JP2019082058A - Erector device - Google Patents

Abstract

To provide an erector device enabling a segment position to be finely adjusted in a direction orthogonal to an extension direction and an operating direction of an articulated arm.SOLUTION: The erector device comprises: an articulated arm that includes first and second arms coupled to be mutually swingable around a horizontal axis; a segment holding part that is coupled to the distal end of the second arm in such a manner that it is swingable around a horizontal axis; and a slide mechanism which is assembled in the second arm and horizontally slides the segment holding part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an elector device used in assembling segments.

  Traditionally, shield machines which form tunnels are equipped with an elector device, which is used to assemble the segments. For example, Patent Document 1 discloses an elector device that pivots around a central axis of a shield machine, and includes an articulated arm and a segment gripping portion provided at the tip of the articulated arm. .

  More specifically, the articulated arm includes a first arm located at the proximal side and a second arm pivotally coupled to the first arm about a horizontal axis. The segment gripping portion is swingably connected to the tip of the second arm about a horizontal axis.

JP-A-9-112196

  However, in the elector device disclosed in Patent Document 1, it is not possible to finely adjust the position of the segment in the direction perpendicular to the extending direction and the operation direction of the articulated arm.

  Then, an object of this invention is to provide the elector apparatus which can finely adjust the position of the segment in the direction orthogonal to the extension direction and the action | operation direction of an articulated arm.

  In order to solve the above problem, an elector device according to the present invention comprises: an articulated arm including a first arm and a second arm pivotally connected to each other about a horizontal axis; and a horizontal axis at the tip of the second arm It is characterized by comprising: a segment holding portion swingably connected around; and a slide mechanism incorporated in the second arm, for sliding the segment holding portion in the horizontal direction.

  According to the above configuration, the articulated arm operates along the vertical surface, and the segment grip can slide in the horizontal direction. Therefore, it is possible to finely adjust the position of the segment in the direction perpendicular to the extending direction and the operating direction of the articulated arm.

  For example, the slide mechanism operates a parallel link mechanism interposed between a distal end portion located on the segment holding portion side of the second arm and a root portion located on the first arm side, and the parallel link mechanism May include jacks. In this case, the jack may be located closer to the first arm than the parallel link mechanism.

  According to the present invention, the position of the segment in the direction perpendicular to the extending direction and the operation direction of the articulated arm can be finely adjusted.

It is a side view of an elector device concerning one embodiment of the present invention. It is front sectional drawing along the II-II line of FIG. It is the plane sectional view which followed the III-III line of FIG. (A) is a top view of the slide mechanism integrated in the 2nd arm of an articulated arm, (b) is a side view of the slide mechanism.

  1 to 3 show an elector apparatus 2 according to an embodiment of the present invention. In the present embodiment, the elector device 2 is installed on the floor plate 22 which forms a road in the tunnel 21. However, the present invention is also applicable to an elector apparatus equipped in a shield machine as in the case of the elector apparatus disclosed in Patent Document 1.

  Specifically, the elector device 2 includes a base 3 provided on the floor plate 22, a main body 4 provided on the base 3, an articulated arm 8 pivotally connected to the main body 4, and It includes a segment grip 9 provided at the tip of the articulated arm 8.

  The base 3 has a flat shape parallel to the floor plate 22. The base 3 is provided with wheels 31 rolling on the floor plate 22 on both sides of the main body 4 in the axial direction of the tunnel 21 (the direction orthogonal to the paper surface in FIG. 1). Hereinafter, for convenience of explanation, the axial direction of the tunnel 21 is referred to as the front-rear direction, and the width direction of the tunnel 21 is referred to as the left-right direction (right side of FIG. 1 is right side, left side is left side).

  Wires 32 are connected to both ends of the base 3 in the front-rear direction. These wires 32 are wound and unwound by unillustrated winches. The wheel 31, the wire 32, and the unillustrated winch constitute an axial slide mechanism for sliding the base 3 in the front-rear direction.

  The axial sliding mechanism is not limited to the one using a winch, and may use, for example, a jack, or may use an electric motor, a rack, and a pinion. Further, although not shown, the base 3 is fixed to the floor plate 22 at a predetermined position of the tunnel 21 by a clamp device, a fixing bolt or the like.

  The base 3 is connected to the main unit 4 via the movable unit 33. The movable portion 33 includes a pedestal 34 slidably supported by the base 3 in the left-right direction, and a rotating shaft 35 projecting upward from the pedestal 34.

