JP3406378B2 - Segment assembly equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment assembling apparatus used for tunnel excavation work together with a shield machine, and more particularly to a self-propelled assembling apparatus that advances independently of the shield machine.

[0002]

2. Description of the Related Art In recent years, a so-called shield construction method has been generally adopted to provide water supply / sewerage, railways, roads, etc. underground. The shield method is a method in which a steel cylinder called a shield is pushed into the ground, and excavation, propulsion, and lining are performed while holding it, and the lining is a segment piece made of steel or concrete. Is attached to the inner surface of the tunnel to form a segment wall. Excavation and propulsion are realized by a shield machine having a cutter at the front of the shield, pushing the front end face of the segment wall backward with a shield jack, and the lining, or construction of the segment wall, is called a segment assembly device, etc. It is usually done by machine.

The segment assembling apparatus is generally attached to the rear portion of the body of the excavator so as to advance integrally with the shield machine, but in recent years, the segment assembling apparatus has the capability of advancing itself independently of the body of the excavator. You can see what you have. This is because if it is independent of the shield machine, the segment assembling device is efficient in that it can perform lining work at an optimal position for work without being restricted by the excavation situation of the machine. An example of such a self-propelled segment assembling apparatus is described in, for example, Japanese Patent Application Laid-Open No. 3-90799.

In addition, in recent tunnel excavation work,
There is a tendency that the route often includes a so-called sharply curving portion in which a sharp curve is drawn with a small radius of curvature. This is because many tunnels were built in the city center and other areas based on the development of the shield construction method, and as a result, it was not possible to freely determine the route because it was necessary not to overlap with other tunnels. Regarding the excavation of a sharply curved portion, there are many precedents for shield excavators, but the self-propelled segment assembling device that follows the excavator is only slightly disclosed in JP-A-6-50097. is there.

The assembling apparatus of the above publication has a segment assembling machine in the front, and a front part, a rear part, and
The connecting member (body) having three sets of leg structures (legs) in the middle is connected. The connecting member including these leg structures is a part for advancing, and any one of the leg structures is grounded to the inner surface of the tunnel (segment wall), while the remaining leg structures are moved forward. Repeat the above procedure to move the entire assembly device forward. Each set of leg structures has three radially expandable and contractible legs, and the leg structures are grounded to the inner surface of the tunnel by appropriately determining the amount of expansion and contraction of the three legs, and the above-mentioned connection is made. Determine the position of parts and segment assembly machines. Each set of leg structures can be tilted with respect to the connecting member (swing about left and right like swinging the head), and can change its direction according to the curve of the tunnel.

[0006]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
No. 0799 discloses only a so-called self-propelled segment assembly device and does not show means for the device to follow the curve of a tunnel. Therefore, the publication does not disclose how to move forward in a curve, especially in a portion where a sharp turn is made, and how to smoothly assemble a segment in that portion.

On the other hand, in the case of the segment assembling apparatus disclosed in Japanese Unexamined Patent Publication No. 6-50097, since the above-mentioned three sets of leg structures can be respectively tilted (swirl), they can cope with a sharply curved portion of a tunnel. However, it can be said that there is still room for improvement in smoothly assembling the segments in the tunnel. When assembling a segment with an assembling machine, it is important to accurately position the center of the assembling machine (that is, centering) at the construction position of the segment in the tunnel (center of the cross section). This is because it is difficult to perform such positioning with a leg structure having three independent and telescopic legs radially arranged. In other words, the direction of the three legs does not match the direction of the normal coordinate axes (coordinate axes assumed in the cross section of the tunnel), so it is difficult to easily correct the deviation of the connecting members from the optimum position. is there.

An object of the present invention is a self-propelled segment assembling device that follows a shield machine and is capable of dealing with a so-called sharp turn portion of a tunnel, and is capable of easily centering a segment assembling machine. It is to provide something that can be done quickly.

[0009]

SUMMARY OF THE INVENTION The present invention is a segment assembly device for constructing a segment wall on the inner surface of a tunnel while advancing by itself following a shield machine and is constructed as follows. That is, A) On the fuselage whose centerline is oriented in the longitudinal direction of the tunnel, attach the leg with a body that moves forward together with the body and the moving leg that moves relative to the body forward and backward, and each leg is
Consists of a bifurcated frame with left and right downward legs and a left and right slide means and vertical movement means of the frame, and can swing the frame to the left and right, B) It can swing to the left and right in front of the body Connect the segment assembly machine to. As is well known, the segment assembling machine is for assembling segment pieces on the inner surface of the tunnel to construct a segment wall, and performs operations such as gripping the segment, moving it to the construction site in the tunnel and pressing it. .

