JP2547183B2 - Segment assembly method for shield machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of automatically assembling a plurality of segments (also referred to as segment pieces) in a tunnel excavated by a shield machine by sequentially connecting them in a ring shape from the lower side. , A method for circumferentially positioning a segment.

[0002]

2. Description of the Related Art As is well known, the above shield machine is
After excavating the tunnel by rotating the cutter disk provided at the front end of the excavator body, the segments are assembled in a ring shape at the rear of the body and the shield jack is pressed against the ring-shaped existing segment to take the reaction force. By doing so, it moves forward by a certain distance and excavates the tunnel.

The assembly of the above-mentioned segments is performed as follows using arc-shaped segments divided into a plurality in the circumferential direction. That is, one segment is gripped by the segment gripping mechanism 6 of the segment assembling apparatus (also referred to as an erector) 3 of FIG. 2 arranged in the shield tail of the shield machine 1 of FIG. In the direction, the swiveling drum 5 equipped with an erector 3
Rotate to position the segment at the bottom center position and fasten it to the existing segment with bolts or the like. After that, another segment is gripped by the segment gripping mechanism 6 of the erector 3, and is arranged adjacent to one side (for example, the right side in the drawing) of the lowermost center segment, and the two segments are fastened to each other with a bolt or the like. At the same time, it will be fastened to the existing segment with bolts. Then, another segment is arranged on the other side of the lowermost central segment by the erector 3 and similarly fastened with a bolt or the like. Hereinafter, the above procedure is repeated to position and fasten the segments alternately to the left and right, and finally, a key segment K having a tapered surface with an arc length gradually increasing inward in the radial direction of the tunnel is placed in the upper center. And the segments are assembled into a ring.

By the way, the above-mentioned segment assembly is
Generally, the segment S gripped by the segment gripping mechanism 6 of the erector 3 is moved in the X-axis direction, the Y-axis direction, as shown in FIG.
The Z axis direction and the 6 axis directions around each axis (rolling, pitching, yawing) are controlled by servo control for positioning, and then they are connected by bolts etc., but such segment positioning control is performed. Regarding the device, the present applicant has, for example, the actual Kaihei 5-89.
The devices described in Japanese Patent No. 600 and Japanese Utility Model Laid-Open No. 3-50700 are proposed.

In addition, prior arts relating to the automatic segment assembling method include JP-A-3-224996, JP-A-3-94000, JP-A-3-25198 and JP-A-2.
There is -308097.

[0006]

However, when a worker manually assembles and assembles the segments,
Since the operator corrects even if the position of the segment is slightly misaligned, there was not much problem because the tolerance range is large, but after positioning the segment with respect to the existing segment, the segments are automatically separated by bolts and nuts etc. In the so-called automatic assembling, which is fastened to, the following inconvenience may occur in any of the conventional segment assembling methods described above. That is, as the segments are sequentially assembled from the lowermost position to the upper side, the radial steps of the segments and the circumferential openings of the segments are accumulated, and the positional deviation in the circumferential direction gradually increases. Such misalignment occurs near the newly positioned segment, and usually exceeds the allowable value for automatic assembly when several pieces of segments are assembled from the lowest position, making segment assembly impossible. When the allowable value is exceeded, the maximum force for pressing the new segment gripped by the erector against the assembled segment is 1 or less in the turning motion of the segment by the erector.
Since it is about 0 tons, it is difficult to correct the positional deviation.
It should be noted that the radial displacement of the segment with respect to the existing segment has almost no effect even if the number of pieces of the assembled segment increases, so that the positional displacement can be sufficiently corrected only by the radial movement of the segment by the erector.

The present invention has been made in view of the above points, and is capable of correcting a large positional deviation in the circumferential direction of a segment, enables highly accurate positioning, and is suitable for performing automatic assembly of a segment. It is intended to provide a segment assembly method in.

[0008]

In order to achieve the above object, the segment assembling method of the present invention comprises: a) a segment carried into a shield machine is gripped by an erector and moved to an assembling position to form a ring shape. The position of the segment is detected by a sensor for alignment with the existing segment, and the segment is controlled by the erector to position the segment at a predetermined position. In the segment assembling method for a shield machine to be assembled by b), when the ring-shaped segment is adjacent to the already assembled lower side assembled segment in the assembly of each ring, the circumferential deviation from the existing segment exceeds an allowable value. , Press the assembled segment adjacent to the segment gripped by the erector. The pushing force of the shield jack is released one by one, and the position of the segment gripped by the erector is detected each time the assembled segment of the shield jack is released by one piece. It is checked whether or not it is within the allowable range, and the segment is connected to the existing segment with a bolt or the like.

