JP3433410B2 - Electa device and segment gripping method for erector device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an erector device in a tunnel excavator, and more particularly to an erector device having a segment gripping mechanism for easily gripping a hanging tool attached to a piece segment and a segment gripping method for the erector device. .

[0002]

2. Description of the Related Art First, an example of a tunnel excavator equipped with a conventional erector device will be described with reference to FIGS.

FIG. 9 shows a tunnel excavator. A plurality of shield jacks 3 are propelled by pushing a segment 2 which is a cylindrical construction material on the inner peripheral side of a shield hull 1 which is a cylindrical outer shell. Are arranged at intervals in the circumferential direction. The segment 2 is assembled by a piece segment 2a divided into a plurality of pieces by the erector device 4 mounted in the tail portion of the shield hull 1.

In FIGS. 10 and 11, the elector device 4 is used.
The ring-shaped erector ring 4 a is supported by a plurality of support rollers (not shown) mounted on the inner peripheral portion of the shield hull 1 at intervals in the circumferential direction, and is a support plate integral with the shield hull 1. It is rotated by a drive motor (not shown) installed in. Erector arms 4b are fixed to the left and right parts of the erector ring 4a, and a pressing jack 4c for vertically moving a bilaterally symmetrical suspension beam 4d is installed on the erector arm 4b. A sliding jack 4e is attached to the center of the suspension beam 4d, and a slider 4f for gripping the piece segment 2a is connected to the sliding jack 4e. This slider 4f
Is moved in the front-back direction of the shield hull 1 by the sliding jack 4e. Then, the erector device 4 has a slider 4f.
The piece segment 2a is grabbed by, and the suspension beam 4d is moved up and down by the pressing jack 4c, and the piece segments 2a are sequentially assembled while adjusting the front-rear direction of the slider 4f by the sliding jack 4e to assemble the cylindrical segment 2.

Next, a general mechanism for gripping the piece segment of the above-described elector device 4 will be described with reference to FIGS. The threaded portion 5b of the suspender 5 is screwed into the grout hole screw portion 2c of the piece segment 2a, and the suspender 5 has a pin hole 5a for suspension. On the other hand, the hanging pin hole 4 is also provided below the slider 4f.
g is open. Then, when the piece segment 2a is gripped by the slider 4f, the pin hole 5a of the suspender 5 and the pin hole 4g of the slider 4f are aligned with each other, and in this state, the pin 4h is inserted into both the pin holes, whereby the slider 4f is inserted. 4f and the piece segment 2a are connected and the piece segment 2a is grasped. In this way, the slider 4
When the piece segment 2a is gripped by f, in order to make the pin hole 5a of the hanging tool 5 and the pin hole 4g of the slider 4f coincide with each other, an inching operation of the pressing jack 4c is performed in the vertical direction (V direction in FIG. 13) and the sliding jack. 4e makes adjustments in the front-rear direction (R direction in FIG. 12) and in the left-right direction (H direction in FIG. 13) by inching turning of the elector ring 4a.

However, in the conventional erector device 4, when the piece segment 2a is gripped by the slider 4f, it is necessary to perform the inching operation of the heavy erector ring 4a, so that the adjustment accuracy is poor. In particular, since the difference in diameter between the pin hole 5a of the hanging tool 5 and the pin hole 4g of the slider 4f and the pin 4h is usually as small as about 10 mm, it is necessary to accurately align the pin holes with each other. Since the adjustment accuracy due to the inching swivel is poor, it takes a considerable time to position the pin holes. As a result, the efficiency of segment assembly work is reduced.

Further, the above-mentioned work is a work relying on human hands, and it is necessary to confirm the pin hole with the person who operates the erector and to check the pin 4h.
Since it will be a collaborative work with the person who plugs in, improvement is desired in terms of safety.