More specifically, this assembling apparatus may be constructed as described in claim 2. That is, a-1) Each of the leg portion with the trunk and the movable leg portion is connected to the outside of the annular body surrounding the body by means of the bifurcated frame attached together with the left-right slide means and the up-and-down movement means, and the expansion and contraction means. A-2) A pair of legs with a trunk is provided at the front and rear of the body, and a pair of movable legs is provided at the middle of the legs. a-3) For the front and rear legs with trunks, attach the above-mentioned annular bodies onto the trunk via vertical pins and whirling drive means, respectively. It is independent of the spherical bearing in which the annular body is fitted so that it can move forward and backward (the bearing that has a spherical surface centered on the center of the body on the outer surface of the inner ring and the inner surface of the outer ring. The entire body can move forward and backward on the body). It is installed on the middle part of the fuselage through the left and right moving means. Attached, b) the segment assembly machine, a whirling drive means, connected to the front of the body through the above pins with a body with legs of the front.

Further, in this assembling apparatus, the moving leg portion may be provided so as to be rotationally displaceable with respect to the body in the circumferential direction (the circumferential direction of the tunnel or the body). In the case of the device according to claim 2, since the spherical bearing of the above a-4) is normally capable of rotational displacement, the front-rear moving means or the like connected thereto may be attached to the body so that displacement corresponding to rotational displacement is possible. Good.

Further, as described in claim 4, the left and right swinging angles of the bifurcated frame of each leg with respect to the center line of the body (see FIG. 1).
, Θ), the horizontal distance between the center line of the fuselage and the left-right center of each bifurcated frame (X in FIG. 1) (In addition, the bifurcated frame is normally placed in the tunnel so that it is generally horizontal. , Each bifurcated frame is evenly distributed to the left and right of the tunnel, so the horizontal distance between the left and right center of the frame and the tunnel centerline there is zero), and the centerline of the fuselage and the segment assembly machine With respect to the left-right swivel angle (α in FIG. 1) − with respect to the center line, the actual value (control amount) together with calculation means for obtaining an appropriate value (control target value) from the radius of curvature of the tunnel ) Is preferably provided.

[0013]

The segment assembling apparatus according to the present invention will be described below.
The body and segment assembling machine are advanced using the body leg and the moving leg described in A). That is, first, with the movable legs (more specifically, the left and right toes of the bifurcated frame) grounded to the inner surface of the tunnel (segment wall), float the legs with the trunk (also the toes of the bifurcated frame) to lift the body. Along with this, it moves forward, and at the destination where it moved, this time the grounded leg part is grounded and the movable leg part is floated, and the movable leg part is moved relative to the body part leg and the body, and is moved forward. The segment is assembled by the segment assembling machine in a stable state with most of the legs grounded, but in order to move forward again, it is sufficient to repeat the alternate grounding / movement of each leg as described above. . The above is the same as the device of the above-mentioned publication (JP-A-6-50097) in principle.

As described in A) above, each leg has a downward leg point at the left and right ends of the bifurcated frame, and stands by grounding these leg points to the inner surface of the segment to support the body. To do. Although it moves forward by repeating grounding and moving as described above, since each frame can swivel left and right with respect to the body, it also changes its direction according to the curve of the tunnel as in the device of the above publication. , It is possible to make a smooth advance even in a so-called sudden turn.

Since each leg has a bifurcated frame, for example, when the tip of the leg is grounded at a position symmetrical with respect to the vertical plane passing through the center line of the tunnel, the frame also stands upright symmetrically. . In this state, by driving the left and right slide means of each leg, the body can be moved to the left and right (X direction) in the tunnel cross section, and by moving the up and down means, up and down (Y direction). Since the body can be moved, the center of the body can be easily moved to any position (that is, any XY coordinate) in the tunnel cross section at the leg portion.

