JP2001098899A - Segment positioning apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a segment positioning apparatus with a simplified connecting construction of an oscillating plate, relative to a suspension beam with the operation of its action system made easily executable. SOLUTION: A suspension beam 19 is provided inside a main body 4 of a shield drive machine, in such a manner that the beam 19 can be moved in three-axis directions of a circumferential direction, radial direction and shaft center direction of a tunnel, and the space between an oscillating plate 38 equipped with the suspension beam 19 and an oscillating plate 38 equipped with a grasping device 22 of a segment S0 is connected by a pair of serial links 39, restricting the two degree of freedom of the surge and yawing and four cylinder apparatuses 41, 42, 43 and 44 arranged so as to create a parallel link 40 having four degree of freedom of sway, heap, rolling and pitching, thereby constituting so as to provide a fine adjustment for surge and yawing for the oscillating plate 38.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment positioning device in a shield machine.

[0002]

2. Description of the Related Art FIGS. 8 to 11 show a shield excavator (Japanese Utility Model Laid-Open No. 6-60698) equipped with a conventionally devised segment positioning device using a parallel link, and FIG. Side sectional view of an excavator, FIG. 9
10 is a side sectional view of a conventional segment positioning device, FIG.
9 is a front view of FIG. 9, and FIG. 11 is a conceptual diagram of a 6-axis parallel manipulator.

In FIG. 8, S is an existing segment, 1 is a cutter face of a shield machine, 2 is a rotation center axis of the cutter face 1, 3 is a space in the rear face of the cutter face 1, 4 is a shield machine body, 5 Is a rear trunk of the shield excavator body 4, and the rear trunk 5 of the shield excavator has a role of preventing collapse of earth and sand on the circumferential surface of the tunnel.

The cutter face 1 is axially supported on the shield machine 4 via a thrust bearing 6, and an outer bearing 7 and an inner bearing 8 are provided between the cutter face 1 and the shield machine 4. Are arranged in the circumferential direction, and the rotation center shaft 2 of the cutter face 1 is supported by the shield machine 4 via a center bearing 9.

[0005] The cutter face 1 includes a ring gear 1.
0, a pinion 11 is meshed with the ring gear 10, and a motor 12 connected to the pinion 11 is provided on the shield machine body 4.
Is driven to rotate the cutter face 1 about the rotation center axis 2 via the pinion 11 and the ring gear 10.

A plurality of shield jacks 13 are provided in the rear inner surface of the shield excavator main body 4 along the circumferential direction, and the shield jacks 13 are extended to press the front side surface of the existing segment S to perform shield excavation. The machine body 4 is moved forward.

A screw conveyor 2 driven by an electric motor 26 is provided below the space 3 on the rear surface of the cutter face 1.
5, the screw conveyor 25 is opened.
Is arranged upward to the right toward the rear so that the discharge port at the downstream end in the transport direction is opened at the upper part of the sludge pipe 18, and the sludge pipe 18 is positioned in the direction of the arrow A in FIG. It is designed to drain mud.

In FIG. 9, an annular erector support plate 31 is vertically attached to the rear body 5 of the shield machine body 4, and a plurality of rollers 16 are mounted on the erector support plate 31 at the center axis of the rear body 5. The roller 16
Thus, the annular rotating body 17 is rotatably supported.

The rotating body 17 has a vertical surface 17a.
And an outer peripheral surface 17b extending in a flange shape in parallel with the center axis of the rear trunk 5, and the outer peripheral surface 17b is
Supported by

Further, a ring gear 17c is engraved on the inner peripheral side of the outer peripheral surface 17b, and a through hole for disposing the screw conveyor 25 and the like is provided in the vertical surface 17a of the rotating body 17. 17d is provided.

A motor 14 is fixed to the erector support plate 31, and a pinion 15 rotated by the motor 14 meshes with a ring gear 17c of the rotating body 17, and the rotating body 17 is driven by the motor 14. It is designed to be turned.

A valley-shaped hanging beam 19 is attached to the rotating body 17 via a connecting member 20 so as to avoid interference with the screw conveyor 25. The hanging beam 19 is attached to the rotating body 17. The rotation of 17 causes the tunnel to rotate in the circumferential direction. In short, the motor 14, the pinion 15, the roller 16, and the rotating body 17 constitute a circumferential operation mechanism of the suspension beam 19.

