JP2023037188A - Timbering construction system - Google Patents

Abstract

To provide technology capable of improving both accuracy and swiftness when constructing a steel timbering in a timbering construction system for constructing the steel timbering.SOLUTION: A timbering construction system comprises a control device for controlling a drive mechanism at an articulation part of a boom, a boom sensor for detecting controlled variable of the drive mechanism, a target for a machine body side survey fitted to the machine body of an erector device, a target for a timbering side survey fitted to a steel timbering or a grip part of the boom, and a survey device for obtaining a three-dimensional coordinates of the target for the machine body side survey and the target for the timbering side survey. The control device executes primary motion control for guiding the steel timbering to a first target position on the basis of the three-dimensional coordinate of the target for the machine body side survey and the detection result of the boom sensor, and secondary motion control for guiding the steel timbering from the first target position to a second target position on the basis of the three-dimensional coordinate of the target for the timbering side survey after the primary motion control.SELECTED DRAWING: Figure 15

Description

Applied for the application of Article 30, Paragraph 2 of the Patent Act Date of publication of the website August 2, 2021 Website address https://confit. atlas. jp/guide/event/jsce2021/participant_login? lang=ja

The present invention relates to a shoring erection system.

The NATM construction method (New Austrian Tunneling Method) is known as a construction method for constructing tunnels. The NATM construction method is based on the concept of maintaining the stability of the tunnel by effectively utilizing the supporting capacity and strength of the natural ground. This is a construction method for constructing an integrated tunnel structure.

In recent years, from the viewpoint of avoiding manual work at the tunnel face and improving safety and workability, survey targets are attached to the steel shoring held by the boom of the erector device, and surveying equipment such as a total station is used for surveying. There has also been proposed a shoring erection system that erects a steel shoring while obtaining the position of the steel shoring in real time by surveying a target (see, for example, Patent Documents 1 and 2).

JP 2018-178455 A JP 2020-26695 A

However, the method of controlling the boom that grips the steel shoring based on the survey result of the survey target attached to the steel shoring can accurately guide the steel shoring to the target position. In some cases, it took time to erect the shoring.

The present invention has been made in view of the above problems, and its object is to provide a shoring erection system for erecting a steel shoring using an erector device. To provide a technique capable of improving both accuracy and speed in erecting as compared with the prior art.

The present invention uses an erector device having a boom having a gripping portion capable of gripping a steel shoring on the distal end side and a joint portion capable of performing a predetermined driving operation by the operation of an attached driving mechanism. A shoring erection system for erecting a steel shoring, comprising: a control device for controlling a drive mechanism in the joint; a boom sensor for detecting a control amount of the drive mechanism in the joint; The fuselage-side surveying target attached to the fuselage of the apparatus, the steel shoring gripped by the gripping portion or the shoring-side surveying target attached to the gripping portion, the fuselage-side surveying target, and the a surveying device for acquiring three-dimensional coordinates of a target for surveying on the side of the shoring, wherein the control device controls at least the data for surveying on the fuselage side acquired from the surveying device when erecting the steel shoring. Primary motion control is performed to control the boom so as to guide the steel shoring to a first target position based on the three-dimensional coordinates of the target and the detection result of the boom sensor, and after the primary motion control, at least the secondary motion control for controlling the boom so as to guide the steel shoring from the first target position to the second target position based on the three-dimensional coordinates of the shoring-side survey target acquired from the surveying device; conduct.

Here, the control device may perform boom deflection correction control for controlling the boom so as to offset the deflection amount of the boom during the primary operation control.

Further, the control device may acquire an extension/retraction amount of the boom during primary operation control based on a detection result of the boom sensor, and perform the boom deflection correction control according to the extension/retraction amount of the boom.

Further, the control device may acquire the elevation angle of the boom during primary operation control based on the detection result of the boom sensor, and perform the boom deflection correction control according to the elevation angle of the boom.

In the boom deflection correction control, the control device calculates first target position corrected coordinates by correcting the coordinates of the first target position in a direction to offset the deflection amount of the boom, and calculates the first target position corrected coordinates. The boom may be controlled based on.

In addition, the shoring-side surveying target includes a motion capture marker installed on the steel shoring, and the surveying device is attached to the fuselage of the erector device and moves to photograph the motion capture marker. A capture camera may be included, and the control device may acquire the three-dimensional coordinates of the motion capture marker based on a photographed image acquired by photographing the motion capture marker with the motion capture camera.

According to the present invention, in a shoring erection system that erects a steel shoring using an erector device, a technique that can improve both accuracy and speed when erecting a steel shoring compared to the conventional technology. can provide

FIG. 1 is a side view of a tunnel support according to Embodiment 1. FIG. FIG. 2 is a schematic diagram showing a connection structure for connecting the left steel shoring and the right steel shoring according to the first embodiment. 3 is a front view of a first top joint plate according to Embodiment 1. FIG. 4 is a rear view of the first top joint plate according to Embodiment 1. FIG. 5 is a side view of the vicinity of the crown of the first main body of the left steel shoring according to Embodiment 1. FIG. 6 is a front view of a second top joint plate according to Embodiment 1. FIG. 7 is a rear view of the second top joint plate according to Embodiment 1. FIG. 8 is a side view of the vicinity of the top end portion of the second main body portion of the right steel shoring according to Embodiment 1. FIG. FIG. 9 is a diagram showing a state in which the female connecting portion and the male connecting portion according to the first embodiment are connected. 10A and 10B are diagrams for explaining the tunnel support structure according to the first embodiment. FIG. 11 is a top view of the working vehicle according to the first embodiment. FIG. 12 is a side view of the working vehicle according to the first embodiment. FIG. FIG. 13 is a schematic configuration diagram of the erection system for tunnel shoring according to the first embodiment. 14 is a diagram illustrating an example of a target according to the first embodiment; FIG. 15 is a side view of the boom according to Embodiment 1. FIG. 16 is a top view of the boom according to Embodiment 1. FIG. 17 is a front view of a gripper attached to the tip side of the boom according to the first embodiment; FIG. 18A and 18B are diagrams for explaining the first to sixth boom sensors according to the first embodiment. FIG. 19A and 19B are diagrams for explaining a tunnel construction method according to the first embodiment. FIG. 20 is a diagram for explaining the body reference point and the body coordinate system of the body according to the first embodiment. 21 is a timing chart of primary motion control and secondary motion control for the boom according to Embodiment 1. FIG. FIG. 22 is a diagram explaining a guide member in the first top joint plate. FIG. 23 is a diagram illustrating another mode of the guide member in the first top joint plate. FIG. 24 is a diagram illustrating the relationship between the amount of expansion and contraction of the boom body and the amount of deflection of the boom. FIG. 25 is a diagram illustrating the relationship between the amount of expansion and contraction of the boom body and the amount of deflection correction of the boom. FIG. 26 is a diagram showing the relationship between the amount of expansion and contraction of the boom body and the amount of deflection of the boom when the elevation angle of the boom body BM is changed to 0°, 15°, and 30°. FIG. 27 is a schematic configuration diagram of a erection system for tunnel shoring according to Embodiment 2. FIG. FIG. 28 is a diagram illustrating a motion capture camera according to Embodiment 2. FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a method for constructing a tunnel by applying the shoring erection system according to the present invention to the NATM construction method will be described.

<Embodiment 1>
FIG. 1 is a side view of a tunnel support 10 according to Embodiment 1. FIG. The tunnel shoring 10 is an arch-shaped steel shoring erected along the tunnel wall immediately after excavation in order to prevent the collapse of the ground exposed during tunnel excavation, and is spaced at regular intervals along the tunnel axis direction. installed for each The tunnel support 10 in this embodiment is made of H-shaped steel having an H-shaped cross section. More specifically, the tunnel shoring 10 is formed in an arch shape by integrally connecting the crowns (upper ends) of a pair of arc-shaped steel shorings 10L and 10R. Hereinafter, the steel shoring 10L will be referred to as the "left steel shoring" and the steel shoring 10R will be referred to as the "right steel shoring".

The left steel shoring 10L has a first body portion 111, a first top joint plate 121, and a first bottom plate 131. As shown in FIG. The first main body portion 111 is an H-section steel composed of a web 111a, a pair of ground-side flanges 111b perpendicular to the web 111a, and a hollow-side flange 111c. A first top joint plate 121 is welded to one end of the first body portion 111, and a first bottom plate 131 is welded to the other end. The first top joint plate 121 and the first bottom plate 131 are square steel flat plates, and extend in a direction perpendicular to the H-shaped cross section of the first body portion 111 . The right steel shoring 10R also has a second body portion 112, a second top joint plate 122, and a second bottom plate 132 in the same manner. The second body portion 112 is an H-section steel composed of a web 112a, a pair of ground-side flanges 112b perpendicular to the web 112a, and a hollow-side flange 112c. The first main body portion 111 of the left steel shoring 10L and the second main body 112 of the right steel shoring 10R have symmetrical arc-shaped longitudinal sides. A second top joint plate 122 is welded to one end of the second body portion 112, and a second bottom plate 132 is welded to the other end. The second top joint plate 122 and the second bottom plate 132 are rectangular steel flat plates and extend in a direction orthogonal to the H-shaped cross section of the second main body portion 112 . In this embodiment, the first top joint plate 121 and the second top joint plate 122 have a congruent square plane. As shown in FIG. 1, the left steel shoring 10L and the right steel shoring 10R are connected with the first crown joint plate 121 and the second crown joint plate 122 facing each other.

FIG. 2 is a schematic diagram showing a connecting structure 30 connecting the left steel shoring 10L and the right steel shoring 10R according to the first embodiment. The connection structure 30 includes a first top joint plate 121 of the left steel shoring 10L, a second top joint plate 122 of the right steel shoring 10R, and a female joint recessed in the first top joint plate 121. 40, a male connecting portion 50 projecting from the second top joint plate 122, and the like. FIG. 2 shows the state before the first crown joint plate 121 of the left steel shoring 10L and the second crown joint plate 122 of the right steel shoring 10R are connected via the connecting structure 30, that is, the second The first top joint plate 121 and the second top joint plate 122 are shown separated from each other. In addition, in FIG. 2, illustration of the first main body portion 111 connected to the first top joint plate 121 and the second main body portion 112 connected to the second top joint plate 122 is omitted for convenience.

3 is a front view of the first top joint plate 121 according to Embodiment 1. FIG. 4 is a rear view of the first top joint plate 121 according to Embodiment 1. FIG. FIG. 5 is a side view of the vicinity of the top end portion of the first main body portion 111 of the left steel shoring 10L according to Embodiment 1. FIG. Here, reference numeral 121a denotes the outer surface of the first top joint plate 121, and reference numeral 121b denotes the inner surface of the first crown joint plate 12L. 121c is the upper edge of the first top joint plate 121, 121d is the lower edge of the first top joint plate 121, 121e is the first side edge of the first top joint plate 121, and 121f is the first top joint plate. This is the second side edge of the end joint plate 121 . Here, the lower edge 121d of the first top joint plate 121 faces the inner space side of the tunnel T when the left steel shoring 10L and the right steel shoring 10R are connected, and the upper edge 121c It faces the opposite side, that is, the natural ground 7 side. In addition, the second side edge 121f of the first top joint plate 121 faces the face 8 side of the tunnel T when the left steel shoring 10L and the right steel shoring 10R are connected. 121e faces the opposite side, that is, the work vehicle 200 (erector device 100) side.

In FIG. 4, the end shape (H shape) of the first main body portion 111 connected to the first top joint plate 121 is indicated by a dashed line. 8A and 8B show the up-down direction (height direction) and width direction of the first top joint plate 121. FIG. The vertical direction of the first top joint plate 121 is parallel to the extending direction of the first side edge 121e and the second side edge 121f, and the position where the first body portion 111 is connected to the first top joint plate 121. is parallel to the stretching direction of the web 111a in . In addition, the width direction of the first top joint plate 121 is parallel to the extending direction of the upper edge 121c and the lower edge 121d, and the ground side at the position where the first main body part 111 is connected to the first top joint plate 121 It is parallel to the extending direction of the flange 111b and the hollow-side flange 111c. As shown in FIG. 5 , a notch portion 1110 is provided at the front end portion of the web 111 a of the first body portion 111 where the web 111 a is connected to the first top joint plate 121 . The notch 1110 is provided in the vertical center of the web 111a. The cutout portion 1110 is a cutout opening extending through the web 111a in the thickness direction, provided to suppress interference with the casing 41 of the female coupling portion 40 shown in FIG.

