector base frame 20, and the motor shaft of the drive motor 29 has a sprocket 2
9a is fixed. The sprocket 29a meshes with the chain 20a and transmits the rotational driving force of the drive motor 29 to the erector base frame 20 via the chain 20a.

On the side surface of the guide cylinder 28, a first hydraulic cylinder 30 is provided with an axis (hereinafter, referred to as an axis) parallel to the tunnel excavation direction.
The cylinder body 30a is provided so as to be extendable and contractible in a first direction (shown in an arrow Z direction, hereinafter referred to as a Z direction) orthogonal to the axis. The support portion 28 of the guide cylinder 28 is rotatable around an axis in a second direction (indicated by an arrow X direction, hereinafter, referred to as an X direction).
a is trunnion supported.

As shown in FIG. 3, the slider device 2
1 has a beam structure 31 located at the lower end side of a pair of guide tubes 28, and the beam structure 31 includes a pair of guide tubes 2
A pair of guide rods 28A, each of which is guided by the reference numeral 8, is fixed. That is, the beam structure 31 has its longitudinal direction
The beam structure 31 is disposed in a third direction orthogonal to both the axial direction and the Z direction (indicated by an arrow Y direction, hereinafter referred to as a Y direction). Are connected to the rod portions 30b. The slider device 21 and its beam structure 31 are integrally formed with the guide rod 28A by the driving of the first hydraulic cylinder 30.
It moves in the Z direction while being guided by. On the rear side of the beam structure 31, a pair of slide rods 33 are provided via a pair of holders 32 and project in parallel to the X direction at symmetrical positions in FIG.

As shown in FIGS. 3 and 6, the slider main body 22 of the slider device 21 has a pair of slide rods 3.
3 is provided with a pair of guide cylinders 34, each of which is guided in the X direction.
5 are integrally connected. A second hydraulic cylinder 36 is provided near the upper side of the guide cylinder 34 so as to be extendable and contractible in the X direction, and a middle portion of the cylinder body 36a in the length direction is rotated by the support 34a of the guide cylinder 34. The trunnion is supported as possible, and the rod portions 36b are connected to the beam structure 31 respectively. The slider body 22 including the guide cylinder 34 and the first frame 35 moves in the X direction while the guide cylinder 34 is guided by the slide rod 33 by the driving of the second hydraulic cylinder 36.

As shown in FIG. 5, FIG. 7, and FIG.
A second frame 38 is rotatably connected to the lower surface of the frame 35 via a yawing pivot mechanism 37 about an axis parallel to the Z direction, and the yawing pivot mechanism 37 is fixed to the first frame 35. The vehicle includes a yaw shaft 37a and a yaw bearing 37b provided on the yaw shaft 37a. A yaw hydraulic cylinder 39 is provided on the second frame 38 outside the yaw bearing 37b. It is a double-acting double-rod type cylinder, and a pair of plate bodies 40 which can freely contact and separate from both rods 39a of the hydraulic cylinder 39 for yawing are provided on the first frame 35 side. Second frame 38
Is driven by the yawing hydraulic cylinder 39 so that one of the rods 39a comes into contact with one of the pair of plate members 40, and the reaction force with the plate member 40 causes the yawing direction (Z
(Rotation about an axis parallel to the direction).

As shown in FIGS. 5 and 6, yaw centering devices 41 for centering in the yawing direction are provided on both sides in the Y direction near the hydraulic cylinder 39 for yawing. The yawing centering device 41 is configured to center the second frame 38 at the origin in the yawing direction when the yaw hydraulic cylinder 39 is not driven via the pair of plate bodies 40 and the pair of compression springs 41a described above. .

As shown in FIGS. 5 to 8, the third frame 38 is provided on the lower surface of the second frame 38 via a pitching pivot mechanism 42.
The frame 43 is rotatably connected around the axis in the Y direction, and the pitching pivot mechanism 42 includes a pitching pivot portion 45. The pitching pivot portion 45 is offset from the center of the slider main body 22 to the rear, one pitching shaft 45a disposed on the existing segment Sa side (rear side) in the X direction, and a first armored on the pitching shaft 45a. It has a pitching bearing 45b on the second frame 38 side and a pair of pitching bearings 45c on the third frame 43 side. Between the second frame 38 and the third frame 43, a pair of pitching hydraulic cylinders 44 is provided on the face side (front side) in the X direction.
The trunnions are supported at symmetrical positions (see FIG. 6) in plan view. The face of the third frame 43 is rotated around the pitching shaft 45 a by the driving of the pair of pitching hydraulic cylinders 44.

The pitching hydraulic cylinder 44
Is provided with a pitching lock device 46 for locking the pitching operation in the middle of the stroke of the cylinder.
8, a pitching lock hydraulic cylinder 46a disposed in the Y direction and supported by a trunnion; an engaging portion 46b fixed to a rod portion of the hydraulic cylinder 46a;
Guide tube portion 46 for engagement portion fixed to second frame 38
c, and an engaging recess forming member 46d provided on the third frame 43 side and having an engaging recess in which the engaging portion 46b can engage. In a state where the pitching posture of the third frame 43 is set to the origin position in the pitching direction, the hydraulic cylinder 46a is driven to engage the engaging portion 46b with the engaging concave portion 46d so that the pitching lock can be performed. I have.