A guide member 29 is provided at the rear of the coupling member 20.
9 moves along the guide member 29 in the axial direction of the tunnel (the left-right direction in FIG. 9). Further, the suspension beam 19 is moved in the radial direction of the tunnel (up-down direction in FIG. ). That is, the upper and lower jacks 27 and the front and rear jacks 28 constitute a radial operation mechanism and a front and rear direction operation mechanism of the suspension beam 19, respectively.

The lower part of the suspension beam 19 is
The swing plate 38 is connected to the lower surface of the holding plate 30 via a 6-axis parallel manipulator 32, and the lower surface of the swing plate 38 has a new segment S _0.
Is provided with a gripping device 22 for gripping.

Here, the 6-axis parallel manipulator 32
11 will be described in detail below with reference to FIG. 11. FIG. 11 conceptually shows the mechanism of the six-axis parallel manipulator 32.

The six-axis parallel manipulator 32
It is composed of six cylinders 33 (33a to 33f). The cylinders 33a and 33b, the cylinders 33c and 33d, and the cylinders 33e and 33f are integrally supported by a swing plate 38 by a joint 36. Rods 34 (34a to 34f) are cylinders 33f, 33a
Rods 34f and 34a, rods 34b and 34c of cylinders 33b and 33c, and rods 34d and 34e of cylinders 33d and 33e are integrally supported on the holding plate 30 of the suspension beam 19 by a joint 37. 33a to 33f have a zigzag arrangement in a saw blade shape when viewed from the side.

A control valve 35 is provided in each of the cylinders 33a to 33f so that the rods 34a to 34f can be individually expanded and contracted by individually supplying and discharging hydraulic pressure from a hydraulic source (not shown) into the cylinders 33a to 33f. I have.

By controlling the strokes of the six cylinders 33a to 33f, the surge X (movement in the direction of the tunnel axis) and the sway Y are related to the swinging plate 38 connected to the holding plate 30 of the suspension beam 19. (Movement in the circumferential direction of the tunnel) and the position of the heap Z (movement in the radial direction of the tunnel) in the three-axis direction are finely adjusted, and rolling α (centering in the The posture correction of pitching β (swinging around the axis extending in the circumferential direction of the tunnel) and yawing γ (swinging around the axis extending in the direction of the tunnel radius) can be performed.

The operation of the shield machine described above will be described below.

When the shield jack 13 of the shield machine body 4 is extended to take a reaction force on the front side surface of the existing segment S, while the cutter face 1 is rotated by the drive of the motor 12, the shield machine becomes The main body 4 moves forward while cutting the soil in front, and the cut soil is collected in a lower portion of the space 3 on the rear surface of the cutter face 1 and is screwed to the right side of the shield machine body 4 by the screw conveyor 25 and the exhaust pipe 18. And is discharged to the outside.

Next, one of the plurality of shield jacks 13 is operated in the contracting direction to form a space between the shield segment 13 and the existing segment S, and a new segment S ₀ is formed in this space as follows. Place.

That is, the segment S ₀ is held by the gripping device 22.
After rotating the rotating body 17 to an appropriate circumferential position of the tunnel to which the segment S _{0 is} to be attached, and moving the suspension beam 19 forward by a required amount with respect to the rotating body 17 in the axial direction of the tunnel. The tunnel is moved radially outward, and then the suspension beam 19 is moved back by the required amount in the axial direction of the tunnel, and the new segment S ₀ is arranged adjacent to the existing segment S.

Here, the segment S ₀ gripped by the gripping device 22 as described above is once moved forward, then moved outward in the radial direction of the tunnel, and then moved back again. , When the segment S ₀ is simply moved outward in the radial direction of the tunnel,
Both ends of the segment S _{0 in} the circumferential direction are the existing segments S
This is because it interferes with the end of.

At this time, with respect to the segment S ₀ gripped by the gripping device 22, the operations of the six cylinders 33 a to 33 f of the six-axis parallel manipulator 32 are combined to perform surge X, sway Y, heap Fine-tune the position of Z in the direction of the three axes,
The attitude of the rolling α, pitching β, and yawing γ centered on each of these three axial directions is corrected, and the mating surface and the inner and outer surfaces of the newly provided segment S ₀ match the existing segment S.

Then, as shown in FIG. 8, a bolt 23 between pieces and a bolt 24 between rings are inserted into bolt holes (not shown) with the existing segment S, and tightened by nuts to form a new segment with respect to the existing segment S. S ₀ is combined, and a tunnel of a predetermined length is lining by repeating this operation.

