JP2021059916A - Automatic setting system and automatic setting method for lining concrete placing arch center - Google Patents

Abstract

To provide a system and a method for automating an installation of an arc center in a lining concrete placing arch center without causing defects such as corner chips and cracks in an existing lining concrete of a wrap portion.SOLUTION: An automatic setting system for a lining concrete placing arch center has: position information generating means 3a which is installed at an end of an existing lining concrete 11 and generates position information; detecting means 3b which is installed on a wrap member 2 at an end of the lining concrete placing arch center and detects position information from the position information generating means 3a; traveling means which makes the lining concrete placing arch center travel; and control means which determines a position of the position information generating means 3a based on the position information detected by the detecting means 3b and controls the traveling of the traveling means from the position information.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic setting system for lining concrete placing centles and an automatic setting method.

In the lining concrete of mountain tunnels, the part where the cast lining concrete wraps with the center (hereinafter referred to as the wrap part) comes into contact with the center (formwork), causing defects such as corner chips and cracks. Has been pointed out in the past.
Therefore, a method of detecting the pressure of the wrap portion to prevent corner chipping or cracking of the cast lining concrete (see, for example, Non-Patent Document 1 and Patent Document 1), and the cast lining concrete and the centre. There was a method (see Non-Patent Document 2) of constantly measuring the distance between concrete concrete with a laser displacement meter to prevent corner chipping and cracking.

That is, Non-Patent Document 1 is a floating / peeling prevention system for lining construction seams, in which gap / pressure detection sensors, which are a combination of a small pressure gauge and hard rubber, are attached in several places on the overlap, and are specified when the formwork is set. The hydraulic jack of the center is automatically stopped by the amount of the gap, and cracks due to excessive pressing when setting the formwork are prevented. In addition, the left and right launch heights of concrete are controlled so that the pressing pressure is equal to or less than the allowable pressure against the unbalanced pressure acting on the formwork during concrete placement.
Further, Patent Document 1 provides a pressure detecting means for detecting the pressure at which the wrap member abuts on the inner peripheral surface of the existing lining concrete wall on the outer peripheral surface side or the inner peripheral surface side of the outer peripheral portion of the wrap member. The pressure detecting means includes a pressure sensor using a strain gauge, and the wrap member supports and provides a plastic material that abuts on the inner peripheral surface of the existing lining concrete wall.
In addition, Non-Patent Document 2 is an ultra-high-speed, high-precision laser displacement meter in which a composite wrap monitoring system is used in which gaps between the cast concrete and the centre wrap are arranged at five locations: a side wall portion, a shoulder portion, and a top end portion. The distance between the existing concrete and the center is constantly measured, and if the control standard value set in advance is exceeded, an alarm is issued with a buzzer and a rotating light, and the vertical movement of the electro-hydraulic jack is forcibly stopped.

Furthermore, a plurality of piezoelectric sensors or capacitance sensors are provided along the circumferential direction of the tunnel, and the contact detection sensor and pressure sensor formed in a continuous sheet shape are used to remove corner chips and cracks in the cast lining concrete. There was a method of preventing it (see Patent Documents 2 and 3).
That is, Patent Document 2 describes a piezoelectric sensor or an upper electrode layer, a dielectric layer, and a lower electrode layer in which an upper electrode layer, a piezoelectric layer, and a lower electrode layer are laminated in this order, which is installed in a wrap portion along the circumferential direction of the tunnel. A plurality of capacitive sensors stacked in order are provided along the circumferential direction of the tunnel, and these plurality of piezoelectric sensors or capacitance sensors are covered with a coating material to form a continuous sheet. ..
Further, Patent Document 3 includes a sheet-shaped pressure sensor arranged on at least the outer peripheral surface of the top end portion of the outer periphery of the wrap portion and continuous in the tunnel circumferential direction, and this pressure sensor is placed with the wrap portion. It is possible to measure the pressure distribution in the circumferential direction of the tunnel with the finished lining concrete.

