JP3307087B2 - Automatic segment positioning method and automatic positioning device - 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 and an apparatus for automatically positioning segments for assembling segments used in shield machines.

[0002]

2. Description of the Related Art As a method of automatically positioning segments using an automatic segment assembling apparatus in a shield machine, an assembly segment is installed by using a light cutting method as proposed in Japanese Patent Application Laid-Open No. Hei 3-199599. There is a method of positioning according to the position / posture of the segment.

As shown in FIG. 9, the positioning of the assembly segment in the prior art is performed by detecting a step and a gap by using detecting means at three positions on the inner surface of the existing segment and the inner surface of the assembly segment. Calculate the deviation and adjust the position and position of the assembly segment to eliminate steps and gaps.
This is done by correcting the posture.

On the other hand, JP-A-3-51500 discloses that
In order to facilitate the assembly of the K segment, a segment lifting device having a segment lifting jack for lifting and expanding an upper segment adjacent to the K segment is disclosed.

[0005]

In the former prior art, when the segment 1 rings are sequentially assembled,
As shown in FIG. 10, the space for incorporating the K segment is the same as the dimension of the K segment. Therefore, unless the K segment is accurately positioned, automatic assembly of the K segment becomes extremely difficult, such as contact with adjacent segments on the left and right (hereinafter, referred to as a B segment). Also, in practice, there is usually a slight gap between the segment pieces due to the fact that a rubber sealing material is inserted between the segment pieces to prevent intrusion of groundwater. It is. Therefore, after assembling the B segment, the space for assembling the K segment is often smaller than the dimension of the K segment. When trying to perform K-segment automatic assembly in this state,
Even if the K segment comes into contact with the B segment, the K segment must be forcibly inserted, which causes problems such as damage to the segment, lower water stoppage, and lower assembly accuracy of the segment.

[0006] Even when assembling the segments using a manually operated erector, the operator usually experiences that the B segments are slightly opened and adjusted so that the K segments can be easily assembled. Also in the automatic segment assembling device, when assembling the B segment, taking into account the securing of the insertion space for the K segment to be assembled later,
At present, fine adjustment of B segment positioning is performed by switching to manual operation.

On the other hand, according to the latter prior art, since the upper segment hanging down by its own weight is pushed up and expanded by the jack for pushing up the segment, the K segment to be incorporated last interferes with the adjacent upper segment. And can be easily incorporated. However, since the inside of the shield machine has many restrictions in space, it is desirable to be able to expand the upper segment without using such a new segment lifting device. In addition, since the upper segment is fixed to the existing segment, when the upper segment is pushed up, the entire existing segment ring excluding the K segment is pushed and spread, and a considerably large pushing force is required, so that the pushing device is downsized. Is difficult.

An object of the present invention is to provide a new method and apparatus capable of automating the assembly and positioning of the B segment, which is performed by performing a fine correction by switching to a manual operation in order to automatically position all of the segment 1 rings. However, this also allows for easy automatic assembly of the K segments.

It is another object of the present invention to provide a method and an apparatus for automatically positioning a segment which does not require a special lifting device to automatically position all the rings of the segment.

[0010]

According to the present invention, in order to achieve the above object, an automatic positioning method of a B segment adjacent to the left and right of a K segment is improved. That is, as an automatic positioning method of the B segment using the segment assembling apparatus, the end face on the side to be joined to the K segment of at least one of the right and left B segments is slightly widened in the radial direction of the shield machine to perform positioning and positioning. Perform temporary fixing. For example, the center of a point B on the side of the segment B that is in contact with the segment A is
Positioning is performed so as to rotate in the radial outside direction of the field. After positioning and assembling the K segment, the B segment is returned to a position where it can be fastened to the K segment and assembled.

[0011]

When assembling the K-segment, at least one of the B-segments on the K-segment side is opened radially outward of the shield machine and temporarily fixed. As a result, the width for inserting the K segment can be made wider than before, and the positioning and assembly of the K segment become easy. Then, return the B segment to the position in contact with the K segment inside,
Fixed.

Further, since the K segment is assembled in a state where the B segment is temporarily fixed to the existing segment,
No special lifting means is required to expand the B segment outward.