If the center position of the fuselage can be arbitrarily moved at each leg portion, no matter how the tunnel excavated by the shield machine is curved, the position and direction of the fuselage can be adjusted with respect to it. Can be set appropriately. As a result, if the centerline of the segment assembly machine in front of the fuselage is located in the same plane as the curve of the tunnel centerline, based on the configuration of B), the left and right swivel angles of the assembly machine with respect to the fuselage are determined. By the adjustment, the center position of the assembling machine can be aligned with the center of the tunnel (construction portion of the segment) (that is, the assembling machine can be centered). Each leg is equipped with a bifurcated frame and uses two types of moving means (left and right sliding means and up and down moving means) along the orthogonal coordinate system based on it, and to swing the assembly machine The above centering can be performed very easily.

According to a second aspect of the invention, there is provided a segment assembling apparatus, wherein
・ Each of the configurations of B) is described in more concrete terms a-1) to a-4) and
By adopting b), the above-mentioned action is surely exhibited with a simple structure.

First, a-1) is a concrete embodiment of the constitution of each leg portion. Since it has a telescopic upward frame in addition to a bifurcated frame, the legs of all frames are grounded. Excellent stability with respect to body support.
In addition, since those frames are provided on the annular body that surrounds the body, the integrity and rigidity between the frames are high, and it is also possible to adopt a simple whirling structure such as a-3) and a-4). to enable.

A-2) is a concrete arrangement of the legs,
By doing so, the number of legs can be minimized while ensuring stability for supporting the body, and the configuration of the assembly apparatus can be simplified and the cost can be reduced. In other words, although the number of legs is as small as three sets, the body can be supported by the front and rear legs with the trunk or the moving legs in the middle between them, and in addition to satisfying the required stability,
Furthermore, it is possible to move forward in the manner described above.

The part a-3) embodies the structure of A) in which the bifurcated frame of the trunk-equipped leg is capable of swinging left and right with respect to the body. It is characterized in that the above-mentioned annular body is mounted on the body through a pin and a whirling drive means for that purpose. Only one set of pins needs to be provided on a vertical straight line, and any driving source that exerts a traction force, an pushing force, or a rotational force can be used as the driving means for causing the whirling around it as a center. The structure for the surroundings is extremely simple.

Similarly, the part a-4) also embodies the structure of the above A) in which the movable leg can be moved relative to the body and the bifurcated frame can be swung left and right. is there. Since the movable leg portion also has an annular body, the movable leg portion as a whole is relatively moved and swung about. That is, the annular body is mounted on the middle part of the body through a spherical bearing fitted so as to be movable in the front-rear direction, and the front-rear moving means is only provided on the left and right sides to allow relative movement in the front-rear direction and whirling in the left-right direction Since it has been possible, it can be said that the structure is extremely simple. In other words, if the left and right front and rear moving means are moved by the same amount (length), the entire moving leg can be moved relative to the front and rear on the body via the annular body, and by the left and right front and rear moving means. By varying the amount of movement, the legs can be swung to the left and right along the spherical surface of the spherical bearing (the spherical surface formed on the outer surface of the inner ring and the inner surface of the outer ring and centered on the center of the body).

Further, b) is a part in which the above B), that is, the connection of the segment assembling machine to the body is embodied by the simplest configuration. The assembly machine is also connected to the body by a simple means with pins and whirling driving means, but as the pin, the pin with the front leg with the body shown in a-3) is shared. Therefore, it can be said that the segment assembling apparatus has a small number of parts and is simpler in configuration.

According to the segment assembling device of the third aspect, the so-called rolling displacement of the present device in the tunnel can be adjusted based on the fact that the movable leg can be rotationally displaced in the circumferential direction with respect to the body. That is, for example, when the entire assembly device is tilted in the circumferential direction, the movable leg is floated and rotationally displaced in the circumferential direction by an appropriate amount (the amount that eliminates rolling displacement) while the leg with the body is grounded. , If the moving leg is grounded and the leg with body is floated next time and rotational displacement is applied in the same manner, the leg with body will be rotationally displaced together with the body in place of the moving leg which is grounding, and the proper position will be obtained. And the torso and all legs are vertically erect. Also, when the tunnel is curved in a plane that is not horizontal, it is better to set the above coordinate system parallel to and at a right angle to the inclined plane. Also, this rolling adjustment function can be used. If the adjustment range is large, the above procedure may be repeated, for example.