Japanese Patent No. 3535464 (Japanese Patent Laid-Open No. 2002-220995) JP-A-2018-204304 JP-A-2019-49156

Developed a mountain tunnel "system to prevent floating and peeling of lining construction seams" -Controls excessive pressing when setting formwork and placing concrete with a pressure sensor- (2018/4/11) Maeda Corporation https://www.maeda.co.jp/select/2018/04/11/1717.html Developed a "concrete monitoring system" to prevent cracks at the edges of concrete-Constant measurement of the gap between the centre and the lining concrete wrap-June 25, 2015 Toda Corporation https://www.toda.co. jp / news / 2015/20150625.html

However, the conventional method of preventing corner chipping and cracking of cast lining concrete is aimed at improving the quality of the concrete in the lap portion, and specifically, fine adjustment is performed by manual operation while visually observing the lap portion. So, it did not automate the installation of the center.

An object of the present invention is to automate the installation of a centre for placing a lining concrete without causing defects such as corner chips and cracks in the existing lining concrete of the wrap portion.

In order to solve the above problems, the invention according to claim 1 is
Position information generating means installed at the end of the existing lining concrete to generate position information,
A detection means that is installed on a wrap member at the end of a lining concrete placing center and detects position information from the position information generating means.
A means of running the lining concrete placing center and
A control means that determines the position of the position information generating means based on the position information detected by the detecting means and controls the traveling of the traveling means from the position information.
It is characterized by having.

The invention according to claim 2
The automatic setting system for the lining concrete placing center according to claim 1.
The position information generating means and the detecting means are arranged at a plurality of places of the existing lining concrete and the wrap member.

The invention according to claim 3
The automatic setting system for the lining concrete placing center according to claim 1 or 2.
Formwork support means that supports the formwork and determines the placement position,
A planar pressure sensor arranged along the circumferential direction on the outer peripheral surface of the wrap member,
Have,
The control means is based on the pressure distribution on the inner peripheral surface of the existing lining concrete detected by the planar pressure sensor, and the inner peripheral surface of the existing lining concrete of the formwork by the formwork supporting means. It is characterized by controlling the stop position with respect to.

The invention according to claim 4
The automatic setting system for the lining concrete placing center according to claim 3.
The first elastic body that abuts on the inner peripheral surface of the existing lining concrete and
A second elastic body interposed between the planar pressure sensor and the first elastic body to buffer the contact of the first elastic body with the inner peripheral surface of the existing lining concrete.
It is characterized by having.

The invention according to claim 5
Position information is generated by the position information generation means installed at the end of the existing lining concrete.
The position information generated by the position information generating means is detected by the detecting means installed on the wrap member at the end of the lining concrete placing center.
The control means determines the position of the position information generating means based on the position information detected by the detecting means, controls the traveling of the lining concrete placing center by the traveling means, and causes the wrap member to be said. The feature is that it is automatically set at a predetermined position at the end of the existing lining concrete.

The invention according to claim 6
The method for automatically setting the lining concrete placing center according to claim 5.
Mark the outer peripheral surface of the formwork of the lining concrete placing center.
After placing the lining concrete and removing the formwork, the position information generating means is installed on the mark mark by the mark left on the inner peripheral surface of the existing lining concrete.

The invention according to claim 7
The method for automatically setting a lining concrete placing center according to claim 5 or 6.
By the control means
A mold possessed by the lining concrete placing center based on the pressure distribution on the inner peripheral surface of the existing lining concrete detected by a planar pressure sensitive sensor arranged along the circumferential direction on the outer peripheral surface of the wrap member. It is characterized in that the stop position of the formwork with respect to the inner peripheral surface of the existing lining concrete is controlled by the formwork support means for supporting the formwork and determining the arrangement position.

According to the present invention, in the lining concrete placing center, the installation of the center can be automated without causing defects such as corner chips and cracks in the existing lining concrete of the wrap portion.