That is, the pitching lock device 46 has a function of setting the origin of the third frame 43 in the pitching direction, and corresponds to first origin position setting means. Proximity switches for detecting whether the pitching posture of the third frame 43 is in the positive pitching direction and proximity switches for detecting whether the pitching posture of the third frame 43 is in the negative pitching direction are provided. , The pitching hydraulic cylinder 44 is driven to adjust the pitching posture. When setting the pitching posture of the third frame 43 to the origin position in the pitching direction, the hydraulic cylinder 44 is also set based on the detection signal of the proximity switch.
Drive.

As shown in FIGS. 5 to 8, a fourth frame 48 is provided below the third frame 43, and the fourth frame 48 is connected to the fourth frame 48 via a pair of rolling support mechanisms 47. The pair of rolling hydraulic cylinders 49 are connected to the third frame 43 and the fourth frame 48 at a position corresponding to the center of the slider main body 22 in the Y direction, as shown in FIGS. A trunnion is supported between them. Each rolling support mechanism 47 includes a pair of support hole forming members 47a provided on the third frame 43 side and a guide ring 47b concentrically fixed to the support hole formation members 47a, and a fourth frame 48 side. It has a pair of fitting pins 47c provided and a pin guide ring 47d for guiding the fitting pins 47c. A pivot hole 47e is formed in the pivot hole forming member 47a.

The pair of rolling pivot mechanisms 47 are separated from each other in the Y direction in plan view, and are separated from the center of the slider body 22 by Y.
It is provided horizontally at a position offset by a predetermined distance in the direction. Each rolling support mechanism 47 is located at a position corresponding to the vicinity of the circumferential end of the grasped segment. In each rolling pivot mechanism 47, a pair of fitting pins 47c
Is fitted to the pair of pivot holes 47e, it functions as a rolling pivot mechanism 47. When the pair of fitting pins 47c is detached from the pair of pivot holes 47e, the connection is released and the rolling pivot mechanism 47 is released. It will not function as the mechanism 47.

The fourth frame 48 is provided with a pair of release mechanisms 50 capable of releasing the pivotal connection of the pair of rolling support mechanisms 47. Each release mechanism 50 is provided with a pair of fitting pins. 47c has an X-direction hydraulic cylinder 50a for engaging and disengaging the rod.
The pair of fitting pins 47c are connected and fixed. When the hydraulic cylinder 50a is extended, the pair of fitting pins 47c are fitted into the pair of pivot holes 47e, respectively. The pair of fitting pins 47c is a pair of pivot holes 47.
e.

For example, in FIG. 5, when the position of the right end of the grasped segment Sb is adjusted downward, the left hydraulic cylinder 50a is extended to allow the left rolling pivot mechanism 47 to function, and the right hydraulic cylinder 50a is reduced to a state where the right rolling pivot mechanism 47 is stopped functioning, and the fourth frame 48 is rotated by the rolling hydraulic cylinder 49 around the left rolling pivot mechanism 47 as a rotation center.
Roll to adjust the position. The position adjustment of the left end of the grasped segment Sb in the downward direction is performed in the opposite manner.

Here, in a state where the rolling posture of the fourth frame 48 is set at the origin position in the rolling direction, both hydraulic cylinders 50a are extended, so that both rolling pivot mechanisms 47 function, and the fourth frame 48 is moved. Can be locked to prevent rolling. When only each of the rolling support mechanisms 47 is in a functional state, a proximity switch for detecting whether the rolling posture of the fourth frame 43 is in the positive rolling direction and detecting whether the rolling posture of the fourth frame 48 is in the negative rolling direction. Proximity switches are provided, and the rolling hydraulic cylinder 49 is driven to adjust the rolling posture as necessary based on detection signals from these proximity switches. When setting the rolling posture of the fourth frame 48 to the origin position in the pitching direction,
Hydraulic cylinder 4 based on the detection signal of the proximity switch
9 is driven.

The third frame 43 and the fourth frame 48
In the meantime, a pair of second origin setting devices for setting the origin of the fourth frame 48 in the pair of rolling directions, respectively (this is
A pair of rolling pivot mechanisms 47 and a pair of release mechanisms 50). In other words, the second origin setting device includes a proximity sensor (not shown) or the like that senses at the rolling origin in the third frame 43 or the fourth frame 48, and the proximity sensor senses, so that the fitting pin 47c causes the pivot support hole to move. The fourth frame 48 is held at the rolling origin by being fitted into the roller 47e and locking the rolling operation.