In the case of the segment assembling apparatus of claim 4,
The position and orientation of the body in the tunnel and the whirling angle of the segment assembly machine are automatically determined according to the curve of the tunnel, and the centering (centering) of the assembly machine can be performed quickly and accurately. . First, the calculating means calculates appropriate angles (the above-mentioned θ and α) and distances (X) of the respective parts in association with the radius of curvature of the curve of the tunnel (set value or measured value at the time of excavation) to calculate the leg parts. While instructing a considerable amount of displacement to the segment or segment assembling machine, while the detection means outputs the actual value of each displacement amount, so-called feedback control is used to efficiently and efficiently determine the position and orientation of the body and the position of the assembling machine. It can be accurately determined.

[0025]

1 to 7 show a segment assembling apparatus 1 which is an embodiment of the present invention. FIG. 1 is an overall plan view showing a state in which the assembling apparatus 1 advances through a sharply curved portion of a tunnel, FIG. 2 is a front view thereof (a view taken along the line II-II in FIG. 1), and FIG.
4 is a schematic plan view showing the structure of FIG. 4, FIG. 4 is a side view cross-sectional view showing the same structure (IV-IV cross-sectional view in FIG. 3), and FIG. 5 is also a front view cross-sectional view showing the structure (V- in FIG. 4). 6 is an explanatory view showing a procedure for moving the assembling apparatus forward, and FIG.
FIG. 7 is an explanatory diagram showing a procedure for adjusting rolling displacement of the assembling apparatus.

The segment assembling apparatus 1 is an apparatus for constructing a segment wall on the inner surface of the tunnel, while following the shield machine (not shown) and advancing itself in the tunnel excavated by the machine. In FIG. 1, there is a shield machine on the left side, that is, on the front side in the direction of excavation of the tunnel, and the assembling apparatus 1 continues immediately behind it and advances to the left side, and at the front end of the segment wall 90 after construction, the segment 91 Assemble one after another. Generally speaking,
In the assembling apparatus 1, the segment assembling machine 10 and the body portion 20 are connected to each other, and the former constructs the segment wall 90, while the latter makes a whole forward movement. Considering that the tunnel construction in recent years often requires excavation of a sharp curve having a radius of several tens of meters or less, the assembling apparatus 1 has the segment wall 90 at such a sharply curved portion.
It is configured to facilitate the construction of.

The segment assembling machine 10 grabs each unassembled segment 91 one by one and carries it to a predetermined position in the tunnel (see the phantom line in FIG. 2), and supports it until it is fastened to the already constructed one. It is a working machine and has the same form as conventional ones. That is, as shown in FIG. 2, the gripper 1 that holds the segment 91 around the mounting cylinder 11
2 together with rotation of the gripper 12 (arrows a and c in FIG. 2)
It is equipped with various devices that move up and down (arrow b) and move linearly (arrow d in FIG. 4).
Can be grasped and carried to any position. As shown in FIG. 3, the assembling body 11 is shown in FIG. 3 with respect to the front end of the body portion 20 so that the assembling body 11 can swing to the left and right as shown in FIG. 1 (horizontal movement in a horizontal plane or a plane close to it). In addition, the pin 34 and the jack 13 which is a whirling drive means are connected to each other. Since the gripper 12 operates centering on the axis of the assembling cylinder 11, in order to perform the segment assembling work efficiently and with high accuracy, the axis of the assembling cylinder 11 (at the position where the gripper 12 is present). It is necessary to accurately perform so-called centering in which the axial center point of the body 11 is aligned with the center of the tunnel (that is, the inner surface of the segment wall 90).

The body portion 20 connected to the segment assembling machine 10 has a function of smoothly advancing in a sharply curved tunnel and a function of quickly and accurately centering the assembling machine 10 as described above. It is configured to have. Hereinafter, with regard to such a function, first, the configuration will be mainly described.