[0009]

According to the segment assembling method of the present invention having the above-mentioned structure, the assembled segment is pressed in the state that the deviation of the segment adjacent to the assembled segment in the circumferential direction from the existing segment exceeds the allowable value. The restraining force of the assembled segment is weakened by sequentially releasing the shielded jacks one by one from the assembled segment adjacent to the segment to be newly assembled which is gripped by the erector. As a result, the self-weight of the segment, in which the pressing force of the shield jack has been released, acts on the assembled segment located below the segment, so that it is combined with the downward pressing force in the circumferential direction by the erector through the segment gripped by the erector. Thus, the assembled segment moves slightly in the direction of gravity, reducing the circumferential displacement. As a result, the positional deviation of the segment gripped by the erector with respect to the existing segment is within the allowable value, so that the segment is assembled by connecting the existing segment with a bolt or the like.

The weight per piece of a segment is, for example, 10 when assembled in a ring shape with a segment of 11 pieces in a tunnel having a circular cross section with a diameter of 14 m.
It is about ton and its weight is almost equal to the pressing force in the circumferential direction by the erector. Therefore, releasing the pressing force of the shield jack for one piece produces twice the force as when the pressing force is applied only by the conventional erector. It will act on the assembled segment. Therefore, even if the pressing of the shield jack for one piece of the segment is released, but the deviation in the circumferential direction with respect to the existing segment does not fall within the allowable value, the pressing of the shield jack for one more piece should be released. If three times the force releases the pressing force of the two-piece shield jack, four times the conventional force will act on each of the assembled segments. For this reason, conventionally, even when there is a positional deviation in the circumferential direction (usually 5 mm or more) where the segments cannot be automatically assembled only by the circumferential pressing force of the erector, the shield jack that presses the assembled segment is By increasing the number of segments that are pulled by the number of pieces and exerting gravity, the positional deviation is surely corrected and the segments can be automatically assembled.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for assembling a segment in a shield machine according to the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing an outline of a shield machine equipped with an erector capable of implementing the present invention, with a part cut away, and FIG. 2 is an enlarged perspective view of the erector shown in FIG.
Is a perspective view showing a segment and a shield jack being assembled, and FIG. 4 is a perspective view showing an attitude control operation of the segment gripped by the erector.

As shown in FIG. 1, the shield machine 1 is
A shield 1a having a cylindrical shape is provided, a cutter disk 2 is rotatably arranged on the entire surface thereof, and an erector 3 is provided at a rear portion of the shield 1a. As shown in FIG. 2, the erector 3 includes an inverted U-shaped swiveling drum 5 that can swivel in a circumferential direction with respect to a fixed drum 4, and a segment gripping mechanism 6 is provided along a straight line portion of the swiveling drum 5 which faces each other. It is arranged so that it can expand and contract. The segment gripping mechanism 6 is configured to be slidable not only in the expansion / contraction direction (tunnel radial direction) but also in a direction orthogonal to this (tunnel axial direction). In addition, the gripping mechanism 6 performs yawing, rolling, and
Each operation for pitching is also possible. Further, a bolt fastening device 7 is provided on the lower surface of the gripping mechanism 6. The shield machine 1 has a ring-shaped segment assembled to the rear of the shield 1a by the erector 3 and the shield 1a.
A large number of shield jacks 8 (FIG. 3) arranged at regular intervals in the circumferential direction are brought into contact with and pressed against the rear end of the inside to move forward by a constant distance.