As a means for solving this, the fairness 5-47
As described in Japanese Patent No. 836, there is proposed a method of automatically aligning and gripping a grip pin of a piece segment by using a link mechanism in which a gripping device is provided with three sandwiching pieces.

[0009]

However, since this method uses a complicated link mechanism, it is unstable to confirm whether or not the self-alignment is surely performed, and
There is a problem that normal operation is impaired when foreign matter such as earth and sand enters the link mechanism.

It is an object of the present invention to, when gripping a piece segment, automatically adjust the hanging metal fitting attached to the piece segment by the gripping mechanism provided in the slider portion of the erector device and securely grip it. An object of the present invention is to provide an erector device that can be used.

[0011]

To achieve the above object, the present invention relates to an erector device in which a slider is provided with a gripping mechanism for gripping a hanging metal fitting attached to a piece segment. includes automatically aligning to the alignment plate the center of the gripping mechanism to move while following the position of the hanging bracket of the piece <br/> segment main cement, attached to said piece segment after alignment It is characterized by comprising a holding means for holding the hanging metal fitting.

[0012] The present invention also provides a erector apparatus provided with a gripping mechanism grab the hanging metal fitting attached to the piece segment slider unit, the gripping mechanism of the slider part is hanging bracket hanging bracket of the Pisuse main Gunto Added to
And automatically aligning to the alignment plate the center of the gripping mechanism moves with the slave, detecting means and the alignment plate alignment based on the detection result of detecting the alignment completion of this alignment plate It is characterized by comprising a holding means for holding the completed state, and a holding means for holding the hanging metal fitting attached to the piece segment in association with the alignment plate after detecting the alignment completion.

[0013]

Further , according to the present invention, in a segment gripping method of an erector device for gripping a hanging metal fitting attached to a piece segment, an aligning plate provided in a gripping mechanism for gripping the hanging metal fitting of the piece segment is used to fix the hanging metal fitting. The center of the gripping mechanism is automatically aligned by moving while following the position, the completion of the alignment is detected, and the state of the alignment plate after the alignment is completed is retained based on the detection result. In this fixed state, the hanging metal fitting attached to the piece segment is gripped by the gripping means interlocking with the aligning plate.

[0015]

According to the present invention, the aligning plate moves while following the position of the hanging metal fitting of the piece segment placed at the segment gripping position to automatically align the center of the gripping mechanism. The detection means detects the completion of the alignment of the alignment plate, and the holding means holds the alignment completion state of the alignment plate based on the alignment completion result. The grip plate of the grip means is located on the aligning plate and moves along with the aligning plate to detect the completion of the aligning, and then sandwich and hold the hanging metal fitting of the piece segment. As a result, the hanging metal fitting attached to the piece segment can be automatically aligned and reliably gripped.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An elector device according to an embodiment of the present invention will be described below. In the following description, the front side of the excavation will be referred to as the face side and the rear side will be referred to as the tail side.

FIG. 1 shows an entire tunnel excavator equipped with an erector device according to an embodiment of the present invention. Reference numeral 1 denotes a shield hull which is a cylindrical outer shell, on the inner peripheral side thereof,
A plurality of shield jacks 3 propelled by pushing a segment 2 which is a cylindrical construction material are arranged at intervals in the circumferential direction. The segment 2 is assembled by a piece segment 2a divided into a plurality of pieces by the erector device 4 mounted in the tail portion of the shield hull 1. The erector device 4 has a slider portion 6 provided with a gripping mechanism for automatically gripping the piece segment 2a. The slider portion 6 slides in the X direction (front-back direction) and moves to the segment grip position on the tail side to move the piece segment. Two
It is configured to be able to grip a.

In FIGS. 2 to 8, the piece segment 2a is a segment piece carried in and placed on the existing segment 2, and the erector device 4 holds the segment piece 2a and assembles it at a predetermined position. The center of the placed piece segment 2a (the position of the hanging metal fitting 7) and the center of the elector device 4 (the position of C) are displaced from each other by a dimension 1 as shown in FIG. This deviation amount 1 is the maximum deviation amount when a manipulating and placing a hoist (not shown). The hanging metal fitting 7 screwed into the piece segment 2a includes a brim portion 7C, a grip portion 7a, and a screw portion 7c.