It shows the structure of one Embodiment to which the automatic setting system of the lining concrete placing center which concerns on this invention is applied, and is the schematic longitudinal side view of the center wrap part. It is a vertical cross-sectional view (a) (b) which shows the fixing method of the fixing screw for installing the position information generating means in the center wrap part. It is a vertical cross-sectional view (a) (b) which shows the fixing method of the position information generating means after placing a lining concrete. It is a vertical cross-sectional view (a) (b) which shows the relationship between the fixing screw by continuous placing of lining concrete, the position information generating means and the detecting means. It is a block block diagram of the control by the automatic set system of this invention. It is a figure which shows the general attribute of the elastic body (rubber plate and cushioning material) which was subjected to the test to be laminated with a pressure-sensitive sensor. It is schematic (a)-(c) which showed the laminated type (1)-(3) of a pressure-sensitive sensor and an elastic body (rubber plate and cushioning material). It is a graph (a)-(c) which showed the test result of the vertical change amount, uniaxial compressive load and compressibility according to the laminated type (1)-(3). 5 are graphs (a) to (c) showing enlarged test results of FIG. It is a graph (a)-(c) which showed the test result of the hardness of the cushioning material and the uniaxial compressive load according to the laminated type (1)-(3). It is a graph which showed the test result of the vertical change amount and uniaxial compressive load according to the type of a cushioning material, and the enlarged graph (a)-(d). Graphs (a) to (c) show the test results of three types of cushioning materials, the amount of vertical change of the planar pressure sensor, and the uniaxial compressive load in the laminated type (1). Graphs (a) to (d) show the test results of four types of cushioning materials, the amount of vertical change of the planar pressure sensor, and the uniaxial compressive load in the laminated type (2). Graphs (a) to (d) show the test results of four types of cushioning materials, the amount of vertical change of the planar pressure sensor, and the uniaxial compressive load in the laminated type (3).

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
(Overview)
The present invention automates the installation of a centre in mountain tunnel lining concrete, and is composed of the following two techniques.
1) A jack that automatically moves to the position where the center is set based on the position information measured by the two-dimensional potential meter installed on the lap with the existing concrete and the total station, and moves the formwork up and down in the height direction. The center is automatically set by controlling the jack that moves left and right in the direction perpendicular to the tunnel axis.
2) When moving the formwork with a jack, check the pressure with a planar pressure sensor arranged in the circumferential direction of the wrap to prevent cracks from being generated due to excessive pressing against the existing lining concrete. While pressing the formwork against the existing lining concrete.
In this way, a two-dimensional potentiometer and a planar pressure sensor are used to automate the installation of the centre without compromising the quality of the existing lining concrete of the wrap.
Specifically, the center is moved to a substantially set position by a total station or the like, the plane position is controlled by a two-dimensional potentiometer, and the pressure on the inner peripheral surface of the existing lining concrete of the wrap part is confirmed by a planar pressure sensor. However, by pressing the formwork body, the installation of the centre is automated without causing defects such as corner chips and cracks in the existing lining concrete of the wrap part.

(Embodiment)
FIG. 1 shows a schematic configuration of a center wrap portion as an embodiment to which an automatic setting system of a lining concrete placing center according to the present invention is applied, where 1 is a formwork body, 2 is a wrap member, and 3 is 2. Dimensional potentialometer, 4 is a planar pressure sensor, 5 is a cushioning material (second elastic body), 6 is a rubber plate (first elastic body), 7 is a joint pedestal, 8 is joint rubber, and 11 is existing lining concrete. , 12 are lining concrete to be placed.

The lining concrete casting center is a traveling means 41 (see FIG. 5) equipped with a slide adjusting mechanism that travels on a guide rail laid in the longitudinal direction of a tunnel (not shown) and slides in the direction of the tunnel axis and the direction perpendicular to the tunnel axis. ), And a plurality of jacks (jacks that move the formwork up and down in the height direction, jacks that move the formwork left and right in the direction perpendicular to the tunnel axis), etc. 42 (see FIG. 5) and a plurality of formwork 1s that are supported by the formwork support means 42 and are arranged and positioned in an arch shape as a whole. Further, the control means 40 (see FIG. 5) for controlling the driving of the traveling means 41 and the formwork supporting means 42 is provided.