6 is a front view of the second top joint plate 122 according to Embodiment 1. FIG. 7 is a rear view of the second top joint plate 122 according to Embodiment 1. FIG. FIG. 8 is a side view of the vicinity of the top end portion of the second body portion 112 of the right steel shoring 10R according to Embodiment 1. FIG. Here, reference numeral 122a denotes the outer surface of the second top joint plate 122, and reference numeral 122b denotes the inner surface of the second crown joint plate 122. As shown in FIG. Further, reference numeral 122c is the upper edge of the second top joint plate 122, reference numeral 122d is the lower edge of the second crown joint plate 122, reference numeral 122e is the first side edge of the second crown joint plate 122, reference numeral 122f is the second 2 This is the second side edge of the top joint plate 122 . Here, the lower edge 122d of the second top joint plate 122 faces the inner space side of the tunnel T when the left steel shoring 10L and the right steel shoring 10R are connected,
The upper edge 122c faces the opposite side, that is, the natural ground 7 side. In addition, the second side edge 122f of the second crown joint plate 122 faces the face 8 side of the tunnel T when the left steel shoring 10L and the right steel shoring 10R are connected. 122e faces the opposite side, that is, the work vehicle 200 (erector device 100) side.

In FIG. 7, the shape of the end portion of the second body portion 112 connected to the second top joint plate 122 is indicated by broken lines. 6 and 7 show the up-down direction and width direction of the second top joint plate 122. As shown in FIG.

As shown in FIGS. 3 and 4, the first top joint plate 121 has a substantially square planar shape. Moreover, as shown in FIGS. 6 and 7, the second top joint plate 122 also has a substantially square planar shape like the first top joint plate 121. As shown in FIGS. The vertical dimensions of the first top joint plate 121 and the second top joint plate 122 are equal to each other, and the width dimensions of the first top joint plate 121 and the second top joint plate 122 are also equal to each other. In other words, the first top joint plate 121 and the second top joint plate 122 have square planar shapes congruent with each other. The dimensions of the second side edges 121f and 122f are equal to each other.

A single female coupling portion 40 is recessed at the center position of the first top joint plate 121 in the plane. The plane center position of the first top joint plate 121 means the center position of the first top joint plate 121 in the vertical direction and the center position in the width direction. In addition, a single male connecting portion 50 is protruded at the central position of the second top joint plate 122 in the plane. The plane center position of the second top joint plate 122 means the center position of the second top joint plate 122 in the vertical direction and the center position in the width direction. In this embodiment, the connection structure 30 that connects the left steel shoring 10L and the right steel shoring 10R includes a female joint 40 centrally arranged on the first crown joint plate 121 and a second crown joint plate 121. It comprises a male connector 50 centrally located on plate 122 .

First, the male coupling portion 50 projecting from the second top joint plate 122 will be described. An opening hole 1222, which is a through hole, is drilled at the center position of the second top joint plate 122, that is, at the position where the male connecting part 50 is provided. The male connecting portion 50 also has a rod-shaped male locking member 51 . The male locking member 51 is a shaft member having a slightly smaller diameter than the opening hole 1222 of the second top end joint plate 122, and has a male screw 51a engraved on its base end. A male screw 51c is formed on the outer circumference of the male locking member 51 over a predetermined range. A tapered surface 51e is formed on the distal end portion 51d of the male locking member 51 so that the diameter of the tapered surface 51e decreases toward the distal end. The male screw 51c of the male locking member 51 is a plurality of circumferential male side locking grooves arranged side by side on the outer circumference of the male locking member 51 . A tapered surface 51e is formed on the distal end portion 51d of the male locking member 51 so that the diameter of the tapered surface 51e decreases toward the distal end.

Here, a nut 52 is fixed to the inner surface 122b of the second top joint plate 122 by welding wp or the like at the position where the opening hole 1222 is drilled in the second top joint plate 122 . The base end side of the male locking member 51 is inserted through the opening hole 1222 from the outer surface 122a side of the second top end joint plate 122, and the male locking member 51 is screwed into the nut 52 with the male screw 51a, as shown in FIG. It can be attached to the second top joint plate 122 in a state of protruding from the outer surface 122a. As a result, the male connecting portion 50 is projected from the second top joint plate 122 so that the central axis of the male locking member 51 is aligned with the central position of the second top joint plate 122 . In addition, as shown in FIG. 8, a notch portion 1120 is provided at the connection end of the web 112a of the second body portion 112 of the right steel shoring 10R, which is connected to the second crown joint plate 122. The nut 52 for screwing the male locking member 51 in the male connecting portion 50 and the web 112a are designed not to interfere with each other. The notch 1120 is provided to prevent the nut 52 and the base end side of the male locking member 51 screwed to the nut 52 from interfering with the web 112a. It is a notch opening that 6 to 8 indicates the center axis of the male locking member 51 in the male connecting portion 50 projecting from the second top joint plate 122. As shown in FIGS. The central axis CL2 passes through the center position of the second top joint plate 122 and extends parallel to the normal direction of the second top joint plate 122 .

Next, the female coupling portion 40 recessed in the first top joint plate 121 will be described. An opening hole 1212, which is a through hole, is drilled at the central position of the first top end joint plate 121, that is, at the position where the female coupling portion 40 is provided. A metal cylindrical casing 41 is fixed to the inner surface 121b of the first top joint plate 121 by welding wp or the like at the position where the opening hole 1212 is drilled in the first top joint plate 121 . Incidentally, since the casing 41 is arranged in the notch 1110 (see FIG. 5) provided at the connection end of the web 111a with the first top joint plate 121, interference with the web 111a is suppressed. ing. In addition, as shown in FIG. 2, at the edge of the opening hole 1212 formed in the first top joint plate 121, there is a groove extending from the inner surface 121b side toward the outer surface 121a side in the thickness direction of the first top joint plate 121. A tapered surface 1215 whose diameter gradually increases is formed.

The casing 41 has its axial center positioned substantially at the center of the opening 1212 . A storage chamber 42 is formed in the casing 41 . A tapered hole 43 having a tapered surface 43a whose inner diameter gradually decreases from the rear end side to the front end side is formed in the front part (front part) of the storage chamber 42 . A spring storage portion 42 a is formed in the intermediate portion of the storage chamber 42 , and a female screw 45 is engraved on the inner periphery of the rear portion of the storage chamber 42 . An insertion opening 48 is formed at the tip of the tapered hole 43 . The insertion port 48 located at the front end of the casing 41 has substantially the same diameter as the opening hole 1212 formed in the first top joint plate 121 and communicates with the opening hole 1212 . Further, the insertion port 48 is arranged at a position overlapping the opening hole 1212 while the casing 41 is fixed to the first top joint plate 121 .

A split female locking member 46 is arranged in the tapered hole 43 so as to be slidable in the axial direction. In this embodiment, a wedge-shaped female locking member 46 divided into three parts in the circumferential direction is disposed so as to be slidable in the axial (back and forth) direction of the casing 41 . Here, the outer surface of the female locking member 46 is formed as a tapered surface 46 a that can slide along the tapered surface 43 a of the tapered hole 43 . The tapered surface 46a of the female locking member 46 has an outer diameter that gradually increases from the tip side toward the rear. Furthermore, a female screw 46b is formed on the inner surface of each female locking member 46. As shown in FIG. The female screw 46b is a female-side engaging groove arranged in parallel on the inner surface of each female-type engaging member 46 in the circumferential direction. The female thread 46b is formed in an arc about the axial center of the casing 41 and is engraved in a direction along the axial center. As described above, a plurality of female locking members 46 form a female screw hole, and the tapered surface 46a of each female locking member 46 recedes along the tapered surface 43a of the tapered hole 43, thereby The diameter of the hole is expanded, and by moving forward (forward), the diameter of the female threaded hole is reduced. A female thread 46b formed on the inner surface of each female locking member 46 can be meshed with a male thread 51c formed on the outer periphery of the male locking member 51 on the distal end side.

Further, in the spring storage portion 42a of the storage chamber 42, a pressing spring 44, which is a pressing member that presses (elasticly biases) the female locking member 46 forward (frontward), is installed behind each female locking member 46. It is housed in a compressed state between a spring receiver 47 provided at the end and a cover plate 49, and the pressing force of the pressing spring 44 always presses each female locking member 46 forward. The cover plate 49 is screwed onto a female screw 45 formed on the inner peripheral side of the rear portion of the storage chamber 42, so that the pressure spring 44 can be held in a compressed state. A hexagonal hole 49a is provided on the outer surface of the lid plate 49, and the lid plate 49 can be detached from the casing 41 with a hexagonal wrench. 3 to 5 indicates the central axis of the casing 41 (receiving chamber 42) in the female coupling portion 40 recessed in the first top joint plate 121. As shown in FIG. The central axis CL1 passes through the center position of the first top joint plate 121 and extends parallel to the normal direction of the first top joint plate 121 .

When connecting the left steel shoring 10L and the right steel shoring 10R using the connection structure 30, as shown in FIG. The male locking member 51 of the male connecting portion 50 is inserted into the opening hole 1212 of the first crown joint plate 121 from the state in which the second crown joint plate 122 of the shoring 10R is approached and opposed (opposed). The distance between the first top joint plate 121 and the second top joint plate 122 is gradually narrowed.

Here, the outer diameter of the male locking member 51 is slightly smaller than the opening hole 1212 of the first top joint plate 121 and the insertion port 48 of the female connecting portion 40 (casing 41), and The diameter is set slightly larger than the diameter of the female screw hole formed by each female locking member 46 when the locking member 46 is arranged at the most advanced position of the tapered hole 43 (tapered surface 43a). . When the male locking member 51 protruding from the second top joint plate 122 enters through the opening 1212 of the first top joint plate 121 and the insertion opening 48 of the female connecting portion 40, the pressure spring 44 presses. The front end 51d of the male locking member 51 comes into contact with the front end face 46c of each female locking member 46 positioned at the most advanced position of the tapered hole 43 (tapered surface 43a) at the front end by pressure. Then, the male locking member 51 resists the pressing force of the pressing spring 44, and pushes each female locking member 46 along the tapered surface 43a toward the rear in the axial direction of the female coupling portion 40 (casing 41). The male locking member 51 is inserted into the storage chamber 42 while enlarging the diameter of the female screw hole formed by the female thread 46b of the tapered surface 46a of each female locking member 46 by retracting it.

Then, the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 come into surface contact, and the male locking member into the storage chamber 42 in the female joint 40 When the insertion of the male locking member 51 into the storage chamber 42 is stopped by the completion of the insertion of the male locking member 51 , each female locking member 46 is pushed forward by the pressing force of the pressing spring 44 . ), the diameter of the female screw hole formed by the tapered surface 46a of each female locking member 46 is reduced. As a result, as shown in FIG. 51c (male locking groove) mesh with each other. As a result, as shown in FIG. 1, the outer surface 121a of the first crown joint plate 121 and the outer surface 122a of the second crown joint plate 122 are in surface contact with each other. 10R are integrally connected. That is, the connecting structure 30 fastens the first top joint plate 121 and the second top joint plate 122 with one touch.

Here, as shown in FIG. 9, in a state where the female thread 46b of the female coupling portion 40 and the male thread 51c of the male coupling portion 50 (male locking member 51) are engaged, the first top end joint plate When an external force acts in the direction of separating 121 and the second top end joint plate 122 , a pullout force acts in a direction of pulling out the male locking member 51 from the storage chamber 42 in the female coupling portion 40 . This pull-out force is transmitted to each female locking member 46 via the male thread 51c and the female thread 46b that mesh with each other. By the way, the outer diameter of the tapered surface 46a of each female locking member 46 is gradually reduced from the rear side to the front side. Therefore, even if the pullout force acts on each female locking member 46 , displacement of each female locking member 46 toward the front of the tapered hole 43 is restricted. That is, according to the connection structure 30 of the present embodiment, even if an external force acts in a direction to pull out the male locking member 51 from the storage chamber 42 of the female connection portion 40, the connection state is maintained against the external force. can be maintained. In addition, the state in which the male locking member 51 of the male connecting portion 50 is locked to the female connecting portion 40, that is, the female screw 46b of each female locking member 46 of the female connecting portion 40 and the male locking member 46 In the state where the male threads 51c of the member 51 are engaged with each other, the withdrawal of the male locking member 51 from the casing 41 of the female connecting portion 40 is restricted as described above. Rotation of the male locking member 51 about the central axis CL2 of the member 51 is allowed.