The slider portion 6 has a box body 6a in which a gripping mechanism is incorporated, and linear bearings 6b, 6b ', 6 are provided.
It is supported by the suspension beam 4d of the elector device 4 via c and 6c '. The linear bearing is used to suspend the beam 4d.
It can be slid in the X direction (front and rear direction) of FIG. 1 by the front and rear jacks 6j attached to the.

The box 6a is a rectangular parallelepiped box in which the tail side surface and a part of the bottom member are open. Rails 6b and 6b 'of linear bearings are attached to the left and right sides of the box. Rods of front and rear jacks 6j are attached to the side face on the face side. Concave grooves 6l and 6l 'are provided facing each other inside the box body of the side face member on the face side and the tail side, and the aligning plate of the aligning means, that is, the adjuster 6e is provided in the groove in the direction of the arrow Y in FIG. Direction) and slide freely inserted. The steady jacks 8 and 8'are attached to the segment 2a that is held and hung on the lower surface of the box body.

The adjuster 6e is a rectangular plate, and a V-shaped notch is provided in the central portion of the adjuster 6e toward the face of the face. The valley portion of the V groove has a semicircular shape centered on the point C, and the radius thereof is approximately equal to the pin radius of the grip portion 7 a of the hanging fitting 7. This C
The point coincides with the center of the slider portion 6. The opening width W of the notch depends on the center of the piece segment 2a and the elector device 4
It is set to be more than twice the amount of deviation l at the center of. Rods of adjuster jacks 6d and 6d ', which are holding means for holding the adjuster 6e, are attached to the left and right of the adjuster 6e. On the upper surface of the adjuster 6e, grip plates of grip means, that is, grip plates 6f and 6f 'are attached so as to be slidable in the lateral direction. Further, guide members 6h and 6h 'for the grip plate are provided. Further, gripping jacks 6g and 6g 'for sliding the gripping plate are attached between the guides 6h and 6h'. As shown in FIG. 7, a limit switch 6k as a detecting means is attached to the lower surface of the adjuster 6e. The detector of the limit switch 6k is directed to the valley of the V groove,
The tip is attached by traveling slightly from the valley. Since the limit switch 6k moves to the left and right together with the adjuster 6e, the bottom plate of the box body 6a of the slider portion 6 has a notch such that h> l so as not to interfere even if the adjuster 6e moves to the left and right.

The grip plates 6f and 6f 'are slid laterally by the grip jacks 6g and 6g' while being guided by the guide members 6h and 6h 'on the adjuster 6e. There is a semicircle 6n notch approximately equal to the pin diameter of the grip portion 7a of the hanging metal fitting 7 at the end portion of each plate opposite to the jack mounting side (see FIG. 8). When the gripping jacks 6g and 6g 'make the maximum stroke, the semicircles 6n of the left and right gripping plates face each other and form a circular shape. The center of the circle at that time (not shown) and the center point C of the semicircle of the V groove of the adjuster 6e
Are mounted to match. Further, when the gripping jacks 6g and 6g 'are in the most contracted position, the outermost end of each gripping plate is dimensioned so as not to travel to the notch side of the V groove inclined portion 6m of the adjuster 6e (see FIG. 8).

Next, the slider portion 6 of the elector device 4
The operation of automatically gripping the hanging device attached to the piece segment by the gripping mechanism provided in FIG. 2 will be described below with reference to FIGS.

The positional relationship between the slider portion 6 of the elector device 4 and the piece segment 2a is assumed to be the state shown in FIG. That is, the center C of the slider portion 6 (= center of the elector device 4) and the center of the piece segment 2a (position of the hanging metal fitting 7)
Is L in the front-back direction and l in the horizontal direction. The operation of gripping the piece segment 2a in this state will be described.

