JP2560184B2 - Equipment for automatic storage and transportation of materials and equipment for the shield construction method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic storage and transportation device for materials and equipment for shield construction method for automatically storing and conveying construction materials and equipment such as segments in the shield construction method.

[0002]

2. Description of the Related Art In the conventional shield method, construction materials and equipment such as segments are stored in a stock yard on the ground in a flat or stacked manner, and a worker slings these materials and equipment as necessary. , Manually transported vertically through the stock yard and the shaft using a portal crane, etc. Equipment was being transported to

[0003]

However, the use of such a conventional method for transporting materials and equipment has the following problems.

First, at the ground stock yard and the bottom of the shaft, since a portal crane or the like transports construction materials such as segments above the workers, the materials may fall or fall.
There is a risk that equipment and materials may come into contact with workers.

[0005] Second, crane operators, slingers,
It requires a large number of personnel such as crane guides and track truck operators.

Third, in the vertical vertical transfer in the above-ground stock yard and the vertical shaft, and in the horizontal transfer in the underground pit, manual operations are performed visually, so that the work requires skill and human error easily occurs, and the work efficiency is reduced. bad.

The present invention has been made in view of the above problems, and its object is to provide a material for a shield construction method which is safe and efficient, and which can save labor and manpower. The present invention is to provide an automatic storage and transportation device.

[0008]

In order to achieve the above-mentioned object, the present invention provides a plurality of receiving trays for storing materials and equipment,
An automatic storage / transportation device for shielded materials and equipment, comprising: a traveling carriage capable of transporting and traveling the materials and equipment and automatically loading and unloading the materials and equipment into and from the receiving tray.

[0009]

In the present invention, the traveling vehicle automatically carries in and out the materials and equipment to and from the cargo receiving table.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a plan view of the entire ground stock yard. The outline of FIG. Reference numeral 1 denotes a truck for carrying materials such as segments. In the following, segments are taken as examples of equipment. The loading transfer device 4
The segments on the truck 1 are transferred to the loading receiving tray 33a. A lift truck with a lifter 39 moves the segment placed on the loading receiving tray 33a to the loading dedicated line 34a.
To each receiving table 33. The loading tray 33 is provided with two lines, a dedicated line 34a for loading and a dedicated line 34b for unloading, arranged in parallel.

The segment transfer device 61 transfers the segment 3 on the unloading receiving tray 33b of the unloading dedicated line 34b to the transfer truck 83. The transfer carriage 83 transports the segments to the vertical transport device 86.

In FIG. 1, B indicates a shaft and C indicates a loading station.

FIG. 2 is a view taken in the direction of arrow F1 in FIG. 1, and FIG.
FIG. 2 is a view as viewed from the arrow F2.

As shown in FIG. 2 and FIG.
Is equipped with segment 3.

Here, the configuration of the loading transfer device 4 will be described.

A traveling rail 7 is mounted on a stand 5 erected on the ground.
Is provided. A traveling vehicle 9 traveling on wheels 11 is provided on the traveling rail 7. A traverse rail 13 is provided on the traveling carriage 9, and a traverse carriage 15 capable of traversing the traverse rail 13 with wheels 17 is provided. The running rail 7 and the traversing rail 13 are disposed so as to be orthogonal to each other. The trolley 15 is provided with a gripping device 19. The gripping device 19 includes a revolving base 21 that is rotatably provided on the traversing carriage 15, a revolving device (not shown) for revolving the revolving base 21, and an arm-shaped claw 2 provided on the revolving base 21.
3 and a lifting device 25 for raising and lowering the swivel table 21. As shown in FIG. 3, the claw 23 can be opened and closed in the G1 direction with the swivel base 21 as a fulcrum. This loading transfer device 4
Is automatically operated.

FIG. 4 is a front view of the carriage 33 and the movable carriage 39 with a lifter. That is, F in FIG.
It is a 3 arrow view. The loading tray 33 includes a pair of legs 35 that support the segment at two locations, and one loading tray stores one ring (6 pieces) of segments.

In FIG. 1, the receiving tray 33 has a two-row configuration consisting of a loading line 34a and an unloading line 34b. The number of loading trays 33 per row, that is, the storage amount of a segment is one day. It is the amount of segment construction per minute. Loading-only line 34a, Unloading-only line 34
Each line of b) is operated alternately every other day for loading and unloading. Here, the import-only line 34a is
The segment 3 is received from the carry-in receiving tray 33a by a movable truck 39 with a lifter described later.
This is the line of the loading platform for storing Unloading line 3
Reference numeral 4b denotes a line of the load receiving platform on which the segments 3 are unloaded from each of the load receiving platforms 33 to the load receiving platform 33b below the segment transfer device 61 by the lift trucks 39.