The segment holding portion 23 is positioned substantially in the center of the fourth frame
8 which is welded and joined so as to penetrate through 8
The retractable hydraulic cylinder 51 is trunnion-supported on the gripping bracket 23a, and the chucking jack 5 is attached to the rod portion 51a of the retractable hydraulic cylinder 51.
2 is pivotally connected. The rod portion 52a of the chucking jack 52 protrudes below the fourth frame 48, and the rod portion 52a and the chucking jack 52
The retractable hydraulic cylinder 51 is configured to be retractable toward the fourth frame 48 by driving.

The rod portion 52a of the chucking jack 52 has a plurality of engaging portions 52b along its outer periphery.
It is provided so as to be able to protrude radially outward by supplying hydraulic pressure to an oil passage (not shown) in the rod portion 52a.

On the other hand, the existing segment Sa and the new segment Sb are formed with a fitting hole 53 into which the rod portion 52a is fitted. A plurality of engaged portions (not shown) that can be engaged with 52b are formed. When the rod portion 52a is fitted in the fitting hole 53 of the new segment Sb, the segment gripping portion 23 projects the plurality of engaging portions 52b, and engages the engaging portion 52b with the engaged portion. Then, the new segment Sb is gripped.

Further, the segment gripper 23 has a pair of segment positioning devices 54 for determining the relative position of the new segment Sb with respect to the fourth frame 48, and the pair of segment positioning devices 54 The positioning hydraulic cylinders 5 are provided on both sides separated in the Y direction, and are each trunnion-supported by the fourth frame 48.
4a and a positioning guide 54b whose one end is pivotally connected to the fourth frame 48 and whose one end is connected to the rod portion of the positioning hydraulic cylinder 54a, and which is driven by the positioning hydraulic cylinder 54a. The positioning guide 54b is rotated about the pivot pin, and the pair of positioning guides 54b is brought into contact with two points separated in the Y direction on the front end surface of the new segment Sb to position the new segment Sb. I do.

On the lower surface of the fourth frame 48, a plurality of rectangular pads 55 made of urethane rubber or the like are fixed at a plurality of positions, and when the new segment Sb is gripped, the pad 55 is placed on the upper surface of the new segment Sb. They are arranged so as to be in contact with each other, and reduce shocks and the like when assembling the new segment Sb.

The fourth frame 48 is provided with a LM via a guide bracket 56a on both sides thereof separated in the Y direction.
A guide 56 is provided along the X direction, and the LM guide 56
And a pair of cotter driving devices 57 are slidably provided in the X direction by manual operation of the handle portion 57a. The cotter driving device 57 adjusts the circumferential joining surface of the existing segment Sa and the new segment Sb to approximately H.
This is a device for joining with a cotter joint (not shown) of a shape, and a number of cotter joints are accommodated in this device. The cotter driving device 57 includes a hydraulic valve unit 57b, and the cotter joint can be appropriately driven between the segments Sa and Sb by opening and closing the hydraulic valve. Of course, a groove for driving the cotter joint is formed in each of the segments Sa and Sb. In addition, the handle portion 57a described above according to the difference in the width dimension of each segment.
Is operated to slide and adjust the cotter driving device 57 in the X direction.

The fourth frame 48 is provided with a pair of step detecting devices 58 located near both ends of the front end side thereof separated from each other in the Y direction. A circumferential position detection device 59 is provided at the center in the Y direction on the sides. 5, 9, and 1
As shown in FIG. 0, each step detecting device 58 includes a positioning hydraulic cylinder 5 supported by a trunnion on the fourth frame 48.
4a (corresponding to position switching means), a positioning guide 54b, and a connecting member 6 connected to the positioning guide 54b.
A first bracket 63 integrally connected through the second bracket 63,
A second bracket 65 urged by a compression spring 64 (corresponding to an urging mechanism) with respect to the first bracket 63, and a laser beam projector 5 attached to the second bracket 65, respectively.
8a and a CCD camera 58b. Furthermore, the second
A plurality of position-adjustable regulating bolts 65a are provided on the bracket 65 so as to project toward the new segment Sb, and the distal end of each regulating bolt 64 is brought into contact with the inner surface of the new segment Sb to thereby form the new segment Sb. The positions of the laser beam projector 58a and the CCD camera 58b with respect to the inner surface of the camera are set to desired positions.

The step detecting device 58 is connected to the laser beam projector 58a via the positioning guide 54b and the connecting member 62 by driving the positioning hydraulic cylinder 54a.
The position of the D camera 58b is switched between the step detection position and the storage position. Laser beam projector 58 at step detection position
a and the CCD camera 58b contact the inner end of the new segment Sb with the tip of each regulation bolt 64 by the urging force of the compression spring 64 provided on the shaft member.
b with a predetermined positional relationship (the laser beam projector 58a
Is applied along the inner surface of the new segment Sb and reaches the existing segment Sa).

Specifically, the end face of the existing segment Sa is irradiated with a laser beam, the image is captured by the CCD camera 58b, and the image is analyzed, whereby the existing segment Sa is analyzed.
The step δ1 in the tunnel radial direction of the new segment Sb with respect to a is accurately detected, and the posture of the new segment Sb is adjusted until the step is eliminated.