First, as shown in FIG. 1, the body portion 20 of the assembling apparatus 1 has a cylindrical body 21 along the longitudinal direction of the tunnel.
It is configured by providing three sets of legs 30, 40, 50. Among them, the leg portion 50 is, as shown in FIG. 5, a bifurcated frame 52 having leg tips 52a facing downward left and right.
And the upward frame 53 having the leg tips 53a on the upper side as a set are integrally attached to the outside of the annular body 51 surrounding the body 21. However, for the bifurcated frame 52, the left and right slide means 52h (see FIG.
As shown in FIG. 5, a jack that causes relative displacement in the direction of arrow h between the annular body 51 and the frame 52 along the linear guide 52i, and a vertical movement means 52v (annular body 51 / frame 52).
A jack) for providing relative displacement in the direction of arrow v, which is perpendicular to arrow h, is provided therebetween. The bifurcated frame 52 and each leg 52a are connected via a pin 52b so that the leg 52a can swing within a certain range. One upward frame 53 is provided with an expansion / contraction means 53v (a jack which operates in the same direction as the above-mentioned vertical movement means 52v) and is connected to an upper leg tip 53a via a pin 53b. There is. Similarly, the other legs 30 and 40 (see FIG.
・ Refer to Fig. 4 etc.), annular bodies 31, 41 and bifurcated frame 32.
42, vertical movement means 32v / 42v, left / right slide means 32h / 42h, vertical movement means 32v / 42v, upward frame 33/43, and leg points 32a / 33a / 42a.
-It is configured including 43a and the like.

Of the three pairs of legs 30, 40, 50, the legs 30, 40 provided at the front and rear ends of the body 20 do not move relative to the body 21 (body 20) back and forth. On the other hand, the leg portion with the trunk is provided, and only the leg portion 50 provided in the middle is a moving leg portion that relatively moves back and forth with respect to the body 21. This is the two-forked frame 32.
This is a structure in which the assembling apparatus 1 advances itself by the procedure of FIG. 6 which will be described later in combination with the fact that 42 and 52 have vertical moving means 32v, 42v and 52v. The mechanism is configured as shown in FIG. 4. First, for the legs 30, 40, a pair of upper and lower pins (two for each) 34, 44 are fixed vertically (vertically) to the front and rear ends of the body 21. , This is the ring 31.
The upper and lower parts of 41 are engaged. Since the positions of the pins 34 and 44 do not move on the body 21, the legs 30 and 40 including the annular bodies 31 and 41 do not move forward and backward relative to the body 21. The front pin 34 with which the leg portion 30 is engaged also serves as the above-mentioned one to which the segment assembling machine 10 is connected. Regarding the other set of legs 50, a spherical bearing 54 is fitted to the outside of the body 21 so as to be slidable forward and backward, an annular body 51 is attached to the outside of its outer ring, and the legs 50 are provided on the left and right side surfaces of the body 21. A jack 55 as a means for moving back and forth is connected to the annular body 51 (see FIG. 3).
See). When both jacks 55 expand or contract at the same time, the annular body 51 and the leg portion 50 including the annular body 51 move together with the spherical bearing 54 relative to the body 21.

Each of the legs 30, 40, 50 is a leg with a body or a moving leg as described above, and the pin 3 is used.
It is configured so as to swing to the left and right (swinging motion similar to that of the assembling machine 10) by utilizing the 4 · 44 and the spherical bearing 54. Each of them is swung appropriately as shown in FIG. 1 and the bifurcated frames 32, 42, 52 are directed toward the center of the curvature of the curve of the tunnel, so that the assembling apparatus 1 can smoothly move through the curve. Specifically, the configuration shown in FIGS. 3 and 4 is used. That is, the jacks 35 and 45 as whirling driving means are respectively connected between the leg portions 30 and 40 and the body 21 which are capable of whirling around the pins 34 and 44, and the spherical bearing 54 is interposed. As described above, a pair of jacks 55 for forward and backward movement are connected between the leg portion 50 and the body 21, which can swing around. When the jacks 35 and 45 are expanded and contracted, the legs 30 and 40 swirl around the pins 34 and 44, and when the expansion and contraction amounts of both jacks 55 are made different, along the spherical surface of the spherical bearing 54, that is, the body 21 The leg 50 swings around the center of the.

With the above-described structure, the segment assembling apparatus 1 moves forward by itself after the shield machine, and smoothly moves along the curve of the tunnel including the steeply curved portion, and within the tunnel. Segment assembly machine 1
Enables accurate centering of zero. Hereinafter, such a function will be described.