[0013]

In FIG. 1, reference numeral 1 denotes an existing segment already joined to a rear existing segment ring 3 in one ring. Reference numeral 2 denotes an assembly segment which is joined to the existing segment 1 and the rear existing segment ring 3 by bolts or the like. As shown in FIG. 1, after the assembly segment 2 is roughly positioned near a predetermined assembly position, the light projectors 3a, 3
b, 3c, two of which are located at the circumferential boundary of the tunnel between the existing segment ring 3 and the assembly segment 2 at the rear, and the other one is the existing segment 1
Illuminate the boundary of the assembly segment 2 in the tunnel axis direction, and the light cut image A generated by each slit light
-A ', BB', CC 'are connected to the television cameras 4a, 4
Images are taken by b and 4c.

As shown in FIG. 2, these three projectors 10a, 10
b and 10c are provided near the segment gripping portion 34 of the erector main body 12 of the automatic assembling apparatus.

As shown in FIGS. 3 and 4, the erector main body 12 used for automatic assembly of segments is installed at the rear of a cylindrical shield main body 11. The erector main body 12 is roughly divided into an erector ring 13 serving as a turning mechanism, a turning motor 16, and a suspension beam 21 serving as a pressing mechanism.
Attitude control such as pitching, rolling, yawing, etc., a pressing jack 22, a horizontal slide frame 24 and a horizontal slide jack 25 as a turning fine adjustment mechanism, a front and rear slide frame 27 and a front and rear slide jack 28 as a front and rear slide mechanism (FIG. 4). It comprises a spherical frame 29 as a mechanism, jacks for attitude control 31, 32, 33 and a segment gripper.

The electric ring 13 is provided on the shield body 11.
Are guided by outer peripheral guide rollers 14 and side guide rollers 15 disposed at a plurality of positions, and are turned by a turning motor 16 attached to the shield body 11 via a pinion 17 and a ring gear 18. Along with this, the following components supported on the electoring ring 13 are simultaneously turned left and right.

When the two jacks 31 and 32 are simultaneously extended or contracted, the spherical frame 29 is tilted around the X axis including the spherical center G, and this movement is used for rolling control of the segment gripper 34. When one of the jacks 31 and 32 is extended and the other is contracted, the spherical frame 29 is turned left and right around the Z axis including the spherical center G, and this movement is caused by the yawing of the segment grip portion 34. Used for control.

The segment holding portion 34 hung on the central axis 30 of the spherical frame 29 is tilted around the central axis 30 in the direction of arrow に よ り by the expansion and contraction of the attitude control jack 33 attached to the spherical frame 29. This movement is used for pitching control of the segment gripper 34.

Returning to FIG. 1, the television cameras 4a, 4b,
The image data from 4c is switched and selected by the camera switch 5 and stored in the image memory 7 via the image input / output device 6, and the contents of the image memory 7 are transmitted to the image monitor 8 via the image input / output device 6. indicate.

The arithmetic unit 9 performs image processing on the data stored in the image memory 7 to determine the coordinates of the end points of the respective light-section images, and calculates the coordinates of the existing segment 1, the existing segment 3, and the assembly segment 2 from the coordinate values. A relative position / posture deviation amount is calculated and output to the main body control device 50.

The main body controller 50 issues a data request to the arithmetic unit 9 and, based on the calculation result of the deviation amount from the arithmetic unit 9, presses the jack 2 of the erector main body 12.
2, horizontal slide jack 25, front and rear slide jack 2
8. A control signal necessary for correcting the positioning of the assembly segment is output to various actuators such as the attitude control jacks 31, 32, and 33, and the actuators of the various jacks are transmitted through a hydraulic control device 51 that converts the control signal into a hydraulic signal. 22, 25, 28, 31, 32, and 33 are operated.

Next, the processing in the main body control unit 50 and the arithmetic unit 9 will be described with reference to FIG. When segments are automatically assembled, the positioning of the assembled segments is performed by setting a target position based on the measurement results of the positions and postures of the existing segments, and numerically controlling the erector main body 12. Actually, there are measurement errors and control errors. Therefore, the main body controller 50 controls the erector main body 12 to roughly position the assembly segment near a predetermined assembly position (step 402). After that, the arithmetic unit 9 detects the deviation amount of the relative position / posture between the existing segment 1 and the assembled segment 2 (step 404), and calculates the moving amount (step 406). Thereafter, the main body controller 50 performs positioning correction, that is, fine positioning (408).

