JP3450548B2 - Segment assembling method and assembling apparatus - 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 method and an assembling apparatus for assembling a tunnel working segment carried in a shield machine, and more particularly to a segment assembled in a ring shape according to the position and posture of an existing segment ring. The present invention relates to an assembling method and an assembling apparatus.

[0002]

2. Description of the Related Art In recent years, in shield construction methods for constructing tunnels in the ground, shield excavators have been greatly improved, but segment assembly is still dependent on the skill of the operator. In the automation of shield work, automation of segment assembly to secure the inside of the tunnel is an important issue, and the segment transported by the transport device is gripped by the erector to control the positioning and bolts.・ An automatic segment assembly device that can be fastened with an automatic nut fastening machine has been developed and is being used for construction work.

For example, when a segment is assembled by shield work, the optical cutting method as disclosed in JP-A-4-213699 is used as a method for automatically positioning the assembled segment according to the assembled shape of the existing segment. There is something to do. In this prior art, the positioning of the assembly segment is performed in two steps. First, in the first step, the segment gripping portion of the erector is determined based on the design assembly position / orientation of the assembly segment and the coarse position correction amount input to the control device in advance. The target position / posture is calculated and the actuator of the erector is moved according to the target position / posture to roughly position the assembly segment. Second
At the stage, a visual sensor consisting of three sets of projectors and a television camera installed on the erector is used, and two of the boundary portion along the tunnel circumferential direction between the assembly segment and the existing segment adjacent thereto in the tunnel axial direction are used. Slit light is emitted from the projector to each of the positions and one of the boundaries between the assembled segment and the existing segment adjacent to the assembled segment in the tunnel circumferential direction along the tunnel axial direction. Take an image. Then, the step / gap between the assembled segment and the existing segment at the above three locations is detected from the coordinate values of the end points of each slit light image obtained by processing the image data from these television cameras, and this step / gap information is obtained. The position deviation and attitude deviation of the assembly segment with respect to the existing segment are calculated based on these, and the correction amount for the target assembly position of the assembly segment is calculated from these deviations, and the assembly segment is finely positioned by moving the actuator of the erector according to this correction amount. To do. The segment ring is assembled by repeating such positioning control a plurality of times.

[0004]

However, the above-mentioned prior art has the following problems. When constructing a tunnel by the shield construction method, after positioning and assembling a plurality of assembled segments to assemble one segment ring, the next segment ring is assembled adjacent to the segment ring in the tunnel axial direction. At this time, it is difficult to keep the shape of the segment ring assembled before as it was, and it may collapse from the shape at the time of assembly due to the influence of its own weight, etc. In this case, the shape at the time of assembly was a perfect circle. Then, when the next segment ring is assembled, the previously assembled segment ring has a slightly laterally elongated oval shape.

According to the conventional technique disclosed in Japanese Patent Laid-Open No. 2-213699, the assembled segment is assembled in accordance with the shape of the existing segment ring (preceding segment ring), so that the previously assembled segment ring becomes horizontally long. If it is crushed and deformed, the segment ring assembled at the next tunnel axial position will be assembled according to its horizontally elongated crushed shape, and as a result, the crush will gradually expand and eventually it will be assembled. You will fall into an impossible state.

When constructing a tunnel with a shield machine, the segment ring is assembled with a predetermined clearance (tail clearance) secured between the segment ring and the inner surface of the tail skin plate located at the rear of the shield body of the shield machine. However, when the tunnel ring is curved in the horizontal direction, if the segment ring is crushed horizontally and deformed as described above, the left and right tail clearances in the traveling direction will decrease, so the segment ring assembled by the tail skin plate of the shield body will be It becomes easy to interfere with. Therefore, in order to avoid the interference between the tail skin plate and the segment ring, it is necessary to reduce the curvature of the curved construction, and the curved construction cannot be performed as planned.

An object of the present invention is to provide a segment assembling method and an assembling apparatus capable of preventing a situation in which the segment rings are crushed in the lateral direction and cannot be assembled when the segment rings are sequentially assembled in the tunnel axis direction. Especially.

Another object of the present invention is to provide a segment assembling method and an assembling apparatus capable of performing the curved construction as planned by ensuring the tail clearances on the left and right of the shield necessary for the curved construction.

[0009]

In order to achieve the above-mentioned object, the present invention aims to construct a tunnel by excavating the earth and sand ground by a shield excavator so that a plurality of assembly segments are directed from the inside lower part to the upper part of the tunnel. In the segment assembling method of assembling the segment ring by assembling the segment ring, the segment position in the lower part of the tunnel coincides with the existing segment ring adjacent in the tunnel axial direction, and the segment ring when the maximum inner diameter in the horizontal direction is assembled into a perfect circle. The segment ring is assembled so as to have a vertically elongated oval shape smaller than the inner diameter of the segment ring.

As described above, even if the assembled segment ring is crushed from the shape at the time of assembly, the shape at the time of assembly is a vertically elongated oval shape, and as a result, it approaches a perfect circular shape. When sequentially assembling the segment rings in the tunnel axis direction, it is possible to prevent a situation in which the collapse of the segment rings gradually expands and the assembling becomes impossible. In addition, when the tunnel machine is used to make a curved line in the horizontal direction with a shield machine, the segment ring after assembly approaches a perfect circle as described above,
The left and right tail clearances in the traveling direction of the shield machine are secured, so that the tail skin plate of the shield body does not interfere with the assembled segment ring, and curved construction can be performed as planned.

In the above segment assembling method, it is preferable that when assembling the individual assembling segments following the assembling of the lower segment in the tunnel, each of the assembling segments is already installed at a position one before in the circumferential direction of the tunnel. The segment ring is assembled into a vertically elongated oval shape by rotating and positioning the end portion on the side in contact with the segment as a center.