The formwork 1 is arranged on the ceiling surface, the side surface, and the lower end surface of the inner wall surface of the tunnel, respectively, and forms an arch shape as a whole to cover the inner wall surface of the tunnel excluding the bottom surface of the tunnel.
As shown in the figure, the formwork 1 is provided with the wrap member 2 fixed to the rear end portion on the existing lining concrete 11 side, and is provided with the end stopper 1a (see FIG. 2) at the end portion on the excavation direction side. A space for placing work concrete is formed, and fluid concrete is placed from a filling port (not shown).

The wrap member 2 polymerizes and abuts on the inner peripheral surface of the existing lining concrete 11, is a steel material having a substantially L-shaped cross section, and polymerizes on the existing lining concrete 11 wall to form the shape of the inner wall surface of the tunnel. It has an outer peripheral portion having a corresponding curved surface and a fixing portion that is substantially perpendicular to the outer peripheral portion and is fixed to the mold 1.
As shown in the figure, a two-dimensional potentiometer 3 is provided between the outer peripheral surface of the wrap member 2 and the inner peripheral surface of the existing lining concrete 11.
That is, the magnetizing body 3a is fixed to the inner peripheral surface of the existing lining concrete 11, and the magnetic sensor 3b is fixed to the outer peripheral surface of the wrap member 2.

Here, the two-dimensional displacement meter 3 is composed of a magnetometer 3a which is a position information generating means and a magnetic sensor 3b which is a detecting means for detecting the position information, and is placed on a plane parallel to the detection surface of the magnetic sensor 3b. The position of the magnetized body 3a is output as the amount of displacement of two axes orthogonal to each other on the plane (the amount of deviation between the center of the detection surface of the magnetic sensor 3b and the center position of the magnetometer 3a).
This two-dimensional potentiometer 3 is manufactured by the high-performance Makome Laboratory, which consists of a magnetic detector 3a made of anisotropic ferrite (sintered ferrite magnet) and a magnetic sensor 3b whose sensor body is made of resin (ABS), and has its own magnetism. By combining magnetic detection by the detection element "saturable coil" and a calculation method that employs an original algorithm, it is possible to obtain a highly accurate displacement amount that is not easily affected in the direction perpendicular to the plane.

The above two-dimensional potentiometer 3 is installed at three places, the top end and both shoulders, between the wrap member 2 of the center and the existing lining concrete 11.
That is, magnetometers 3a are attached to the inner peripheral surface of the existing lining concrete 11 at three locations, the top end and both shoulders, by adhesion or the like, and the top end and both sides of the wrap member 2 are provided. By fixing the magnetic sensor 3b to each of the three shoulders with non-magnetic screws, the amount of deviation of the center between the magnetic sensor 3b and the magnetizer 3a at the top and both shoulders can be measured in real time. It receives and automatically controls the centre to minimize the amount of deviation.

Then, the planar pressure sensor 4 is continuously or intermittently fixed to the outer peripheral surface of the wrap member 2 in the circumferential direction. A cushioning material 5 made of a relatively soft elastic body is laminated and fixed on the planar pressure sensor 4, and is durable enough to abut on the inner peripheral surface of the existing lining concrete 11 on the cushioning material 5. In consideration of the above, rubber plates 6 made of relatively hard elastic bodies are laminated and fixed.
That is, the existing lining concrete of the rubber plate 6 is interposed between the rubber plate 6 made of the first elastic body that abuts on the inner peripheral surface of the existing lining concrete 11 and the rubber plate 6 and the planar pressure sensor 4. A cushioning material 5 made of a second elastic body that cushions the contact with the inner peripheral surface of 11 is provided.

Here, the planar pressure-sensitive sensor 4 is a planar pressure-sensitive sheet having a structure in which a pressure-sensitive dielectric rubber whose resistance changes according to pressure is laminated on a thin film transistor formed on a film. The sheet is arranged on the outer peripheral surface of the wrap member 2 in a planar shape over the circumferential direction.
This planar pressure sensor 4 is made by NEC, which is light and thin and can be installed on a curved surface. Each sensor element is arranged in the secondary state and changes according to the pressure applied to each sensor element. By detecting the current value to be generated by the thin film transistor, it is possible to sense the distribution of the pressure applied to the entire sheet in real time with high accuracy and high speed.