The ring-shaped segment assembled at the rear of the tunnel receives the segment S from the supply device (not shown) by the gripping mechanism 6 of the erector 3,
By the swiveling operation of the swiveling drum 5, etc., the swiveling drum 5 moves to the assembly position, that is, initially to the lowermost central position. The shield jack 8 (FIG. 3) at the assembly (insertion) position of the segment is contracted, the segment S is positioned by the erector 3 by coarse adjustment, and then further positioned by fine adjustment.
At this time, the segment S can be attitude-controlled in the 6-axis directions by the erector 3 as shown in FIG. After positioning, the shield jack 8 (FIG. 3) is extended and the segment S is pressed. The segment S is coupled by the bolt fastening device 7 (FIG. 2), the gripping mechanism 6 of the erector 3 releases the segment S, and the gripping mechanism 6 moves to the standby position. By repeating the above operations (1) to (5), another segment is alternately positioned on the left and right of the segment assembled at the lowermost central position, joined, and finally assembled in a ring shape. In this example, three shield jacks 8 are pressed against each of the assembled one-piece segments S ′ as shown in FIG. 3, and finally all ring-shaped (in this example, 11 pieces) segments S ′ are formed. By pressing the 33 shield jacks 8, the shield machine 1 is moved forward by the reaction force.

Now, when automatically assembling the segments in a ring shape along the inner peripheral wall of the tunnel as described above, as shown in FIGS. 3 and 4, the segments are sequentially arranged from the lowermost center position to the upper part in the circumferential direction. Is positioned and bolted to the existing segment S ″ and the adjacent assembled segment S ′. However, as the joint surface between the segments is opened upward, the positional deviation in the circumferential direction (error ) Accumulates.

The positional deviation (error) in the circumferential direction of the newly assembled segment S is the positional deviation between the adjoining joining position N of the existing segment S ″ and the mark M carved by the center of the segment S in FIG. This is detected by a mark sensor (a sensor using a laser slit light and a CCD camera) mounted on the segment gripping mechanism 6 (FIG. 2), etc. That is, first, the segment S gripped by the erector 3 is detected. 4 is pressed downward on the adjacent side surface of the assembled segment S ′, and then the mark sensor detects the positional deviation.At this time, if the positional deviation exceeds the allowable value, the segment S gripped by the erector 3 is detected. Since it is not possible to align the bolt holes of No. 1 with the bolt holes of the existing segment S ", the positional deviation of the segment S in the circumferential direction is To fix.

That is, in FIG. 3, the three shield jacks 8 of the assembled segment S ', which adjoin the segment S gripped by the erector 3, are contracted, and the self-weight of the segment S'is located below the assembled segment S'. The mark sensor detects whether the positional deviation of the segment S is within the allowable value while being applied to S ′ and at the same time the downward pressing force in the circumferential direction by the erector 3 is applied via the segment S gripped by the erector 3. To do. If it still exceeds the allowable value, the three shield jacks 8 pressing the lower assembled segment S ′ are contracted, and the weight of the two-piece segment S ′ acts on the assembled segment S ′. Let Maximum of 3 in this example
Since the weight of the segment S ′ corresponding to the piece can be applied to the assembled segment S ′, the positional deviation of the segment S can be surely kept within the allowable value. Then, when the positional deviation is within the allowable value, the segment S is replaced with the existing segment S ″ by the bolt fastening device 7 (FIG. 2).
And bolted to the adjacent assembled segment S '.

FIG. 5 is a flow chart showing in sequence the fastening process including the above-mentioned circumferential position shift (circumferential shift) correction process, and FIG. 6 is a flow chart showing the circumferential shift correction process in order.

As shown in FIG. 6, when the circumferential deviation correction start is commanded (S ₁ ), the shield jack pulling pattern is stored (S ₂ ), and the shield jack is pulled (contracted).
Is commanded (S ₃ ). Subsequently, the pulling state of the shield jack is displayed (S ₄ ), and when the pulling completion of the shield jack is answered back (S ₅ ), it is confirmed whether the circumferential deviation is 5 mm or more, which is the allowable value (S ₆ ). . Even in this state, if the allowable value is exceeded, it is confirmed whether or not the assembled segment S ′ capable of pulling the shield jack remains.
(S ₇ ). If there are still a preassembled segments S 'can pull the shield jacks, returns to the Step above S _2, when none remain, a message to that effect is displayed (S _8). In this way, if the circumferential displacement in steps of S ₆ becomes equal to or less than the allowable value, or message to be displayed (S _8), the circumferential deviation modifying process is completed (S _9).