In order to achieve the above object, the present invention also provides a segment gripping device for gripping an assembly segment,
A segment assembly device that has a plurality of actuators that move the segment gripping device to a target position and posture, performs positioning and assembly of the assembly segment by moving the segment gripping device to the target position and posture, and assembles a segment ring, The target position and posture of the segment gripping device for roughly positioning each assembled segment that constitutes the segment ring with respect to the existing segment adjacent thereto are calculated, and the plurality of actuators are set according to the target position and posture. Coarse positioning control means to be driven and data relating to the assembly positions and orientations of all the assembly segments constituting the segment ring are stored in advance, and when each assembly segment is roughly positioned by the rough positioning control means, Pre-stored Based on the assembly position and orientation data of the corresponding assembly segment, the target position and orientation of the segment gripping device for finely positioning the assembly segment with respect to the existing segment is calculated, and according to this target position and orientation A fine positioning control means for driving the plurality of actuators, and the fine positioning control
Means are provided for when each assembly segment is roughly positioned.
Relative positional relationship between the assembly segment and the existing segment
Detecting means for detecting the engagement, and
The previously stored group based on the relative positional relationship
Given by the assembly position and attitude data of the vertical segment
It is possible to assemble the assembly segment in the assembly position and posture
A judgment means for judging whether or not there is a combination of the judgment means
If it is determined that the
Segment gripper that positions the
Calculate the position and orientation of the table as the target position and orientation
However, when it is judged by the judgment means that it is not possible to assemble
Is the assembly position where the assembly segment can be assembled and
Calculate the position and posture closest to the posture and
Segment gripping device to position the component in this position and posture
Calculate the position and orientation of the table as the target position and orientation
And means for

In the above structure, the rough positioning control means calculates the target position and posture of the segment gripping device for roughly positioning the assembled segment to be assembled with respect to the existing segment adjacent thereto, and the target position is calculated. and driving the plurality of actuators in accordance with the attitude, the coarse positioning control is terminated, the fine positioning control means assembled position and orientation given more assembly position and orientation data of the assembly segment corresponding previously stored
Determine whether the assembly segment can be assembled
If it is determined that the assembly is possible,
Segment that positions the ment at the assembly position and posture.
The position and orientation of the gripping device are set as the target position and orientation.
If it is calculated and it is judged that the assembly is not possible,
Closest to the assembly position and posture where the segment can be assembled
A new position and posture are calculated, and a plurality of actuators are driven according to this target position and posture.

In order to achieve the above object, the present invention
Is a segment gripping device for gripping an assembly segment,
It is possible to move the segment gripping device to a target position and posture.
A segment gripping device having a number of actuators
By moving the assembly to the target position and posture.
The components are positioned and assembled, and the segment ring is assembled.
In the stand-up segment assembly device, the segment
Each assembly segment that makes up the ring is
The segment for rough positioning with respect to the installed segment.
The target position and orientation of the
Drives the actuators according to the position and posture
Coarse positioning control means and the segment ring
Assembling position and posture of all assembling segments
Data is stored in advance and stored in the rough positioning control means.
When each assembly segment is roughly positioned,
Assembly position of corresponding assembly segment stored in advance
And the assembly segment based on the attitude data.
The segment for fine positioning with respect to the existing segment
The target position and orientation of the
Drives multiple actuators according to position and orientation
Fine positioning control means for
Means for assembling position and attitude data of the assembling segment
As a result, the position of the assembly segment placed at the bottom is axial
Horizontally aligned with the existing adjacent segment ring
Direction when the maximum inner diameter in the direction is assembled into a perfect circle
Section that has an oblong shape that is smaller than the inner diameter of the ring.
Characteristic that the data of the cement ring is stored in advance
And

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, the segment assembling apparatus according to the present embodiment has an erector body 12, and the erector body 12 is installed at a rear portion of a cylindrical shield body 11. The erector body 12 is roughly classified into a slewing mechanism including an erector ring 13 and a slewing motor 16, and
A pressing mechanism including the suspension beam 21 and the pressing jack 22, a left and right sliding mechanism including a lateral slide frame 24 and a lateral slide jack 25, and a front and rear slide frame 27.
And a front-rear sliding mechanism including a front-rear slide jack 28,
Spherical frame 29 and attitude control jacks 31, 32,
An attitude control mechanism including pitching, rolling, yawing, etc., including 33, a segment grip 34 and a bolt fastening device 70 (see FIG. 6).

The electret ring 13 is a shield body 11.
It is guided by an outer peripheral guide roller 14 and a side guide roller 15 which are installed at several inner peripheral portions, and is driven to rotate by an electric rotation motor 16 via a pinion 17 and a ring gear 18.

Two arms 19 are attached to the left and right of the erector ring 13, and these arms 19 support a suspension beam 21 via a guide rod 20, and a hydraulic type between the suspension beam 21 and the arm 19. The pressing jack 22 is attached, and the suspension beam 21 moves in the Z-axis direction (tunnel radial direction) shown in FIG. 1 due to the expansion and contraction of the pressing jack 22.

As shown in FIGS. 2 and 3, the suspension beam 21 supports a horizontal slide frame 24 via a linear bearing 23, and a hydraulic horizontal slide is provided between the horizontal slide frame 24 and the suspension beam 21. The jack 25 is attached, and the horizontal slide frame 24 is expanded and contracted by the horizontal slide jack 25 so that the suspension beam 21 is placed on the suspension beam 21 as shown in FIG.
Move in the axial direction (tunnel radial direction).

As shown in FIGS. 1 and 3, the horizontal slide frame 24 supports a front and rear slide frame 27 via a linear bearing 26.
A hydraulic front and rear slide jack 28 is attached between the horizontal slide frame 24 and the horizontal slide frame 24, and the front and rear slide frame 27 expands and contracts the front and rear slide jack 28 to move the horizontal slide frame 24 on the horizontal slide frame 24 in the X-axis direction (tunnel shaft). Slide back and forth).

