JP2000265794A - Training device for assembling segment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a training device for assembling segments by which the assembling operation of segments in a tunnel can be simulated not in a construction site but other places. SOLUTION: A segment holder 18 is disposed in a circular frame body 11 and a reflection mark is attached to the holding tool 26 for segments S in the segment holder 18. When a trainee simulatively assembles segments, the mark is imaged by a camera to get the movement track of the holding tool 26 by a track detector. The movement track and signals from a gyrosensor attached to the holding tool 26 are input in a computer to evaluate the asembling operation on the basis of an evaluation program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a training apparatus for assembling segments in a tunnel.

[0002]

2. Description of the Related Art Generally, in tunnel construction work, it is necessary to assemble a segment on an inner wall surface after excavating a tunnel with a shield machine. Since this segment is heavy, a segment assembling device is used for assembling the segment. Recently, as this assembling device, the segment is moved in six axial directions, that is, in three axial directions of X, Y and Z and around each of these axes. What employs a link mechanism that can be moved is used.

As shown in FIG. 4, a segment assembling apparatus 51 having such a link mechanism is provided at a rear portion of a shield machine body 52 so as to be pivotable in a vertical plane via a pivot ring (not shown). And a revolving body 53 including a revolving main body 54 and a pair of left and right protruding portions 55 projecting rearward from the revolving main body 54, and a parallel link body 56 provided on the pair of left and right protruding portions 55 of the revolving body 53. And a segment gripper 57 disposed on the parallel link body 56.
Is composed of eight cylinder devices 58 and an end effector 59 connected to the end of each of the cylinder devices 58.

Further, in order to guide the segment S held by the end effector 59 to a predetermined position, the segment assembling apparatus 51 controls each cylinder device 58 constituting the parallel link body 56. A device 61 and an operation device 62 for outputting an operation command to the control device 61 are provided. The operating device 62 that operates the parallel link body 56 includes:
For example, a joystick type is used, and a six-axis sensor (not shown) is attached to the operation rod 62a.

That is, by applying a force to the operation rod 62a in a predetermined direction and swinging (kneading) around each axis, the X-axis direction, the Y-axis direction, and the Z-axis
A three-axis force in the axial direction and a rotational force (torque) about three axes around the X-axis, the Y-axis, and the Z-axis can be operated, and a detection signal from the six-axis sensor is provided. Is sent to the control device 61, from which a control signal is output to the cylinder device 58 that drives the parallel link body 56 so that the end effect 59 moves in response to the operation of the operation stick 62a.

When the above-described segment assembling apparatus is used, the positioning is performed such that the segment is moved to a predetermined place and in a predetermined posture in a narrow tunnel, and is connected to an existing segment by a bolt. Must be performed, and the operation requires skill, but conventionally, the operation has been learned on site.

[0007]

As described above, the operation of the segment assembling apparatus can be learned only on site, and the inefficient and dangerous operations are actively learned. There was no operation. Therefore, an object of the present invention is to provide a segment assembling training apparatus capable of simulating the assembling operation of a segment in a tunnel at a place other than the site.

[0008]

In order to solve the above-mentioned problems, a segment assembly training apparatus according to the present invention is a segment assembly training apparatus for simulating a segment on the inner surface of a circular frame, and comprises a vertical plane. A segment gripping device is arranged in a circular frame disposed in the inside, a mark is attached to a segment gripping member of the segment gripping device, and photographing means for photographing the mark is provided, and a mark in an image photographed by the photographing means is provided. And a trajectory detecting means for detecting the trajectory of the mark and calculating the trajectory of the mark, and an arithmetic processing device for inputting the trajectory of the mark obtained by the trajectory detecting means and evaluating the assembling operation, and In the above configuration, at least one of the circular frame and the segment gripping member is configured to be rotatable with respect to the axis of the circular frame, Et in a circular frame and segment gripping member, which is constituted so as to be relatively movable along the axial direction of the circular frame.

According to the above arrangement, when the segment gripping device is arranged inside the circular frame to assemble the segments in a simulated manner, the mark is photographed to determine the movement locus, and the operation is performed based on the movement locus. Is evaluated, the segment assembling operation, which could only be taught locally, can be taught at a place other than the local site, and the operation can be learned efficiently.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A segment assembly training apparatus according to an embodiment of the present invention will be described below with reference to FIGS. This segment assembling training device, for example, on the inner wall of a tunnel excavated by a shield excavator, grasps and moves a segment by a segment grasping device, simulates the operation when assembling, and performs operation training. And comprises a device section and a measuring section.