[0026]

However, in such a conventional shield machine, since a device such as a screw conveyor 25 is installed through a central portion of the segment positioning device having a rotating operation, the segment positioning device is installed. May easily interfere with the equipment, which may make it difficult to accommodate the 6-axis parallel manipulator 32 having a sufficient movable range between the holding plate 30 of the suspension beam 19 and the rocking plate 38. The problem of interference is often more severe with shielded machines.

[0027] Therefore, in the prior art shown in FIGS. 8 to 11, with a large stroke of the radial actuating mechanism and the segment S ₀ separately attached to established a longitudinal direction actuating mechanism in addition to the circumferential direction actuating mechanism Although the coarse position adjustment is performed and only the fine adjustment is performed by the 6-axis parallel manipulator 32, the connection structure of the swing plate 38 to the suspension beam 19 by the 6-axis parallel manipulator 32 becomes very complicated, There is a problem that the operation of the operation system becomes troublesome.

The present invention has been made in view of the above-mentioned circumstances, and provides a segment positioning device which simplifies a connection structure of a swing plate to a suspension beam and allows an operation system thereof to be easily operated. It is intended to be.

[0029]

SUMMARY OF THE INVENTION According to the present invention, a suspension beam is provided in a shield machine so as to be movable in three axial directions, that is, a circumferential direction, a radial direction and an axial direction of a tunnel. Between a rocking plate having a gripping device of the type described above and a pair of serial links for restraining two degrees of freedom of surge and yawing and a parallel link having four degrees of freedom of sway, heap, rolling and pitching. A segment positioning device, which is connected to the four cylinder devices described above, and is configured so that surge and yawing of the segment can be finely adjusted with respect to the rocking plate.

Thus, the segment is gripped by the gripping device, the suspension beam is rotated to an appropriate circumferential position of the tunnel where the segment is to be mounted, and the suspension beam is moved forward by a required amount in the axial center of the tunnel. After that, the tunnel is moved outward in the radial direction of the tunnel, and then the suspension beam is moved back by a required amount in the axial direction rearward of the tunnel to arrange the new segment so as to be adjacent to the existing segment.

At this time, with respect to the segment gripped by the gripping device, the positions of the surge, sway, and heap with respect to the existing segment in the triaxial direction are finely adjusted, and rolling around each of the triaxial directions is performed. Although it is necessary to correct the attitude of pitching and yawing, the swing plate has two degrees of freedom of surge and yawing restrained by a pair of serial links with respect to the suspension beam, so that stroke control of four cylinder devices is performed. By doing so, fine adjustment of the position of the sway and heap, and correction of the attitude of rolling and pitching, and fine adjustment of the position of the remaining surge and correction of the yaw attitude are performed by moving the segment gripping device with respect to the rocking plate. Fine tune.

As described above, with respect to the mechanism for finely adjusting the swinging plate with respect to the suspension beam, the two degrees of freedom of surge and yawing are restricted, and the fine adjustment of the surge and yawing is separately provided on the swinging plate side. Since the suspension beam and the swing plate need only be connected by four cylinder devices so as to form a parallel link having four degrees of freedom of sway, heap, rolling, and pitching, the swing plate is connected to the suspension beam. The structure is simplified and the operation of the operation system becomes easy.

When a one-pass joint of a segment proposed in recent years is adopted, a newly-installed segment is strongly pushed rearward in the axial center of the tunnel by using a shield jack for propulsion, and a one-pass joint of the end face of the existing segment is used. It is necessary to firmly fit the one-pass joint on the end face of the new segment, but as described above, a fine adjustment mechanism for surge and yawing that corresponds to the direction of action of the shield jack is separately provided on the rocking plate side. Since it is possible to set this to a free state independently when pushed by the shield jack, it is possible to realize the fastening of the segment by the one-pass joint without affecting other fine adjustment mechanisms of sway, heap, rolling and pitching. It becomes possible.

Further, in the present invention, a pair of parallel links having four degrees of freedom of sway, heap, rolling, and pitching are respectively disposed at the left and right positions of the suspension beam and extend parallel to each other in the radial direction of the tunnel. And a pair of cylinder devices respectively disposed at front and rear positions of the suspension beam and inclined in the circumferential direction of the tunnel so as to be parallel to each other.