A spherical frame 29 is incorporated in the spherical guide portion 27a of the front and rear slide frame 27, and two hydraulic type posture control jacks 31 and 32 are mounted between the spherical frame 29 and the front and rear slide frame 27. ing. When these attitude control jacks 31 and 32 are simultaneously expanded or contracted, the spherical frame 29 is tilted about an axis passing through the spherical center G and parallel to the X axis, as shown in FIGS. It is used for rolling control of the segment grip 34. Posture control jacks 31 and 3
When one of the two is expanded and contracted and the other is contracted,
Further, as shown in FIG. 4, the spherical frame 29 is swiveled left and right around an axis passing through the spherical center G and parallel to the Z axis, and this movement is used for yawing control of the segment grip portion 34. Further, a posture control jack 33 is attached between the spherical frame 29 and the segment gripping portion 34 as shown in FIG. It is tilted around and this movement is used for pitching control of the segment grips 34.

The segment grip 34 is a spherical frame 29.
And a male threaded screw shaft 35 that hangs on a central shaft 30 of the eclectic body and that fits into a grout hole 43 of an assembly segment 42 located below the erector body 12. As shown in FIG. 5, the segment grip 34 includes a drive motor 36 that rotates the screw shaft 35, and an elevating jack 38 that elevates the screw shaft 35 together with the drive motor 36 and the bearing bracket 37. After aligning the screw shaft 35 with the grout hole 43 of the assembly segment 42 by the positioning sensor, the screw shaft 35 is projected toward the assembly segment 42 while rotating the screw shaft 35, and after the screwing into the grout hole 43 is completed, the assembly segment 42 is The assembly segment 42 is gripped by pulling back the screw shaft 35 until it hits the end surface of the segment grip portion 34.

Further, a non-contact distance meter 60 is provided on the front and rear slide frame 27, and this distance meter 60 is
Before the segment gripping portion 34 grips the assembly segment 42, the distance L1 to the inner peripheral surface of the existing segment 41 is measured by rotating the erector body 12. Also,
Although not shown, the erector body 12 has an angle detector (not shown) for detecting the erector rotation position, and the erector rotation position is measured by the distance meter 60 at the same time as the distance L1 to the inner peripheral surface of the existing segment 41, The measured values are output to the main body control device 52 described later.

Further, the segment grip portion 34 has a base 73 as shown in FIG. 6, and a bolt feeder 71 and a nut runner 7 attached to the base 73 and movable up and down.
2, the bolt feeding device 71 and the nut runner 72
A bolt fastening device 70 including a plurality of hydraulic bolt fastening actuators (not shown) is installed. The bolt fastening device 70 is fixed to the inner wall of the segment grip portion 34 via the base 73, and the assembly segment 4
After the positioning of No. 2 is completed, the bolt previously assembled in the assembly segment 42 is fed to the existing segment 41 side by the bolt feeding device 71, and the nut is attached to the bolt by the nut feeding device (not shown).
Tighten the nut according to 2. Here, in the bolt fastening in the present embodiment, two positions are provided between the assembly segment 42 and the existing segment 41a adjacent to the assembly segment 42 in the tunnel axial direction, and the assembly segment 42 and the existing segment 41a adjacent to the assembly segment 42 in the tunnel axial direction. It is performed at two places between the existing segment 41b adjacent to each other, and at two places between the assembly segment 42 and the existing segment 41c adjacent thereto in the tunnel circumferential direction (the existing segments 41a, 41
(See FIG. 7 for b and 41c), so that the segment grip portion 34 can be bolted at the above-mentioned 6 places.
A set of bolt fastening devices 70 (one place between the assembly segment 42 and the existing segment 41a and the assembly segment 42).
The bolts are fastened in two places between the existing segment 41c and the existing segment 41c by a set of bolt fastening devices 70).

As shown in FIGS. 7 and 8, the segment assembling apparatus of this embodiment has three sets of projectors 44a and 44a.
b, 44c and a television sensor 45a, 45b, 45c, a visual sensor, a camera switch 48, an image input device 49, an image memory 50, an image processing device 51, an input device 55, and a main body control device 52. , Servo controller 5
3 and a hydraulic control device 54.

The projectors 44a to 44c and the television camera 4
5a to 45c are fixed to the segment grip portion 34 of the erector body 12 schematically shown in FIG. 7 via a rigid body (not shown). Therefore, the projectors 44a to 4a
4c and the television cameras 45a to 45c, the segment grip portion 34, and the relative position and orientation of the assembly segment 42 are constant while the assembly segment 42 is gripped regardless of the movement of the erector body 12. The projector 44a is located at one position along the tunnel circumferential direction between the assembly segment 42 and the existing segment 41a, and the projector 44b is located along the tunnel circumferential direction between the assembly segment 42 and the existing segment 41b. At one location, the projector 44c irradiates slit light at one location on the boundary between the assembly segment 42 and the existing segment 41c along the tunnel axis direction, whereby the slit light image A- produced on each segment. A *, BB *, and CC are TV cameras 45a
To 45c, respectively.

The image input device 49 is the television camera 45.
Each of the image data from a to 45c is switched and selected by the camera switch 48, input, and taken into the internal image memory 50, and the image processing device 51 processes the image data stored in the image memory 50 to obtain the slit light image. The end point coordinates of A-A * to C-C * are obtained.

Whether or not the input device 55 executes the assembly of the segment ring according to the data of the assembly position and the attitude (hereinafter, referred to as the design position and attitude of the assembly segment) which is the target shape of the assembly segment according to the present invention. Is a device for inputting the instructions, and inputting data necessary for executing the instructions, and for example, a keyboard is used. As the input data, the data of the design position / orientation of the assembly segment including the rotation direction and the rotation amount of the assembly segment) and the assembly segment 42 by driving the bolt fastening device 70 are input.
There is bolt fastening data for fastening the existing segments 41a to 41c with bolts.

The main body control device 52 is a control device for the eclectic main body 12 and measures the instruction signal from the input device 55, the end point coordinate values of the slit light obtained by the image processing device 51, the distance meter 60 and the angle detector 61. Positioning control calculation of the assembly segment 42 is performed using the values and the result is output to the servo control device 53 as an electric command signal.

