JP7429817B1 - Tail clearance measuring device - Google Patents

Abstract

An object of the present invention is to provide a tail clearance measuring device that is less likely to come into contact with machines or people and can perform reliable scanning. A tail clearance measuring device S includes a non-contact distance sensor 41 disposed outside the inner surface of a segment 90 in the shield radial direction, a rotation mechanism 42, and a rotation position detection section 43. a control unit 60 as a calculation unit that calculates the tail clearance c based on the measurement results at multiple points on the end face of the segment 90 and the measurement results at multiple points on the inner surface of the skin plate 2; ; [Selection diagram] Figure 1

Description

The present invention relates to a tail clearance measuring device that measures tail clearance in a non-contact manner.

BACKGROUND ART Conventionally, there has been known a technique for measuring tail clearance in a non-contact manner when excavating a tunnel with a shield tunneling machine. Here, the tail clearance means the gap between the skin plate of the shield tunneling machine and the segment. The tail clearance must be controlled within an allowable range to prevent the skin plate from coming into contact with the segment during curved construction.

For example, the tail clearance measurement device described in Patent Document 1 includes a measurement unit including a non-contact distance sensor, a rotation mechanism that rotates the distance sensor, and a rotation detection unit, and calculates the tail clearance. The control unit acquires the position of the first line segment on the inner surface of the segment based on the measurement results at multiple points on the inner surface of the segment, and The position of the second line segment on the inner surface of the skin plate is obtained based on the measurement result of the point, and the tail clearance is calculated based on the position of each of the first line segment and the second line segment and the thickness of the segment. has been done.

JP2019-214834A

By the way, the conventional tail clearance measuring device including Patent Document 1 is arranged closer to the center of the shield tunneling machine than the thickness of the segment, and is configured to measure a straight line corresponding to the inner surface of the segment. However, with conventional distance sensor placement, there are problems such as interference with machines such as erectors for segment assembly, making it impossible to scan, and the position and orientation of the distance sensor changing due to contact with machines or people. Ta.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a tail clearance measuring device that is less likely to come into contact with machines or people and can perform reliable scanning.

In order to achieve the above object, the tail clearance measuring device of the present invention includes a non-contact distance sensor disposed radially outward of the shield from the inner surface position of the segment, and a rotation mechanism that rotates the distance sensor. , a rotation position detection unit that detects a rotation position of the distance sensor by the rotation mechanism; a measurement unit having a rotation position detection unit that detects a rotation position of the distance sensor by the rotation mechanism; and a calculation unit that calculates a tail clearance based on the point measurement results.

The tail clearance measuring device of the present invention includes a measuring section having a non-contact distance sensor disposed radially outward of the shield from the inner surface position of the segment, a rotation mechanism, and a rotation position detection section; and a calculation unit that calculates a tail clearance based on the measurement results at a plurality of points on the end face of the skin plate and the measurement results at a plurality of points on the inner surface of the skin plate. In this way, by disposing the distance sensor on the outer side in the shield radial direction than the inner surface position of the segment, the tail clearance measuring device becomes less likely to come into contact with machines or people and can perform scanning reliably.

It is a sectional view explaining the internal structure of a shield tunneling machine. FIG. 3 is a side view of a measuring section of the tail clearance measuring device. FIG. 3 is a perspective view of a measuring section of the tail clearance measuring device. FIG. 2 is a block diagram illustrating a system configuration of a tail clearance measuring device. FIG. 6 is an explanatory diagram of a calculation method for the tail clearance on the face side of the segment. It is an explanatory view of the calculation method of the tail clearance of a segment on the mine entrance side.

Embodiments of the present invention will be described below with reference to the drawings. However, the constituent elements described in the following examples are merely examples, and the technical scope of the present invention is not intended to be limited thereto. Although the earth pressure type shield 1 will be explained below as an example, the present invention can be applied to other types of shield excavators.