According to the connecting structure 30 of the steel shoring in this embodiment, the male connecting portion 50 (male locking member 51) is inserted into the insertion opening 48 of the female connecting portion 40 in the axial direction. The male connecting portion 50 is connected to the mold connecting portion 40 with one touch, and the left steel shoring 10L and the right steel shoring 10R can be integrally fastened. In other words, according to the steel shoring connection structure 30 of the present embodiment, workers are placed on the work scaffolding assembled near the tunnel wall or on the man cage of the erector device, etc., to reach the vicinity of the top of the tunnel, as in the conventional art. There is no need to move personnel and perform connection work such as bolting the joint plates located at the tops of a pair of steel shorings. Therefore, according to the steel shoring connection structure 30 of the present embodiment, the left steel shoring 10L and the right steel shoring 10R can be connected more easily and in a shorter time than in the conventional art. can. Further, according to the steel shoring connection structure 30 of the present embodiment, by operating the hands 18L and 18R attached to the ends of the pair of booms 17L and 17R in the erector device 100, the left steel shoring 10L and the right side steel shoring are operated. Since the steel shoring 10R can be connected, manual work at the face of the tunnel can be avoided, and safety and workability can be improved.

The connection structure 30 of the steel shoring in this embodiment includes a female connection part 40 singly arranged on the first top joint plate 121 and a male connection part singly arranged on the second top joint plate 122. Since the one-piece connection structure that connects the portion 50 is adopted, the first top joint can be easily connected by simply aligning the central axis CL1 of the casing 41 (storage chamber 42) and the central axis CL2 of the male locking member 51. The plate 121 and the second top joint plate 122 are twisted in a plane (the outer edges of the first top joint plate 121 and the second top joint plate 122 do not overlap and are displaced). However, by inserting the male locking member 51 into the casing 41 (storage chamber 42), the left steel shoring 10L and the right steel shoring 10R can be connected more easily. However, in the steel shoring connection structure 30, a plurality of female joints 40 are arranged on the first top joint plate 121, and the number of male joints corresponding to the female joints 40 is arranged on the second crown joint plate 122. A structure in which the connecting portion 50 is arranged may be adopted.

Further, even after the left steel shoring 10L and the right steel shoring 10R are connected, the male locking member 51 is allowed to rotate about the central axis CL2 with respect to the casing 41. Position adjustment can be performed so that the top joint plate 121 and the second top joint plate 122 are in surface contact over the entire surface. As a result, in a state where the female connecting portion 40 of the first top joint plate 121 and the male locking member 51 of the second top joint plate 122 are connected, the upper edge 121c of the first top joint plate 121, Align so that the lower edge 121d, the first side edge 121e, and the second side edge 121f overlap the upper edge 122c, the lower edge 122d, the first side edge 122e, and the second side edge 122f of the second top joint plate 122, respectively. can be easily done.

In addition, in this embodiment, a single female connecting portion 40 is recessed at the central position of the first top joint plate 121, and a single male connecting portion is provided at the central position of the second crown joint plate 122. 50 was made to protrude. According to this, since the center positions of the first crown joint plate 121 and the second crown joint plate 122 can be connected, the left steel shoring 10L and the right steel shoring 10R are integrally connected. The tunnel support 10 thus obtained can stably support loads in various load directions. However, in the steel shoring connection structure 30 of the present embodiment, the female connection portion 40 may be eccentrically arranged from the central position of the first top joint plate 121 . Similarly, the male coupling portion 50 may be eccentrically arranged at a position eccentric from the central position of the second top joint plate 122 .

FIG. 10 is a diagram illustrating the tunnel support structure 1 according to Embodiment 1. FIG. Reference numeral 3 in FIG. 10 is the primary shotcrete. Moreover, the code|symbol 6 is a secondary shotcrete. 10 shows the right side steel support 10R of the tunnel support 10. As shown in FIG. In the tunnel construction method of this embodiment, after the natural ground 7 is exposed on the side surface of the tunnel T by excavating the face 8, the primary concrete 3 is sprayed onto the natural ground 7. As shown in FIG. After that, an arch-shaped tunnel support 10 is erected on the inner hollow side of the primary shotcrete 3 . The tunnel supports 10 are installed at predetermined intervals (for example, about 1.0 m to 1.5 m) in the axial direction of the tunnel T. As shown in FIG.

FIG. 11 is a top view of the work vehicle 200 according to Embodiment 1. FIG. FIG. 12 is a side view of the work vehicle 200 according to Embodiment 1. FIG. The work vehicle 200 is equipped with an erector device 100 and a spraying device 600 for erecting the tunnel shoring 10 . The erector device 100 includes a body 100A mounted on a work vehicle 200 and a pair of booms 17L and 17R attached to the body 100A. A pair of booms 17L and 17R are attached so as to be able to move relative to the airframe 100A. That is, each of the booms 17L and 17R is provided with various drive mechanisms, and can be expanded and contracted, tilted, and swung by the operation of the drive mechanisms. A pair of grasping portions 18L and 18R having the same configuration is attached to the tip of each boom 17L and 17R. The pair of grips 18L, 18R can be tilted, swung, and rotated by the operation of a drive mechanism attached to the booms 17L, 17R. The work 10L and the right steel shoring 10R can be detachably clamped and held (held). Although the details will be described later, by operating the drive mechanism of the pair of booms 17L and 17R, relative driving such as the above-described predetermined expansion/contraction operation, tilting operation, swinging operation, rotating operation, etc. is possible. These parts are called “joints”.

Hereinafter, the boom indicated by reference numeral 17L will be referred to as the "left boom", and the boom indicated by reference numeral 17R will be referred to as the "right boom". Further, the grip portion indicated by reference numeral 18L is called the "left grip portion", and the grip portion indicated by reference numeral 18R is called the "right grip portion". When the left boom 17L and the right boom 17R are not distinguished, they may simply be collectively referred to as the "boom 17". Further, when the left gripping portion 18L and the right gripping portion 18R are not distinguished from each other, they may simply be collectively referred to as the “gripping portion 18”. The erector device 100 can detachably grip the left steel shoring 10L in the left gripping portion 18L and detachably grip the right steel shoring 10R in the right gripping portion 18R. In this embodiment, the left steel shoring 10L and the right steel shoring 10R are a pair of shoring members obtained by dividing the arch-shaped tunnel shoring 10 into two, and after being guided to the vicinity of the face 8, they are assembled at the face 8 to form an arch-shaped tunnel support 10.

The spraying device 600 is arranged between the left boom 17L and the right boom 17R. A nozzle 603 and the like are provided. The arm 601 is capable of telescopic motion, tilting motion, and the like. In addition, the spray robot 602 can tilt and rotate the spray nozzle 603 . In addition, the spraying device 600 includes a concrete pump, a quick setting agent supply device, a compressor, a high pressure water pump, and the like. The spraying robot 602 can discharge the sprayed concrete supplied from the concrete pump from the spraying nozzle 603 .

FIG. 13 is a schematic configuration diagram of the erection system S for the tunnel support 10 according to the first embodiment. In the figure, reference numeral 15 denotes a control device for the erector device 100; reference numeral 300 denotes an automatic tracking type total station which is a laser beam ranging/gonometer (surveying instrument); reference numeral 400 denotes a total station controller for controlling the total station 300; is a total station side antenna that enables wireless transmission and reception with the total station controller 400 .

The control device 15 is, for example, a computer installed in the cockpit of the erector device 100, and includes an input device, a processing device, an output device, and the like. In the configuration example shown in FIG. 13, the control device 15 has a monitor 101 which is a display device, an erector controller 102, an erector-side antenna 103, an operation panel 104, a keyboard 105, a pointing device 106, and the like. The erector controller 102 can include a processor for executing various programs, a storage device (storage unit) for storing various programs and various information required for the operation of the processor, and the like.

The total station 300 is a surveying device that measures (surveys) the three-dimensional position coordinates of the target by irradiating a laser beam to automatically track a target including a prism or the like, and measuring the distance and angle of the target. is installed at a point with known coordinates (point with known coordinates). FIG. 14 is a diagram showing an example of the target 9 according to the first embodiment. The target 9 has a magnet 92 provided on the holder 91 and a prism 93 attached to the tip side of the holder 91 . The holder 91 may have, for example, a substantially cylindrical shape, and the magnet 92 may be embedded on the bottom surface 91A side thereof. In this embodiment, the targets 9 are the fuselage side survey targets 9A to 9C attached to the fuselage 100A of the erector device 100, and the left steel shoring 10L and the right steel It includes shoring-side survey targets 9a-9d attached to shoring 10R (see FIG. 13). The shoring-side surveying targets 9a to 9d are detachably attached to the left steel shoring 10L and the right steel shoring 10R by the magnetic force of the magnet 92. FIG. The mounting positions of the shoring-side survey targets 9a to 9d with respect to the left steel shoring 10L and the right steel shoring 10R are predetermined, and the known positions on the left steel shoring 10L and the right steel shoring 10R. The shoring side surveying targets 9a to 9d are attached. On the other hand, the airframe-side survey targets 9A to 9C do not need to be detachable from the airframe 100A. Even if the prism 93 shown in FIG. good. The prisms 93 of the airframe-side survey targets 9A to 9C are fixed at predetermined known positions on the airframe 100A.

Although details will be described later, when erecting the tunnel shoring 10 (left steel shoring 10L and right steel shoring 10R) using the erector device 100 arranged near the face 8, for example, the erector device 100 The three-dimensional position coordinates of the fuselage side survey targets 9A to 9C and the shoring side survey targets 9a to 9d are acquired by the total station 300 installed in the left steel shoring 10L based on the three-dimensional position coordinates of the acquired targets. and the right side steel shoring 10R are connected and installed. The installation position of the total station 300 is not particularly limited. For example, the total station 300 may be installed on the floor of the tunnel, or a frame may be installed on the ceiling and the total station 300 may be installed on the frame.

The total station controller 400 includes, for example, a portable computer. The total station controller 400 automatically controls various mechanisms of the total station 300 and processes survey data of the total station 300 using software installed in the computer. Furthermore, the total station controller 400 is capable of transmitting and receiving data through wireless communication with the erector controller 102 side, and is also capable of wireless remote control of various mechanisms of the total station 300 according to commands from the erector controller 102 side. .

In the example shown in FIG. 13, fuselage-side surveying targets 9A to 9C are installed at the rear of the fuselage 100A of the erector device 100, respectively. As an example, the fuselage-side survey targets 9A to 9C are fixed at predetermined positions on the left side, the right side, and the center of the rear portion of the fuselage 100A. In addition, the shoring-side surveying targets 9a to 9d are attached to the left steel shoring 10L and the right steel shoring 10R when erecting the shoring, as shown in FIG. In the example shown in FIG. 13, a shoring-side surveying target 9a is attached to a specified position on the upper end of the left steel shoring 10L, and a shoring-side surveying target 9b is attached to a specified position on the lower end. A shoring-side surveying target 9c is attached to a specified position on the upper end of the right steel shoring 10R, and a shoring-side surveying target 9d is attached to a specified position on the lower end. In this embodiment, the target 9 is attached to the hollow side flanges 111c and 112c of the left steel shoring 10L and the right steel shoring 10R. In this embodiment, marks for mounting the surveying targets 9a to 9d on the shoring side are marked in advance with paint or the like on the hollow side flanges 111c and 112c of the left steel shoring 10L and the right steel shoring 10R. there is In addition, each of the shoring-side surveying targets 9a to 9d is attached to the inner hollow side flanges 111c and 112c of the left steel shoring 10L and the right steel shoring 10R, and the distance from the mounting surface to the center of the prism 93 is Height is constant. However, there are no particular restrictions on the locations where the shoring-side surveying targets 9a to 9d are attached and the number of targets.

Next, the detailed structure of the boom 17 in the erector device 100 will be described. 15 is a side view of the boom 17 in the erector device 100 according to Embodiment 1. FIG. 16 is a top view of the boom 17 in the erector device 100 according to Embodiment 1. FIG. FIG. 17 is a front view of the grasping portion 18 attached to the tip side of the boom 17 in the erector device 100 according to the first embodiment. Each joint of the boom 17 will be described with reference to FIGS. 15 to 17. FIG.

Reference numeral 1700 denotes a base frame fixed to a support frame 100B installed on the body 100A of the erector device 100 with bolts or the like. A base frame 1700 of the boom 17 is located at the base end of the boom 17, and the boom 17 is connected to the support frame 100B via the base frame 1700. As shown in FIG. The boom 17 mainly has a base frame 1700, a swing frame 1701, a first boom main body 1702, a second stage boom main body 1703, and a grip portion 18 from the base end side. Also, the first boom body 1702 and the second stage boom body 1703 are collectively referred to as a "boom body BM".