FIG. 5 is a side view of the movable carriage 39 with a lifter. As shown in FIGS. 4 and 5, a traveling rail 37 is provided at the bottom of the loading tray. Mobile cart 39 with lifter
Is provided with wheels 43 on a main body 41, and the wheels 43 are driven by an electric motor 45. The main body 41 is provided with a lifter 49 for mounting the segment 3, and the lifter 49 is lifted up and down by the hydraulic jack 47. A cable reel 51 is mounted on the main body 41, and power supply from an external power supply (not shown) and transmission and reception of control signals from a ground control panel (not shown) are performed through the cable reel 51 and a cable.

FIG. 7 is a detailed view of the segment transfer device 61 and the vertical shaft B shown in FIG. 8 is a view taken along arrow F4 of FIG. 7, and FIG. 9 is a view taken along arrow F5 of FIG. The segment transfer device 61 is used to move the segment 3
Is gripped by the gripping device 75 and mounted on the transfer carriage 83. Here, the configuration of the segment transfer device 61 will be described with reference to FIGS. 7 to 9.

A traveling rail 65 is provided on a stand 63 erected on the ground. A traveling carriage 67 traveling on wheels 69 is provided on the traveling rail 65. A traversing rail 70 is provided on the traveling trolley 67, and a traversing trolley 71 that can traverse on the traversing rail 70 with wheels 73 is provided. The running rail 65 and the traversing rail 70 are disposed orthogonally. The trolley 71 is provided with a gripping device 75. The gripping device 75 includes an arm-shaped claw 81 and a claw 8
And an elevating device 79 for elevating the device 1. As shown in FIG. 9, the claw 81 can be opened and closed around the horizontal axis, that is, in the G2 direction. The segment transfer device 61 is automatically operated.

FIG. 10 is a schematic side view of the vertical shaft B and the segment transfer device 61. As shown in FIGS. 7 and 10, a rail 85 is provided below the segment transfer device 61, and a transfer carriage 83 is movably provided on the rail 85. The transfer carriage 83 vertically conveys the segments transferred by the segment transfer device 61.
It is to be transported to. Further, the transfer carriages 83 are connected to each other by two cars, so that one transfer carriage can carry a half ring segment and two transfer cars can carry one ring segment (6 pieces). In addition, a long object such as a temporary pipe can be mounted by connecting two cars. This transfer cart 8
3 also operates automatically.

Next, the vertical transport device 86 will be described. A guide frame 87 is erected vertically in the shaft. A transporter 89 is provided along the guide frame 87 so as to be able to move up and down. A rail 91 is provided on the transporter 89. The carrying device 89 is provided with a gripping device 93. The gripping device 93 includes an arm-shaped claw 95 for grasping the segment from both sides, and a lifting device 97 for moving the claw 95 up and down to move the segment up and down. In this embodiment, two gripping devices 93 are provided in parallel, and each gripping device 93 can grip a half-ring (three-piece) segment, and can also grip a long object such as a temporary pipe. The carrying device 89 is moved up and down by an elevating and lowering drive device, which is an elevating and lowering winch 99 provided on the top of the guide frame 87.
And a wire rope (not shown) connecting the lifting winch 99 and the transporter 89.

The vertical transport device 86 receives the segment from the transfer carriage 83 in the state of H1 in FIG. 10, and grips the segment by the gripping device 93. Then, when the raising / lowering winch 99 is driven in this state, the carrying device 89 descends and the carrying device 89 reaches the position H2 in FIG. The vertical transport device 86 is also automatically operated.

Reference numeral 107 in FIG. 10 represents an underground pit. Underground mine 1
A rail 101 is provided in 07, and the rail 101
An orbital unmanned transport vehicle 103 that travels above is provided.
FIG. 11 is a side view of the orbit type automatic guided vehicle 103.
The orbit type automatic guided vehicle 103 is a battery-driven vehicle 10.
5 and the driven carriage 107. Battery powered trolley 10
5 and the driven dolly 107 can each be mounted with a segment for each half ring (3 pieces), and are automatically driven by the traveling whole area communication using the induction radio. Next, the procedure of transporting the segments in this embodiment will be described. FIG.
As shown in, the truck 1 loaded with the segments stops at a predetermined position in the stockyard. Transfer device 4 for loading
Traveling trolley 9 and traverse trolley 15 move on traveling rail 7 and traverse rail 13, and traverse trolley 15 moves to truck 1
It stops when it reaches the position just above the segment loaded in the. By the turning device (not shown) of the gripping device 19, the claw 2
3 is rotated so as to be perpendicular to the segment, the pawl 23 is lowered to the lower end of the segment 3 by the lifting device 25, and the pawl 23 which is in the “open” state in advance is “closed”. Grab 3 Regarding the above-mentioned positioning, positioning is automatically performed by an optical sensor or the like, or positioning is performed artificially by remote control. All controls other than the positioning are automatically performed.