(Shield tunneling machine configuration)
FIG. 1 is a longitudinal sectional side view showing a first embodiment of the present invention. As shown in FIG. 1, the earth pressure type shield 1 as the shield excavator of this embodiment includes a skin plate (shield body cylinder) 2, a partition wall 3, a cutter head 5, a cutter rotation shaft 10, and a cutter drive section. 12, a chamber 16, an earth removal device 17, a shield propulsion jack 18, a soil material supply pipe 21, an earth pressure gauge 22, a monitor (71; see FIG. 4) disposed inside the operation room, and a calculation section. The control unit (60; see FIG. 4) includes a control unit (60; see FIG. 4).

The cutter head 5 includes a cutter spoke 51, a plurality of cutter bits 52 provided on the front surface of the cutter spoke 51, a fishtail bit 53 provided on the front center of the cutter spoke 51, and a plurality of cutter bits 52 provided on the front surface of the cutter spoke 51. It has a plurality of stirring blades 54 provided on the back surface of the stirring blade. The cutter head 5 is integrally attached to a cutter rotating shaft 10.

The cutter rotating shaft 10 is rotatably supported by a bearing 11 provided on the partition wall 3 and a bearing provided at the rear of a gear box 13, which will be described later. The cutter rotation shaft 10 is connected to a cutter drive section 12. The cutter drive unit 12 is interposed between a gearbox 13 installed on the back side of the partition wall 3, a rotational drive source 14 connected to the gearbox 13, and an output shaft of the rotational drive source 14 and the cutter rotation shaft 10. It has a reduction gear (arranged in the gearbox 13; not shown).

The chamber 16 is formed in a space surrounded by the hood portion of the skin plate 2, the partition wall 3, and the face F. As the soil removal device 17, a screw conveyor is used. A mud intake port in the earth removal device 17 is opened and installed so as to face the chamber 16. Further, an erector 15 for assembling the segments 90 is installed at the tail portion of the skin plate 2.

A plurality of shield propulsion jacks 18 are installed inside the skin plate 2 at required intervals in the circumferential direction. The shield propulsion jack 18 includes a piston portion 18a and a spreader portion 18b. In addition, a tail seal 19 is provided at the rear end of the skin plate 2. A measuring section 40 of a tail clearance measuring device S is installed near the shield propulsion jack 18 of this embodiment.

That is, as shown in FIG. 2, the distance sensor 41 constituting the measurement unit 40 is arranged outside the inner surface of the segment 90 in the shield radial direction. Specifically, the measurement unit 40 including the distance sensor 41 is arranged near the center position of the shield propulsion jack 18 in the shield radial direction by a bracket 40a protruding from the partition wall 3. Note that the measurement unit 40 including the distance sensor 41 may be fixed to the skin plate 2 side, or may be directly attached to the partition wall 3 without using the bracket 40a.

(Configuration of tail clearance measuring device)
Next, the configuration of the tail clearance measuring device S will be explained using FIGS. 2 to 4. As shown in FIG. 4, the tail clearance measurement device S includes a measurement section 40 and a control section 60 as a calculation section.

As shown in FIGS. 2 to 4, the measurement unit 40 includes a non-contact distance sensor 41, a rotation mechanism 42 such as a motor or gear that rotates the distance sensor 41, and a distance sensor using the rotation mechanism 42. 41. Of these, the rotation mechanism 42 has a rotation axis perpendicular to the shield radial direction. Therefore, the distance sensor 41 of the measurement unit 40 scans the face-facing end surface 90a of the segment 90 and the inner surface of the tail portion of the skin plate 2 along a plane parallel to the tunnel longitudinal direction (a plane passing through the shield center axis). I can do it.

As described above with reference to FIG. 2, the measurement unit 40 including the distance sensor 41 is arranged on the outer side in the shield radial direction than the inner surface of the segment 90. More specifically, as shown in FIG. It is located exactly near the center of the

Note that the position of the distance sensor 41 in the tunnel longitudinal direction (shield excavation direction) may be on the face side (front side) of the spreader portion 18b where the shield propulsion jack 18 is in the most shortened state. Furthermore, although not shown, it is preferable that the measuring section 40 including the distance sensor 41 be installed at at least three locations in the circumferential direction of the shield.