Further, a joint pedestal 7 made of hard rubber is fixed to the outer peripheral surface of the wrap member 2 along the end surface of the formwork 1 in the circumferential direction thereof.
The outer peripheral surface of the joint pedestal 7 and the outer peripheral surface of the rubber plate 6 have a substantially continuous shape uniform with the outer peripheral surface of the formwork 1.
Then, a substantially triangular joint rubber corresponding to the joint formed between the existing lining concrete 11 and the lining concrete 12 to be placed on the end portion of the formwork 1 on the joint pedestal 7. 8 is fixed.

Next, a method of installing the magnetizing body 3a on the existing lining concrete 11 will be described.
For example, a mark is placed on the outer peripheral surface of the formwork 1, and after the formwork 1 is removed from the formwork after the lining concrete is placed, the mark marks left on the inner peripheral surface of the existing lining concrete 11 are generated. The magnetic body 3a may be installed, or the magnetizing body 3a may be installed as shown in FIGS. 2 and 3.

FIG. 2 shows a method of fixing the fixing screw for installing the magnetizing body 3a on the mold body 1, and as shown in FIG. 2 (a), a small hole 1b is formed in advance at the end of the mold body 1 on the end side. Is formed, and the one-man anchor 21 is installed on the outer peripheral surface side of the small hole 1b. A female screw 22 is formed on the one-man anchor 21.
Then, from the inside of the formwork 1, the fixing screw 23 is screwed into the female screw 22 of the one-man anchor 21 from the small hole 1b and fixed to the inner peripheral surface of the formwork 1 as shown in FIG. 2B. The screw 23 is fixed.

After placing the lining concrete, the fixing screw 23 is removed, and then the formwork 1 is removed.
As a result, the one-man anchor 21 is embedded in the existing lining concrete 11, and the female screw 22 thereof is exposed on the inner peripheral surface of the existing lining concrete 11.

FIG. 3 shows a method of fixing the magnetizing body 3a to the existing lining concrete 11 after placing the lining concrete, and as shown in FIG. 3A, a male screw to which the magnetizing body 3a is adhered and fixed in advance. 24 is screwed into the female screw 22 of the one-man anchor 21 from the small hole 1b, and the magnetizing body 3a is fixed to the inner peripheral surface of the existing lining concrete 11 as shown in FIG. 3 (b). This eliminates the need for surveying to set the centre on the existing lining concrete 11 side, and makes it possible to set the formwork 1 according to the position and shape of the existing lining concrete 11.

FIG. 4 shows the relationship between the fixing screw by continuous placing of lining concrete, the position information generating means, and the detecting means. As shown in FIG. 4A, the existing lining concrete is installed after the lining concrete is placed in the previous process. The magnetizing body 3a is fixed to the inner peripheral surface of the lining concrete 11.
Then, the magnetism of the magnetizing body 3a is detected by the magnetic sensor 3b on the outer peripheral surface of the wrap member 2, the position is determined, and the driving means 41 and the formwork supporting means 42 are controlled by the control means 40, respectively. ..

Similarly, after removing the magnetometer 3a from the inner peripheral surface of the existing lining concrete 11 in the previous process and placing the lining concrete in the next process, as shown in FIG. 4B, the existing lining concrete 11 After fixing the magnetizing body 3a to the inner peripheral surface, the magnetism of the magnetizing body 3a is detected by the magnetic sensor 3b on the outer peripheral surface of the wrap member 2, the position is determined, and the traveling means 41 and the formwork are determined by the control means 40. The drive of the support means 42 is controlled respectively.