First, the forward movement (self-propelled movement) of the assembling apparatus 1 is performed as shown in FIG. 6 by contacting and moving the ground (moved segment 90) with respect to the inner surface of the tunnel (constructed segment 90). By alternating between.
For example, first, as shown in FIG.
・ For 40, vertical movement means 32v ・ 42v and expansion / contraction means 33
Each frame 32, 33 using v.43v (see FIG. 4)
-Shrink 42 and 43 and float from the segment wall 90 (only the frames 52 and 53 of the moving leg 50 are grounded).
By contracting the forward jacks 55 (FIG. 3) on both the left and right sides, as shown in FIG. 6 (b), the body 21 is advanced forward by the length p together with the trunk-equipped legs 30 and 40 in a state of being floated from the inner surface of the tunnel. . Subsequently, the frames 32, 42, 33, and 43 are grounded with respect to the legs 30 and 40 with the trunk (see FIG. 6).
(c)) Then, after floating the movable leg 50 (see FIG. 6).
(d)), and moves it forward by a length p with respect to the body 21 (FIG. 6 (e)). Then, as shown in FIG. 6 (f), the movable leg 5
If 0 is grounded, it means that the whole body has advanced by the length p from the state of FIG. In this state, the assembling machine 10 (see FIG. 2)
(See etc.)
For example, when the segment 91 is completed for one round (one ring), the procedure similar to the above is repeated and the length p
Only the whole device 1 is advanced. Normally, the width of the segment (dimension in the longitudinal direction of the tunnel) is constant, so it is rational to make each of the above moving lengths p match the width.

The body 21 is a rigid body having a right circular cylinder shape and cannot be bent in any direction. However, as shown in FIG. 1, three sets of legs 30, 40, 50 are formed in the curved portion of the tunnel.
Causes the body 21 to swirl appropriately, so that the entire assembly device 1 can smoothly advance in the curved portion. At this time, the whirling angle θ (θ ₁ · θ ₂ · θ ₃ ) of each leg 30, 40, 50 should be excellent in stability and posture controllability of the body 20 and the assembly device 1. It is determined according to the curvature of the curve (curvature radius R shown). That is, the angles θ are set so that the toes 32a, 42a, 52a (FIG. 5) on both sides of the bifurcated frame 32, 42, 52 are aligned in the radial direction of the curve (that is, in the cross section perpendicular to the longitudinal direction of the tunnel). And make sure that their ground points lie in a plane parallel to the plane of the curve. The latter point is generally bilaterally symmetrical with respect to the vertical plane passing through the center line of the tunnel.
It means to ground 2.52, but for that,
As shown in FIG. 1, horizontal distances X ₁ , X ₂ , X ₃ occur between the center position of each frame and the center line of the body 21 (since it is a straight line, it cannot be along the center line of the tunnel). Become. In this assembling apparatus 1, the center line of the tunnel and the body 2
The distance from the center line of 1 is minimized and the front and back are symmetrical, that is, θ ₁
= Θ ₂ and X ₁ = X ₃ . In addition,
As a matter of course, these angles θ are equal to the above-mentioned jack 35.4.
5.55 (FIG. 3), and the distance X is determined by the left and right slide means 32h, 42h, 52h (FIG. 4, see also the phantom line in FIG. 5). The height of the body 21 is determined by the vertical moving means 32v, 42v, 52v (FIG. 4) so that the centerline of the body 21 overlaps the plane including the centerline of the tunnel. In the case of this assembling apparatus 1, the forked frame 32
By grounding 42 and 52 symmetrically, the operating directions of the left and right slide means 32h, 42h and 52h are matched with the direction of the distance X, and the vertical movement means 32v, 42v and 52 are arranged.
Since the operation directions of v and the expansion / contraction means 33v, 43v, 53v are aligned with the direction of the height (right angle to the direction of the distance X), the above-mentioned position setting of the body 21 can be performed extremely easily. When the bifurcated frames 32, 42 and 52 are grounded, the inclinometers 32g and 52g shown in FIGS. 2 and 5 are used.

When the direction, position and height of the body 21 are determined as described above according to the curve of the tunnel, the body 21
The centering of the assembling machine 10 can be performed only by appropriately determining the whirling angle α (FIG. 1) of the segment assembling machine 10 with respect to. Whirling angle θ
Under the above conditions such as ₁ = θ ₃ and X ₁ = X ₂ for the distance X, the positional relationship of the body 21 with respect to the curve is uniquely determined. Therefore, an appropriate angle α is also uniquely determined according to the radius R of the curve. To be determined. Particularly, in the assembling apparatus 1, sensors for detecting the angles θ ₁ , θ ₂ , θ ₃ and the distances X ₁ , X ₂ , X ₃ , the angle α of the assembling machine 10 and the like are provided at various places (illustrated). Although a linear or rotary encoder that detects the displacement is attached to the jacks that are the driving source for each operation, the appropriate values (unique as described above) from the radius of curvature (set value) of the tunnel The above centering is further facilitated by providing an arithmetic means (not shown) for obtaining the (determined value) connected to each sensor and each driving device such as the above jacks, left and right sliding means, and vertical movement means. I have to. That is, in the assembling apparatus 1, when the radius R of the tunnel is input to the calculating means, the centering of the assembling machine 10 is automatically and accurately performed by the operation of the calculating means, the sensor and the driving device.