The servo control device 53 operates the turning motor 1 of the erector body 12 in accordance with a command signal from the body control device 52.
6 of the pressing jack 22, the lateral slide jack 25, the front and rear slide jacks 28, and the attitude control jacks 31, 32, 33 of the erector body 12 via the hydraulic control device 54 that controls the electric signals into hydraulic signals. The shaft actuator and the bolt fastening device 70 are controlled.

Next, a segment assembling method of this embodiment using the above segment assembling apparatus will be described with reference to FIGS. Assembly segment 42 used in this embodiment
As shown in FIG. 9, seven A-shaped segments A1, A2, A3, A4, A that are assembled by positioning in an arc shape are assembled.
5, A6, A7 and two B-shaped segments B1 and B2 which are positioned and assembled adjacent to the A-shaped segments A1 and A7, respectively, and are inserted and positioned between the B-shaped segments B1 and B2 and assembled. It consists of one K-shaped segment K. The segment ring 42L is assembled by A type segments A4, A3, A5, A2, A6, A
1, A7, B-type segments B1 and B2, and K-type segment K in this order by positioning from the bottom to the top in the tunnel and assembling.

FIGS. 10 and 11 show the assembly pattern of the individual assembly segments 42 (hereinafter referred to as the assembly pattern of the assembly segment 42) for assembling the segment ring 42L into a vertically elongated oval shape. Figure 10
In the above, L1 indicates the center position (white triangle plot) of the inter-ring bolt of the existing segment ring (corresponding to the front segment ring) 41L, and the existing segment ring 41L is assumed to be a perfect circle here. L2 indicates the center position (white circle plot) of the segment assembled between the existing segment ring 41L and the inter-ring bolt.

The assembly of the individual assembly segments 42 is performed as follows. That is, first, the A-shaped segment A4 is aligned with the existing segment ring 41L and positioned and assembled. Then A type segment A3, A5
Is the A type segment A of the A type segments A3 and A5.
4, the radially inner ends S ₃₄ of the end faces T _A3 , T _A5 on the side in contact with 4,
Rotate inward in the radial direction (I ₃ , I ₅ directions) around S ₄₅ to position and assemble. Then the A-type segment A2, A6, the radial direction around the A-type segment A2, A6 of A-type segments A3, the end surface of the A5 and side contacting T _A2, T radially outer end S ₂₃ of _A6, S ₅₆ Rotate in the outer direction (I ₂ , I ₆ direction), position and assemble. Then, the A-shaped segments A1 and A7 are radially centered on the radially outer end portions S ₁₂ and S ₆₇ of the end surfaces T _A1 and T _A7 of the A-shaped segments A1 and A7 that are in contact with the A-shaped segments A2 and A6. Rotate in the outer direction (I ₁ , I ₇ directions), position and assemble. Then B type segment B1, B
2 in the radial inner direction ( _IB1 , I) around the radial inner ends S _B1 , S _B7 of the end faces T _B1 , T _B2 of the B-shaped segments B1, B2 that are in contact with the A-type segments A1, A7. _B2
Direction) to position and assemble. Finally K
The segment K is inserted between the B-shaped segments B1 and B2, positioned and assembled.

Here, as shown in FIG. 11, the assembling segment 42 is provided with a bolt fastening hole 42h which gives a slight play to the bolt 42v which is an assembling fastener. It is possible to rotate the segment 42 in the radial outer direction or the radial inner direction with respect to the existing segment ring 41L. Therefore, in this embodiment, the rotation amount of the assembly segment 42 is set to the bolt 42v.
And the bolt hole 42h, the tunnel ring is appropriately set as shown in FIG. 11, for example, so that the maximum horizontal inner diameter of the segment ring 42L is smaller than the inner diameter of the segment ring which should be a perfect circle by design. Segments to be assembled in the first half of the inner bottom (A type segments A3, A
By applying a predetermined amount of rotation from 5) to rotate in the radially outer direction or the radially inner direction, the vertical inner diameter of the assembled segment ring is larger than the horizontal inner diameter of the oval segment ring 42L. Try to be.

According to the segment assembly method of this embodiment as described above, the following effects can be obtained. That is,
First, replace the A-type segment A4 with the existing segment ring 41L.
Assemble to match the A type segment A4
When assembling A type segments A1 to A3, A5 to A7, B type segments B1 and B2, and K type segment K successively, the maximum inner diameter in the horizontal direction is smaller than the inner diameter of the segment ring when assembled in a perfect circle. Since the segment ring 42L is assembled so as to have a vertically long oval shape,
Even if the assembled segment ring 42L is crushed from the vertically elongated oval shape at the time of assembly due to its own weight or the like, as a result, it approaches a perfect circular shape, and when sequentially assembling the segment rings in the tunnel axis direction. It is possible to prevent the situation where the collapse of the assembled segment ring 42L gradually expands and the assembly becomes impossible.

When constructing a tunnel by a shield machine, the segment ring is, as shown in FIG. 2, a predetermined gap between the segment ring and the inner surface of the tail skin plate 11a located at the rear of the shield body 11 of the shield machine. (Tail clearance) T is secured, but when the tunnel is curved in the horizontal direction, the segment ring 42L after assembly approaches a perfect circle as described above, so the direction of travel of the shield machine The left and right tail clearances T are secured, the tail skin plate 11a of the shield body 11 does not interfere with the assembled segment ring 42L, and curved construction can be performed as planned.

In the segment assembling method of this embodiment, the A-shaped segments A3 and A5 are rotated in the radially outward direction or the radially inward direction by applying a predetermined amount of rotation, but the invention is not limited to this. For example, A type segment A
It may be rotated from 2, A6. Further, the assembly pattern of the individual assembly segment 42 is not limited to that shown in FIG. 10, and the position of the assembly segment 42 in the lower part of the tunnel matches the existing segment ring 41L within the clearance between the bolt 42v and the bolt hole 42h. In addition, the rotation direction and the rotation amount of each of the assembly segments 42 are designed so that the segment ring can be assembled so that the maximum inner diameter in the horizontal direction is smaller than the inner diameter of the segment ring when assembled in a perfect circle, so that the segment ring can be assembled. Should be set. Furthermore, in the segment assembly method of the present embodiment, the A-type segments A1 to A3, A5 to A7, and the B-type segments B1 and B
When assembling 2, the respective assembly segments 42 are positioned by rotating them in the radially outer direction or the radially inner direction around the end surface on the side in contact with the existing segment 41c, but not limited to this, and each assembly segment 42 May be translated in the radial outer direction or the radial inner direction.

