JP2937257B1 - Segment assembling method and apparatus - Google Patents

Abstract

An object of the present invention is to provide a method and an apparatus for assembling a segment, such as a wedge block segment, which can be easily positioned in a short time in a segment to be positioned and separated from a ring of an existing segment. SOLUTION: An adjustment center is provided between a face side ring end face of an existing segment and a piece end face of an existing segment, and an end upper surface of a segment to be assembled is adjusted first, and then a pitch direction and a rolling direction are adjusted and positioned. In this way, the positioning can be performed while viewing using a CCD camera and a laser projector.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a segment assembling method and apparatus for assembling segments using an erector of a shield machine.

[0002]

2. Description of the Related Art In a shield tunnel, segments carried into a face portion are usually assembled by an erector device according to the shape of the tunnel.

[0003] In addition, a grasping tool is provided in each segment, and this is connected by a grasping device of an erector to prepare for assembly. It is known that a segment is formed by using an adjusting function such as swiveling, expansion and contraction, sliding, yawing, rolling, and pitching of an erector and fastening it along with an existing segment with a bolt or the like to form a tunnel. .

[0004] Furthermore, automatic assembly of segments has also been conventionally performed, and various types of sensing devices have been devised for positioning (for example, adjustment of force by a load cell, application of a sensing bar). The applied force, the image processing by the light shear method, the dimensions by the stroke meter, etc.), but in the manual assembly, the work of aligning the inner surface has been performed using a worker's feeling or a simple bar.

[0005]

However, in the case of using a segment such as a wedge block segment, which needs to be operated by separating the surfaces between the rings of the existing segment, the conventional technique makes accurate alignment. Can not do.

[0006] In the case of such segments that are joined without using bolts, high-precision assembly is required as a characteristic of the segments, and conventional techniques cannot sufficiently cope with them.

[0007] When assembling a segment that is operated by separating the surfaces between rings of an existing segment with high accuracy in an assembling operation in a manual operation, it is necessary for an operator to grasp a process situation of reaching a predetermined position. .

The sensor mechanism for automatic assembly is assembled by performing a complicated operation such as a calculation, selecting an operation, and repeatedly controlling the assembly segment to a desired position. Positioning is performed based on contact with the segment, and then repetitive deviations are detected and corrected.

Therefore, when manually assembling a segment that requires positioning between rings by a distance of more than one hundred millimeters, instead of a bolt joint like a wedge block segment, the conventional method requires a long time and is therefore economical. Not satisfied.

[0010] Therefore, in view of the above problems, the present invention can provide the direction and position information of the surface to the operator even in the case of manual assembling, and can position the assembled segment away from the existing segment in a short time. It is an object of the present invention to provide a segment assembling method and apparatus which can be easily performed.

Another object of the present invention is to provide a method of assembling a segment which is simple regardless of automation or manual assembling, and in particular, in the case of manual operation, complicated push-pull operations are not required.

[0012]

[0013]

According to the present invention, there is provided a segment assembling method for assembling a segment using an erector of a shield machine, wherein a light projecting device and a CCD camera are attached to a face side end of a grasped segment. In a state where the existing segment and the grasped segment are slightly separated from each other, the mark of the existing segment is detected by the mark position light emitting device attached to the rod of the elector arm, the turning direction of the arm is positioned, and the lifting jack is adjusted. CCD
Look at the camera, adjust the inner surface height of one end of the segment, roll the segment and adjust the height of the other end, align the inner surface with the existing segment using the light beam of the light emitting device as a guide, push it in with a jack and join it first The segments attached to the left and right of the segment attached to the first segment are gripped by the erector and held a little apart from the existing segments in the same manner as the segment attached first.
Adjust the lifting jack to secure the space where the camera and light emitting device can be pushed in adjacent to the preceding segment, and adjust the height of the inner surface by adjoining the end surface of the preceding segment being assembled while viewing with a CCD camera. Together
Rolling adjustment of the opposite end face, pushing and joining with a jack, the last segment, after gripping, slide to the maximum to the face side, then push in from the end face and similarly CC
The position is adjusted by the D camera.