When the segment is gripped by the claw 23, the lifting device 25 raises the claw 23 and stops it at a fixed position, and a swivel device (not shown) is swung to return the claw 23 to the fixed position. Then, the trolley 15 and the traveling trolley 9 move on the traversing rail 13 and the traveling rail 7, and stop moving when the traversing trolley 15 reaches a position immediately above the loading station C. Then, after the claw 23 is lowered by the elevating device 25 and stopped at a fixed position, the claw 23 is opened and the segment 3 is mounted on the loading receiving tray 33a.

In this way, the loading transfer device 4 automatically transfers the segment 3 from the truck 1 to the loading load receiver 33a.

When the segment 3 is loaded onto the loading station C, the movable carriage 39 with lifter immediately travels to the loading station C after the completion of the loading / unloading work or if the empty loading waits. Then
Stopped at a fixed position, and the lifter 49 mounted on the cargo tray 3
Lift up segment 3 on 3a.

The movable carriage 39 with lifter is segment 3
In a state of being lifted up, travel to the farthest empty load receiving platform on the same line in the traveling direction (segment transfer device 61 side), stop at the stop position and lift down the lifter 49,
The segment 3 is transferred to the receiving tray 33. Hereinafter, the same procedure is repeated, and the segment at the loading station C is moved to the loading tray 33 on the side of the segment transfer device 61.
It will be transferred sequentially from. In this way, the segments are transferred to the carry-in line 34a. As described above, the movable carriage 39 with the lifter is automatically driven.

In the segment transfer device 61, the trolley 7
1. The traveling carriage 67 is composed of a traversing rail 70 and a traveling rail 65.
It moves upward and stops when the traversing carriage 71 comes to the upper part of the loading tray 33b of the unloading line 34b. Then, when the claw 81 is lowered by the elevating device 79 and lowered to the home position, the claw 81 which has been in the “open” state is set to “closed”, so that the segment 3 on the load receiving table 33b is a half ring (3 pieces). Min) grab it. Then, the pawl 81 is raised and stopped when it reaches a predetermined position. Then, the traversing carriage 71 and the traveling trolley 67 move, and stop when the traversing carriage 71 reaches the upper part of the first transfer carriage 83a. In this state, the claw 81 is lowered, and when it reaches the home position, the claw 81 is opened, the grasped segment 3 is released, and the segment is transferred to the transfer carriage 83a. After that, the claw 81 is raised, the traverse carriage 71 is moved to the load receiving tray 33b again, and the remaining segment 3 is subjected to the same procedure.
, And the segment 3 is transferred to the subsequent transfer carriage 83b. On the other hand, segment 3 is automatically supplied from the rear cargo receiving table to the cargo receiving table 33b where segment 3 has disappeared by the movable carriage 39 with lifter.
When the segment 3 is shipped by the segment transfer device 61 and there is no more load on the load receiving table 33b, the lift truck 30 moves to the load receiving table 33 which is closest to the load receiving table 33b. After stopping at a fixed position, the lifter 49 is lifted up, the segment 3 is lifted, and in that state, it travels to the shipping cradle 33b, and after stopping at a fixed position, it is lifted down to the shipping cradle 33b. Load segment 3. Whether or not the segment 3 is loaded on the loading tray 33 is determined by storing the loading tray position information of the loaded / shipped loading tray in the control panel of the lifter-equipped moving carriage 39, or detecting the presence of each loading tray 33. This is done by installing a sensor. Shipping platform 33
The above-mentioned operation is repeated every time when b is emptied, and the segment 3 is transferred from the currently loaded cargo receiving tray 33 to the shipping cargo receiving tray 33b.
Are automatically conveyed continuously. Here, a method in which the lifter-equipped moving carriage 39 conveys the segment 3 to the shipping container 33b will be described. The segment transfer method includes a shuttle method, a progressive method, a mixing method, and the like.