Regarding the A segment,
It can be assembled by the method disclosed in Japanese Unexamined Patent Publication No. 199599.

The automatic positioning of the B segment, which is a feature of the present invention, will be described below. FIG. 6 defines a coordinate system for segment positioning and assembly. Elekta
Rotation (rolling, pitching, and yawing) around the axis in each of the shield axis direction (X), the lateral direction (Y), and the radial direction (Z) is possible with the point S of the grasped segment as the center of the coordinates. At three places of the segment, the step and the gap with respect to the existing segment are measured.
From the measured steps and gaps, the position correction amounts in all six directions are calculated around the point S of the grasped segment, and the erector is operated so that the three steps and gaps disappear, and correction,
Perform positioning.

The correction amount includes a basic correction amount and an opening correction amount. In the calculation of the basic correction amount, a value that eliminates a step and a gap between three measurement points is calculated. That is, as shown in FIG. 7, the positioning is performed in a state where the K segment side of the B segment is rotated outward with respect to the point C on the side in contact with the A segment, and the temporary fixing is performed. At this time, it is necessary to secure a gap T with the K segment (width W). for that reason,
In a normal state, that is, in a state where the rotation is not performed, the opening correction amount is further added to the basic correction amount obtained so as to eliminate the step and the gap, and the positioning is performed by rotating the B segment about the point C.

After positioning the K segment and fixing / assembling it to the existing K segment, the temporarily fixed B segment is set.
Return the segment to a position where it can be fastened to the K segment,
This B segment is fixed.

The temporary fixing of the B segment can be performed by pressing the B segment against an existing segment ring by a shield jack. Alternatively, the B segment is fastened with fasteners such as bolts and nuts.
It may be fastened to an existing segment ring. in this case,
By making the bolt fastening holes slightly loose against the bolt, the B segment is shifted outward and temporarily fixed, and after positioning and assembling the K segment, the bolt is loosened and the B segment is removed. After returning to the position in contact with the K segment inside, it becomes possible to fix.

FIG. 8 shows an example of a B segment correction method. Since the segment correction operation defines a coordinate system centered on a point S on the segment, the rolling amount and the amount of rolling are required for rolling and positioning the B segment.
By further performing the horizontal correction dy and the pressing correction dz shown in the figure, correction and positioning are performed around the point C on the segment. That is, the B segment is rolled from the initial position B0 by the angle θ (position B1),
In order to move the center S of the segment coordinate system to the position of S 'in the figure (position B2), correction is simultaneously made by dy and dz in the Y-axis and Z-axis directions, respectively.

As a method of correcting the position of the B segment, it goes without saying that not only the above-described method of centering on the point C but also other methods such as parallel movement of the entire B segment may be used.

Further, the pair of left and right B segments may be moved outward, or only one of the B segments may be moved and temporarily fixed.

According to the present invention, when assembling the K segment,
Since the B segment is opened temporarily in the radially outward direction of the shield machine, the width for inserting the K segment can be made wider than before, and automatic assembly of the K segment becomes easy. In addition, a wide space for assembling the K segment can be ensured only by moving the B segment, there is no need to expand the existing segment, and no special lifting device is required.

[0032]

The present invention has the following effects.

(1) At the time of positioning and temporary fixing of the B segment, the calculation and the positioning of the moving amount are automatically performed. Therefore, there is no need for the operator to switch to the manual operation and make fine correction of the positioning of the B segment.

(2) Since the space for assembling the K segments is widened, the automatic assembling of the K segments is easy, and the damage to each segment is reduced, so that improvement in the assembly accuracy and quality can be expected.

(3) In order to secure a wide space for assembling the K segment, only the B segment is opened outward and temporarily fixed, so that the force may be smaller than when the entire existing segment is pushed and spread. No lifting device is required.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of an automatic segment assembling apparatus for implementing the present invention.

FIG. 2 is a configuration diagram of three sets of visual devices in FIG. 1;

FIG. 3 is a vertical sectional view of a main part of an erector main body used for automatic segment assembly in FIG. 1;

FIG. 4 is a side sectional view of the erector main body of FIG. 3;

FIG. 5 is a processing flowchart of the arithmetic unit in FIG. 1;

FIG. 6 is a diagram defining a coordinate system for positioning and assembling a B segment.

FIG. 7 is an explanatory diagram of a method of calculating a correction amount.