As shown in FIGS. 11 and 12, the circumferential position detecting device 59 includes a laser beam projector 59a and a CCD.
And a camera 59b.
The circumferential position of the new segment Sb with respect to a is detected. Specifically, for example, a plurality of reference lines are marked on the surface of the existing segment Sa, a laser beam is emitted from the laser beam projector 59a to the surface of the existing segment Sa, and the laser beam and the reference line are compared with the CCD camera. An image is taken at 59b, and the position of the new segment Sb is adjusted in the circumferential direction until the laser beam coincides with a predetermined reference line at the center (until the positional deviation δ2 between the reference lines is eliminated).

A plurality of connecting pins (not shown) are projected from the rear end face of the new segment Sb, and a plurality of pin holes (not shown) fitted to the plurality of connecting pins are provided on the front end face of the existing segment Sa. Is formed, and the level difference detecting device 58 is held in a state where the new segment Sb is gripped by the segment gripper 23.
The yaw, pitch, and rolling posture of the new segment Sb are adjusted using the circumferential position detecting device 59, and the connecting pin and the pin hole are aligned and temporarily fitted. Thereafter, the front end face of the new segment Sb is pressed by the shield jack 13 and fitted.

Next, a hydraulic system for supplying and discharging hydraulic pressure to and from the erector device 19 will be described. Each of the hydraulic cylinders and the chucking jack 52 includes a hydraulic control circuit (not shown).
, And the control device controls the retracting direction, the retracting amount, etc. of each rod part and the supply and discharge to the oil passage via a hydraulic control circuit. This hydraulic control circuit includes a common hydraulic supply source (including an oil tank, a hydraulic pump, a pump drive motor, a filter, and the like), an oil passage extending from the hydraulic supply source to each hydraulic cylinder, and a control device interposed in the oil passage. Has a valve and the like. The control device includes a microcomputer and a control program previously input and stored in the microcomputer. The wires and signal wires are connected to the cable carrier 60 (FIG. 3).
) And are arranged so as not to interfere with the movable parts.

Next, the operation of the above-described elector device 19 will be described. When the excavation of the shield excavator 1 is stopped, the existing segment Sa is
, A new segment Sb is sequentially assembled. First, when grasping the new segment Sb, the new segment Sb is carried into the vicinity of the erector device 19 by the segment feeder 61 (see FIG.
The first hydraulic cylinder 30 is driven to move the slider body 22 in the Z direction and lowered, and the second hydraulic cylinder 36 is driven to move the slider body 22 in the X direction so that the rod portion 52a of the chucking jack 52 of the segment gripper 23 is moved. Is fitted into the fitting hole 53 of the new segment Sb, and after that, a hydraulic pressure is supplied to the oil passage in the rod portion 52a so that the plurality of engaging portions 52
b is protruded, and the new segment Sb is gripped by engaging the engaging portion 52b with the engaged portion. Further, the positioning hydraulic cylinder 54a is driven to switch to the positioning position, and the pair of positioning pads 54b are brought into contact with two points of the new segment Sb separated in the Y direction to position the new segment Sb.

Next, when the new segment Sb is to be moved to the position where it is to be assembled, the slider device 21 is moved in the radial direction in the Z direction by driving the first hydraulic cylinder 30, and then the erector base frame 20 is moved. The drive motor 29 is driven to rotate in the circumferential direction. Subsequently, the erector base frame 20 is moved in the radial direction in the Z direction by driving the first hydraulic cylinder 30 so that the new segment Sb approaches the inner surface of the tunnel, and the posture of the new segment Sb is changed in the yawing direction, the rolling direction, and the pitching direction. Fine-tune each and assemble it inside the tunnel.

When the attitude of the new segment Sb is finely adjusted in the yawing direction, the hydraulic cylinder 39 for yawing is used.
Is driven to rotate the segment gripper 23 forward and backward in the yawing direction for adjustment. When finely adjusting the attitude of the new segment Sb in the rolling direction, one of the offset positions, which needs to be moved, is held in the separated state by driving the hydraulic cylinder 50a for disengagement. The other rolling pivot mechanism 47 is held in a operable state, and the rolling hydraulic cylinder 49 is held.
, The segment gripping portion 23 and the new segment Sb are rotated around the other rolling axis and adjusted. Therefore, the posture can be adjusted by hydraulic pressure without depending on human power, so that labor can be saved and work efficiency is improved.

When the attitude of the new segment Sb is finely adjusted in the pitching direction, the segment gripping portion 23 and the new segment Sb are offset from the center of the slider body 22 by driving a pair of pitching hydraulic cylinders 44. Is adjusted by rotating the pitching shaft 45a at the center of rotation. Therefore, when matching the position of the new segment Sb on the excavation front end side with respect to the existing segment Sa, the position on the excavation rear end side does not shift in the reverse direction, and the pitching posture can be easily and efficiently adjusted.