The boom body BM (the first boom body 1702 and the second boom body 1703) is, for example, a telescopic boom, and the second boom body 1703 is axially telescopic with respect to the first boom body 1702. there is However, the boom body BM does not have to be multistage, and even if it is multistage, the number of stages is not particularly limited. Here, as an example, the boom body BM will be described as a two-stage boom including a first boom body 1702 and a second boom body 1703 .

The swivel frame 1701 is connected to the base frame 1700 via a first swivel shaft 1705 at its proximal end. Symbol AX1 is the first turning shaft (central axis) of the first turning shaft portion 1705 . The first turning axis AX1 extends parallel to the height direction of the airframe 100A, and when the airframe 100A is in a horizontal posture, the first turning axis AX1 extends in the vertical direction. The turning frame 1701 can freely turn (rotate) with respect to the base frame 1700 about the first turning axis AX1 as a turning axis. The first turning shaft portion 1705 that enables the turning motion described above corresponds to the "joint portion". In addition, as shown in FIG. 16, between the revolving frame 1701 and the base frame 1700, a first telescoping jack 1706 as a drive mechanism is interposed. One end side of the first telescopic jack 1706 is connected to the base frame 1700 , and the other end side is connected to a portion near the tip of the turning frame 1701 . By extending and contracting the first telescoping jack 1706, the revolving frame 1701 and the boom body BM connected to the revolving frame 1701 can be turned around the first turning axis AX1 with respect to the base frame 1700. FIG. The turning operation referred to here is an operation of changing the azimuth angle of the boom body BM with the body 100A of the erector device 100 as a reference. Turning operation of the boom body BM with the first turning axis AX1 as the turning axis (
Although the range RSb of (hereinafter referred to as "boom turning operation") is not particularly limited, an example thereof is shown in FIG.

Furthermore, the base end side of the first boom main body 1702 is connected to the tip side of the swing frame 1701 via the first tilt shaft portion 1707 . AX2 is the first tilt axis (central axis) of the first tilt axis portion 1707 . The first tilt axis AX2 extends in a direction orthogonal to the first turning axis AX1. The first boom body 1702 can freely tilt (rotate) with respect to the revolving frame 1701 about the first tilt axis AX2 as a revolving axis. The first tilt shaft portion 1707 that enables the above-described tilting motion corresponds to the "joint portion". In addition, as shown in FIG. 15, between the revolving frame 1701 and the first boom body 1702, a second telescoping jack 1708 as a driving mechanism is interposed. One end side of the second telescopic jack 1708 is connected to the tip side of the revolving frame 1701 , and the other end side is connected to an intermediate portion in the extending direction (longitudinal direction) of the first boom body 1702 . By extending and retracting the second telescopic jack 1708, the boom body BM can be tilted about the first tilt axis AX2 with respect to the revolving frame 1701. As shown in FIG. The tilting operation referred to here is an operation for changing the elevation/depression angle (elevation/depression angle) of the boom body BM with the body 100A of the erector device 100 as a reference. Although the range RTb of the tilting operation of the boom body BM with the first tilting axis AX2 as the tilting axis (hereinafter referred to as "boom tilting operation") is not particularly limited, an example thereof is shown in FIG.

The first boom body 1702 has a cylindrical shape capable of accommodating the second boom body 1703, and the second boom body 1703 can be retracted along the axial direction (longitudinal direction) from the inside of the first boom body 1702. It has become. As shown in FIG. 15, between the first boom body 1702 and the second boom body 1703, a third telescoping jack 1709 as a drive mechanism is interposed. One end of the third telescopic jack 1709 is connected to an intermediate portion in the axial direction (longitudinal direction) of the first boom body 1702, and the other end is connected to the tip side of the second boom body 1703 in the axial direction (longitudinal direction). Concatenated. As the third telescoping jack 1709 extends and retracts, the amount of projection of the second boom body 1703 in the axial direction (longitudinal direction) with respect to the first boom body 1702 is changed, and as a result, the boom body BM can be extended and retracted. Hereinafter, the operation for extending and retracting the boom body BM will be referred to as "boom telescopic operation", the operation for extending it will be referred to as "boom extension operation", and the operation for shortening it will be referred to as "boom shortening operation". A connecting portion between the first boom body 1702 and the second boom body 1703 that enables these operations corresponds to the "joint portion".

In addition, a tilt connection piece 1710 and a swivel connection piece 1711 are provided on the tip end side of the second boom body 1703 to support the grip portion 18 . For example, in the example shown in FIG. 15 , the tilt connecting piece 1710 is fixed to the distal end side of the second boom body 1703 , and the distal end side of the tilt connecting piece 1710 and the proximal end side of the turning connecting piece 1711 are connected via the second tilt shaft portion 1712 . are concatenated. A second turning shaft portion 1713 is provided on the distal end side of the turning connection piece 1711 , and the body frame 181 of the grip portion 18 is connected via the second turning shaft portion 1713 .

The grasping portion 18 has a body frame 181 that is substantially L-shaped when viewed from above. The body frame 181 includes a first frame portion 1811 that is rotatably connected via a turning connection piece 1711 and a second turning shaft portion 1713, and a first frame portion 1811 that extends in an orthogonal L shape to the first frame portion 1811. A pair of clamping portions 182 are mounted on the second frame portion 1812 , which includes a second frame portion 1812 connected to the second frame portion 1812 . A pair of clamping portions 183 are spaced apart along the second frame portion 1812 and can cooperate to clamp the right steel shoring 10R or the left steel shoring 10L described above.

In the example shown in FIG. 16, clamp portions 182 are provided near both ends of the second frame portion 1812, respectively.
are placed. In addition, each clamp part 182 includes a first clamp claw 183A and a second clamp claw 183B that are arranged to face each other, and an inner hollow side flange 111c (inner hollow side) of the right steel shoring 10R (left steel shoring 10L). It has a support surface 184 that supports the flange 112c).

The distance between the first clamp claw 183A and the second clamp claw 183B can be changed within a predetermined range by a driving mechanism (not shown). The gripping portion 18 places the inner hollow side flange 111c (inner hollow side flange 112c) on the support surface 184 in a state in which the distance between the first clamp claw 183A and the second clamp claw 183B in each clamp portion 182 is widened, By narrowing the distance between the first clamp claw 183A and the second clamp claw 183B from this state, the hollow-side flange 111c (the hollow-side flange 112c) can be clamped. Further, by widening the distance between the first clamp claw 183A and the second clamp claw 183B from this state, the clamping of the hollow-side flange 111c (the hollow-side flange 112c) can be released.

As described above, since the grasping portion 18 is supported with the boom body BM by interposing the tilt connection piece 1710 and the swivel connection piece 1711, it is relatively Tilt and swivel movements are possible. 15 and 16 is the second tilt axis (central axis) of the second tilt axis portion 1712 . The second tilt axis AX3 extends in a direction orthogonal to the axial direction in which the boom body BM expands and contracts (hereinafter referred to as "boom axial direction"). The swivel connection piece 1711 can freely tilt (rotate) with respect to the tilt connection piece 1710 around the second tilt axis AX3 with the second tilt axis AX3 as a tilt axis.

15 is the second turning shaft (central axis) of the second turning shaft portion 1713. As shown in FIG. The second pivot axis AX4 extends in a direction orthogonal to the boom axis direction of the boom body BM and the second tilt axis AX3. The body frame 181 (first frame portion 1811) in the grip portion 18 can freely swivel (rotate) about the second swivel axis AX4 with respect to the swivel connection piece 1711 with the second swivel axis AX4 as the swivel axis. ing.

In this embodiment, for example, a telescopic jack as a drive mechanism (not shown) is interposed between the second boom body 1703 and the swivel connection piece 1711, and by controlling the extension and contraction of this telescopic jack, the second boom body A turning connecting piece 1711 tilts with respect to a tilting connecting piece 1710 installed at the tip of 1703 . Thereby, the grasping portion 18 can be tilted with respect to the boom body BM (second boom body 1703). The tilting operation of the gripping portion 18 (hereinafter referred to as “gripping portion tilting operation”) is an operation of changing the elevation angle (elevation/depression angle) of the gripping portion 18 relative to the boom body BM. The range RTg of the grip portion tilt operation of the grip portion 18 with the second tilt axis AX3 as the tilt axis is not particularly limited, but an example thereof is shown in FIG. The second tilt shaft portion 1712 that enables the gripping portion tilting operation of the gripping portion 18 described above corresponds to the "joint portion".

In addition, as shown in FIG. 16, between the body frame 181 (first frame portion 1811) and the turning connection piece 1711 in the grip portion 18, a fourth telescopic jack 1714 is interposed as a driving mechanism. By extending and contracting the telescopic jack 1714, the body frame 181 of the grip part 18 can be turned about the second turning axis AX4 with respect to the turning connection piece 1711. As shown in FIG. Thereby, the grasping portion 18 can be turned with respect to the boom body BM (second boom body 1703). The turning motion of the gripping portion 18 (hereinafter referred to as the “gripping portion turning motion”) is an operation of changing the azimuth angle of the gripping portion 18 relative to the boom body BM. The range RSg of the gripping portion turning motion of the gripping portion 18 with the second turning axis AX4 as the turning axis is not particularly limited, but an example thereof is shown in FIG. The second turning shaft portion 1713 that enables the gripping portion turning motion of the gripping portion 18 described above corresponds to the "joint portion".

Furthermore, in the grasping portion 18, a first frame portion 1811 and a second frame portion 1812, which constitute the body frame 181, are connected via a connecting shaft portion 185 so as to be relatively rotatable. Reference numeral AX5 shown in FIG. 17 is the rotation axis (central axis) of the connecting shaft portion 185. A rotation axis AX5 of the connecting shaft portion 185 extends parallel to the axial direction in which the first frame portion 1811 extends. Further, as shown in FIG. 17, between the first frame portion 1811 and the second frame portion 1812 of the main body frame 181 of the grip portion 18, a fifth extensible jack 186 as a driving mechanism is interposed. By extending and contracting the telescopic jack 186, the second frame portion 1812 can be rotated about the rotation axis AX5 with respect to the first frame portion 1811. As shown in FIG. Here, since the rotation axis AX5 is parallel to the axial direction of the first frame portion 1811, by operating the fifth extensible jack 186, the second frame portion 1812 holding the pair of clamp portions 182 is moved to the third position. 1 Rotate within a plane orthogonal to the axial direction of the frame portion 1811 . The gripping portion rotation range RRg of the gripping portion 18 whose rotation axis is the rotation axis AX5 is not particularly limited, but an example thereof is shown in FIG. The connecting shaft portion 185 that enables the gripping portion 18 to rotate corresponds to the "joint portion".

Further, the boom 17 in this embodiment is provided with first to sixth boom sensors S1 to S6 for detecting the control amount of the drive mechanism in each joint described above. FIG. 18 is a diagram for explaining the first boom sensor S1 to sixth boom sensor S6 mounted on the boom 17 according to the first embodiment.

The first boom sensor S1 detects the turning amount of the boom body BM (hereinafter referred to as the "boom body turning amount") by detecting the turning amount of the turning frame 1701 that performs turning motion with respect to the base frame 1700 with the first turning axis AX1 as the turning axis. ) to detect the QBs.

The second boom sensor S2 detects the tilt amount of the first boom body 1702 that tilts relative to the revolving frame 1701 with the first tilt axis AX2 as the tilt axis, thereby detecting the tilt amount of the boom body BM (hereinafter referred to as "boom body QBt (referred to as "tilt amount") is detected.

The third boom sensor S3 detects the amount of projection of the second boom body 1703 in the axial direction (longitudinal direction) with respect to the first boom body 1702, thereby detecting the amount of expansion and contraction of the boom body BM (hereinafter referred to as "boom body expansion and contraction amount"). ) is detected.

The fourth boom sensor S4 detects the tilt amount of the swivel connection piece 1711 that performs a tilt operation with respect to the tilt connection piece 1710 with the second tilt axis AX3 as the tilt axis, thereby detecting the tilt amount of the grasping portion 18 with respect to the boom body BM (hereinafter referred to as "tilt amount"). , “clamp tilt amount”) QGt is detected.

The fifth boom sensor S5 detects the turning amount of the main body frame 181 (first frame portion 1811) that performs a turning motion with respect to the turning connection piece 1711 with the second turning axis AX4 as a turning axis, thereby detecting the grip portion relative to the boom body BM. 18 turning amount (hereinafter referred to as "clamp turning amount") QGs is detected.