FIG. 5 shows a block configuration controlled by the automatic set system of the present invention. As shown in the figure, the amount of deviation between the center of the detection surface of the magnetic sensor 3b by the two-dimensional potentiometer 3 and the center position of the magnetometer 3a, and the surface. The pressure distribution by the state pressure sensor 4 and various measured values by the total station (TS) 30 are input to the control means 40.
The amount of deviation between the center of the detection surface of the magnetic sensor 3b by the input two-dimensional potentiometer 3 and the center position of the magnetometer 3a, the pressure distribution by the planar pressure sensor 4, and various measured values by the total station (TS) 30. The control means 40 controls the driving of the traveling means 41 and the frame body supporting means 42, respectively.

The center installation process by the automatic setting system of the present invention having the above configuration is as follows.

"Process 1"
The TS30 measures three prisms mounted at a predetermined position on the opposite side of the existing lining concrete 11 of the center, grasps the current position and attitude of the center with respect to the tunnel alignment, and the amount of movement to the center set position. Is calculated.

"Process 2"
The traveling of the center is automatically controlled, and the traveling means 41 is controlled by the amount of movement produced in step 1 to move the center to a substantially set position.

"Process 3"
After moving to a few centimeters before the existing lining concrete 11 on the lap side in consideration of the finished shape error and measurement error, the final alignment in the tunnel axis direction and the tunnel axis perpendicular direction is based on the information of the two-dimensional potentiometer 3. It is automatically controlled by the slide adjustment mechanism of the traveling means 41.
That is, the control means 40 drives the traveling means 41 based on various measured values by the TS 30, and then the traveling means 41 is based on the amount of deviation between the center of the detection surface of the magnetic sensor 3b by the two-dimensional potentiometer 3 and the center position of the magnetizing body 3a. Fine-tune the center with the slide adjustment mechanism of.

"Step 4"
When the positions in the tunnel axial direction and the tunnel perpendicular direction reach the predetermined positions, the formwork body 1 is moved to the existing concrete 11 side in the order of the ceiling surface, the side surface, and the lower end surface by the formwork body supporting means 42, and pressed.

"Step 5"
In order to prevent cracks due to pressing of the formwork 1, when the planar pressure sensor 4 installed in the circumferential direction of the wrap member 2 senses the set pressure, the movement of the formwork 1 is automatically stopped to prevent the center. The set is complete.
That is, the control means 40 supports the formwork body based on the pressure distribution on the inner peripheral surface of the existing lining concrete 11 detected by the planar pressure sensor 4 arranged along the circumferential direction on the outer peripheral surface of the wrap member 2. The stop position of the formwork 1 with respect to the inner peripheral surface of the existing lining concrete 11 by the means 42 is controlled.

The effects of the above automatic setting system are as follows.
1) It is possible to automate the installation of the lap member 2, which was conventionally visually aligned by the worker.
2) By measuring the pressing prevention, which was conventionally measured at points, on the surface with the planar pressure sensor 4, excessive pressing is surely prevented, and corner chips and cracks in the existing lining concrete 11 of the wrap portion are prevented. Can be suppressed.
3) Data of various sensors (two-dimensional potentiometer 3, planar pressure sensor 4) can be acquired in real time, and the centre can be automatically controlled.
4) By embedding the fixing screw 23 for installing the magnetizing body 3a in the formwork 1 before placing the lining concrete, the surveying on the existing lining concrete 11 side becomes unnecessary, and the position of the existing lining concrete 11 It is possible to set the formwork 1 according to the shape and shape.

(Experimental result)
FIG. 6 is a chart showing the general attributes of the rubber plate 6 and the cushioning material 5 that have been subjected to the test of being laminated on the planar pressure sensor 4.
As shown in the figure, one type of hardness, tensile strength, and elongation is shown for the rubber plate 6, and four types of hardness, tensile strength, elongation, apparent density, heat shrinkage, and water absorption rate are shown for the cushioning material 5. The 25% extrusion load is shown respectively.