FIG. 6 shows the receiving trays 33-1 ... 33-n. Here, the shipping receiving table 33-n is the receiving table 33b.

In the shuttle system, a movable carriage 3 with a lifter
Reference numeral 9 indicates a distance between the shipping cradle 33-n and the existing cargo cradle (33- (n-1)) → (33-n) → (33- (n-2)) → (33-n) → (33- (n-3)) → (33-n) → (33- (n-4)) → (33-n) ... (33-2) → (33-n) → (33-1) ) → (33-n) to move the segment.

In this shuttle system, after the segments are transported from the existing cargo receiving tray to the shipping cargo receiving tray 33b, the cargo receiving tray remains empty until all the transportation is completed.

In the progressive feeding method, the movable carriage 39 with a lifter is used.
Between the shipping cradle 33b and the existing cargo cradle (33- (n-1)) → (33-n) → (33- (n-2)) → (33- (n-1)). → (33- (n-3)) → (33- (n-2)) → (33- (n-4)) → (33- (n-3)) ……… (33-2) → ( 33-3) → (33-1) → (33-2) → (33- (n-1)) ... The segment is transported.

In this progressive feeding method, the shipping receiving tray 33
Since the segment 3 is always packed and stored on the b side, the cargo receiving tray 33b (the cargo receiving tray 33b) opposite to the shipping cargo receiving tray 33b is stored.
-1) The items become empty one by one from the side. Therefore, it is suitable when receiving and shipping at the same time in one row of the receiving tray.
However, the cycle time is longer than that of the shuttle system.
The mixed method is an operation in which the shuttle method and the progressive method are appropriately combined.

As described above, the segment transfer device 61 transfers and transfers the segment 3 from the cargo receiving table 33b of the unloading line 34b to the transfer vehicle 83. The segment transfer device 61 is also automatically operated.

On the other hand, the carrying device 89 of the vertical carrying device 86 is located at the position H1 in FIG.
The rail 85 is in a continuous state. Transfer cart 8
In No. 3, the segment is transferred, the segment automatically travels on the rails 85 and 91, and stops when it reaches the lower side of the gripping device 93.

In this state, when the claw 95 descends and reaches a fixed position, the claw 95 which is in the "open" state in advance becomes "closed" and the claw 95 grips the segment 3 on the transfer carriage 83. Then, the nail 95 is raised. On the other hand, the transfer cart 83
When the segment 83 is gripped by the claw 95, moves to the segment transfer device 61 side again and waits until the next segment is transferred by the segment transfer device 61.

The carrier 89 descends along the guide frame 87 by the elevating winch 99, stops at the bottom of the vertical shaft B, and waits until the track-type automatic guided vehicle 103 comes to pick up the segment 3.

The empty orbit type automatic guided vehicle 103 transits the rail 101 and the rail 91 on the carrier 89, travels, and stops at a fixed position in the carrier 89. The claws 95 of the gripping device 93 mounted on the transporter 89 descend while holding the segments 3, open the claws 95 in a fixed position to release the grasped segments 3, and move the segment 3 to the track type unmanned carrier 103. Transfer 3 Thereafter, the claws 95 rise and stop at the fixed position. The operation of the vertical transfer device 86 is also automatically performed.

The orbit type automatic guided vehicle 103 transits the rail 91 on the carrier 89 and the rail 101 in the underground mine 107, and travels to the vicinity of the shield excavator in an automatic operation by communication over the entire area using guided radio to make a segment. 3 is conveyed.

On the other hand, the empty vertical transport device 86
The segment 3 is moved up along the guide frame 87 by the lifting winch 99, and the segment 3 is transferred and transported to the bottom of the shaft B on the ground portion in the same procedure as described above.

When the segment 3 is unloaded from the orbit-type unmanned carrier truck 103 in the vicinity of the shield excavator, the orbit-type unmanned carrier truck 103 returns to the bottom of the shaft B again and repeats the above-mentioned operation.

As described above, in this embodiment, the segment 3 can be automatically conveyed from the above-ground portion to the vicinity of the shield excavator in the underground mine.

The present invention can be variously modified.

For example, in the above-mentioned embodiment, the transportation of the segment has been described, but the present invention can be applied to other materials such as temporary piping.