When adjusting the yawing, pitching and rolling directions described above, the positioning hydraulic cylinder 54a of the level difference detecting device 58 is driven to drive the positioning guide 5
4b is switched to the step detecting position, and the tip of each regulating bolt 64 abuts on the inner surface of the new segment Sb by the urging force of the compression spring 64, so that the laser beam projector 58a and the CCD camera 58b move with respect to the inner surface of the new segment Sb. Thus, the predetermined positional relationship described above is obtained. These laser light projectors 58
a) The CCD camera 58b accurately detects the step δ1 in the tunnel radial direction between the existing segment Sa and the new segment Sb, adjusts the attitude of the new segment Sb until the step δ1 is eliminated, and detects the circumferential position detection device 5
9, the existing segment S is output from the laser beam projector 59a.
The surface of a is irradiated with a laser beam, and the laser beam and a reference line are imaged by the CCD camera 59b until the laser beam matches a predetermined reference line at the center (the positional deviation δ between the reference lines).
Until 2 disappears), the position of the new segment Sb is adjusted in the circumferential direction.

After each adjustment, the plurality of connecting pins of the new segment Sb are temporarily fitted into the plurality of pin holes of the existing segment Sa. Thereafter, the front end face of the new segment Sb is pressed by the shield jack 13 and fitted. Subsequently, the hydraulic valve unit 57b of the cotter driving device 57 is opened and closed to join the circumferentially mating surfaces of the existing segment Sa and the new segment Sb, and the cotter joint is connected to the segment S.
It is driven into the groove between a and Sb to join them.

According to the erector device 19 for a shield machine described above, the pair of segment grippers 23 are separated from each other in the Y direction in parallel with the axis and offset from the approximate center of the slider body 22. The pair of rolling support mechanisms 47 are pivotally supported by the slider body 22 via a pair of rolling support mechanisms 47 rotatably supported about the rolling axis, and the pivot connection of the pair of rolling support mechanisms 47 can be released. Since the pair of release mechanisms 50 are provided, when adjusting the rolling posture of the new segment Sb, one of the release mechanisms 5 is used.
By operating 0, the rolling posture of the new segment Sb can be adjusted via the other rolling pivot mechanism 47. At this time, when aligning the position of one end of the new segment Sb with the existing segment Sa, the position of the other end does not shift in the opposite direction, and the rolling posture can be easily and efficiently adjusted.

The segment grip 23 is moved to the slider body 2
2 is supported in a Y direction orthogonal to both the Z and X directions, and is pivotally supported via a pitching support mechanism 42 that is rotatably supported around an axis that is offset with respect to the center of the slider body 22. When the position of the excavation front end side of the new segment Sb is matched with the existing segment Sa,
The position of the excavation rear end side does not shift in the reverse direction, and the pitching posture can be adjusted easily and efficiently.

The segment holding portion 23 is moved to the slider body 2
2 is provided with a yawing pivot mechanism 37 that pivotally pivots about an axis parallel to the Z direction, so that the segment gripper 23 can be moved relative to the slider body 22 via the yawing pivot mechanism 37. The yaw attitude can be adjusted by rotating around an axis parallel to the Z direction.

The slider body 22 has first, second, third, and fourth frames 35, 38, 43, and 48.
The second frame 38 is connected to the frame 35 via a yawing pivot mechanism 37, the third frame 43 is connected to the second frame 38 via a pitching pivot mechanism 42, and a pair of rolling pivots is connected to the third frame 43. Since the fourth frame 48 is connected via the supporting mechanism 47, the yawing pivot mechanism 37, the pitching pivot mechanism 42, and the pair of rolling pivot mechanisms 47 are connected to the first, second, third and fourth frames. 35,3
The function can be ensured via 8, 43, and 48.

Each of the rolling pivoting mechanisms 47 is fitted in a pair of pivoting holes 47e on the third frame 43 side so as to be able to be fitted and detached in the pair of pivoting holes 47e, and on the fourth frame 48 side. Since each releasing mechanism 50 has a pair of fitting pins 47c provided and each releasing mechanism 50 has a fitting hydraulic cylinder 50a for driving the pair of fitting pins 47c to the releasing side, each of the rolling support mechanisms 47 is provided. Is operated, a pair of fitting pins 4 are inserted into a pair of pivot holes 47e by the fitting hydraulic cylinder 50a.
7c is held in the fitted state and the rolling pivot mechanism 47 does not function, the hydraulic cylinder 50
By a, the pair of fitting pins 47c are detached from the pair of pivot holes 47e, and are kept in a separated state. In this way, one of the desired rolling pivot mechanisms 47 at a position offset from the approximate center of the slider body 22 can be selectively operated, and the other rolling pivot mechanism 47 can be kept in the separated state.