As shown in FIGS. 1 and 2, an apparatus section 2 of the segment assembling training apparatus 1 includes a circular frame 11 having a predetermined width corresponding to a shield frame installed in a tunnel, and a circular frame 11 having a predetermined width. 13 that is rotatably supported in a vertical plane via rotating rollers 12 provided at two front and rear positions.
And a first fixture 14 for fixing the rotation of the circular frame 11 and a pair of left and right supports 15 disposed on both sides of the circular frame 11, the rotation axis of the circular frame 11 is A support shaft 16 which is inserted horizontally along the axis and is movably supported in the axial direction thereof, and which is provided on the one support 15 side and moves the support shaft 16 in the axial direction. Moving device (for example, a hydraulic motor, an electric motor, a hydraulic cylinder, an electric cylinder, or the like is used) 17;
A segment gripping device (hereinafter, simply referred to as a gripping device) 18 rotatably provided on the support shaft 16 and a rotating position with respect to the inner surface of the circular frame 11 provided on the gripping device 18 side. And the second fixing member 19 of FIG.

The gripping device 18 is substantially the same as that described in the conventional example, and has a parallel link body. That is, this gripping device 18
A cylindrical member 21 rotatably fitted on the support shaft 16 and movable along the axial direction, a mounting plate 22 mounted on one side of the cylindrical member 21, A parallel link body 25 consisting of eight hydraulic cylinders (only four are shown in FIGS. 1 and 3) 23 on a plate body 22 and an end effector 24 connected to a rod tip thereof, and an end effector It comprises a holding tool (segment holding member) 26 for the segment S attached to the 24 and a joystick-type operating tool 28 for operating the parallel link body 25 via a control device 27.

A second fixing member 19 for fixing the position of the gripping device 18 is attached to the other side of the tubular member 21 at a position opposite to the parallel link body 25. The second fixture 19 is, for example, a cylindrical member 2.
A leg 19a attached to one side, an arc-shaped pressing portion 19b provided at the tip of the leg 19a, and a screw provided on the pressing portion 19b so as to be able to move back and forth with respect to the inner surface of the circular frame 11. A plurality of locking parts combined, for example, fixing bolts 2
0. In addition, this holding part 19b is
It may be configured to be able to manually or automatically move back and forth with respect to the circular frame 11, and the legs 19a are provided so as to be able to manually or automatically move back and forth, and the gripping device 18 is rotated to a set position. After that, the leg portion 19a may be protruded from the circular frame body 11 to fix the pressing portion 19b.

The first fixture 14 is, for example, a support 13
And a holding portion 1 provided so as to be able to be manually or automatically retracted with respect to the supporting portion 14a.
4b, the rotation of the circular frame 11 is prevented by protruding the pressing portion 14b. As shown in FIG. 3, the measuring unit 3 includes a gripping device 1
8 is provided at a predetermined position, for example, at the end face of the gripper 26, and a pair of left and right circular reflection marks (also referred to as reflectors) 31 are attached to the reflector 32 and the gripper 2.
6, a gyro sensor 33 attached to the surface of the illuminator 6, an illuminator 34 for irradiating the reflector 32 with light, and a camera device for photographing the reflector 32 provided on the grip 26 For example, a CCD camera or the like is used) 35, and a trajectory detector (trajectory) for capturing an image captured by the camera device 35, performing image processing, detecting the position of the reflector 32, and obtaining a trajectory. Detecting means) 36, the position detected by the locus detector 36, and a detection signal (for example, from the gyro sensor 33)
Grab angle signal, angular velocity signal, etc.)
A computer device (arithmetic processing device) 37 for obtaining the movement trajectory and the posture (posture angle) in a three-dimensional space, and a signal from the trajectory detector 36 are input to display the movement trajectory of the gripper 26 on the screen. (Displayed as two-dimensional coordinates) as a display means.

The position of the reflection plate 32 is the center position of a pair of marks 31 provided at a predetermined distance from each other on the left and right. The pair of marks 31 are different in color from each other so as to be easily detected. Are colored, for example, one is colored red and the other is colored orange. The computer device 37 has a built-in evaluation program for evaluating the operation based on the data of the movement locus and posture of the gripper 26, so that the skill level of the operation can be known.

The computer device 37 also has a built-in control program for driving the device section 2 based on data on the movement trajectory and posture of the gripper 26 and reproducing the operation of the operation. Of course, as a model operation,
Model operation data to show proper operation is also included. Next, the segment assembly training operation will be described.

First, as shown in FIG.
Segment S at a predetermined position on the inner surface₁Attach, and circle
The form body 11 is rotated in a predetermined direction, and the existing segment is rotated.
To S ₁In the position where assembly training should be performed, for example, in the upper position
After that, the circular frame 11 is fixed to the first fixture 14.
And fix it. Next, the new segment S to be attached_TwoTo
The gripper 26 of the gripper 18 is
By means of the position 17, the gripper 26 is moved to the existing segment S.₁
Of the circular frame 11 so as to correspond to the mounting location adjacent to
After moving in the width direction, the cylindrical member 21 is rotated in the circumferential direction.
Let's say new segment S_TwoTo existing segment S₁Corresponding to
The second fixture 19
As a result, the cylindrical member 21, that is, the gripping device 18 is made circular.
It is fixed to the frame 11.