  The base 3 is also provided with a pair of front and rear jacks 36 for moving the movable portion 33 in the left-right direction. The jacks 36 are, for example, hydraulic cylinders (the same applies to jacks 46, 51, 84, 85, 11 described later). The jack 36 and the movable portion 33 constitute a lateral direction slide mechanism that slides the main body portion 4 in the left and right direction with respect to the base 3. The lateral sliding mechanism is not limited to the one using the jack 36, but may be one using an electric motor, a rack and a pinion, for example.

  The main body portion 4 includes a substantially rectangular bottom portion 41 which is flat in parallel with the floor plate 22 and is long in the front-rear direction in plan view, and a pair of front and rear front portions 42 rising upward from the right end portion of the bottom portion 41. At the center of the bottom portion 41, a sleeve 44 engaged with the rotary shaft 35 of the movable portion 33 and rotatably supported by the rotary shaft 35 is provided.

  Further, the bottom portion 41 is provided with a jack 46 so as to connect the bracket 37 fixed to the rotating shaft 35 and the frame extending in the front-rear direction located at the left end portion of the bottom portion 41. The rotating shaft 35, the sleeve 44 and the jack 46 constitute a rotating mechanism for rotating the main body 4 about a vertical axis. The rotation mechanism is not limited to the one using the jack 46, and may use, for example, an electric motor and a gear.

  Each front surface portion 42 of the main body portion 4 includes a pair of front and rear vertical frames and a horizontal frame connecting upper end portions of the vertical frames, and has a substantially inverted U shape. The middle portion of each vertical frame of each front portion 42 and the middle portion in the left-right direction of the bottom portion 41 are connected by an inclined frame 43.

  The articulated arm 8 includes a first arm 81 located at the base side and a second arm 82 pivotally connected to the first arm 81 about a horizontal axis. The segment grip 9 is connected to the tip of the second arm 82 via the intermediate member 83 so as to be pivotable about a horizontal axis.

  The segment gripping portion 9 has the same configuration as the segment gripping portion of a typical elector device equipped in a shield machine. That is, although not shown, the segment gripping portion 9 includes a rotation mechanism for rotating the engaging portion 91 engaged with the segment 23 and a jack for advancing or retracting the contact portion 92 with the segment 23.

  The first arm 81 is swung about a horizontal axis by a swing mechanism 5 provided in the main body 4. The second arm 82 is rocked relative to the first arm 81 by the jack 84, and the segment grip 9 is rocked relative to the second arm 82 by the jack 85. In the present embodiment, as described later, since the segment gripping portion 9 is slidable in the front-rear direction, a spherical bearing 87 is provided between the jack 85 and the intermediate member 83.

  The root of the first arm 81 is fixed to the swinging shaft 55. Both end portions of the rocking shaft 55 are rotatably supported by an inclined frame 43 located inside the main body portion 4 via bearings (not shown).

  Both ends of the rocking shaft 55 extend outward beyond the inclined frame 43 located inside the main body 4. The rocking mechanism 5 drives a driven gear 56 fixed to both ends of the rocking shaft 55, two pairs of drive gears 6 and 7 arranged so as to sandwich the driven gears 56, and drive gears 6 and 7. And a pair of front and rear jacks 51. The drive gears 6 and 7 are all substantially fan-shaped.

  Each drive gear 6 is located below the driven gear 56 and is rotatably supported by the bottom 41 of the main body 4 via the rotary shaft 63 near the center of the sector of the drive gear 6. The drive gear 6 includes an arc-shaped tooth portion 62 and a support portion 61 to which the tooth portion 62 is attached. The support portion 61 is provided with a protruding portion 64 which protrudes rightward below the tooth portion 62.

  Each drive gear 7 is located above the driven gear 56, and is rotatably supported by the front surface 42 of the main body 4 via the rotary shaft 73 near the center of the sector of the drive gear 7. The drive gear 7 includes an arc-shaped tooth portion 72 and a support portion 71 to which the tooth portion 72 is attached. The support portion 71 is provided with a protruding portion 74 that protrudes leftward above the tooth portion 72.

  Each jack 51 connects the protrusion 64 of the lower drive gear 6 and the protrusion 74 of the upper drive gear 7 through an extension of the center line of the rocking shaft 55. More specifically, the jack 51 is configured to move the rod forward or backward from the housing, and the middle portion of the housing is connected to the projection 74 of the upper drive gear 7 via the fulcrum member 52 with the pin 53. The tip of the rod is connected via a pin 54 to the projection 64 of the lower drive gear 6.