Since the pair of step detecting devices 58 and the circumferential position detecting device 59 are provided in the fourth frame 48,
A pair of steps detecting device 58 detects a step in the radial direction of the tunnel between the new segment Sb and the existing segment Sa near both ends of the new segment Sb, and can adjust the rolling posture based on the detection result. . The new segment Sb is detected by the circumferential position detecting device 59.
The circumferential position of the new segment Sb can be adjusted by rotating the erector base frame 20 based on the detection result.

The step detecting device 58 includes a laser beam projector 58.
a and the CCD camera 58b, the laser light projector 58a irradiates the end surface of the existing segment Sa with laser light, captures an image of the image with the CCD camera 58b, and analyzes the screen to obtain an image of the existing segment Sa. The step in the radial direction of the tunnel of the new segment Sb is accurately detected, and the new segment Sb is detected until the step is eliminated.
Can be adjusted, and the new segment Sb can be assembled without any step.

The step detecting device 58 includes a laser beam projector 58.
a and the CCD camera 58b have the positioning hydraulic cylinder 54a capable of switching the position between the step detection position and the storage position, so that the laser beam projector 58a and the CCD camera 58b are switched to the step detection position by the positioning hydraulic cylinder 54a. The attitude of the new segment Sb can be adjusted by accurately detecting the step in the tunnel radial direction of the new segment Sb with respect to the existing segment Sa, so that the laser beam projector 58a and the CCD camera 58b do not interfere with the shield jack 13 and the like. It can be switched to the storage position.

The step detecting device 58 includes a laser beam projector 58a and a CCD camera 58b at the step detecting position.
Since the compression spring 64 for urging the inner surface of the new segment Sb so as to have a predetermined positional relationship is provided, the laser beam projectors 58a and 58c are driven by the positioning hydraulic cylinder 54a.
The CD camera 58b is switched to the step detection position, and the compression spring 6
Due to the urging force of 4, the laser beam projector 58a and the CCD camera 58b always have a predetermined positional relationship with respect to the inner surface of the new segment Sb. Therefore, the positioning of the laser beam projector 58a and the CCD camera 58b can be easily performed.

Since the circumferential position detecting device 59 includes the laser beam projector 59a and the CCD camera 59b, for example, a plurality of reference lines are marked on the surface of the existing segment Sa, and the laser beam projector 59a transmits the existing segment Sa to the existing segment Sa. Is irradiated with a laser beam on the surface of the
An image is taken by the CD camera 59b, and the position of the new segment Sb can be adjusted in the circumferential direction until the laser beam matches a predetermined reference line of the center.

Since the hydraulic cylinder 49 for rolling that can drive the segment gripper 23 forward and backward in the rolling direction and the hydraulic cylinder 39 for yawing that can drive the segment gripper 23 in the yaw direction can be used. At the time of correction, the hydraulic cylinder for yawing 3
9 is driven to rotate the segment gripping portion 23 forward and backward in the yawing direction for adjustment. When the rolling posture is corrected, one of the rolling pivot mechanisms 47 which needs to be moved is held in a separated state, the other rolling pivot mechanism 47 is held in a functional state, and the rolling hydraulic cylinder 49 is held. Thus, since the segment gripping portion 23 and the new segment Sb are rotated and adjusted around the other rolling axis, the posture can be adjusted by hydraulic pressure without depending on human power, so that labor can be saved, and work efficiency can be reduced. Also improve.

Since a first origin setting device for setting the origin in the pitching direction and a pair of second origin setting devices for setting the origin in the rolling direction are provided, each time a new segment Sb is assembled. , The origin of the segment gripper 23 can be set in the pitching direction and the rolling direction, respectively.

[0077]

According to the first aspect of the present invention, the segment holding portion is parallel to the axis parallel to the excavation direction, is separated in the third direction, and is offset from the center of the slider body.
Pivotally supported by the slider body via a pair of rolling pivot mechanisms pivotally supported about a pair of rolling axes,
Since a pair of release mechanisms capable of releasing the pivotal connection of the pair of rolling support mechanisms are provided, when adjusting the rolling posture of the segment, one of the release mechanisms is operated and the other is released. The rolling posture of the segment can be adjusted via the rolling pivot mechanism. At this time, when aligning the position of one end of the new segment with the existing segment, the position of the other end does not shift in the opposite direction, and the rolling posture can be easily and efficiently adjusted.

Further, the segment holding portion is pivotally supported so as to be rotatable around an axis centered in the third direction perpendicular to both the first and second directions with respect to the slider body and offset from the center of the slider body. When the new segment is positioned at the rear end of the excavation with respect to the existing segment, the position at the front end of the excavation does not shift in the opposite direction, making it easy and efficient. In addition, the pitching posture can be adjusted.

According to the second aspect of the present invention, since the yaw pivoting mechanism for pivotally supporting the segment gripper about the axis parallel to the first direction with respect to the slider body is provided, the segment gripper is provided. Can be rotated about the axis parallel to the first direction with respect to the slider body via the yawing pivot mechanism to adjust the yawing attitude. The other effects are the same as those of the first aspect.