With this arrangement, in forming the connecting structure of the swinging plate with respect to the suspension beam, a shield excavator in which a pair of cylinder devices that carry the heap and the rolling pass through a drilling device such as a screw conveyor. It is arranged on the left and right positions of the suspension beam so as to avoid the central space inside the main body, and a pair of cylinder devices responsible for sway and pitching are tilted so that they do not interfere with the penetration direction of the excavating equipment. Since it is possible to arrange the front and rear positions without any trouble, it is possible to ensure the central space with a sufficient size without difficulty.

[0036]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 7 show an embodiment of the present invention, in which the same reference numerals as those in FIGS. 8 to 11 denote the same parts.

In the present embodiment, the peripheral structure of the suspension beam 19 is omitted from the viewpoint of making the drawings easy to understand, but the suspension beam 19 shown here is also a shield excavator as in the prior art. The main body 4 is attached to a rotating body 17 (see FIGS. 9 and 10) rotatable in the circumferential direction in the rear body 5 of the main body 4 so as to be movable in the radial direction and the axial direction.

The suspension beam 19 and the segment S
Between the wobble plate 38 having a gripping device 22 of _0, a pair of serial link 39 to constrain two degrees of freedom of the surge X and yawing γ (see FIG. 5), sway Y, heap Z,
They are connected by four cylinder devices 41, 42, 43, 44 arranged to form a parallel link 40 having four degrees of freedom (see FIG. 5) of rolling α and pitching β.

More specifically, both upper end portions of the suspension beam 19 forming a valley shape when viewed from the front at the left and right positions, and the swing plate 3
8 is connected by serial links 39 via pins 45 and 46 extending in the axial direction of the tunnel, and the serial links 39 themselves are connected to the pins 45 and 4.
A pair of link members 48, 49 via a pin 47 parallel to 6.
Are connected, and each serial link 3
Each of the 9 is bent outwardly to the left and right in the shape of a "ku" to project.

As shown in FIG. 2, the connecting portion of the serial link 39 to the rocking plate 38 via the pin 46 is rotatable about a pin 60 extending in the left-right direction of the rocking plate 38. The swinging block 61 is configured so as not to restrict the degree of freedom of the pitching β.

Further, the base ends of the cylinder devices 41 and 42 are attached to the left and right positions at both upper ends of the suspension beam 19 via joints 50 such as spherical joints so as to be located slightly inside the pins 45. The distal ends of the cylinder devices 41 and 42 are attached to the left and right ends of the suspension beam 19 slightly inside the pins 46 via joints 51 such as spherical joints. 42 extend parallel to one another in the radial direction of the tunnel.

At the front and rear positions at the lower end of the hanging beam 19 forming a valley shape, the base ends of the cylinder devices 43 and 44 are located at the right side in FIG.
2, each of these cylinder devices 43,
The distal end of the cylinder device 43, 4 is attached via a joint 53 such as a spherical joint to the left side in FIG.
4 extend obliquely in the circumferential direction of the tunnel so as to be parallel to each other.

The gripping device 22 for the segment S ₀
The surge X and the yawing γ can be finely adjusted with respect to the rocking plate 38. More specifically, the rocking plate 3
8 is provided on the lower surface of a slide frame 54 movably provided in the tunnel axis direction with respect to the lower surface of the holding device 22.
Is equipped.

The upper portion of the slide frame 54 on both the left and right sides is guided by a guide rod 55 provided on the rocking plate 38 side and extending in the axial direction of the tunnel. Part of the swing plate 3
It is connected by a cylinder device 56 provided on the side 8 and extending in the axial direction of the tunnel, so that it can be moved to any position in the axial direction of the tunnel.

That is, by moving the slide frame 54 in the axial direction of the tunnel, fine adjustment of the surge X position of the newly provided segment S ₀ gripped by the gripping device 22 can be performed.

The lower portions of the slide frame 54 are provided with cylinder devices 57, 58 extending in the axial direction of the tunnel with their tip portions facing the face, respectively. , 58 is provided with a locking claw 59 which can be locked to the face side end surface of the newly provided segment S ₀ gripped by the gripping device 22.

That is, the stroke control of the left and right cylinder devices 57 and 58 is performed in a state where the both locking claws 59 are locked on the face side end surface of the newly provided segment S ₀ gripped by the gripping device 22, and the stroke difference is obtained. Thus, the attitude of the yawing γ of the newly provided segment S ₀ can be corrected.