FIG. 8 is a diagram showing a method for correcting a B segment according to the present invention.

FIG. 9 is a diagram showing a method for positioning an assembly segment in the related art.

FIG. 10 is an explanatory diagram of a K-segment assembling method according to the related art.

[Explanation of symbols]

1: Existing segment, 2: Assembly segment, 3a, 3
b, 3c: floodlight, 4a, 4b, 4c: television camera,
9 arithmetic unit, 12 elector body, 34 segment gripper, 50 body control unit, 51 hydraulic control unit

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hidemi Hagiwara 2-58-8 Kitaaoyama, Minato-ku, Tokyo Co., Ltd. (72) Inventor Kazumi Shino 2-58-8 Kitaaoyama, Minato-ku, Tokyo Co., Ltd. (72) Inventor Takeshi Kamei 650, Kandamachi, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. Inventor Yasuo Tanaka 650 Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd., Tsuchiura Plant (72) 650, Tsuchiura-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (56) References JP-A-5-321597 (JP, A) JP-A 5-133196 (JP) , A) (58) Field surveyed (Int. Cl. ⁷ , DB name) E21D 11/40

Claims (8)

(57) [Claims] 1. An assembly segment is roughly positioned near a predetermined assembly position by an erector of an automatic segment assembling apparatus installed in a shield drilling machine, and thereafter, the assembly segment and the existing segment are separated from a projector installed on the erector. The slit light is applied to at least two places of the boundary part along the tunnel circumferential direction and at least one part of the boundary part along the tunnel axis direction, and at least the above-mentioned image data is obtained from image data obtained by capturing each slit light image. 3 steps
Detecting a gap, obtaining a position / posture deviation between the assembly segment and the existing segment based on the step / gap information, and finely positioning and assembling the assembly segment at an assembly position by correcting the deviation; In the automatic positioning method, in assembling a B segment adjacent to a K segment to be assembled last in a segment ring, the K segment side of at least one of the B segments is opened outward in a shield radial direction with respect to the existing segment. The K segment is positioned and temporarily fixed, and the K segment is positioned and assembled. The temporarily fixed B segment is moved inward in the radial direction of the shield to assemble with the K segment. Automatic positioning of segments characterized by positioning at a position and assembling at the position Law. 2. The K-segment of the two B-segments adjacent to the left and right of the K-segment is opened and positioned / temporarily fixed to the existing segment in the radial direction of the shield. Positioning
2. The automatic segment positioning method according to claim 1, wherein the assembly is performed. 3. The temporary fixing is performed by using a shield jack.
3. The method according to claim 1, wherein the B segment is pressed against the existing segment ring.
An automatic segment positioning method according to any one of the preceding claims. 4. The automatic segment positioning method according to claim 1, wherein the temporary fixing is performed by fastening the B segment to the existing segment ring with a fastener. 5. The automatic segment positioning method according to claim 4, wherein a bolt / nut for assembling a segment is used as the fastener. 6. A positioning / temporary fixing operation is performed such that the B segment is rotated in a radially outward direction of the shield around a point C on a side of the B segment which is in contact with the A segment. An automatic segment positioning method according to any one of the preceding claims. 7. The method according to claim 1, wherein the correction of the amount of rolling and the two corrections of lateral and pressing are performed centering on the point C on the B segment for positioning for temporary fixing of the B segment. The automatic segment positioning method according to any one of claims 1 to 6, wherein: 8. An erector installed in a shield excavator and controlled by a main body control device roughly positions an assembly segment near a predetermined assembly position. At least two locations of the existing segment along the tunnel circumferential direction and at least one of the boundaries along the tunnel axial direction.
Irradiating the slit light to the three locations, detecting the steps and gaps of the at least three places from the image data obtained by imaging each slit light image, by an arithmetic unit, based on the step and gap information, the A position / posture deviation between the assembly segment and the existing segment is determined, and the main body controller finely positions the assembly segment at the assembly position by controlling the erector so as to correct the deviation. The arithmetic unit opens the K segment side of the B segment in the shield radial outer direction with respect to the existing segment with respect to the B segment adjacent to the K segment assembled last in the segment ring,
The state where a space for positioning and assembling the segments is secured is calculated as a temporary fixing position, and the main body control device is configured to set the B segment at the temporary fixing position obtained by the arithmetic device. An automatic segment positioning device configured to perform positioning of a segment.