According to the present invention, in a segment assembling apparatus for assembling a segment using an erector of a shield machine, a guide rod is attached to an erector arm of the erector so as to be movable up and down, and the guide rod has a horizontal rod. Provided, a mark position light projecting device that detects a mark of the existing segment is provided at an existing segment side end of the rod, and a pitch adjusting member that rotates with a pitch jack around the end of the light projecting device is provided, The pitch adjustment member is provided with a rolling adjustment member that moves up and down with a telescopic jack, a gripping member that grips a segment is attached to the rolling adjustment member, and the guide rod is configured to be moved up and down by a lifting jack. The surfacing member is pivotally attached to the jack rod of the pressing device provided in Surfacing member is mounted a CCD camera and projector in.

It is preferable that the light projecting device is constituted by a laser projector.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, an arm 3 is mounted on an erector ring 2 provided on an erector 1 of the shield machine, and a guide rod 5 is mounted on the arm 3 via a lifting jack 4 so as to be movable up and down. The guide rod 5 is provided with a rod 6 in a horizontal direction, and a laser projector 7 which is a mark position light projector for projecting light in the vertical direction is attached to an end of the rod 6 on the existing segment 21 side, and a pin is provided. 8, one end of a pitch adjusting member 9 is pivotally connected, and the other end is pivotally connected to a pitch jack 12 provided on the face of the rod 6 with a pin 13. A rolling adjusting member 10 is provided below the pitch adjusting member 9, and both ends in the circumferential direction are respectively pivotally attached to a telescopic jack 10 a.
A gripping member 11 for gripping a conventionally known gripping tool (not shown) of the assembling segment 20 is connected to a lower portion of the assembly segment 20.

A pressing device 14 is provided at the end of the pitch adjusting member 9 on the face side. When the assembly segment 20 is gripped by the gripping member 11, the assembly segment 20 is pivotally attached to the rod 15 of the jack of the pressing device 14. The facing member 16 abuts on the face side end of the upper surface of the assembly segment. And
Referring to FIG. 2, CCD cameras 17 and 19 and a laser projector 18 as a light projector are mounted near both ends on the end face side of the surface-appearing member 16 and inside thereof. In addition, the code | symbol T has shown the tunnel under excavation and K has shown the face direction, respectively.

Hereinafter, with reference to FIG. 2 and FIGS.
An operation procedure of the erector for assembling the first segment 20 (A1) to the existing segment 21 will be described. It should be noted that the circles in the figure indicate locations where the positions are aligned when viewed with a CCD camera, and the arrows indicate the directions in which the segments are moved. Further, in FIG. 2, the face-out member 16 is omitted in order to avoid complicating the figure and making it difficult to understand.

First, a segment 20 to be assembled is supplied to the lower part of the erector (FIG. 3). Next, a conventionally known gripper (not shown) of the segment 20 is gripped and lifted by the gripper 11 of the erector (FIG. 4). The segment 20 is slightly raised, and the upper end of the existing segment 21 and the lower end of the segment 20 are brought into contact with each other so as to be aligned and firmly gripped at that position (FIG. 5). The pressing device 14 presses the face-out member 16 against the end of the segment 20 on the face side, and sets the laser projector 18 and the CCD camera 17 on the segment 20 (FIG. 6). The existing segment 21 and the segment 20 are separated by about one hundred and several tens of mm (FIG. 7). Irradiation is performed toward the inner surface of the existing segment 21 by the laser
The center of the rod 6 is detected and the turning direction of the rod 6 is determined. (FIG. 8). The lifting jack 4 is extended, and a position where one of the ends of the segment 20 matches the inner surface height of the existing segment 21 is viewed by the CCD camera 17 and stopped (FIG. 9). Telescopic jack 1 at the end of the rolling adjustment member
At 0a, the height of the opposite end face is adjusted (FIG. 10). The pitching adjustment member 9 is adjusted with the pitch jack 12 using the laser light emitted from the laser projector 17 as a guide, and it is determined that halation occurs when the laser light is parallel to the inner surface, and the inner surface of the segment 20 is adjusted to the existing segment 21 ( (FIG. 11). After confirming the center position and the copying state of the inner surface, the erector 1 is pushed down to a position just before the connection by a well-known sliding jack (not shown) (FIG. 12). Finally, the segments 20 are pushed in by the shield jacks and connected (FIG. 1).
3) The gripping of the segment is released, and the erector 1 is made to wait at the segment receiving position.