FIG. 7 is a schematic view (a) to (c) showing the laminated types (1) to (3) of the planar pressure sensor 4, the rubber plate 6, and the cushioning material 5.
FIG. 7A shows a laminated type (1) in which the cushioning material 5 and the rubber plate 6 are sequentially laminated on the planar pressure sensor 4 fixed to the outer peripheral surface of the wrap member 2 as described above.
In FIG. 7B, a cushioning material 5 is laminated on a planar pressure sensor 4 on the outer peripheral surface of the wrap member 2, a similar laminated plate 5 is laminated on the cushioning material 5, and a rubber plate 6 is laminated on the same laminated plate 5. The laminated type (2) is shown.
In FIG. 7C, the planar pressure sensor 4 is laminated on the cushioning material 5 fixed to the outer peripheral surface of the wrap member 2, the cushioning material 5 is laminated on the cushioning material 5, and the rubber plate 6 is laminated on the cushioning material 5. The laminated type (3) is shown.
As described above, three types of laminated types (1) to (3) were tested.

FIG. 8 is graphs (a) to (c) showing the test results of the vertical change amount, the uniaxial compressive load, and the compressibility for the four types of cushioning materials 5 according to the laminated types (1) to (3).

9 are graphs (a) to (c) showing the test results of FIG. 8 in an enlarged manner.

FIG. 10 is graphs (a) to (c) showing the test results of the hardness of the cushioning material 5 and the uniaxial compressive load according to the laminated types (1) to (3).

FIG. 11 is an enlarged graph (a) to (d) of a graph showing the test results of the vertical change amount and the uniaxial compressive load according to the type of the cushioning material 5.

FIG. 12 is a graph (a) to (c) showing the test results of the three types of the cushioning material 5 and the vertical change amount of the planar pressure sensor 4 and the uniaxial compressive load in the laminated type (1).
As shown in FIG. 12B, it is judged that the measurement accuracy is better as the measurement result (dotted line) of the cushioning material 5 (C-4305) and the measurement result (solid line) of the planar pressure sensor 4 match. ..
In FIG. 12C, the measurement result (dotted line) of the cushioning material 5 (C-4505) and the measurement result (solid line) of the planar pressure sensor 4 are substantially the same, but the measurement at the time of initial displacement is Not done.

FIG. 13 is graphs (a) to (d) showing the test results of the four types of cushioning materials 5 and the vertical change amount and the uniaxial compressive load of the planar pressure sensor 4 in the laminated type (2).
In FIG. 13 (d), the measurement result (dotted line) of the cushioning material 5 (C-4505) and the measurement result (solid line) of the planar pressure sensor 4 are substantially the same, but the measurement at the time of initial displacement is possible. Absent.

14 is a graph (a) to (d) showing the test results of the four types of cushioning materials 5, the vertical change amount of the planar pressure sensor 4, and the uniaxial compressive load in the laminated type (3).
In FIG. 14D, the measurement result (dotted line) of the cushioning material 5 (C-4505) and the measurement result (solid line) of the planar pressure sensor 4 are substantially the same, but the measurement at the time of initial displacement is possible. Absent.

From the above experimental results, it was concluded that the hard type cushioning material 5 (C-4305) was the best in the laminated type (1).

As described above, according to the automatic setting system of the centre of the embodiment, the displacement amount of the wrap member 2 with respect to a predetermined position of the inner peripheral surface of the existing lining concrete 11 is set between the inner peripheral surface of the existing lining concrete 11 and the wrap member 2. A two-dimensional potentiometer 3 (magnetizing body 3a, magnetic sensor 3b) to be measured is provided, and control is performed based on the displacement amount of the wrap member 2 with respect to a predetermined position on the inner peripheral surface of the existing lining concrete 11 measured by the two-dimensional potentiometer 3. The means 40 controls the running stop position of the lining concrete placing center by the running means 41.

Then, the control means 40 supports the formwork based on the pressure distribution on the inner peripheral surface of the existing lining concrete 11 detected by the planar pressure sensor 4 arranged along the circumferential direction on the outer peripheral surface of the wrap member 2. The stop position of the formwork 1 with respect to the inner peripheral surface of the existing lining concrete 11 by the means 42 is controlled.