The rotation of the circular frame 11 and the rotation of the gripping device 18 are performed by an operator. Of course, these rotations can also be performed using a driving device such as a motor or a cylinder device. it can. Next, the lighting fixture 34
As a result, the reflector 32 attached to the gripper 26 is irradiated with light, and the camera device 35 photographs the reflector 32.

[0019] In this state, the operating member 28 to actuate the parallel link 25, a new segment S ₂ is moved to a location adjacent to the lower existing segment S _1. Then, the moving state of the new segment S ₂ is
The moving trajectory is imaged by the monitor 5 and displayed on the monitor 38, and is also sent to the computer device 37.

At the same time, the detection signal from the gyro sensor 33 provided on the gripper 26 is also transmitted to the computer device 3.
7, all assembly operations by the trainee are recorded. Then, by the evaluation program, it is required to determine the level of the mastery of the recorded assembly operation,
The evaluation is displayed on the monitor 38, for example.

That is, by the computer device 37,
It is possible to easily determine the proficiency of the assembly operation performed by the trainee in a simulated manner. In other words, as in the past, segment assembly operations that could only be taught locally were
Can teach at places other than the local area. In addition, based on the data of the movement trajectory and posture recorded by the training,
The movement state of the gripper 26 can be reproduced by the control program of the computer device 37, so that the trainee can easily know his own operation state.
A proper operation can be learned efficiently.

In addition, by appropriately selecting the rotational position of the circular frame 11 and the rotational position of the gripper 26 with respect to the support shaft 16, any situation in the field can be reproduced, so that, for example, operation can be performed. Limit conditions and the like can also be found. By the way, in the above embodiment, two reflection marks are provided, but the number is not limited to two and can be increased or decreased as needed.

Further, in the above-described embodiment, an example in which a parallel link body is used as the gripping device has been described.
Of course, the present invention is not limited to the parallel link body, but can be applied to a mechanism using another mechanism.

[0024]

As described above, according to the structure of the present invention, when the segment holding device is arranged inside the circular frame to assemble the segments in a simulated manner, a mark is attached to the holding member of the segment, and the mark is attached. Since the operation is evaluated based on this movement trajectory obtained by photographing the movement trajectory by the arithmetic processing unit, the segment assembling operation that could be taught only on site as in the past can be performed on the local Can be taught in other places, and therefore, can learn the operation very efficiently. In addition, since operations that cannot be performed on site can be performed, that is, training can be performed assuming all situations, which is very useful.

[Brief description of the drawings]

FIG. 1 is a front view of an apparatus section in a segment assembling apparatus according to an embodiment of the present invention.

FIG. 2 is a view as viewed in the direction of arrows AA in FIG. 1;

FIG. 3 is a diagram showing a schematic configuration of a measuring unit in the segment assembling apparatus.

FIG. 4 is a perspective view showing a configuration of a conventional segment assembling apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Segment assembly training apparatus 2 Device part 3 Measuring part 11 Rotating frame 16 Support shaft 17 Moving device 18 Segment holding device 21 Cylindrical member 25 Parallel link body 26 Holding tool 27 Control device 28 Operating tool 31 Reflection mark 32 Reflecting plate 33 Gyro sensor 35 Camera device 36 Trajectory detector 37 Computer device

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takashi Kitaoka 2-15-2 Konan, Minato-ku, Tokyo Obayashi Corporation Tokyo Head Office (72) Inventor Toshiyuki Okada 1-7-7 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka No. 89 Inside Hitachi Zosen Corporation (72) Inventor Tadashi Kawasaki 1-7-7 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka No. 89 Inside Hiroshima Shipbuilding Co., Ltd. 7-89 Hitachi Zosen Corporation (72) Inventor Yuji Tanaka 1-89 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka F-term in Hitachi Zosen Corporation 2D055 GB01 GB02

Claims (3)

[Claims] 1. A segment assembling training apparatus for simulating a segment on an inner surface of a circular frame, comprising: a segment gripping device disposed in a circular frame disposed in a vertical plane; A photographing means for attaching a mark to the segment gripping member and photographing the mark is provided, and a trajectory detecting means for detecting a mark in an image photographed by the photographing means and obtaining a moving trajectory thereof is provided. A segment assembling training apparatus comprising an arithmetic processing unit for inputting a moving trajectory of a mark and evaluating an assembling operation. 2. The segment assembly training apparatus according to claim 1, wherein at least one of the circular frame and the segment holding member is configured to be rotatable with respect to the axis of the circular frame. 3. The segment assembling training apparatus according to claim 1, wherein the circular frame and the segment gripping member are configured to be relatively movable along an axial direction of the circular frame.