Further, in the above-mentioned embodiment, one load receiving table 33 can load one ring of segment, but the number is not limited to this value. Further, although the load receiving bases 33 are individually installed one by one in consideration of maintenance and the like, they can be installed continuously (without a gap). In order to improve work efficiency, a dedicated line 34 for loading
Although two lines, a and the exclusive line 34b for unloading, are provided, the line may be a single line or a plurality of lines of two or more lines.
Although one lifter-equipped moving carriage 39 is installed for each row, a plurality of lifter-equipped moving carriages 39 may be installed for each row or one for each row. Although the lifter-equipped moving carriage 39 has a structure in which the lifter 49 is moved up and down by the hydraulic jack 47, the device itself can be made compact by using an elevating mechanism using a cam or the like.

In the above-mentioned embodiment, the automatic storage / transportation device for the segment in the above-ground stockyard has been described, but the segment may be automatically stored / transported in the underground pit.

FIG. 12 is a view showing the underground pit 150 at this time, and FIG. 13 is a sectional view taken along line DD of FIG. That is, the cargo receiving platform 151 is provided in the underground mine 150,
A movable truck 153 with a lifter is provided below the cargo receiving table 151.
Is provided so that it can travel. A gantry 155 is provided midway in the underground mine 150, and a segment transfer device 157 capable of traveling on the gantry 155 is provided. On the other hand, a track-type unmanned carrier 159 is provided from the segment transfer device 157 in the direction of the cutting face.

The segment 3 is loaded on the load receiving base 151 by the movable carriage 153 with lifter in the same procedure as that of the above-ground stockyard. The segment transfer device 157 holds the segment 3 on the shipping cradle 151b,
This is loaded on the track-type automatic guided vehicle 159. And
The orbit type unmanned transporting vehicle 159 transports the loaded segment to the vicinity of the shield excavator.

In this system, the above-ground stockyard is unnecessary, and the space can be saved on the above-ground portion. In addition, since the segments are stored indoors, it is not necessary to have a home facility for curing the segment seal portion.

The frame 155 and the segment transfer device 1
It is also possible to omit the 57 and the orbit type automatic guided vehicle 159, and transport the segment directly to the vicinity of the shield excavator by the movable cart 153 with a lifter.

[0054]

As described above in detail, according to the present invention, there is provided an automatic storage / transporting apparatus for materials and equipment for the shield construction method, which is safe and efficient, and can save labor and manpower. can do.

[Brief description of drawings]

[Fig. 1] Floor plan of the entire ground stock yard

FIG. 2 is a view taken in the direction of arrow F1 in FIG. 1;

FIG. 3 is a view taken in the direction of arrow F2 in FIG. 2;

FIG. 4 is a view taken in the direction of arrow F3 in FIG. 1;

FIG. 5 is a side view of the movable cart 39 with a lifter.

FIG. 6 is a diagram showing the receiving trays 33-1 ... 33-n.

7 is a segment transfer device 61 and a shaft B of FIG.
Enlarged view around

FIG. 8 is a view on arrow F4 of FIG.

FIG. 9 is a view on arrow F5 of FIG.

FIG. 10 Side view of shaft B

FIG. 11 is a side view of the orbit type automatic guided vehicle 103.

FIG. 12 is a diagram showing an underground pit 150.

13 is a sectional view taken along line DD of FIG.

[Explanation of symbols]

 33, 151 ..... Receiving stand 39, 153 ..... Mobile truck with lifter 45 ..... Electric motor 47 ..... Hydraulic jack 49 ..... Lifter

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Tsutomu Imakawa Tsutomu Imagawa 1-3-8 Moto-Akasaka, Minato-ku, Tokyo Kashima Construction Co., Ltd. Tokyo Branch (72) Kenichi Hashimoto 1-2-2 Moto-Akasaka, Minato-ku, Tokyo No. 7 within Kashima Construction Co., Ltd. (56) Reference JP-A-4-265400 (JP, A)

Claims (3)

(57) [Claims] 1. A shield construction method comprising: a plurality of loading trays for storing materials and equipment; and a traveling carriage capable of transporting the materials and equipment and traveling, and automatically loading and unloading the materials and equipment into and from the loading tray. Automatic storage and transportation device for materials and equipment. 2. The automatic equipment for shield construction method according to claim 1, wherein the cargo receiving stand has a pair of legs erected on the ground, and the upper ends of the pair of legs support and store the materials and equipment. Storage and transportation device. 3. The cart has a lifter for loading materials and materials, and an elevating means for raising and lowering the lifters, and carries in and out the materials and materials from the lower side of the cargo receiving table to the cargo receiving table. An automatic storage and transportation device for the materials and equipment for the shield construction method described in 1.