The segment S
₀ and allowed gripper rotating member 17 is rotated until the proper circumferential position of the tunnel to be attached segment S ₀ a hanging beam 19 (see FIG. 9 and FIG. 10), a hanging beam 19 by a required amount tunnel axis It is moved radially outward after moving to the center direction forward, then slung beam 19 the required amount only by moving back to the axial direction behind the tunnel established so as to be adjacent to the segment S ₀ of the existing segment Place S ₀ .

At this time, with respect to the segment S ₀ gripped by the gripping device 22, the positions of the surge X, the sway Y, and the heap Z with respect to the existing segment S _{0 in} the three-axis direction are finely adjusted, and the three-axis direction is also adjusted. It is necessary to correct the attitude of the rolling α, pitching β, and yawing γ centered on each of the above, but the swinging plate 38 with respect to the suspension beam 19 has two degrees of freedom of surge X and yawing γ by a pair of serial links 39. When the stroke control of the four cylinder devices 41, 42, 43, and 44 is performed,
As can be seen from the state during the operation shown in FIGS. 6 and 7, fine adjustment of the positions of the sway Y and the heap Z and correction of the attitude of the rolling α and the pitching β can be performed.

The fine adjustment of the position of the remaining surge X and the correction of the attitude of the yawing γ are performed by moving the slide frame 54 in the direction of the tunnel axis by the cylinder device 56 with respect to the rocking plate 38. performs fine adjustment, also Ryokakaritometsume 59 working face-side end face of the segment S ₀
The attitude of yawing γ may be corrected by controlling the strokes of the left and right cylinder devices 57 and 58 with the lock.

As described above, with respect to the fine adjustment mechanism of the swing plate 38 with respect to the suspension beam 19, the two degrees of freedom of the surge X and the yawing γ are restricted, and the fine adjustment of the surge X and the yawing γ is separately performed on the swing plate 38 side. With this configuration, the four cylinder devices 4 are formed between the suspension beam 19 and the rocking plate 38 so as to form a parallel link 40 having four degrees of freedom of sway Y, heap Z, rolling α, and pitching β.
Since it is only necessary to connect the swing plates 38 at 1, 42, 43, and 44, the structure of connecting the swing plate 38 to the suspension beam 19 is simplified, and the operation of the operation system is facilitated.

In recent years, instead of the bolt joint method of the segment S ₀ as shown in FIG. 5, the fastening of the joint is completed by sliding the newly provided segment S ₀ in the axial direction of the tunnel. It has been proposed to employ a one-pass joint as described above. When such a one-pass joint is employed, a segment positioning device having a structure as shown in the present embodiment is considered to be very effective.

That is, the currently proposed one-pass joint means that a male-shaped metal cone embedded in a new segment S ₀ is provided for a cone-shaped hole of a female hardware embedded in an existing segment S. The projections of the shape are fitted to each other to achieve mutual connection by wedge action,
When employing a such one-pass fitting, the propulsion segment S ₀ of new shield jacks 13 (see FIG. 8)
It is necessary to strongly push the hole of the female metal fitting and the protrusion of the male metal fitting firmly by pushing the tunnel backward in the axial direction of the tunnel by using the shield jack. However, as described above, the shield jack 13 (FIG. 8) is used. The fine adjustment mechanism of surge X and yawing γ corresponding to the action direction of
8, which can be set to a free state independently when pushed by the shield jack 13 (see FIG. 8), so that fine adjustment of other sway Y, heap Z, rolling α, pitching β can be performed. it is possible to realize the fastening of the segment S ₀ by one pass joint without affecting the mechanism.

In this embodiment, in particular, parallel links 40 having four degrees of freedom of sway Y, heap Z, rolling α, and pitching β are respectively arranged at the left and right positions of the suspension beam 19 and extend in the radial direction of the tunnel. A pair of cylinder devices 41 and 4 extending in parallel to each other
2 and a pair of cylinder devices 43 and 44 respectively disposed at front and rear positions of the suspension beam 19 and inclined in the circumferential direction of the tunnel so as to extend in parallel with each other. In forming the connection structure of the moving plate 38, the shield machine 4 in which a pair of cylinder devices 41 and 42 that carry the heap Z and the rolling α penetrate drilling equipment such as a screw conveyor.
Suspension beam 1 so as to avoid the central space in the rear trunk 5
9 and a pair of cylinder devices 43 and 44 for sway Y and pitching β are tilted so as not to interfere with the penetration direction of the excavating equipment, so that the front and rear positions of the suspension beam 19 are not hindered. Since it is possible to arrange, it is possible to ensure the central space with a sufficient size without difficulty.