The sixth boom sensor S6 detects the rotation amount (hereinafter referred to as "clamp rotation amount") QGr of the second frame portion 1812 that rotates the grip portion 18 with respect to the first frame portion 1811 about the rotation axis AX5. do.

The above-described first boom sensor S1 to sixth boom sensor S6 include appropriate encoders, detect the mechanical movement amount, azimuth, angle, etc. of the mechanical parts that make up the joints, and output the detected information as electrical signals. It may be a sensor that 1st boom sensor S1 to 6th boom sensor S
6 can communicate with the erector controller 102 of the control device 15 by wire or wirelessly. The erector controller 102 of the control device 15 calculates real-time boom turning amount QBs, boom main tilt amount QBt, boom expansion/contraction amount QBe, based on the detection information output from the first boom sensor S1 to sixth boom sensor S6. A clamp tilt amount QGt, a clamp turning amount QGs, and a clamp turning amount QGr can be obtained.

Next, a method for erecting the tunnel support 10 in this embodiment will be described. The NATM construction method consists of (1) blasting or excavating the face 8 by machine → (2) carrying out the muck → (3) spraying the primary shotcrete, erecting the tunnel support, and spraying the secondary shotcrete → (4) A method of extending the tunnel T in the axial direction by repeating the driving of rock bolts as one cycle.

In this embodiment, after the muck carrying-out process is completed, the left steel shoring 10L and the right steel shoring 10R are attached to the gripping portions 18L and 18R of the pair of booms 17LR and 17R of the erector device 100, respectively. tunnel extension direction) (see the postures of the left steel support 10L and the right steel support 10R indicated by chain lines in FIG. run.

In this embodiment, the gripping portions 18 of the pair of booms 17LR and 17R grip predetermined positions of the left steel shoring 10L and the right steel shoring 10R, respectively. Specifically, as shown in the enlarged view of FIG. 19, the positioning portion 11 is attached to the hollow-side flange 111c (112c) of the left steel shoring 10L (right steel shoring 10R). The positioning portion 11 is formed of, for example, an angle member, and has a positioning wall 11A erected from the hollow-side flange 111c (112c) in the normal direction of the flange surface. Further, the positioning portion 11 is detachable from the inner hollow side flange 111c (112c) by bolts or the like. When the gripping portion 18 grips the left steel shoring 10L (right steel shoring 10R), the positioning surface 11B of the positioning wall 11A of the positioning portion 11 abuts against the flat clamp side contact surface 187 of the clamp portion 182. It can be gripped in a state of contact. As a result, the left steel shoring 10L (right steel shoring 10R) can be accurately gripped at a predetermined position by the gripping portion 18, and the gripping portion 18 moves the left steel shoring 10L (right steel shoring). In a state where the shoring 10R) is gripped, the relative positional relationship between the grip portion 18 and the first top joint plate 121 (second top joint plate 122) can always be kept constant.

The form of the positioning part 11 is not particularly limited as long as the holding part 18 can fix the holding position when holding the left steel shoring 10L (right steel shoring 10R). For example, when the positioning portion 11 is gripped by the gripping portion 18 of the hollow-side flange 111c (112c) of the left steel shoring 10L (right steel shoring 10R), the clamp claw 183A of each clamp portion 182 It may be a concave portion or a notch formed at a portion that meshes with (183B).

In the erecting method of the tunnel support structure 10 according to the present embodiment, after the working vehicle 200 is driven to the new section of the tunnel support structure 1 as described above, the left steel support structure 10L and the right steel support structure 10R are installed. facing the face 8 (see the postures of the left steel support 10L and the right steel support 10R indicated by solid lines in FIG. 19). The gripping portion 18R is rotated by 90° around the above-described second rotating shaft portion 1713 (see FIG. 19). At that time, in order to prevent the left steel shoring 10L and the right steel shoring 10R from colliding, either the left boom 17L or the right boom 17R is extended, and then the left gripping portion 18L and the right gripping portion 18R are extended. It is preferable to perform a turning motion of For example, first, after extending the boom body BM of the right boom 17R by a predetermined dimension (for example, about 1000 mm), the right grip portion 18R of the right boom 17R is rotated by 90°, so that the side surface of the right steel shoring 10R is moved to the face 8. (see symbol (1) in FIG. 11). In addition, along with the boom extension operation of the right boom 17R described above, the boom tilt operation of the right boom 17R may be performed to tilt up the boom body BM by a predetermined angle (for example, about 5°). After that, as indicated by reference numeral (2) in FIG. 19, the left side of the left steel shoring 10L may be opposed to the face 8 by rotating the left gripping part 18L of the left boom 17L.

From this state, the work vehicle 200 is arranged near the face 8 (erector arrangement step). Next, using the spraying device 600, the primary concrete 3 is sprayed onto the natural ground 7 exposed in the new section of the tunnel support structure 1, and then the left steel shoring 10L and the right steel shoring The tunnel shoring 10 is erected by connecting the crowns of the manufactured shoring 10R. The erection system S for the tunnel shoring 10 according to the present embodiment can fully automatically erect the left steel shoring 10L and the right steel shoring 10R when erecting the tunnel shoring 10. can. The fully automatic shoring erection control executed by the erector controller 102 of the control device 15 will be described below.

Prior to the fully automatic erection control described below, the erector controller 102 of the control device 15 acquires the shoring design position coordinates (three-dimensional coordinates in the absolute coordinate system) where the tunnel shoring 10 should be erected in the new section. Keep The design erection position may be obtained by accepting an input operation of the worker to an input device such as the keyboard 105 or a tablet terminal. For example, the tablet terminal may communicate with the erector controller 102 of the control device 15 , and data relating to the design erection position entered by the worker into the tablet terminal may be transmitted to the erector controller 102 . The fully automatic shoring erection control is performed by the erector controller 102 of the control device 15 by accepting a request to start the fully automatic shoring erection control via an input device such as a keyboard 105 or a tablet terminal by a worker. may be started.

Fully automatic shoring erection control is broadly divided into primary motion control and secondary motion control. The primary operation control is based on the three-dimensional coordinates of the target for surveying on the aircraft side obtained from at least the total station 300 as a surveying device and the detection results of the first boom sensor S1 to the sixth boom sensor S6 when erecting the tunnel support 10. Based on this, the left boom 17L and the right boom 17R are controlled to guide the left steel shoring 10L and the right steel shoring 10R to the first target positions respectively set. After the primary operation control, the secondary operation control is set to each of the left steel shoring 10L and the right steel shoring 10R based on at least the three-dimensional coordinates of the shoring-side survey target acquired from the total station 300. The left boom 17L and the right boom 17R are controlled to be guided from the first target position to the second target position. The primary motion control described above can be performed independently and in parallel on the left boom 17L and the right boom 17R. The secondary motion control for the left boom 17L is performed after the primary motion control for the left boom 17L is completed. Further, the secondary motion control for the right boom 17R is performed after the completion of the primary motion control for the right boom 17R.

Also, the first target position and the second target position described above are set for the left steel shoring 10L and the right steel shoring 10R, respectively. The first target position and the second target position set for the left steel shoring 10L are called the "first left target position" and the "second left target position", respectively. Also, the first target position and the second target position set for the right steel shoring 10R are called the "right first target position" and the "right second target position", respectively. Here, as the left side second target position and the right side second target position, recesses are provided in the first top joint plate 121 when the left side steel shoring 10L and the right side steel shoring 10R are aligned with these target positions. The female connecting part 40 and the male connecting part 50 protruding from the second top joint plate 122 are connected to form an integral tunnel shoring 10, and the tunnel shoring 10 is properly erected. It is set as a position to be installed in a position.

On the other hand, the first left target position is set, for example, at a position different from the second left target position and relatively close to the second left target position. Similarly, the first right target position is set, for example, at a position different from the second right target position and relatively close to the second right target position. The primary motion control is to control the boom 17 based on the detection results of the first boom sensor S1 to sixth boom sensor S6 that are sequentially detected during the automatic operation of the left steel shoring 10L and the right steel shoring 10R. , the left steel shoring 10L (right steel shoring 10R) can be quickly guided to the left first target position (right first target position). On the other hand, the secondary motion control controls the boom 17 while confirming the position of the left steel shoring 10L (right steel shoring 10R) based on the three-dimensional coordinates of the shoring side survey target. The feature is that the shoring 10L (the right steel shoring 10R) can be accurately guided to the second target position. In other words, the primary motion control emphasizes speed rather than accuracy, and the secondary motion control emphasizes accuracy rather than speed. Accuracy can be balanced in a well-balanced manner.

First, the details of the primary motion control will be described. When the primary operation control is started, the erector controller 102 of the control device 15 wirelessly remotely controls the total station 300 via the total station controller 400, and controls the body side survey targets 9A to 9C attached to the body 100A in the erector device 100. from the total station 300 . The total station 300 is installed at a point with known coordinates. In this way, by irradiating laser light from the total station 300 installed at a point with known coordinates and collimating each of the body-side survey targets 9A to 9C to measure the distance and angle, these three-dimensional position coordinates ( absolute coordinate system). The erector controller 102 obtains the body reference coordinates (absolute coordinate system) Cm and the tilting attitude (pitch, roll, yaw) of the body 100A based on the position information of the body side survey targets 9A to 9C acquired from the total station 300. Here, the body reference coordinates Cm are the three-dimensional coordinates (absolute coordinate system) of the reference point (hereinafter referred to as "body reference point") PB of the body 100A.

FIG. 20 is a diagram for explaining the fuselage reference point PB of the fuselage 100A and the fuselage coordinate system (X, Y, Z) having the fuselage reference point PB as the origin. The fuselage reference point PB is set, for example, as a center point connecting the base ends of the boom bodies BM of the left boom 17L and the right boom 17R. The fuselage coordinate system (X, Y, Z) is a three-dimensional orthogonal coordinate system with the fuselage reference point PB as the origin coordinate, the X axis being the longitudinal direction of the fuselage 100A, and the Y axis being the lateral direction (width direction) of the fuselage 100A. , the Z-axis is parallel to the vertical direction (height direction) of the airframe 100A.

The erector controller 102 of the control device 15 controls the machine body reference coordinates (absolute coordinate system) Cm, the tilting attitude (pitch, roll, yaw) of the machine body 100A, and the previously acquired shoring design position coordinates (absolute coordinate system). Based on, the machine reference coordinates (absolute coordinate system) Cm are converted into coordinates in the machine body coordinate system (X, Y, Z) with the origin coordinates, and the shoring design position coordinates (machine body coordinate system) Ct are calculated. . Furthermore, the erector controller 102, based on the shoring design position coordinates (body coordinate system) Ct, the left side first target position coordinates, right side first target position coordinates, left side second target position coordinates, and Calculate the right second target position coordinates. For each of these target position coordinates (aircraft coordinate system), the relative positional relationship with respect to the shoring erection design position coordinates (aircraft coordinate system) Ct can be determined in advance, and the shoring erection Once the design position coordinates (body coordinate system) Ct are determined, each target position coordinate (body coordinate system) can be calculated.

Then, the erector controller 102 of the control device 15 detects current booms of the left boom 17L and the right boom 17R based on the first boom sensor S1 to sixth boom sensor S6 mounted on the left boom 17L and the right boom 17R, respectively. A main body turning amount QBs, a boom main body tilt amount QBt, a boom main body telescopic amount QBe, a clamp tilt amount QGt, a clamp turning amount QGs, and a clamp turning amount QGr are acquired respectively. Hereinafter, these boom body turning amount QBs, boom body tilt amount QBt, boom body expansion/contraction amount QBe, clamp tilt amount QGt, clamp turning amount QGs, and clamp turning amount QGr may be collectively referred to as "parameter control amount".

The erector controller 102 of the control device 15 sets the first left parameter required control amount, which is the parameter control amount of the left boom 17L required to guide the left steel shoring 10L to the first left target position, to the left boom 17L. It is calculated based on the current parameter control amount and the coordinates of the first left target position (body coordinate system). Similarly, the erector controller 102 sets the first right parameter required control amount, which is the parameter control amount of the right boom 17R required to guide the right steel shoring 10R to the first right target position, to the current value of the right boom 17R. is calculated based on the parameter control amount and the coordinates of the right first target position (body coordinate system). Further, the erector controller 102 controls the drive mechanisms (extension and retraction mechanisms for driving each joint) mounted on each of the left boom 17L and the right boom 17R based on the calculated first left parameter required control amount and first right right parameter required control amount. jack) to drive the left boom 17L (including the left gripping portion 18L) and the right boom 17R (including the right gripping portion 18R), thereby moving the left steel shoring 10L and the right steel shoring 10R to the left side. Guide to the first target position and right first target position.