  The slide mechanism 1 is incorporated in the second arm 82 of the articulated arm 8 described above. The slide mechanism 1 slides the segment grip portion 9 in the horizontal direction (in the present embodiment, in the front-rear direction). In the present embodiment, the slide mechanism 1 is incorporated into the second arm 82 at a position close to the segment gripping portion 9.

  More specifically, the slide mechanism 1 includes a parallel link mechanism 12 and a jack 11 for operating the parallel link mechanism 12, as shown in FIGS. 4 (a) and 4 (b). The parallel link mechanism 12 is interposed between a tip 82 b located on the side of the segment grip 9 of the second arm 82 and a root 82 a located on the side of the first arm 81. The tip 82 b of the second arm 82 is connected to the intermediate member 83 via a pin 86 extending in the horizontal direction. The jack 11 is located closer to the first arm 81 than the parallel link mechanism 12.

  The parallel link mechanism 12 includes a first link member 15 located on the center line of the second arm 82 and a second link member 97 located on the side (one side) of the first link member 15. The jack 11 described above is disposed on the opposite side of the second link member 97 with the first link member 15 interposed therebetween.

  The first link member 15 is a plate-like member having a substantially H-shape in a lateral view, with the width direction (horizontal direction) of the second arm 82 as the thickness direction. The base portion 82a of the second arm 82 is provided with a support portion 13 projecting toward the tip end portion 82b, and the support portion 13 is fitted into the opening of the left end portion of the first link member 15 . The left end of the first link member 15 is connected to the support 13 via a pin 14 extending in a direction perpendicular to the extending direction of the second arm 82 and the extending direction of the pin 86.

  On the other hand, in the opening at the right end of the first link member 15, the tip end 82b is fitted. The right end of the first link member 15 is connected to the tip 82 b via a pin 16 parallel to the pin 14.

  The second link member 97 is a member parallel to the first link member 15. At the root portion 82a and the tip portion 82b of the second arm 82, support portions 95 and 99 projecting toward both ends of the second link member 97 are provided. The left end of the second link member 97 is connected to the support 95 via a pin 96 parallel to the pin 14, and the right end of the second link member 97 via a pin 98 parallel to the pin 14. And the support portion 99. A line connecting the centers of the pins 14 and 96 and a line connecting the centers of the pins 16 and 98 are parallel to each other.

  However, it goes without saying that the configuration of the parallel link mechanism 12 is not limited to the configuration of the above-described embodiment.

  A rib 17 is provided on the side of the first link member 15 opposite to the second link member 97. The rib 17 is in the shape of a rod that is inclined so as to fall toward the root 82 a of the second arm 82, and the tip of the rib 17 is connected to one end of the jack 11 via a pin 18 parallel to the pin 14. The other end of the jack 11 is connected to a root portion 82 a of the second arm 82 via a pin 19 parallel to the pin 14.

  For this reason, if the jack 11 is extended, the parallel link mechanism 12 is deformed so that the segment gripping portion 9 slides forward (upward in FIG. 4A), and if the jack 11 is shortened, the segment gripping portion 9 The parallel link mechanism 12 is deformed so as to slide rearward (downward in FIG. 4A).

  As described above, in the elector device 2 of the present embodiment, the articulated arm 8 operates along the vertical surface, and the segment grip 9 can slide in the horizontal direction. Therefore, the position of the segment 23 in the direction perpendicular to the extending direction and the operation direction of the articulated arm 8 can be finely adjusted.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Slide mechanism 11 Jack 12 Parallel link mechanism 2 Electr apparatus 8 Articulated arm 81 1st arm 82 2nd arm 82a Root part 82b Tip part 9 segment grip part

Claims (3)

An articulated arm including a first arm and a second arm swingably connected to each other about a horizontal axis;
A segment grip connected swingably to a tip of the second arm around a horizontal axis;
A slide mechanism, incorporated in the second arm, for sliding the segment grip in the horizontal direction;
, An elector device comprising:   The slide mechanism includes a parallel link mechanism interposed between a distal end portion of the second arm located on the segment gripping portion side and a root portion of the second arm, and a jack for operating the parallel link mechanism. The elector apparatus according to claim 1, comprising: The elector device according to claim 2, wherein the jack is positioned closer to the first arm than the parallel link mechanism.

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