According to the third aspect of the present invention, the yaw pivoting mechanism, the pitching pivoting mechanism, and the rolling pivoting mechanism can function reliably via the first, second, third, and fourth frames. . The other effects are the same as those of the first aspect.

According to the fourth aspect of the present invention, when each of the rolling pivot mechanisms is operated, the hydraulic cylinder is held in a state where a pair of fitting pins are fitted into a pair of pivot holes. Further, when each rolling pivot mechanism is not operated, the pair of fitting pins are detached from the pair of pivot holes by the hydraulic cylinder and held in a separated state. In this manner, one of the desired rolling pivot mechanisms can be selectively operated, and the other rolling pivot mechanism can be kept separated. In addition, the same effect as any one of the first to third aspects is obtained.

According to the fifth aspect of the present invention, a pair of step detecting means for detecting a step in the radial direction of the tunnel between the newly provided segment and the existing segment is provided at both ends in the third direction of the fourth frame. And a circumferential position detecting means for detecting a circumferential position of the newly provided segment at the center of the fourth frame in the third direction is provided. , A step in the radial direction of the tunnel between the newly installed segment and the existing segment is detected, and the rolling posture can be adjusted based on the detection result. The circumferential position of the newly provided segment is detected by the circumferential position detecting means, and based on the detection result, the erector base frame is rotated to adjust the circumferential position of the newly provided segment in the tunnel. The other effects are the same as those of the fourth aspect.

According to the sixth aspect of the present invention, since the step detecting means has the laser light projector and the CCD camera, the end face of the existing segment is irradiated with the laser light, and the image is taken by the CCD camera. By analyzing the screen, the step in the diameter direction of the tunnel of the new segment with respect to the existing segment is accurately detected, and the posture of the segment is adjusted until the step is eliminated, and the new segment is assembled in a state where there is no step. Can be attached. Other claim 5
It has the same effect as.

According to the seventh aspect of the present invention, the laser beam projector and the CCD camera are switched to the step detecting position by the position switching means, and the step in the tunnel radial direction of the new segment with respect to the existing segment is detected with high accuracy. Can be adjusted, and the laser beam projector and the CCD camera can be switched to the storage positions so as not to interfere with the shield jack or the like. The other effects are the same as those of the sixth aspect.

According to the eighth aspect of the present invention, the laser beam projector and the CCD camera are switched to the step detecting position by the position switching means, and the laser beam projector and the CCD camera are always placed on the inner surface of the new segment by the urging force of the urging mechanism. A predetermined positional relationship is established. Therefore, the laser beam projector and C
Positioning of the CD camera can be easily performed. The other effects are the same as those of the seventh aspect.

According to the ninth aspect of the present invention, since the laser beam projector and the CCD camera are provided, for example, a plurality of reference lines are marked on the surface of the existing segment, and the laser beam is projected from the laser beam projector onto the surface of the existing segment. The laser beam and the reference line are imaged by a CCD camera, and the segments are adjusted in the circumferential direction until the laser beam matches a predetermined reference line at the center. The other effects are the same as those of the fifth aspect.

According to the tenth aspect, when the yawing attitude is corrected, the yaw hydraulic cylinder is driven to rotate the segment gripping portion forward and backward in the yawing direction for adjustment. When correcting the rolling posture, one of the rolling pivot mechanisms that needs to be moved is held in a separated state, the other rolling pivot mechanism is held in a operable state, and the rolling hydraulic cylinder is used to move the segment. Since the grip and the segment are rotated and adjusted about the other rolling axis, the posture can be adjusted by hydraulic pressure without depending on human power, so that labor can be saved and work efficiency can be improved. The other effects are the same as those of the fourth aspect.

According to the eleventh aspect of the present invention, the first origin setting means for setting the origin in the pitching direction and the pair of second origin setting means for setting the origin in the pair of rolling directions are provided. The origin of the segment gripping portion can be set in the pitching direction and the rolling direction for each assembly. The other effects are the same as those of the fourth aspect.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional side view of a shield machine according to an embodiment of the present invention.

FIG. 2 is a front view of the shield machine.

FIG. 3 is an enlarged view of a main part of FIG. 1;

FIG. 4 is an end view taken along line AA of FIG. 3;

FIG. 5 is an enlarged view of a main part of FIG. 4;

FIG. 6 is a sectional view taken along line BB of FIG. 5;

7 is a cross-sectional view taken along the line CC of FIG. 6 and an end view taken along the line DD.