In addition, the segment assembling apparatus 1 is also configured so that the rolling displacement can be adjusted, that is, correction can be made when the entire apparatus is rotationally displaced in the circumferential direction, or proper rotational displacement can be imparted. is there. Specifically, as shown in FIGS. 3 to 5, a jack 56 as a rolling adjusting means is connected between the body 21 and the moving leg portion 50, and the jack 55 for forward movement is connected to the leg portion 55. It was mounted on the body 21 via a universal joint 55a capable of following the rotational displacement. Since the leg portion 50 is provided on the body 21 via the spherical bearing 54 as described above, the leg portion 50 is rotationally displaced with respect to the body 21 within a certain range by expanding and contracting the jack 56. .

Each of FIGS. 7A to 7D shows the displacement of the leg portions 30, 40, 50 in the tunnel (segment 90) in order from the front leg portion in a transverse sectional view. Although it is a figure, an example of the adjustment of the rolling displacement will be described as follows according to the figure. When the entire assembly device 1 is inclined in the circumferential direction as shown in FIG. 7 (a), first, as shown in FIG. 7 (b), the movable leg 50 is floated while the legs 30 and 40 with the trunk are grounded, By expanding and contracting the jack 56 (FIG. 5), the leg portion 50 is rotationally displaced in the circumferential direction by an appropriate amount. Then, as shown in (c), the leg 50 is grounded at that position, this time the legs 30 and 40 are floated, and the jack 5 is similarly put between the body 21 and the leg 50.
If rotational displacement is given at 6, the legs 30 and 40 are rotationally displaced together with the body 21 in place of the grounded leg 50, and the entire assembly apparatus 1 has a proper upright posture as shown in (d). Will return to. When the tunnel is curved in a plane that is not horizontal and is inclined, the left and right slide means 32
Since it is preferable to make the operating directions of h, 42h, and 52h parallel to the inclined surface, the assembling apparatus 1 can be manufactured by the same procedure as above.
Tilt the whole of.

In addition, a distance sensor 15 is attached to the gripper 12 of the assembling machine 10 as a means for detecting and confirming the center of the segment wall 90 as shown in FIG. When the assembling apparatus 1 moves forward, the position and orientation of the body portion 20 is determined by the above-mentioned computing means and the like, and then the assembling machine 10 is centered, the segment wall 90 is brought closer to the inner surface of the gripping device 12 at the front end portion thereof. When the sensor is rotated once, the sensor 15 detects the distribution of the distance to the inner surface of the segment wall 90.
The distribution of this distance is nothing but data indicating how far and eccentric the center of the assembling machine 10, which is the center of rotation of the gripper 12, with respect to the inner surface of the segment wall 90 is. It is also possible to confirm the accuracy and make preferable fine adjustments.

[0039]

The segment assembling apparatus of the present invention has the following effects. That is, 1) The action of the leg portion with the body having the swingable bifurcated frame and the moving leg portion smoothly advances the inside of the tunnel including the so-called sharply curved portion.

2) Since the body can be easily moved to an arbitrary position within the tunnel cross section by the action of the left and right sliding means of the bifurcated frame and the vertically moving means, regardless of the position of the body or the curvature of the tunnel curve, The direction can be easily determined, and therefore the centering (positioning) of the segment assembling machine can be performed quickly and accurately. Therefore, the efficiency of the work itself of assembling the segment in the tunnel is also improved.

According to the segment assembly apparatus of claim 2,
With the particularly simple structure, the above effect can be obtained with certainty. That is, 3) Since each leg has an upward frame in addition to a bifurcated frame, the body can be stably supported, which is advantageous when the tunnel is inclined. Since the frames are connected to each other through the annular body, the rigidity between the frames is excellent, and this is also preferable in controlling whirling.

4) The layout of the legs is rationalized so that the number of legs is minimized while ensuring the stability for supporting the body. Therefore, the structure of the assembly apparatus can be simplified and the cost can be reduced. Is.