The operating beam (not shown) pushes down the suspension beam 4d with the pressing jack 4c so that a gap H is formed between the neck 7c of the suspension fitting 7 and the upper surfaces of the grip plates 6f and 6f '. At this time, the adjuster 6e is located at the center of the slider portion 6 as shown in FIG. Further, the grip plates 6f and 6f 'are contracted as shown in FIG. 8 so that the V groove of the adjuster is completely opened. At this time, the adjuster jacks 6d and 6d 'are hydraulically set in a free state and can be expanded and contracted by a small external force.

Next, the front and rear jacks 6j are extended. The slider portion 6 moves in the direction of X ′ in FIG. 7, approaches the suspending metal 7, and then contacts the inclined portion 6m of the adjuster 6e. When the adjuster 6e is further moved in the X ′ direction, the adjuster 6e is slid in the direction of the arrow Y ′ so that the grip portion 7a of the hanging metal fitting 7 enters the valley portion of the V groove along the inclined portion 6m as shown in FIG. 8 ( The suspending metal 7 does not move, and the adjuster 6e moves by the component of the thrust of the front and rear jacks 6j in the Y'direction due to the inclination angle 6m). The adjuster jack 6d is contracted and 6d 'is expanded. Also, the adjuster jacks 6d and 6d '
Is hydraulically free, there is no need to move the piece segment 2a or bend the hanging metal fitting 7. When the hanging metal fitting 7 is aligned with the valley of the V groove and the center of the hanging metal fitting 7 reaches the point C ', the limit switch 6k is actuated to stop the operation of the front and rear jacks 6j and the adjuster jacks 6d, 6d'.
Is hydraulically blocked to fix the adjuster 6e to the slider section 6. At this time, the amount of movement of the adjuster 6e in the Y ′ direction is 1, and the hanging metal fitting 7 of the piece segment 2a
Then, the amount of deviation l of the center of the elector device 4 is absorbed by the adjuster 6e to perform the centering.

Next, the gripping jacks 6g, 6g 'are both extended and the gripping plates 6f, 6f' are slid to grip the gripping portion 7a of the hanging metal fitting 7. Left and right grip plates 6f,
The center of the circle composed of the respective semicircles 6n at the tip of 6f 'and the center C'of the hanging metal fitting 7 that has just been positioned coincide with each other. Therefore, the circle of the grip portion 7a and the circle formed by the semicircles 6n of the left and right grip plates are aligned and sandwiched. At this time, a sensor (not shown) detects that each of the gripping jacks 6g, 6g 'has reached a predetermined stroke, and confirms that the hanging metal fitting 7 has been securely inserted.

The piece segment 2a is in a state of being connected to the elector device 4 through the hanging metal fitting 7. Next, when the pressing jack 4c is contracted and the suspension beam 4d is pulled up, the brim portion 7c of the suspension fitting 7 is caught by the grip plates 6f and 6f ', and the piece segment 2a is suspended by the elector device 4 through the suspension fitting 7 (see FIG. 2).

Next, the steady rest jacks 8 and 8 ′ attached to the lower portion of the slider portion 6 are extended and pressed against the inner surface portion of the suspended piece segment 2 a to fix the piece segment 2 a to the erector device 4. Since the grip operation of the piece segment is completed as described above, the front and rear jacks 6j
Can be shortened to a predetermined position and assembled at a predetermined position.

[0030]

When the piece segment is gripped by the erector device, the gripping mechanism provided on the slider portion of the erector device automatically aligns the hanging metal fitting of the piece segment placed at the segment gripping position to surely secure the piece segment. Since it is gripped, (1) it can be gripped extremely safely without relying on human hands.

(2) The piece segment can be quickly grasped without the need for manual centering,
The segment assembly time can be shortened.

(3) The segment can be unmanned and automated.