In the primary operation control, the erector controller 102 of the control device 15 acquires the current parameter control amount for each of the left boom 17L and the right boom 17R at predetermined time intervals, and each time, the first left parameter required control amount and the first right The parameter required control amount may be calculated, and drive control of the left boom 17L and the right boom 17R may be performed based on the calculation result. Then, the left steel shoring 10L and the right steel shoring 10R are guided approximately to the left first target position and the right first target position, respectively, and the first left parameter required control amount and the first right parameter required control amount are specified. The primary motion control for the left boom 17L and the right boom 17R may be ended when the amount becomes smaller than the amount. In addition, the erector controller 102 of the control device 15 causes the output device such as the monitor 101 or the monitor of the tablet terminal to display the first left parameter required control amount and the first right parameter required control amount during the primary operation control in real time. good too.

Further, of course, the primary operation control for the left boom 17L and the right boom 17R can be performed independently, and the respective start timings and end timings do not have to be simultaneous. For example, the primary motion control for the left boom 17L and the primary motion control for the right boom 17R may be started simultaneously, or the primary motion control for one boom may be started with a time lag for the other boom. Also, the end timings of the primary motion control for the left boom 17L and the right boom 17R are normally shifted from each other.

In the primary operation control, the erector controller 102 of the control device 15 controls the boom body turning amount QBs, the boom body tilt amount QBt, the boom body expansion/contraction amount QBe, the clamp tilt amount QGt, the clamp turning amount QGs, and the clamp turning amount QGr. It is not necessary to control all of the three parameters, and by controlling only some of the parameters, the left steel shoring 10L and the right steel shoring 10R can be guided to the left first target position and the right first target position, respectively. may For example, the parameters controlled in the primary operation control may be only the boom body turning amount QBs, the boom body tilt amount QBt, the boom body expansion/contraction amount QBe, and the clamp rotation amount QGr.

Next, details of the secondary motion control will be described. The secondary motion control for the left boom 17L is started at an appropriate timing after the primary motion control for the left boom 17L is completed. Similarly, the secondary motion control for the right boom 17R is started at an appropriate timing after the primary motion control for the right boom 17R is completed. FIG. 21 is a timing chart of primary motion control and secondary motion control for each boom 17 according to the first embodiment. Tr1 shown in FIG. 21 is the start timing of the primary motion control for the right boom 17R, and Tr2 is the end timing of the primary motion control for the right boom 17R. Tr3 is the start timing of the secondary operation control for the right boom 17R, and Tr4 is the end timing of the secondary operation control for the right boom 17R. TI1 is the start timing of the primary motion control for the left boom 17L, and TI2 is the end timing of the primary motion control for the left boom 17L. TI3 is the start timing of the secondary operation control for the left boom 17L, and TI4 is the end timing of the secondary operation control for the left boom 17L.

In the example shown in FIG. 21, the primary motion control for the right boom 17R is started prior to the left boom 17L. Then, in Tr2, the secondary operation control for the right boom 17R is started at the same time as the primary operation control for the right boom 17R ends while the primary operation control for the left boom 17L continues. When the secondary motion control for the right boom 17R is started, first, the erector controller 102 of the control device 15 wirelessly remotely controls the total station 300 via the total station controller 400 to move the shoring attached to the right steel shoring 10R. The dynamic tracking of the side survey targets 9c and 9d is started, and the three-dimensional position coordinates (absolute coordinate system) of the shoring side survey targets 9c and 9d are obtained. During the secondary motion control of the right boom 17R, the total station 300 is arranged so that it can quickly collimate the shoring-side survey targets 9c and 9d of the right steel shoring 10R guided to the right first target position. Its collimation range is pre-programmed.

The erector controller 102 converts the three-dimensional position coordinates (absolute coordinate system) of the shoring-side survey targets 9c and 9d obtained from the total station 300 into the body coordinate system (X, Y, Z) with the body reference point PB as the origin. Convert. Then, based on the three-dimensional position coordinates (body coordinate system) of the shoring-side survey targets 9c and 9d in the body coordinate system (X, Y, Z), the three-dimensional position coordinates ( machine body coordinate system) and the right side second target position coordinates (machine body coordinate system), and the right boom 17R required to guide the right side steel shoring 10R to the right side second target position. A second right parameter required control amount, which is a parameter control amount, is calculated. Then, the erector controller 102 controls the drive mechanism (extendable jack for driving each joint) mounted on the right boom 17R based on the calculated second right parameter required control amount, and controls each parameter (boom body turning amount QBs , boom body tilt amount QBt, boom body expansion/contraction amount QBe, clamp tilt amount QGt, clamp turning amount QGs, clamp turning amount QGr) to guide the right steel shoring 10R to the right second target position. conduct. In the secondary operation control of the right boom 17R, when driving the right boom 17R (including the right gripping portion 18R) based on the second right parameter required control amount, first, the clamp rotation amount QGr is set so as to match the target value. , the remaining boom body turning amount QBs, boom body tilt amount QBt, boom body expansion/contraction amount QBe, clamp tilt amount QGt, and clamp turning amount QGs may be controlled to match their target values.

In the secondary motion control of the right boom 17R, the erector controller 102 calculates the second right parameter required control amount based on the three-dimensional position coordinates of the shoring-side survey targets 9c and 9d every predetermined time. The drive of the right boom 17R may be controlled based on the calculation result. Then, when the second right parameter required control amount becomes smaller than the specified amount to the extent that the position of the right steel shoring 10R is considered to match the right second target position, the secondary operation control for the right boom 17R is performed. You can terminate it.

In the example shown in FIG. 21, the secondary motion control for the left boom 17L is started at the same time as the secondary motion control for the right boom 17R ends. The secondary motion control for the left boom 17L is basically the same as the secondary motion control for the right boom 17R. That is, the erector controller 102 of the control device 15 wirelessly remotely operates the total station 300 to start dynamic tracking of the shoring-side surveying targets 9a and 9b attached to the left steel shoring 10L. Three-dimensional position coordinates (absolute coordinate system) of the targets 9a and 9b are obtained. In addition, during the secondary operation control of the left boom 17L, the total station 300 is arranged so as to quickly collimate the shoring-side survey targets a and 9b of the left steel shoring 10L guided to the first left target position. Its collimation range is pre-programmed.

The erector controller 102 converts the acquired three-dimensional position coordinates (absolute coordinate system) of the surveying targets 9a and 9b on the shoring side into a body coordinate system (X, Y, Z) with the body reference point PB as the origin. Then, based on the three-dimensional position coordinates (body coordinate system) of the shoring-side survey targets 9a and 9b in the body coordinate system (X, Y, Z), the three-dimensional position coordinates ( machine body coordinate system) and the left side second target position coordinates (machine body coordinate system), and the left boom 17L required to guide the left steel shoring 10L to the left side second target position. A second left parameter required control amount, which is a parameter control amount, is calculated. Then, the erector controller 102 controls the drive mechanism (extendable jack for driving each joint) mounted on the left boom 17L based on the calculated second left parameter required control amount, and controls each parameter (boom body turning amount QBs , boom body tilt amount QBt, boom body expansion/contraction amount QBe, clamp tilt amount QGt, clamp turning amount QGs, clamp turning amount QGr) to guide the left steel shoring 10L to the left second target position. conduct. In the secondary operation control of the left boom 17L, when the left boom 17L (including the left gripping portion 18L) is driven based on the second left parameter required control amount, first, the clamp rotation amount QGr is adjusted so as to match the target value. , the remaining boom body turning amount QBs, boom body tilt amount QBt, boom body expansion/contraction amount QBe, clamp tilt amount QGt, and clamp turning amount QGs may be controlled to match their target values.

In the secondary operation control of the left boom 17L, the erector controller 102 calculates the second left parameter required control amount based on the three-dimensional position coordinates of the shoring-side survey targets 9a and 9b at predetermined intervals. The driving of the left boom 17L may be controlled based on the calculation result. Then, when the second left parameter required control amount becomes smaller than the specified amount to the extent that the position of the left steel shoring 10L is considered to match the second left target position, the secondary operation control for the left boom 17L is performed. You can terminate it.

In this example of control, the female joint 40 recessed in the first crown joint plate 121 of the left steel shoring 10L and the second crown joint plate 122 of the right steel shoring 10R are protruded. The second target position on the left side and the second target position on the right side are defined as positions at which the tunnel shoring 10 is installed at the shoring design position coordinates. 2 target positions are set. Therefore, in the course of the above-described secondary motion control of the left boom 17L, the male locking member 51 projecting from the second crown joint plate 122 of the right steel shoring 10R is moved to the second position of the left steel shoring 10L. 1 is inserted into the insertion port 48 of the female joint 40 provided in the top joint plate 121, and the left steel shoring 10L and the right steel shoring 10R are connected by connecting the male joint 50 and the female joint 40. The crest fastening is made. When the left steel shoring 10L is guided to the left second target position, erection of the tunnel shoring 10 to the shoring design position coordinates is completed.

However, the set positions of the left side second target position and the right side second target position are not limited to the above setting examples. For example, the right second target position is set to the design built-in position of the right steel shoring 10R, and the left second target position is set to the design built-in position of the left steel shoring 10L in the Y-axis direction (body coordinate system ) may be shifted in the minus direction (see FIG. 20) by several tens of millimeters to 150 millimeters. In such a setting example, when the secondary motion control of the right boom 17R and the left boom 17L is completed, the female coupling portion 40 of the first crown joint plate 121 and the second top end are aligned in the XZ plane of the machine body coordinate system. The positions of the joint plate 122 and the male connecting portion 50 (male locking member 51) are aligned, and the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 are in number. They are separated from each other by about 10 mm to 150 mm. From this state, the erector controller 102 may rotate the boom body BM of the left boom 17L rightward. As a result, the crest fastening of the left steel shoring 10L and the right steel shoring 10R is performed, and the tunnel shoring 10 can be erected at the shoring design position coordinates.

Of course, contrary to the above, the left second target position is set to the design built-in position of the left steel shoring 10L, and the right second target position is Y with respect to the design built-in position of the right steel shoring 10R. The coordinates in the axial direction (body coordinate system) may be set at positions shifted in the positive direction (see FIG. 20) by about several 10 mm to 150 mm. In such a setting example, the erector controller 102 may swing the boom body BM of the right boom 17R leftward after completing the secondary motion control of the right boom 17R and the left boom 17L. As a result, the crest fastening of the left steel shoring 10L and the right steel shoring 10R is performed, and the tunnel shoring 10 can be erected at the shoring design position coordinates.

In the above control example, the case where the primary motion control for the right boom 17R is started prior to the left boom 17L has been described as an example. good too. Of course, in the present embodiment, instead of recessing the female connecting part 40 in the first top joint plate 121 of the left steel shoring 10L, the male connecting part 50 is protruded, and the right steel shoring 10R Instead of protruding the male connecting part 50 on the second top joint plate 122, the female connecting part 40 may be recessed.

As described above, the fully automatic shoring erection control in this embodiment includes the primary operation control for each boom 17 and the secondary operation control executed subsequently. According to this, the left steel shoring 10L and the right steel shoring 10R can be rapidly guided to the left first target position and the right first target position by the primary motion control. In other words, the primary motion control can quickly guide the left steel shoring 10L and the right steel shoring 10R to positions relatively close to their design erected positions. By performing the secondary motion control following the primary motion control, the left steel shoring 10L and the right steel shoring 10R can be accurately guided to the left second target position and the right second target position. As a result, even when each boom 17 is controlled fully automatically, the female joint 40 and the male joint 50 can be accurately and reliably connected, and the tunnel shoring 10 can be set to the shoring design position coordinates. can be built in with good accuracy. In other words, both the erection speed and the accuracy of the tunnel support 10 can be improved while simultaneously being achieved.

Further, in the present embodiment, since the left steel shoring 10L (right steel shoring 10R) is provided with the positioning portion 11, when it is gripped by the gripping portion 18, the gripping portion 18 and the first ceiling 18 The relative positional relationship with the end joint plate 121 (second top joint plate 122) can always be kept constant. Therefore, when performing the primary motion control and the secondary motion control of each boom 17, the left side steel shoring 10L (right side steel shoring 10R) can be accurately moved to the left first target position (right first target position) or the left side. It can be guided to the second target position (right second target position).