The segment assembling apparatus of this embodiment shown in FIGS. 1 to 8 described above realizes the above segment assembling method.

FIG. 12 shows an assembly control procedure of the assembly segment 42 in the main body control device 52 of the segment assembly device. Here, it is assumed that data corresponding to the assembly pattern shown in FIG. 10 (hereinafter referred to as assembly pattern data) is stored in the memory as the design position / orientation data of the assembly pattern.

First, in step 90, it is judged whether or not a starting signal for instructing the assembly of the segment ring according to the present invention is inputted from the input device 55, and if it is judged that the starting signal is inputted, the routine proceeds to step 91. .

Subsequently, in step 91, an erector target position / posture is calculated to position the assembly segment 42 at a position where it does not contact the existing segments 41a to 41c (hereinafter referred to as a rough position), and this erector target position / posture is calculated. The actuator command value corresponding to is output to the servo control device 53. The target position / orientation of the erector is the erector body 1
This means the target position / posture of the second segment grip 34. Here, the rough position is represented by an eclectic coordinate system (X, Y, Z) whose origin is the turning angle of the eclectic body 12 and the eclectic center position as shown in FIG.

Here, the main body control device 52 grasps which one of the A type segments A1 to A7, the B type segments B1 and B2, and the K type segment K the assembly segment 42 to be assembled is. is doing. For example, when an activation signal is input in step 90, a segment determination counter for determining what the current assembly segment 42 is is initialized to 1, and this is stored in the memory. Then, when the bolt fastening control of procedure 94 described later is completed, the segment determination counter is incremented and stored in the memory. In this case, the A type segment A4 is assembled when the segment determination counter is 1, and the A type segment A is assembled when the segment determination counter is 2.
3 is assembled, and thereafter, every time the segment judgment counter is incremented, A type segments A5, A2, A6
Assemble A1, A7, B type segments B1, B2, and K type segment K.

Subsequently, in step 92, the image processing apparatus 5
1, the assembly segment 42 and the existing segments 41a-4
Three slit lights are emitted from the projectors 44a to 44c to the boundary with the 1c, and the slit light images AA *, BB are generated.
Image processing of *, C-C * and extraction of the coordinate values of the end points of the assembled segment 42 and the existing segment 41
The relative positional relationship with a to 41c is detected.

Then, in step 93, the assembly segment 42 is set to the existing segments 41a to 41c by using the end point coordinate values extracted in step 92 and the assembly pattern data input from the input device 55 and stored in the memory. Calculate the target position / orientation of the erector to position it at a position where bolts can be fastened (hereinafter referred to as a fine position),
An actuator command value corresponding to the target position / orientation of the erector is output to the servo control device 53.

Subsequently, in step 94, the bolt fastening command value for fastening the assembly segment 42 to the existing segment 41 by the servo is provided according to the bolt fastening data input from the input device 55 and stored in the memory. Output to the control device 53.

Then, in step 95, the K segment K is read from the segment judgment counter stored in the memory.
If it is determined that the K segment K is not bolted, it returns to step 91.

Details of the rough positioning control procedure of procedure 91 of FIG. 13 will be described with reference to FIG. First, in step 100, the measured values of the distance meter 60 and the angle detector 61, that is, the distance L1 from the distance meter 60 to the inner peripheral surface of the existing segment 41.
Also, the deviation of the distance between the existing segment ring 41L including the existing segment 41 and the erector main body 12 is obtained from the erector rotation position, and this is stored in the memory as a correction value for positioning control.

Subsequently, in step 101, the design position / orientation data stored in the memory and the existing segment 4 are stored.
From the position / orientation information of 1c, the slit optical image AA on the assembly segment 42 and the existing segments 41a to 41c
*, BB * and CC are TV cameras 45a and 45
b, 45c camera view and assembly segment 4
2 and the existing segments 41a to 41c are not in contact with each other, for example, the assembly segment 42 is the existing segment 41a.
The rough position separated by 10 mm to 20 mm from .about.41c is calculated, and based on this, the erector target position / orientation for positioning the assembly segment 42 at the rough position is calculated.

Subsequently, in step 102, the turning motor 16, the pressing jack 22, the lateral slide jack 25, the front-rear slide jack 28, and the posture control jacks 31, 32, 33 are included from the previously determined erector target position / posture 7
Calculate the command value of the axis actuator. Then step 1
At 03, the actuator command value is output to the servo control device 53, and the servo control device 53 waits until the control of the actuator is completed.

Next, the details of the image processing of the image processing apparatus 51 which is measurement-controlled in the procedure 92 of FIG. 12 will be described with reference to FIG. In the rough positioning control described above, it is assumed that the assembly segment 42 is positioned at the position shown in FIG. At this time, the assembly segment 42 and the existing segment 4
1a, 41b at the boundary portion along the tunnel circumferential direction, and at the boundary portion along the tunnel axial direction between the assembly segment 42 and the existing segment 41c 1 position, respectively, the slit light of the projectors 44a-44c is irradiated, By irradiating this slit light, the assembly segment 42 and the existing segment 4
Slit light images AA *, BB generated on 1a to 41c
*, C-C * are surely TV cameras 45a, 45b,
The camera field of view 46a, 46b, 46c of 45c is entered. Therefore, the image processing device 51 includes the television camera 45a,
Camera images 47a, 47b, 4 reflected in 45b, 45c
From 7c, slit light images A-A *, BB at the above-mentioned three locations
End point coordinates a (ax, ay), a * (ax *, ay *), b (b) on the image coordinate system (xv, yv) of *, C-C *
x, by), b * (bx *, by *), c (cx, c
y), c * (cx *, cy *) are extracted.