5) The structure that allows the bifurcated frame of each leg to swivel and the movable legs to move relative to each other, and the connecting structure of the segment assembly machine to the body are extremely simple.

In the assembling apparatus according to the third aspect, 6) the so-called rolling displacement in the tunnel can be adjusted. Therefore, for example, when the assembling apparatus tilts in the circumferential direction, the posture is corrected or the curve of the tunnel is curved. It is possible to tilt the device according to the tilt of the.

In the case of the apparatus of claim 4, 7) the position and direction of the body in the tunnel and the whirling angle of the segment assembly machine are automatically determined in accordance with the curve of the tunnel, and the assembly machine is used. The centering of can be performed quickly and accurately.

[Brief description of drawings]

FIG. 1 is a segment assembly device 1 according to an embodiment of the present invention.
[Fig. 3] is an overall plan view showing a state of traveling along a sharply curved portion of a tunnel.

FIG. 2 is a view taken along the line II-II in FIG.
FIG.

FIG. 3 is a schematic plan view showing the configuration of the assembling apparatus 1.

4 is a sectional view taken along line IV-IV in FIG. 3 and is a side view showing a configuration of the assembling apparatus 1. FIG.

5 is a cross-sectional view taken along line VV in FIG. 4, which is a front cross-sectional view showing the configuration of the assembling apparatus 1. FIG.

6 (a) to 6 (f) are explanatory views showing a procedure for moving the assembling apparatus 1 forward.

7 (a) to 7 (d) are explanatory views showing a procedure for adjusting rolling displacement of the assembling apparatus 1. FIG.

[Explanation of symbols]

1 segment assembly equipment 10 segment assembly machine 20 torso 21 torso 30 ・ 40 Leg with body 50 moving legs 31, 41, 51 annular body 32, 42, 52 Bifurcated frame 32h ・ 42h ・ 52h Left and right slide means 33v / 43v / 53v Vertical movement means 33, 43, 53 upward frame 34/44 pin 54 Spherical bearing 35/45 jack (swirl drive means) 55 jack (forward and backward moving means) 56 jack (rolling adjustment means) 90 segment wall

─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-6-50097 (JP, A) JP-A-4-149397 (JP, A) JP-A-4-153498 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (4)

(57) [Claims] 1. A segment assembling device for constructing a segment wall on the inner surface of a tunnel while advancing by itself following a shield machine, comprising a body for advancing together with the body on a body whose center line is oriented in the longitudinal direction of the tunnel. A leg portion and a moving leg portion that moves relative to the front and rear with respect to the body are attached, and each leg portion includes a bifurcated frame having left and right downward leg tips and a left and right sliding means and a vertical movement means of the same frame. In addition, the segment assembly device is characterized in that the frame can be swung left and right, and a segment assembly machine is connected in front of the body so that it can swivel left and right. 2. The trunk-equipped leg portion and the movable leg portion each face upward via an expansion / contraction means and the above-mentioned bifurcated frame attached to the outside of an annular body surrounding the above-mentioned trunk with left / right sliding means and vertical movement means. An upper frame with legs is attached to each of the front and rear trunks, and one set of legs with trunks is provided at the front and rear of the fuselage, and one set of movable legs is provided at the middle. The attached leg portion mounts the above-mentioned annular body on the body through the vertically oriented pins and the whirling drive means, and the moving leg portion comprises a spherical bearing in which the above-mentioned annular body is fitted so as to be movable back and forth. It is mounted on the middle part of the fuselage through left and right front-rear moving means independent of each other, and the segment assembling machine uses a whirling drive means and the above-mentioned pins with front body legs to attach to the front of the fuselage. Specially connected to Segment assembly device according to claim 1,. 3. The segment assembling apparatus according to claim 1, wherein the movable leg portion is provided so as to be rotationally displaced in the circumferential direction with respect to the body. 4. A left and right swinging angle of the forked frame of each leg with respect to the centerline of the body, a horizontal distance between the centerline of the body and the left-right center of each forked frame, and a centerline of the body and the center of the segment assembling machine. The segment assembly according to any one of claims 1 to 3, further comprising a detecting means for knowing an actual value of the right-and-left swivel angle with respect to the line, together with a calculating means for obtaining an appropriate value from the radius of curvature of the tunnel. apparatus.