Note that the segment positioning device of the present invention
The present invention is not limited to the above-described embodiment, and a structure other than the illustrated structure may be employed when the segment gripping device is configured to be able to finely adjust surge and yawing with respect to the rocking plate. Of course, various changes can be made without departing from the spirit of the present invention.

[0057]

According to the segment positioning apparatus of the present invention described above, various excellent effects as described below can be obtained.

(I) According to the segment positioning device of the first aspect of the present invention, the fine adjustment mechanism of the swinging plate with respect to the suspension beam restricts two degrees of freedom of surge and yawing, and the fineness of the surge and yaw is reduced. Since the adjustment is configured separately on the rocking plate side, there are four ways of sway, heap, rolling, and pitching between the suspension beam and the rocking plate.
It is only necessary to connect with four cylinder devices forming a parallel link having a degree of freedom, so that the structure for connecting the swing plate to the suspension beam can be simplified and the operation system thereof can be easily operated. Can be

(II) According to the segment positioning device of the first aspect of the present invention, a fine adjustment mechanism for surge and yawing corresponding to the action direction of the shield jack is separately provided on the rocking plate side, Since this can be made free independently when pushed by the shield jack, it is possible to realize the fastening of the segment by the one-pass joint without affecting other fine adjustment mechanisms of sway, heap, rolling and pitching. .

(III) According to the segment positioning device of the second aspect of the present invention, when forming the connecting structure of the swinging plate to the suspension beam, a pair of cylinder devices that carry the heap and the rolling are replaced with a screw conveyor or the like. A pair of cylinder devices for swaying and pitching can be arranged at the left and right positions of the suspension beam so as to avoid the central space inside the shield machine that the drilling equipment will penetrate. Since the slanted beam can be tilted so as not to interfere with the penetrating direction of the device and can be disposed at the front and rear positions of the suspension beam without any trouble, the central space can be secured with a sufficient size without difficulty.

[Brief description of the drawings]

FIG. 1 is a front view illustrating an example of an embodiment of the present invention.

FIG. 2 is a view in the direction of arrows II-II in FIG.

FIG. 3 is a view in the direction of arrows III-III in FIG. 1;

FIG. 4 is a view in the direction of arrows IV-IV in FIG. 2;

FIG. 5 is an explanatory diagram of directions related to position fine adjustment and posture correction of a newly provided segment.

FIG. 6 is a view showing a state during the operation of the segment positioning device of FIG. 1;

7 is a view in the direction of arrows VII-VII in FIG. 6;

FIG. 8 is a side sectional view of a general shield machine.

FIG. 9 is a side sectional view showing an example of a conventional segment positioning device.

FIG. 10 is a front view of FIG. 9;

11 is a conceptual diagram of the six-axis parallel manipulator of FIG.

[Explanation of symbols]

4 Shield machine 19 Hanging beam 22 Gripping device 38 Rocking plate 39 Serial link 40 Parallel link 41 Cylinder device 42 Cylinder device 43 Cylinder device 44 Cylinder device S Existing segment S ₀ New segment X Surge Y Sway Z Heap α Rolling β pitching γ yawing

Continuation of the front page (72) Inventor Shuichi Fukushi 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Hiroaki Tomimatsu 111-1 Kitahama-cho, Chita-shi, Aichi Prefecture Harima Ishikawajima Heavy industry Co., Ltd. Aichi factory F term (reference) 2D055 BA01 BB01 GB08

Claims (2)

[Claims] A swing beam provided in a shield machine so as to be movable in three axial directions of a tunnel, a radial direction and an axial direction; A pair of serial links for restraining two degrees of freedom of surge and yaw, and four cylinder devices arranged to form a parallel link having four degrees of freedom of sway, heap, rolling, and pitching, between the plates. A segment positioning device, wherein the segment positioning device is connected to the rocking plate and configured so that surge and yawing can be finely adjusted. 2. A pair of cylinder devices, each having four degrees of freedom of sway, heap, rolling, and pitching, respectively disposed at left and right positions of the suspension beam and extending parallel to each other in a radial direction of the tunnel; 2. The segment positioning device according to claim 1, comprising a pair of cylinder devices respectively disposed at front and rear positions of the suspension beam and inclined in a circumferential direction of the tunnel and extending so as to be parallel to each other. .