Next, details of the fine positioning control procedure of the procedure 93 of FIG. 12 will be described with reference to FIG. First, in step 201, using the end point coordinate values a (ax, ay) to c * (cx *, cy *) extracted by the image processing device 51, the assembly segment 42 and the existing segments 41a to 41 are used.
The deviation amount from c is calculated. The calculation is performed as follows.

That is, first, the end point coordinate values a (ax,
ay) to c * (cx *, cy *), the assembly segment 42 and the existing segments 41a to 41c are defined as the relative positional relationship between the assembly segment 42 and the existing segments 41a to 41c.
Steps Δza, Δzb, Δzc and the gap Δx from 1c
a, Δxb, and Δyc are calculated by the following equations.

Δxa = (ax * −ax) · kx = Δx1 · kx Δxb = (bx * −bx) · kx = Δx2 · kx Δyc = (cy * −cy) · ky = Δy3 · ky Δza = (ay *) -Ay) · kz = Δy1 · kz Δzb = (by * −by) · kz = Δy2 · kz Δzc = (cx * −cx) · kz = Δx3 · kz where kx, ky, and kz are image data in mm. It is a coefficient for converting into the numerical value of the unit.

The steps Δza to Δzc and the gap Δxa described above.
Based on .about..DELTA.yc, position / orientation deviations of the assembly segment 42 with respect to the existing segments 41a to 41c are calculated.
The following equation shows a simple example of this position / orientation deviation calculation.

Edx = (Δxa + Δxb) / 2 edy = Δyc edz = (Δza + Δzc) / 2 eδx = (Δzb-Δza) / (Lya + Lyb) eδy = {(Δza + Δzb) / 2-Δzc} / (Lx
a + Lxc) eδz = (Δxb−Δxa) / (Lya + Lyb) where edx, edy, and edz represent positional deviations in the x-axis direction, the y-axis direction, and the z-axis direction, respectively, shown in FIG.
δx, eδy, eδz are around the x-axis, around the y-axis,
It represents the posture deviation around the z-axis. Also, Lxa, Lx
c, Lyz, and Lyb are slit light images A, B, and C on the assembly segment 42 from the gripping center o of the assembly segment 42.
Represents the distances in the x-axis direction and the y-axis direction to the respective end points a, b, c.

Subsequently, in step 202, the position / orientation deviations edx, edy, edz, eδx, eδy, eδ.
From z, the correction amount dx of the position / orientation of the assembly segment 42,
dy, dz, δx, δy, δz are obtained by the following equations.

Dx = -edx dy = -edy dz = -edz δx = -e δx δy = -e δy δz = -e δz Then, in step 203, the existing segments 41a-4 are used.
A reference position / posture of the assembly segment 42 for eliminating the position / posture deviation of the assembly segment 42 with respect to 1c is obtained. This calculation is performed as follows.

Here, the assembly segment 4 after the rough positioning is performed.
The positions and orientations of 2 are as follows: x-axis position: P11 y-axis position: P12 z-axis position: P13 x-axis attitude: P14 y-axis attitude: P15 z-axis attitude: P16 , Reference position / posture of the assembly segment 42, position in x-axis direction: P21 = P11 + dx position in y-axis direction: P22 = P12 + dy position in z-axis direction: P23 = P13 + dz posture about x-axis: P24 = P14 + δx around y-axis Attitude: P25 = P15 + δy Attitude around z-axis: P26 = P16 + δz.

Subsequently, in step 205, the assembly pattern data stored in the memory, that is, the design position / orientation data is read, and the deviation between the reference position / orientation P21 to P26 and the design position / orientation is obtained. Here, the design position / posture of the assembly segment 42 is: x-axis direction position: P1 y-axis direction position: P2 z-axis direction position: P3 x-axis attitude: P4 y-axis attitude: P5 z-axis Around posture: P6.

At this time, the reference positions / postures P21 to P26
And the design positions / postures P1 to P6 are as follows: x-axis position deviation: Δx = P21−P1 y-axis position deviation: Δy = P22−P2 z-axis position deviation: Δz = P23−P3 x Posture deviation around the axis: Δδx = P24−P4 Posture deviation around the y axis: Δδy = P25−P5 Posture deviation around the z axis: Δδz = P26−P6.

Subsequently, in step 206, it is determined whether or not the deviation between the reference positions / postures P21 to P26 and the design positions / postures P1 to P6 is within a threshold value to assemble the design positions / postures P1 to P6. It is determined whether or not the segment 42 can be assembled, and if the deviation is within the threshold value, the procedure proceeds to step 207, where the erector target position / posture for positioning the assembly segment 42 at the design positions / postures P1 to P6 is calculated, and the deviation is calculated. Is not within the threshold, the procedure proceeds to step 208.

Here, the above deviations Δx, Δy, Δz, Δδ
The threshold values to be compared with x, Δδy, and Δδz are k, respectively.
1, k2, k3, k4, k5, k6. This threshold is determined by the assembly segment 42 and the existing segments 41a to 4a.
Design position / posture P within the range of the gap between the bolt used to fasten 1c and the bolt hole provided in the segment
1 to P6 are set so as to obtain an assembleable position / orientation of the assembling segment 42 that is closest to P6. For example, if the gap between the bolt and the bolt hole is 2 mm, the threshold values in the x-axis direction, the y-axis direction, and the z-axis direction are 2 mm at maximum, but they are set lower than the gaps. At this time, -k1 ≤ Δx ≤ k1 (1) -k2 ≤ Δy ≤ k2 (2) -k3 ≤ Δz ≤ k3 (3) -k4 ≤ Δδx ≤ k4 (4) -k5 ≤ Δδy ≤ k5 ... (5) -k6 ≦ Δδz ≦ k6 (6) is examined, and if satisfied, the procedure proceeds to step 207, and if not satisfied, the procedure proceeds to step 208.