2, the tip portion 51d of the male locking member 51 is formed with a tapered surface 51e that decreases in diameter toward the tip. Even if the center positions of the insertion opening 48 of the female connecting part 40 and the male locking member 51 are somewhat displaced relative to each other when connecting the work 10R (the female connecting part 40 and the male connecting part 50), By sliding the tapered surface 51e of the male locking member 51 along the edge of the opening hole 1212 of the first top end joint plate 121, the insertion opening 48 in the female coupling portion 40 and the male locking member The male locking member 51 can be guided in a direction in which the amount of misalignment between the centers of the male locking member 51 is reduced. That is, by providing the tapered surface 51e on the tip portion 51d of the male locking member 51, the left steel shoring 10L and the right steel shoring 10R (the female connecting portion 40 and the male connecting portion 50) are connected. To smoothly guide the male locking member 51 to the insertion port 48 of the female connecting part 40 even if the insertion port 48 of the female connecting part 40 and the male locking member 51 are slightly misaligned in plane. can be done. The details of the tapered surface 51e formed on the distal end portion 51d of the male locking member 51 can be changed as appropriate. For example, the tip portion 51d of the male locking member 51 may be formed in a conical shape. In this case, the conical side surface is formed as the tapered surface 51e.

In addition, in this embodiment, since the edge of the opening hole 1212 in the first top joint plate 121 is also formed with a tapered surface 1215, the left steel shoring 10L and the right steel shoring 10R (female type When connecting the connecting portion 40 and the male connecting portion 50), even if the center positions of the insertion opening 48 of the female connecting portion 40 and the male locking member 51 are somewhat displaced relative to each other, the first top end As the male locking member 51 slides along the tapered surface 1215 in the opening hole 1212 of the joint plate 121, the amount of misalignment between the centers of the insertion opening 48 and the male locking member 51 in the female coupling portion 40 is increased. can guide the male locking member 51 in the direction in which the According to this, the male locking member 51 can be smoothly guided to the insertion opening 48 of the female connecting portion 40 .

Further, as shown in FIG. 22, guide members 12A and 12B may be provided on the outer peripheral edge of the first top joint plate 121 in which the female coupling portion 40 is recessed. The guide member 12A is erected at the central portion of the upper edge 121c of the first top joint plate 121. As shown in FIG. The guide member 12B is erected at the central portion of the second side edge 121f of the first top joint plate 121. As shown in FIG. The width dimension of the guide members 12A and 12B is set smaller than the length of each side of the upper edge 121c and the second side edge 121f of the first top joint plate 121. gap is formed. In addition, the projection dimension of the guide members 12A and 12B with respect to the outer surface 121a of the first top joint plate 121 is set to a dimension equal to or greater than the projection length of the male locking member 51 that projects from the outer surface 122a of the second top joint plate 122. is set.

According to the above aspect, when the fully automatic shoring erection control is executed to connect the crowns of the left steel shoring 10L and the right steel shoring 10R, the insertion opening 48 (the second 1 opening hole 1212 of the top joint plate 121) and the position of the male locking member 51 in the male connecting portion 50 in the YZ plane (machine body coordinate system) are easily aligned, the second The upper edge 122c and the second side edge 121f of the top joint plate 122 can be guided by the guide members 12A and 12B. As a result, the male locking member 51 can be smoothly guided to the insertion port 48 (opening hole 1212 of the first top joint plate 121) of the female coupling portion 40 during the fully automatic shoring erection control, and the left side Automatic crown connection of the steel shoring 10L and the right side steel shoring 10R can be realized more easily. Further, according to the above aspect, the lower edge 121d of the first top joint plate 121 and the first side edge 121e that does not face the face 8 (that is, the side that faces the erector device 100) are guide members. It is not covered by 12A, 12B and is open. Therefore, when the left steel shoring 10L and the right steel shoring 10R are fully automatically connected, the state of the connection can be easily visually observed from the operator's seat of the erector device 100. FIG.

Another embodiment of the guide members 12A and 12B described above is shown in FIG. FIG. 23 is a view of the top end side of the left steel shoring 10L viewed from the side of the hollow-side flange 111c. The guide members 12A and 12B include a straight portion SP formed on the base end side and an inclined portion IP formed on the tip end side. The length of protrusion of the straight portion SP from the outer surface 121a of the first top joint plate 121 is set to be equal to or greater than the length of protrusion of the male locking member 51 from the outer surface 122a of the second top joint plate 122. . According to the guide members 12A and 12B of this mode, the positions of the first crown joint plate 121 and the second crown joint plate 122 on the YZ plane (body coordinate system) are shifted during the fully automatic shoring erection control. However, by guiding the upper edge 122c of the second top end joint plate 122 and the second side edge 121f facing the face 8 along the inclined portions IP of the guide members 12A and 12B, the positional deviation can be more preferably corrected. can be resolved to

In this embodiment, when the above-described fully automatic shoring erection control is completed, the secondary shotcrete is sprayed onto the new section and the rock bolts are placed by an appropriate method, thereby forming the new section. The tunnel support structure 1 is completed. The secondary shotcrete is not particularly limited in terms of the procedure and mode of spraying. For example, the secondary shotcrete may be sprayed using the procedures and aspects disclosed in Patent Documents 1 and 2 filed by the present applicant, or other appropriate aspects may be employed. I don't mind.

<Boom deflection correction control>
Next, boom deflection correction control during fully automatic shoring erection control will be described. For example, the boom 17 of the erector device 100 is hydraulically driven. (fixed weight) may cause the boom 17 to flex. The primary operation control included in the fully automatic shoring erection control controls the boom 17 based on the detection result of the boom sensor mounted on the boom 17 without collimating the survey target on the shoring side as described above. . Therefore, if the boom 17 is flexed, it is conceivable that the positional accuracy in guiding the left steel shoring 10L and the right steel shoring 10R to their respective first target positions during the primary motion control will decrease. . Further, the degree of deflection of the boom 17 is affected by the boom body expansion/contraction amount QBe. Therefore, the contents of the boom deflection correction control in consideration of the deflection of the boom 17 will be described below.

As described above, in the primary motion control, the erector controller 102 of the control device 15 controls the current parameters based on the first boom sensor S1 through the sixth boom sensor S6 for each of the left boom 17L and the right boom 17R at predetermined time intervals. The control amount is acquired, and the first left-side parameter required control amount and the first right-side parameter required control amount are calculated each time. At that time, the first left-side parameter required control amount and the first right-side parameter required control amount are calculated based on the current parameter control amount and the first target position coordinates (body coordinate system). In the boom deflection correction control, when calculating the first left parameter required control amount and the first right side parameter required control amount, the Z-axis coordinate of the first target position (body coordinate system) is corrected in the positive direction, and then calculated based on the current parameter control amount and the corrected first target position coordinates (body coordinate system).

FIG. 24 is a diagram illustrating the relationship between the boom body expansion/contraction amount QBe of the boom 17 and the boom deflection amount Qd. FIG. 25 is a diagram illustrating the relationship between the boom body expansion/contraction amount QBe of the boom 17 and the deflection correction amount Qc.

FIG. 24 shows the measurement results of the boom deflection amount Qd corresponding to the boom body expansion/contraction amount QBe when the gripping portion 18 of the boom 17 grips a steel shoring having a weight of 330 kg. The boom deflection amount Qd was measured at the axial center position of the second tilt axis AX3. As shown in FIG. 24, it can be seen that the boom deflection amount Qd increases as the boom body expansion/contraction amount QBe increases.

Therefore, in the boom deflection correction control in this embodiment, as shown in FIG. 25, a deflection correction amount Qc determined according to the boom body expansion/contraction amount QBe is added to the Z-axis coordinate (body coordinate system) of the first target position. cancels the boom deflection amount Qd. Of course, the relationship between the boom body expansion/contraction amount QBe and the boom deflection amount Qd varies depending on the weight (load weight) of the steel shoring gripped by the gripping portion 18 . Therefore, the relationship between the boom body expansion/contraction amount QBe and the deflection correction amount Qc as shown in FIG. Then, the erector controller 102 prepares a control table (hereinafter referred to as a "deflection correction table") storing the relationship between the boom body expansion/contraction amount QBe and the deflection correction amount Qc as shown in FIG. may be stored in advance in the storage device. In this case, for example, prior to the start of the fully automatic shoring erection control, the load weight of the boom 17 (the weight of the steel shoring) is input by the worker via an input device such as the keyboard 105 or a tablet terminal. may be accepted. The erector controller 102 may determine a control table to be used in boom deflection correction control based on input information acquired via an input device. If the weight of the steel shoring used for tunnel construction is not changed, the reception of the input operation via the input device may be omitted.

In the boom deflection correction control, when the erector controller 102 acquires the parameter control amount of the boom 17 at predetermined time intervals, it accesses the deflection correction table stored in the storage device and determines the deflection corresponding to the current boom extension/contraction amount QBe. Read the correction amount Qc. In this manner, the erector controller 102 adds the deflection correction amount Qc read from the deflection correction table to the Z-axis coordinate of the first target position coordinate (body coordinate system) in which deflection correction is not considered. Calculate target position correction coordinates (body coordinate system). The first target position correction coordinates (body coordinate system) are calculated as coordinates whose Z-axis coordinates are higher by the deflection correction amount Qc in the positive direction than the first target position coordinates (body coordinate system) that do not consider deflection correction. be. According to the boom deflection correction control, it is possible to control the boom 17 by canceling the deflection amount of the boom 17 driven during the primary operation control. It is possible to accurately guide the vehicle to the first left target position and the first right target position. Further, by repeatedly performing the boom deflection correction control at predetermined time intervals, appropriate deflection correction can be performed according to the boom body expansion/contraction amount QBe of the boom 17 that changes every moment.

Next, a method for performing boom deflection correction control in more detail will be described. The boom 17 may be affected by a difference in elevation angle of the boom body BM even when the boom body extension/contraction amount QBe is the same. FIG. 26 is a diagram showing the relationship between the boom body expansion/contraction amount QBe and the boom deflection amount Qd when the elevation angle of the boom body BM is changed to 0°, 15°, and 30°. The conditions for measuring the boom deflection amount Qd and the weight of the steel shoring are the same as those described with reference to FIG. As shown in FIG. 26, even under the condition that the boom body extension/contraction amount QBe is equal, the boom deflection amount Qd tends to increase as the elevation angle of the boom body BM decreases. is in the horizontal posture, the boom deflection amount Qd is the largest.

Therefore, the boom deflection correction control may consider the elevation angle of the boom 17 driven during the primary motion control. In this case, the relationship between the boom body expansion/contraction amount QBe, the deflection correction amount Qc, and the elevation angle of the boom body BM is stored in the above-described deflection correction table. The elevation angle of the boom body BM can be obtained based on the boom body tilt amount QBt detected by the second boom sensor S2. The erector controller 102 acquires the parameter control amount of the boom 17 at predetermined time intervals during the boom deflection correction control. Then, the erector controller 102 accesses the deflection correction table stored in the storage device, and corrects the deflection corresponding to the combination of the elevation angle of the boom body BM and the boom body expansion/contraction amount QBe obtained based on the current boom body tilt amount QBt. Get the quantity Qc. Then, the erector controller 102 calculates the first required left parameter control amount and the first required right parameter control amount based on the obtained deflection correction amount Qc. As a result, the deflection of the boom 17 driven during the primary motion control can be offset with higher accuracy, and the left steel shoring 10L and the right steel shoring 10R can be guided to the first left target position and the first right target position. .

Incidentally, in the above embodiment, the shoring-side surveying targets 9a to 9d were attached to the steel shorings 10L, 10R held by the respective gripping portions 18L, 18R. may be That is, at the time of the above-described secondary operation control, one or a plurality of shoring-side survey targets attached to the gripping portions 18L and 18R are collimated by the total station 300, and each steel shoring is measured based on the survey results. The three-dimensional position coordinates of the machines 10L and 10R may be obtained.

In the above-described embodiment, an example was explained in which the total station 300 was used as a surveying device for obtaining the three-dimensional coordinates of the fuselage-side survey target and the shoring-side survey target. Instead of the total station 300, the surveying instrument may use a motion capture camera to obtain the original coordinates.

<Embodiment 2>
FIG. 27 is a schematic configuration diagram of the erection system S for the tunnel support 10 according to the second embodiment. A detailed description is omitted by attaching the same reference numerals to the same configuration as in the first embodiment.