Next, with reference to FIGS. 14 and 15 to 24, an operation procedure for assembling the segment 23 (the symbol of the assembly segment of AnBn.K is 23) will be described.

First, the segment 23 is supplied to the lower part of the erector (FIG. 14), and the segment 23 is gripped by the gripping member 11 of the erector 1 and lifted (FIG. 15). Then, it is held apart from the existing segment 21 by about one hundred and several tens mm (FIG. 1).
6). When the segment 23 is a K segment, it slides toward the face. The laser projector 18 and the CCD camera 17 are set by pressing the exposing member 16 against the segment 23 (FIG. 17). In some cases, the work can be performed visually. Raise the segment 23 and slide it toward the face until the pin escapes, and then press the An. It is swung more than the Bn installation position to secure a space where it can be pushed in (FIG. 18), and it is pushed into the outer periphery and the approximate inner surface is fitted to the existing segment 21 (FIG. 21). CCD camera 1
7, the height of the inner surface is adjusted so as to be adjacent to the end surface of the preceding segment 20 being assembled (FIG. 20), and the opposite end surface is adjusted by the jack 10a of the rolling adjustment member 10 (FIG. 21). After confirming the copying state of the inner surface, similarly to the case of the segment A1, push the sliding jack of the erector up to the position just before the coupling (FIG. 22), push it in with the shield jack and connect it (FIG. 23), release the gripping of the segment 23, and release the erector 1 is parked at the segment receiving position.

Referring to FIG. 2, the two CCD cameras 19 from the center attached to the facing member 16 are used for positioning both ends of the segment (K). It is almost matched to the interval between both ends of the segment (K). Further, in the illustrated embodiment, a shield jack is used, but an erector sliding jack may be used instead of the shield jack.

[0024]

The present invention is configured as described above,
The following excellent effects can be obtained.

(1) Since the structure is simple and can be operated visually by an operator, control is easy.

(2) The operation is simple, and the operation can be performed while visually confirming, so that the manual assembly can be performed accurately.

(3) Remote operation is possible, and it can be used for automatic assembly.

(4) Accordingly, the speed of assembling the segments can be increased irrespective of whether the assembly is performed manually or automatically, which contributes to shortening the construction period and reducing the cost.

[Brief description of the drawings]

FIG. 1 is a side view of an erector showing an embodiment of the present invention.

FIG. 2 is a perspective view showing a main part of FIG. 1;

FIG. 3 is a view showing a first step of an assembling procedure of a first segment (A1).

FIG. 4 is a view showing a second step of an assembling procedure of a first segment (A1).

FIG. 5 is a view showing a third step of an assembling procedure of a first segment (A1).

FIG. 6 is a view showing a fourth step of an assembling procedure of the first segment (A1).

FIG. 7 is a view showing a fifth step of an assembling procedure of the first segment (A1).

FIG. 8 is a view showing a sixth step of the assembly procedure of the first segment (A1).

FIG. 9 is a view showing a seventh step of an assembling procedure of the first segment (A1).

FIG. 10 is a view showing an eighth step of an assembly procedure of the first segment (A1).