In step 208, assembly segment 4
2 and the existing segments 41a to 41c so that the bolts can be inserted, the reference positions / postures P21 to P26 are shifted toward the design positions / postures P1 to P6 by the threshold values k1 to k6, and the new reference positions are set. Positions / postures P21 to P26 are set, and the assembly segment 42 is set to the new reference position / posture P.
The erector target position / posture to be positioned at 21 to P26 is calculated.

In step 209, the reference positions / postures P21 to P26 and the design position / posture P1 in step 206 are set.
〜P6 deviation and threshold value comparison, x-axis direction, y
Axial and z-axis position deviation and x-axis rotation, y-axis rotation,
It is determined whether or not all attitude deviations about the z-axis have been completed. When it is determined that all attitude deviations have been completed, the procedure proceeds to step 210,
If it is determined that all have not been completed, the procedure returns to step 206.

Subsequently, in step 210, the turning motor 16, the pressing jack 22, the lateral slide jack 25, the front and rear slide jacks 28, and the attitude control jacks 31, 32 according to the target position / orientation of the erector calculated in step 207 or 208. , 33 including 7 axis actuators are calculated. Then, in step 211, the above 7
The actuator command value of the axis is output to the servo control device 53. With the above, the fine positioning control ends.

In the above, steps 90 and 91 of the flow chart shown in FIG. 12 are performed by the segment gripping portion 3 for roughly positioning each assembled segment 42 constituting the segment ring with respect to the existing segment 41 adjacent thereto.
The coarse positioning control means for calculating the target position and posture (Electa target position / posture) of No. 4 and driving the plurality of actuators 16, 22, 25, 28, 31 to 33 according to the target position and posture of the erector is constituted. In steps 92 and 93 of the flowchart shown in FIG. 12, data relating to the assembly positions and postures (designed positions / postures) of all the assembly segments 42 constituting the segment ring are stored in advance, and each assembly is performed by the rough positioning control means. Erector target position / orientation for finely positioning the assembly segment 42 with respect to the existing segment 41 based on the previously stored design position / orientation data of the assembly segment 42 when the segment 42 is roughly positioned. Is calculated, and a plurality of actuators 16, 22, Constituting the fine positioning control means for driving the 5,28,31～33.

Further, the procedure 92 of the flowchart shown in FIG. 12 constitutes detecting means for detecting the relative positional relationship between the assembly segment 42 and the existing segment 41 when each assembly segment 42 is roughly positioned, and FIG. The steps 201 to 205 of the flowchart shown in FIG. 4 are based on the relative positional relationship detected by the detecting means, and the assembly segment 42 is set to the design position / orientation given by the design position and attitude data of the assembly segment 42 stored in advance.
Of the steps of steps 207 and 20 of the flowchart shown in FIG.
8 is, when it is determined by the determination means that the assembly is possible,
The position and orientation of the segment gripper 34 that positions the assembly segment 42 at the design position and orientation is calculated as the erector target position / orientation, and the assembly segment 42 can be assembled when the determination unit determines that the assembly is not possible. A means for calculating the position and orientation closest to the designed position / orientation and calculating the position and orientation of the segment gripper 34 that positions the assembly segment 42 at this position and orientation as the erector target position / orientation.

Next, the operation of the segment assembling apparatus of this embodiment constructed as described above will be explained. First, the operator uses the input device 55 to instruct execution of the assembly of the segment ring according to the present invention.

Then, the main body control device 52 roughly positions the assembly segment 42 with respect to the existing segments 41a to 41c, and then the end point coordinate values a (ax, ay) to c * (cx extracted by the image processing device 51. *, Cy *)
Is used to obtain deviations edx to eδz of the assembly segment 42 from the existing segments 41a to 41c, and the deviation e
Existing segments 41a to 41c based on dx to eδz
The reference positions / postures P21 to P26 for eliminating the position / posture deviation of the assembly segment 42 with respect to are obtained. Then, the data of the design positions / postures P1 to P6 is read from the memory, deviations Δx to Δδz between the reference positions / postures P21 to P26 and the design positions / postures P1 to P6 are obtained, and the deviations Δ
When x to Δδz is within the threshold values k1 to k6, the command value of the 7-axis actuator corresponding to the target position / orientation of the erector that positions the assembly segment 42 at the design position / orientation P1 to P6 is obtained, and this command value Is output to the servo control device 53. On the other hand, the deviations Δx to Δδz are thresholds k1 to k6.
If it is not within the range, new reference positions / postures P21 to P26 are obtained by shifting the reference positions / postures P21 to P26 to the design positions / postures P1 to P6 by the threshold values k1 to k6.
The assembly segment 42 is moved to the new reference position / posture P21.
Up to P26, a command value of the actuator of 7 axes is obtained according to the target position / orientation of the erector, and the command value is output to the servo control device 53.

The servo control device 53 controls the actuators of 7 axes according to the command value to position the assembly segment 42. Then, a shield jack (not shown) is extended, the positioned assembly segment 42 is pressed against the existing segment ring 41L, and the assembly segment 42 and the existing segment ring 41L are fixed by the bolt fastening device 70.

According to the segment assembling apparatus of the present embodiment configured as described above, the above-described segment assembling method is carried out, and when the segment rings are successively assembled in the tunnel axial direction, the assembled segment ring 42
It is possible to prevent the situation in which the collapse of L is enlarged and the assembly becomes impossible.

When the tunnel machine is used to make a curved line in the horizontal direction by the shield machine, the left and right tail clearances T in the traveling direction are secured, and the curved line can be constructed as planned.

In the segment assembling apparatus of this embodiment, the operator instructs the execution of the assembling of the segment ring by the input device 55 every time one segment ring is assembled, but the present invention is not limited to this.
Execution of the assembly may be instructed each time a plurality of segment rings are assembled, or execution of the assembly may be instructed each time one assembly segment is assembled. Further, when finely positioning the assembly segment 42, the projectors 44a to 44c and the television cameras 45a to 45a.
Assembly segment 42 using a visual sensor consisting of 45c
Although the relative positions of the existing segments 41a to 41c are detected, the present invention is not limited to this, and other sensors such as an ultrasonic distance sensor and a laser distance sensor may be used.