The flow chart of FIG. 5 will be briefly described. Right side circumferential deviation correction mode, eye opening correction mode,
The presence or absence of manual intervention is selected in advance. By starting the fastening process, the left and right steps proceed in parallel at the same time. Each step between P on the left side of FIG. 5 represents the fastening operation of the bolts between the segments that are adjacent to each other in the circumferential direction, and is 3 between the vertical pile (rear of the tunnel) side and the face (front of the tunnel) of the segment. It is premised that bolts are fastened one by one. On the other hand, each step between R on the right side is a segment adjacent to the axial direction of the tunnel (one is an existing segment)
This shows the fastening operation of the bolts of each other, and it is premised that two bolts are fastened to each of the outer side and the inner side of the segment. In the mesh opening correction mode, the shield jack that presses the segment held by the erector 3 at the time of fastening is pulled, and the mesh opening with the adjacent assembled segment is reduced by the fastening tightening force. In the flowchart of FIG. 5, ◯ represents “or” and □ represents “and”. In addition, since the fastening process relates to one piece of the segment, in this example, the series of steps shown in the flow chart includes 11 steps.
It will be repeated (11 times) for each segment of the piece. Further, the number of bolts fastened in the fastening step is 10 in total, and the bolt holes B corresponding to these are shown in the segment S of FIG. In addition,
Reference numeral C in FIG. 4 is a recess, and the operation portion of the bolt fastening device 7 (FIG. 2) is inserted into the recess C to send a bolt (not shown) previously assembled in the segment S. , Nuts (not shown) are screwed together and tightened for fastening.

Although one embodiment of the segment assembling method has been described above, the segment assembling method of the present invention can be carried out as follows.

A) The present invention can be applied not only to a tunnel having a circular cross section but also to an assembly of a segment such as an elliptical cross section or a multi-face tunnel having a plurality of circular cross sections.

B) Although the present invention is mainly intended for automatic assembly of segments, it can be applied, for example, when an operator manually carries out part of bolt feeding and fastening work to assemble the segments.

C) The number of pieces of segments and the weight of segments constituting one ring body are not limited to those in the above embodiment.

D) A shield machine, an erector, etc. for carrying out the present invention are shown in the above embodiments,
It goes without saying that the present invention can be applied to devices other than those exemplified in the section of the prior art.

[0026]

As is apparent from the above description,
The segment assembling method in the shield machine according to the present invention has the following effects. That is, the segment displacement can be corrected even if the displacement in the circumferential direction is large to the extent that the segment cannot be automatically assembled only by the pressing force in the circumferential direction by the erector, which is suitable for performing the automatic assembly of the segment. In addition, since the positioning accuracy of the segment in the circumferential direction is improved,
The segment can be assembled accurately and surely.

[Brief description of drawings]

FIG. 1 is a perspective view showing an outline of a shield machine equipped with an erector capable of implementing the segment assembly method of the present invention, with a part cut away.

FIG. 2 is an enlarged perspective view showing the erector of FIG.

FIG. 3 is a perspective view showing a segment and a shield jack being assembled.

FIG. 4 is a perspective view showing a posture control operation of a segment gripped by an erector.

FIG. 5 is a flow chart sequentially showing a fastening step including a step of correcting the positional deviation in the circumferential direction according to the present invention.

FIG. 6 is a flowchart sequentially showing a process of correcting a positional deviation in the circumferential direction according to the present invention.

[Explanation of symbols]

 1 shield machine 3 erector 4 fixed drum 5 swivel drum 6 segment gripping mechanism 7 bolt fastening device 8 shield jack S segment S'assembled segment S "existing segment

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Masaaki Hirayama 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Ltd. Akashi factory

Claims (1)

(57) [Claims] 1. A segment carried into a shield machine is gripped by an erector to move to an assembly position, a position is detected by a sensor for alignment with a ring-shaped existing segment, and the segment is controlled by the erector. In the segment assembling method in the shield machine, which is assembled by sequentially connecting in a ring shape from the center of the lower end to the left and right alternately in order, and positioning it in a predetermined position. If the circumferential displacement of the segment adjacent to the assembled segment on the side with respect to the existing segment exceeds an allowable value, the pressing force of the shield jack that presses the assembled segment adjacent to the segment gripped by the erector is applied. With releasing one piece at a time , Each time one piece of the assembled segment of the shield jack is released, the position of the segment gripped by the erector is detected to check whether it is within the allowable value range, and when it is within the allowable value range, A segment assembling method in a shield machine, wherein the segment is connected to an existing segment with a bolt or the like.