FIG. 11 is a view showing a ninth step of the assembling procedure of the first segment (A1).

FIG. 12 is a tenth assembly procedure of the first segment (A1).
The figure which shows a process.

FIG. 13 is an assembling procedure of the first segment (A1);
The figure which shows a process.

FIG. 14 is a view showing a first step of an assembling procedure after a segment adjacent to A1.

FIG. 15 is a view showing a second step of an assembling procedure for a segment subsequent to A1.

FIG. 16 is a view showing a third step of an assembling procedure after the segment adjacent to A1.

FIG. 17 is a view showing a fourth step of an assembling procedure after the segment adjacent to A1.

FIG. 18 is a view showing a fifth step of an assembly procedure after the segment adjacent to A1.

FIG. 19 is a view showing a sixth step of the assembling procedure after the segment adjacent to A1.

FIG. 20 is a view showing a seventh step of an assembly procedure after the segment adjacent to A1.

FIG. 21 is a view showing an eighth step of an assembly procedure after the segment adjacent to A1.

FIG. 22 is a view showing a ninth step of an assembly procedure after the segment adjacent to A1.

FIG. 23 is a view showing a tenth step of an assembling procedure after the segment adjacent to A1.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Electa 2 ... Electring 3 ... Arm 4 ... Elevating jack 5 ... Guide rod 6 ... Rod 7 ... Laser projector 9 ... Pitch adjusting member 10 ... Rolling adjustment member 11 ... Grip member 12 ... Pitch jack 14 ... Pressing device 16 ... Exposing member 17 ... CCD camera 20 ... Assembly segment 21 ... Existing segment

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yoshiyuki Asa Naga 1-5-1 Moto-Akasaka, Minato-ku, Tokyo Inside Kaji Ma Mechatro Engineering Co., Ltd. (56) References JP-A-9-217596 (JP, A JP-A-9-303097 (JP, A) JP-A-8-93396 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 11/40

Claims (2)

(57) [Claims] In a segment assembling method for assembling a segment using an erector of a shield machine, a light projecting device and a CCD camera are attached to a face side end of a grasped segment, and an existing segment and a grasped segment are connected. At a slight distance, the mark of the existing segment is detected by the mark position light emitting device attached to the rod of the elector arm, the turning direction of the arm is determined, the lifting jack is adjusted, and the CCD camera is viewed at one end of the segment. Adjust the inner surface height, roll the segment and adjust the height of the other end, align the inner surface with the existing segment using the light beam of the light emitting device as a guide, push it in with a jack and join it,
The segments attached to the left and right of the first attached segment are gripped by the erector just like the first attached segment and held a little apart from the existing segment, and the CCD camera and the light emitting device are attached and adjacent to the preceding segment. Adjust the lifting jack to secure the space where it can be pushed in, adjust the height of the inner surface so that the end faces of the preceding segment being assembled are adjacent to each other while watching with the CCD camera, adjust the rolling of the opposite end face, and use the jack. A segment assembling method, wherein the segments are pushed together, the last segment is gripped and then slid to the maximum side, pushed in from the end face, and similarly positioned by a CCD camera. 2. A segment assembling apparatus for assembling a segment using an erector of a shield machine, wherein a guide rod is attached to an erector arm of the erector so as to be able to move up and down, and the guide rod is provided with a rod in a horizontal direction. A mark position light emitting device for detecting a mark of an existing segment is provided at an end of the existing segment,
A pitch adjusting member that rotates with a pitch jack around the end of the light emitting device is provided, a rolling adjusting member that moves up and down with a telescopic jack is provided on the pitch adjusting member, and a gripping member that grips a segment is provided on the rolling adjusting member. The guide rod is mounted so as to be lifted and lowered by a lifting jack, and a surfacing member is pivotally mounted on a jack rod of a pressing device provided on a pitch adjusting member, and a CCD camera and a light projector are mounted on the surfacing member. A segment assembling device, wherein the segment is attached.