[0073]

According to the present invention, even if the assembled segment ring is crushed from the shape at the time of assembly, it will eventually come close to a perfect circle shape. When assembling,
It is possible to prevent the situation where the crushing of the segment ring expands and the assembly becomes impossible.

Further, since the left and right tail clearances in the traveling direction of the shield machine necessary for the curved construction are secured, the curved construction can be performed as planned.

[Brief description of drawings]

FIG. 1 is a front sectional view of an erector body of a segment assembling apparatus according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

5 is a detailed cross-sectional view of the segment grip portion shown in FIG.

6 is a diagram showing a bolt fastening device provided in the erector body shown in FIG. 1. FIG.

FIG. 7 is a diagram showing a positional relationship between an assembly segment of a floodlight and a television camera used for positioning a segment according to an embodiment of the present invention and an existing segment, and a system configuration.

8 is a block diagram showing details of the system configuration shown in FIG. 7. FIG.

FIG. 9 is a diagram showing an example of segment arrangement according to the embodiment of the present invention.

FIG. 10 is a diagram showing an example of a segment assembly pattern in the embodiment of the present invention.

11 is a diagram showing details of the segment assembly pattern shown in FIG.

12 is a flowchart showing an assembly control procedure of an assembly segment in the main body control device shown in FIG.

13 is a flowchart showing a rough positioning control procedure shown in FIG.

14 is an explanatory diagram of a measurement procedure shown in FIG.

FIG. 15 is a flowchart showing a fine positioning control procedure shown in FIG.

16 is a diagram used for position / orientation deviation calculation in the fine positioning control procedure shown in FIG.

[Explanation of symbols]

12 Electa body 41, 41a, 41b, 41c Existing segment 41L Existing segment ring 42 Assembly segment 44a, 44b, 44c Floodlight 45a, 45b, 45c TV cameras 48 camera switch 49 Image input device 50 image memory 51 Image processing device 52 Main unit control device 53 Servo control device 54 Hydraulic control device 55 Input device

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hisagi Hashimoto 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor Hiroki Polymorph 650 Kintate-cho, Tsuchiura, Ibaraki Hitachi Construction Tsuchiura Plant Co., Ltd. (72) Inventor Ken Kamei, 650 Kintatecho, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (56) Reference JP-A-5-321597 (JP, A) JP-A-7-224598 (JP, A) JP-A-4-213699 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (4)

(57) [Claims] 1. A segment assembling method for assembling a segment ring by assembling a plurality of assembly segments from a lower part inside a tunnel toward an upper part when a ground is excavated by a shield machine to construct a tunnel. The segment ring has a vertically elongated oval shape in which the segment position of the segment ring matches the existing segment ring adjacent in the tunnel axial direction, and the maximum horizontal inner diameter is smaller than the inner diameter of the segment ring when assembled in a perfect circle. A segment assembling method comprising assembling a segment. 2. The segment assembling method according to claim 1, wherein when assembling individual assembling segments subsequent to assembling the lower segment in the tunnel, each assembling segment is assembled at a position one before in the circumferential direction of the tunnel. A segment assembling method, characterized in that the segment ring is assembled into a vertically elongated elliptical shape by rotating and positioning the end on the side in contact with the existing segment. 3. A segment grip for gripping an assembly segment
Device and the segment gripping device to the target position and posture
A plurality of actuators for moving the segment,
By moving the gripping device to the target position and posture,
Position and assemble the vertical segment, and
In the segment assembly device that assembles the ring,
Rough positioning is performed on the existing segment adjacent to it.
The target position and orientation of the segment gripping device for
However, depending on the target position and orientation,
Coarse positioning control means for driving the eater, and all the assembly segments that make up the segment ring
Data about the assembly position and orientation of the
Each of the assembled segments by the rough positioning control means.
When the coarse positioning is performed, the correspondence stored in advance
Based on the assembly position and orientation data of the assembly segment
The assembly segment to the existing segment
Target position of the segment gripping device for fine positioning
Position and posture are calculated, and according to this target position and posture,
Fine positioning control means for driving a plurality of actuators
The fine positioning control means has a detection means for detecting a relative positional relationship between the assembly segment and the existing segment when each assembly segment is roughly positioned, and the relative position detected by the detection means. Judgment means for judging whether or not the assembly segment can be assembled to the assembly position and orientation given by the previously stored assembly position and orientation data of the assembly segment based on the relationship; When it is determined that the assembly segment is located at the assembly position and orientation, the position and orientation of the segment gripping device that is positioned at the assembly position and orientation is calculated as the target position and orientation, and the determination means determines that the assembly is not possible. Calculates the position and orientation closest to the assembly position and orientation at which the assembly segment can be assembled, and Segment assembly device characterized by having the position and orientation of the segment gripping device to position the segments in this position and orientation and means for calculating as said target position and orientation. 4. A segment grip for gripping an assembly segment
Device and the segment gripping device to the target position and posture
A plurality of actuators for moving the segment,
By moving the gripping device to the target position and posture,
Position and assemble the vertical segment, and
In the segment assembly device that assembles the ring,
Rough positioning is performed on the existing segment adjacent to it.
The target position and orientation of the segment gripping device for
However, depending on the target position and orientation,
Coarse positioning control means for driving the eater, and all the assembly segments that make up the segment ring
Data about the assembly position and orientation of the
Each of the assembled segments by the rough positioning control means.
When the coarse positioning is performed, the correspondence stored in advance
Based on the assembly position and orientation data of the assembly segment
The assembly segment to the existing segment
Target of the segment gripping device for fine positioning
Calculate the position and orientation, and according to this target position and orientation
Fine positioning control hand drive the plurality of actuators
The fine positioning control means has, as the assembly position and attitude data of the assembly segment, the position of the assembly segment arranged in the lower part of the assembly segment coincides with the existing segment ring axially adjacent to the assembly segment and the horizontal direction. A segment assembling apparatus, which stores in advance data of a segment ring having a vertically elongated oval shape having a maximum inner diameter smaller than an inner diameter of a segment ring when assembled.