FIG. 8 is a sectional view taken along line EE of FIG. 5;

FIG. 9 is an enlarged view of a main part of FIG. 5;

FIG. 10 is a sectional view taken along line FF of FIG. 9;

FIG. 11 is an enlarged view of a main part of FIG. 8;

FIG. 12 is an end view taken along the line GG of FIG. 11;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shield excavator 19 Electa apparatus 20 Electa base frame 21 Slider apparatus 22 Slider main body Sa Existing segment Sb New segment 23 Segment gripping part 35 First frame 37 Yawing pivot mechanism 38 Second frame 39 Hydraulic cylinder for yawing 41 Pitching pivot mechanism 42 Third frame 47 Rolling pivot mechanism 47c Fitting pin 47e Pivot hole 48 Fourth frame 49 Hydraulic cylinder for rolling 50 Release mechanism 50a Hydraulic cylinder for disengagement 54a Hydraulic cylinder for positioning 54b Positioning guide 58 Step detecting device 58a Laser Light projector 58b CCD camera 59 Circumferential position detector 59a Laser beam projector 59b CCD camera 64 Compression spring δ1 Step δ2 Position shift between reference lines

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshikazu Mizoda 1-3-15 Awaza, Nishi-ku, Osaka-shi, Osaka Prefecture Inside the Kansai Branch of Kashima Construction Co., Ltd. No. 15 Kashima Construction Co., Ltd.Kansai Branch (72) Inventor Katsuji Ikezoe 3-12-10 Hakata Ekimae, Hakata-ku, Fukuoka City, Fukuoka Prefecture Kashima Construction Co., Ltd.Kyushu Branch 1-3-1 Higashi-Kawasaki-cho, Kobe, Kawasaki Heavy Industries, Ltd.Kobe Head Office (72) Inventor Nao Isobe 1-3-1, Higashi-Kawasaki-cho, Chuo-ku, Kobe Kawasaki Heavy Industries, Ltd.Kobe Head Office (72) Inventor Sakai Yoshio 1-3-3 Higashi Kawasaki-cho, Chuo-ku, Kobe Kawasaki Heavy Industries, Ltd. Kobe Head Office F-term (reference) 2D055 BA01 BB01 GB03 GB08 LA13

Claims (11)

[Claims] 1. An erector base frame rotatable around an axis parallel to a digging direction for digging a tunnel with a shield digging machine.
A slider device mounted on the erector base frame so as to be movable in a first direction orthogonal to the axis; the slider device is supported by a slider body movably supported in a second direction parallel to the axis; The shield excavator erector device provided with a segment gripping portion for gripping, the segment gripping portion with respect to the slider body, the first,
A pitching pivoting mechanism that pivotally pivots about an axis that is oriented in a third direction orthogonal to both of the second directions and that is offset with respect to the center of the slider body; A pair of rolling pivot mechanisms rotatably pivoting about a pair of rolling axes that are parallel to the axis and are spaced in a third direction and offset with respect to the center of the slider body; And a pair of release mechanisms capable of releasing the pivotal connection of the rolling support mechanism, respectively. 2. The yawing support mechanism according to claim 1, further comprising a yawing pivot mechanism for pivotally supporting the segment gripping portion around an axis parallel to the first direction with respect to the slider body. Elector device for shield machine. 3. The slider body includes a first frame supported movably in a second direction, a second frame connected to the first frame via the yawing pivot mechanism, and a second frame connected to the second frame. The shield according to claim 2, further comprising a third frame connected via a pitching pivot mechanism and a fourth frame connected to the third frame via a pair of rolling pivot mechanisms. Erector equipment for excavators. 4. Each of the rolling pivot mechanisms is provided on a pair of pivot holes on a third frame side and a pair of pivot holes on the fourth frame side. The shield according to any one of claims 1 to 3, wherein the shield has a pair of fitting pins, and each of the release mechanisms has a hydraulic cylinder capable of driving the pair of fitting pins to be inserted and removed. Erector equipment for excavators. 5. A pair of step detecting means for detecting a step in a radial direction of a tunnel between a newly-installed segment and an existing segment is provided at both ends of the fourth frame in the third direction. The erector device for a shield machine according to claim 4, further comprising a circumferential position detecting means for detecting a circumferential position of the newly provided segment at a central portion in the third direction. 6. The erector device for a shield machine according to claim 5, wherein said step detecting means has a laser beam projector and a CCD camera. 7. The shield machine according to claim 6, wherein the step detecting means has a position switching means capable of switching a position of the laser beam projector and the CCD camera between a step detecting position and a storage position. Electa device. 8. The step detecting means includes an urging mechanism for urging the laser beam projector and the CCD camera when the step detecting position is at a predetermined positional relationship with respect to the inner surface of the segment. The erector device for a shield machine according to claim 7, wherein: 9. The apparatus according to claim 5, wherein said circumferential position detecting means has a laser beam projector and a CCD camera.
4. The erector device for a shield machine described in 1. above. 10. A rolling hydraulic cylinder capable of driving said segment gripper forward and reverse in a rolling direction, and a yaw hydraulic cylinder capable of driving said segment gripper in a yaw direction. Item 5. An elector device for a shield machine according to item 4. 11. The apparatus according to claim 4, further comprising: first origin setting means for setting the origin in the pitching direction; and a pair of second origin setting means for respectively setting the origin in the pair of rolling directions. 4. The erector device for a shield machine described in 1. above.