As described above, the center is moved to a substantially set position by the TS30, the plane position is controlled by the magnetizing body 3a and the magnetic sensor 3b of the two-dimensional potentiometer 3, and the existing lining of the wrap member 2 is controlled by the planar pressure sensor 4. By moving the center while checking the pressure of the concrete 11, the installation of the formwork 1 and the wrap member 2 is automated without causing defects such as corner chips and cracks in the existing lining concrete 11 of the wrap portion. be able to.

In this way, since the formwork 1 and the wrap member 2 can be installed fully automatically up to fine adjustment, the accuracy of the next process is improved and the finish of the lining concrete is excellent.

(Modification example)
In the above embodiment, instead of the two-dimensional potentiometer, that is, instead of the magnetometer and the magnetic sensor, a marker is used as a position information generating means installed at the end of the existing lining concrete, and a center for lining concrete placement is used. A camera may be used as a detection means which is installed on the wrap member at the end and detects the position information of the marker from the image.

(Other variants)
Of course, in addition to the above embodiments and modifications, the arrangement of the planar pressure sensor, the specific detailed structure of various members, and the like can be appropriately changed.

1 Formwork 2 Wrap member 3a Position information generating means 3b Detecting means 4 Plane pressure sensitive sensor 5 Second elastic body that buffers contact with the inner peripheral surface of existing lining concrete 6 Contact with the inner peripheral surface of existing lining concrete First elastic body 11 Existing lining concrete 30 Total station (TS)
40 Control means 41 Traveling means 42 Formwork support means

Claims (7)

Position information generating means installed at the end of the existing lining concrete to generate position information,
A detection means that is installed on a wrap member at the end of a lining concrete placing center and detects position information from the position information generating means.
A means of running the lining concrete placing center and
A control means that determines the position of the position information generating means based on the position information detected by the detecting means and controls the traveling of the traveling means from the position information.
Automatic setting system of lining concrete casting center with. The automatic setting system for lining concrete placing centles according to claim 1, wherein the position information generating means and the detecting means are arranged at a plurality of locations of the existing lining concrete and the wrap member. Formwork support means that supports the formwork and determines the placement position,
A planar pressure sensor arranged along the circumferential direction on the outer peripheral surface of the wrap member,
Have,
The control means is based on the pressure distribution on the inner peripheral surface of the existing lining concrete detected by the planar pressure sensor, and the inner peripheral surface of the existing lining concrete of the formwork by the formwork supporting means. The automatic setting system for lining concrete placing centles according to claim 1 or 2, which controls the stop position with respect to the concrete. The first elastic body that abuts on the inner peripheral surface of the existing lining concrete and
A second elastic body interposed between the planar pressure sensor and the first elastic body to buffer the contact of the first elastic body with the inner peripheral surface of the existing lining concrete.
The automatic setting system of the lining concrete placing center according to claim 3. Position information is generated by the position information generation means installed at the end of the existing lining concrete.
The position information generated by the position information generating means is detected by the detecting means installed on the wrap member at the end of the lining concrete placing center.
The control means determines the position of the position information generating means based on the position information detected by the detecting means, controls the traveling of the lining concrete placing center by the traveling means, and causes the wrap member to be said. An automatic setting method for the lining concrete placing center that is automatically set in place at the end of the existing lining concrete. Mark the outer peripheral surface of the formwork of the lining concrete placing center.
The covering according to claim 5, wherein the position information generating means is installed in the mark mark by the mark left on the inner peripheral surface of the existing lining concrete after the formwork is removed after the lining concrete is placed. Automatic setting method of centre for placing concrete. By the control means
A mold possessed by the lining concrete placing center based on the pressure distribution on the inner peripheral surface of the existing lining concrete detected by a planar pressure sensor arranged along the circumferential direction on the outer peripheral surface of the wrap member. The lining concrete placing center according to claim 5 or 6, wherein the stop position of the formwork with respect to the inner peripheral surface of the existing lining concrete by the formwork support means for supporting the frame and determining the arrangement position is controlled. Automatic setting method.

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