In this embodiment, when erecting the tunnel support 10 , a plurality of support side survey targets 4 for obtaining the three-dimensional position coordinates of the tunnel support 10 are attached to the tunnel support 10 . In the example shown in FIG. 27, shoring-side survey targets 4A to 4C are placed at the top end (upper end), the bottom end, and the intermediate portion between the top end and the bottom end of the left steel shoring 10L. installed. Similarly, shoring-side survey targets 4D to 4F are attached to the top end (top end), bottom end, and intermediate portion between the top end and bottom end of the right steel shoring 10R. . In this specification, the shoring-side surveying targets 4A to 4F may be collectively referred to simply as the shoring-side surveying target 4 in some cases. The shoring-side survey target 4 in this embodiment is a motion capture marker installed at a predetermined fixed point on the steel shoring.

In the left steel shoring 10L and the right steel shoring 10R, the installation positions for installing the respective shoring-side survey targets 4 are predetermined fixed points. A sign is marked. In this embodiment, the shoring-side survey target 4 is installed on the web 111a of the left steel shoring 10L and the web 112a of the right steel shoring 10R.

Here, the top end portion (upper end portion), lower end portion, and intermediate portion of the left steel shoring 10L and the right steel shoring 10R described above refer to regions having a certain degree of spread. Therefore, the shoring-side surveying target 4A (4D) is positioned near the top end of the first main body 111 (second main body 112) of the left steel shoring 10L (right steel shoring 10R). It suffices if it is arranged at a predetermined position. In addition, the shoring-side surveying target 4B (4E) is preliminarily located near the end on the lower end side of the first main body portion 111 (second main body portion 112) of the left steel shoring 10L (right steel shoring 10R). It suffices if it is arranged at a predetermined position. In addition, the shoring-side surveying target 4C (4F) is sandwiched between the top end and the lower end of the first body portion 111 (second body portion 112) of the left steel shoring 10L (right steel shoring 10R). It is only necessary that it is arranged at a predetermined position where the

For the shoring-side survey target 4, a known reflective marker (motion capture marker) used in a general motion capture technique can be appropriately used. The shape of the surveying target 4 for shoring is not particularly limited, and may be, for example, a hemispherical shape, a spherical shape, or a sheet shape.

A plurality of motion capture cameras 5 (surveying devices) are installed at predetermined positions on the front side of the erector device 100 . When performing fully automatic erection control of the tunnel shoring 10, the plurality of motion capture cameras 5 time-sequentially capture the shoring-side survey targets 4 attached to the left steel shoring 10L and the right steel shoring 10R. In the example shown in FIG. 27, the motion capture cameras 5A are installed in the left, right, and central portions of the body 100A of the erector device 100, respectively.
~ 5C is installed. The motion capture camera 5 is installed at a predetermined fixed point on the airframe 100A. In addition, the motion capture cameras 5A to 5C are arranged so as to photograph the shoring-side survey targets 4 attached to the left steel shoring 10L and the right steel shoring 10R from different angles. there is In this specification, the motion capture cameras 5A to 5C may be collectively abbreviated as the motion capture camera 5 in some cases. In this embodiment, the movement of the shoring-side survey target 4 is measured by the principle of triangulation based on the captured image data captured by the three motion capture cameras 5A to 5C, and the shoring-side survey target 4 is measured three-dimensionally. Original location information can be acquired.

As shown in FIG. 28, the motion capture camera 5 includes an imaging element 5a and a light irradiation device 5b for irradiating the shoring-side survey target 4 with a light beam. Reference numeral 5c in FIG. 28 denotes a camera holder attached to the camera installation portion P2 of the erector device 100. As shown in FIG. The motion capture camera 5 is an infrared camera that emits infrared light from a light irradiation device 5b and receives reflected light from the shoring-side survey target 4 with an imaging device 5a. The surface of each of the shoring-side surveying targets 4A to 4F is made of a material that reflects infrared rays irradiated from the light irradiation device 5b. An optical filter corresponding to the spectral characteristics of the light flux emitted from the light irradiation device 5b may be attached to the light incident surface of the imaging device 5a in the motion capture camera 5. FIG. In addition, each motion capture camera 5 has an erector device 100 so that all of the shoring-side survey targets 4A to 4F attached to the left steel shoring 10L and the right steel shoring 10R are included in the photographing range. The direction and angle of view of the camera when installed in the are adjusted. Furthermore, each motion capture camera 5 has a constant height from its installation surface to the center of the imaging device 5a when installed on the erector device 100. FIG.

In addition, the motion capture camera 5 can transmit and receive data by wireless communication with the erector side antenna 103 of the erector device 100, and the photographed image data obtained by photographing the shoring side survey target 4 in time series can be captured in motion. It is transmitted from the capture camera 5 to the erector controller 102 of the control device 15 . The erector controller 102 of the control device 15 functions as an image processing device that performs image processing on captured image data received from the motion capture camera 5, and is attached to the left steel shoring 10L and the right steel shoring 10R. Also, the three-dimensional position coordinates of the surveying targets 4A to 4F on the shoring side are obtained at each time (each frame). The relative positional relationship between each body-side survey target 9A to 9C installed in the erector device 100 and each of the motion capture cameras 5A to 5C is known, and the data regarding these positions are stored in the erector controller of the control device 15. It is stored in advance in the storage device 102 .

Next, the fully automatic erection control according to this embodiment will be described. The primary operation control in the fully automatic erection control is the same as in the first embodiment. In the secondary operation control, the erector controller 102 of the control device 15 remotely operates the motion capture cameras 5A to 5C to control the left steel shoring 10L and the right steel shoring 10L equipped with the shoring survey targets 4A to 4F. The motion capture cameras 5A to 5C are allowed to photograph the manufactured shoring 10R. Each motion capture camera 5A-5C captures the left steel shoring 10L and the right steel shoring 10R simultaneously and chronologically so that all the shoring-side survey targets 4A-4F are included in their respective imaging ranges. to shoot. The images captured by the respective motion capture cameras 5A to 5C are hereinafter referred to as "motion capture captured images". The erector controller 102 emits infrared rays from the light irradiation device 5b when the motion capture images are captured by the motion capture cameras 5A to 5C. In this way, the imaging element 5a receives the reflected light from each of the shoring-side survey targets 4A to 4F, the surface of which is formed of a material that reflects infrared rays. Only the side survey targets 4A to 4F appear bright (other objects appear dark). As a result, it is possible to accurately extract the positions of the shoring-side survey targets 4A to 4F from the motion-captured images.

The erector controller 102 stores the motion capture shot images received from the respective motion capture cameras 5A to 5C in the storage device. Then, the erector controller 102 performs image processing on each motion capture image taken by each motion capture camera 5A to 5C at the same time, and each shoring side survey extracted on each motion capture image. Based on the two-dimensional coordinates of the targets 4A-4F and the three-dimensional coordinates of the motion capture cameras 5A-5C, for example, using the principle of triangulation, the three-dimensional coordinates of the survey targets 4A-4F for the shoring side are calculated. Calculate.

In addition, since the data regarding the relative positional relationship between each body side survey target 9A to 9C installed in the erector device 100 and each motion capture camera 5A to 5C is stored in the storage device of the erector controller 102, The erector controller 102 calculates the three-dimensional position coordinates (absolute coordinate system) of each of the motion capture cameras 5A-5C based on the three-dimensional position coordinates (absolute coordinate system) of each body-side survey target 9A-9C obtained from the total station 300. ) can be obtained.

The method of calculating the three-dimensional coordinates of the marker in the motion capture system as described above is known per se, and detailed description thereof will be omitted here. A method for calculating the three-dimensional coordinates of markers in a motion capture system is known by performing labeling processing and using an epipolar matching algorithm. It can be obtained by calculating the three-dimensional position coordinates (absolute coordinate system) of 4A to 4F.

When the erector controller 102 performs the secondary motion control for the left boom 17L, the three-dimensional position coordinates (absolute coordinate system ) into the body coordinate system (X, Y, Z) with the body reference point PB as the origin. Then, based on the three-dimensional position coordinates (body coordinate system) of the shoring side survey targets 4A to 4C in the body coordinate system (X, Y, Z), the three-dimensional position coordinates ( machine body coordinate system) and the left side second target position coordinates (machine body coordinate system), and the left boom 17L required to guide the left steel shoring 10L to the left side second target position. A second left parameter required control amount, which is a parameter control amount, is calculated. Then, based on the second left parameter required control amount, the drive mechanism mounted on the left boom 17L (the telescopic jack that drives each joint) is controlled to guide the left steel shoring 10L to the second left target position. be able to.

Similarly, when performing secondary motion control for the right boom 17R, the three-dimensional position coordinates (absolute coordinate system) of the shoring-side survey targets 4D to 4F in the right steel shoring 10R obtained as described above are , into the body coordinate system (X, Y, Z) with the body reference point PB as the origin. Then, based on the three-dimensional position coordinates (body coordinate system) of the shoring side survey targets 4D to 4F in the body coordinate system (X, Y, Z), the three-dimensional position coordinates ( machine body coordinate system) and the right side second target position coordinates (machine body coordinate system), and the right boom 17R required to guide the right side steel shoring 10R to the right side second target position. A second right parameter required control amount, which is a parameter control amount, is calculated. Then, based on the second right parameter required control amount, the drive mechanism mounted on the right boom 17R (the telescopic jack that drives each joint) is controlled to guide the right steel shoring 10R to the right second target position. be able to. Further, in the present embodiment, the shoring-side survey target may be attached to the grasping portion 18 of each of the booms 17L and 17R, and the shoring-side survey target may be photographed by a motion capture camera installed in the erector device 100. .

Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these. Various modifications are possible. For example, in each of the above-described embodiments, six joints are illustrated as joints included in each boom 17, but the number of joints is an example, and the number may be increased or decreased. In addition, tilting motion, swinging motion, expansion and contraction, and rotation have been exemplified as motions of the joints of each boom 17, but motions different from these may be performed at the joints. This aspect is also included in the technical concept of the present invention.

Reference Signs List 1 Tunnel support structure 10 Tunnel supports 9A to 9C Airframe side survey targets 9a to 9d Shoring side survey targets 10L Left steel support 10R Right steel shoring 17L Left boom 17R Right boom 18L Left gripping part 18R Right gripping part 40 Female connecting part 50 Male connecting part 51 ·Male locking member 100...Erector device 100A...Body 121...First top joint plate 122...Second top joint plate

Claims (6)

The steel shoring using an erector device having a boom having a gripping portion capable of gripping the steel shoring on the tip side and a joint portion capable of performing a predetermined driving operation by the operation of the attached drive mechanism. A shoring erection system for erecting a
a control device that controls a drive mechanism in the joint;
a boom sensor that detects a control amount of the drive mechanism in the joint;
a fuselage-side survey target attached to the fuselage of the erector device;
the steel shoring gripped by the gripping portion or the shoring-side survey target attached to the gripping portion;
a surveying device for acquiring three-dimensional coordinates of the body-side survey target and the shoring-side survey target;
with
When erecting the steel shoring, the control device moves the steel shoring based on at least the three-dimensional coordinates of the target for surveying on the aircraft side obtained from the surveying device and the detection result of the boom sensor. 1 Perform primary motion control to control the boom so as to guide it to a target position, and after the primary motion control, at least based on the three-dimensional coordinates of the shoring side survey target acquired from the surveying device, the steel performing a secondary motion control that controls the boom to guide the shoring from the first target position to a second target position;
Shoring built-in system. The control device performs boom deflection correction control to control the boom so as to offset the deflection amount of the boom during primary operation control.
Shoring erection system according to claim 1. The control device acquires the amount of expansion and contraction of the boom during primary operation control based on the detection result of the boom sensor, and performs the boom deflection correction control according to the amount of expansion and contraction of the boom.
Shoring erection system according to claim 2. The control device acquires the elevation angle of the boom during primary operation control based on the detection result of the boom sensor, and performs the boom deflection correction control according to the elevation angle of the boom.
Shoring erection system according to claim 2 or 3. In the boom deflection correction control, the control device calculates first target position corrected coordinates by correcting the coordinates of the first target position in a direction to offset the deflection amount of the boom, and calculates the first target position corrected coordinates. controlling the boom based on
Shoring erection system according to any one of claims 2 to 4. The shoring-side survey target includes a motion capture marker installed on the steel shoring,
The surveying device includes a motion capture camera attached to the fuselage of the erector device and capturing the motion capture marker,
The control device obtains the three-dimensional coordinates of the motion capture marker based on a photographed image obtained by photographing the motion capture marker with the motion capture camera.
Shoring erection system according to any one of claims 1 to 5.

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