[Brief description of drawings]

FIG. 1 is an overall view of a tunnel machine equipped with an erector device according to an embodiment of the present invention.

FIG. 2 is a front view of a gripping mechanism of a slide portion of the elector device of FIG.

3 is a cross-sectional view taken along the line I-I of FIG.

FIG. 4 is a view taken along the line II-II in FIG. 1 showing a positional relationship between the elector device and the piece segments. The erector device is shown in FIG.
II'-II 'sectional drawing of is shown.

5 is a sectional view taken along line III-III in FIG.

6 is a cross-sectional view taken along the line IV-IV of FIG.

7 is a sectional view taken along line VV of FIG.

8 is an explanatory view of an aligning mechanism with respect to the hanging metal fitting of the gripping mechanism in the same sectional view as FIG.

FIG. 9 is an overall view of a shield machine equipped with a conventional elector device.

FIG. 10 is a front view of a conventional elector device.

11 is a view taken along the line VI-VI of FIG.

FIG. 12 is an explanatory view seen from the side of the position adjustment of the hanging metal fitting and the erector device when gripping the piece segment with the conventional erector device.

FIG. 13 is an explanatory view seen from the front of the positioning of the hanging metal fitting and the erector device when the piece segment is gripped by the conventional erector device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Shield hull, 2 ... Segment, 2a ... Piece segment, 4 ... Electr device, 6 ... Slider part, 7 ... Hanging metal fitting, 6a ... Box body, 6e ... Adjuster, 6d, 6d '... Adjuster jack, 6f, 6f' ... Gripping plate, 6
g, 6g '... Gripping jack, 6k ... Limit switch

Claims (7)

(57) [Claims] 1. A erector apparatus provided with a gripping mechanism grab the hanging metal fitting attached to the piece segment slider unit, the gripping mechanism of the slider section, of the Pisusegu main cement
A centering plate that moves while following the position of the hanging metal fitting to automatically align the center of the gripping mechanism, and a gripping means that grips the hanging metal fitting attached to the piece segment after the centering. Characteristic erector device. 2. A erector apparatus provided with a gripping mechanism grab the hanging metal fitting attached to the piece segment slider unit, the gripping mechanism of the slider section, follow the position of the hanging bracket of the hanging bracket of the Pisuse main Gunto and the automatic alignment for aligning plate to move the center of the gripping mechanism with a sensing means for detecting the alignment completion of this alignment plate, complete alignment of the detection based on the result of the alignment plate An erector device comprising: a holding means for holding the state; and a holding means for holding the hanging metal fitting attached to the piece segment in cooperation with the aligning plate after detecting the completion of the aligning. 3. The erector according to claim 1 or 2, wherein the aligning plate is free to move during alignment and is fixed in the alignment completed state after alignment is completed. apparatus. 4. The method of claim 2, wherein the detecting means is attached to the alignment plate, erector apparatus which is a limit switch for detecting the presence or absence of hanging bracket of the Pisusegunto. 5. The method of claim 2, wherein the anchorage means, erector apparatus, characterized in that the adjuster jack to stick to the alignment plate to the alignment state. 6. The method according to claim 1 or claim 2, wherein the gripping means comprises a gripping plate which moves together with the alignment plate, and a gripping jack for gripping the hanging bracket attached to the piece segment gripping plate An eclectic device having. 7. A segment gripping method of an erector device for gripping a hanging metal fitting attached to a piece segment, wherein the aligning plate provided in a gripping mechanism for gripping the hanging metal fitting of the piece segment follows the position of the hanging metal fitting. While moving, the center of the gripping mechanism is automatically centered, the completion of the centering is detected, and based on the detection result, the state of the centering plate after the completion of the centering is fixed, and the fixed state is fixed. A segment gripping method for an erector device, comprising: gripping a hanging metal fitting attached to the piece segment by gripping means that is interlocked with the aligning plate in the opened state.