The control unit 60 as a calculation unit is, for example, a general-purpose personal computer having a memory, a CPU, an SSD, and the like. The control unit 60 includes a La calculation unit 61 that calculates the line segment La based on the measurement results at multiple points on the end surface 90a of the segment 90, and a La calculation unit 61 that calculates the line segment La based on the measurement results at multiple points on the inner surface of the skin plate 2. The Lb calculating section 62 calculates the Lb. In addition, the control unit 60 as a calculation unit may be installed on the shield following truck, may be installed on the ground, or both may be installed. Measurement data from the distance sensor 41 is sent to the control unit 60 through a cable. Furthermore, the data sent to the ground can be transferred to a remote terminal via the Internet or the like.

In addition to the input values from the measurement section 40, input means such as a keyboard 65 and a mouse 66 are also connected to the control section 60. Furthermore, a monitor 71 and another excavation management PC 72 are connected to the control unit 60 as output means. Since the point cloud data acquired on the segment end face 90a has singular points at points A and B, the upper and lower end points (points A and B) of the segment end face 90a can be clearly recognized on the coordinate axis of the distance sensor 41. can.

Further, the control section 60 as a calculation section of this embodiment has an intersection C calculation section 63 that calculates the intersection point of the calculated line segment La and line segment Lb. The intersection C calculation unit 63 calculates the tail clearance c based on the coordinate values of the intersection C between the line segment La and the line segment Lb and the coordinate values of the singular points A and B. That is, as shown in FIG. 5, since the line segment La and the line segment Lb are expressed mathematically on the coordinate axes, the intersection point C between the line segment La and the line segment Lb can be calculated. In this way, the tail clearance can be calculated using points B and C. At the same time, the angle θ _L between the line segment La and the line segment Lb can be calculated.

In addition, the control unit 60 as a calculation unit includes a point D calculation unit 64 that calculates the coordinate value of the point D based on the intersection C calculation unit 63. That is, since the outer surface of the segment 90 and the line segment La are basically at right angles, the relative angle θx between the outer surface of the segment 90 and the line segment Lb of the tail portion can be calculated.

By calculating the relative angle θx, not only the tail clearance c1 at the front end face 90a position of the segment 90 but also the tail clearance at the rear end point (point D) of the segment 90, which cannot be visually observed, is calculated. c2 can also be calculated. That is, if the angle θx and the width of the segment 90 (length in the tunnel longitudinal direction) are known, the coordinates of point D can be specified, and therefore the tail clearance c2 at this point D can be calculated.

In this way, the relative angle θx between the inner surface of the tail portion (line segment Lb) and the outer surface of the segment 90 can be quantified. When calculating this relative angle θx, if the segment 90 to be measured is a tapered segment 90T, as shown in FIG. , it is possible to correct the angle calculation. That is, after scanning the end face 90a and finding the line segment La from the point group data, the relative angle θx can be calculated by considering the taper angle θy of the tapered segment 90T itself. Thereafter, point D is determined based on the width of tapered segment 90T, and tail clearance c2 at point D is calculated.

As mentioned above, the data of the tail clearance c obtained by the tail clearance measuring device S can be transmitted to another PC 72 and incorporated into the software that performs comprehensive excavation management of the shield, thereby making it possible to perform linear excavation management. It can be done more sophisticatedly.

(effect)
Next, the effects of the tail clearance measuring device S of this embodiment will be listed and explained.

(1) As described above, the tail clearance measurement device S includes a non-contact distance sensor 41 disposed outside the inner surface of the segment 90 in the shield radial direction, a rotation mechanism 42, and a rotation position detection device. as a calculation unit that calculates the tail clearance c based on the measurement results at multiple points on the end face of the segment 90 and the measurement results at multiple points on the inner surface of the skin plate 2; It is equipped with a control section 60; In this way, by disposing the distance sensor 41 on the outer side in the shield radial direction than the inner surface position of the segment 90, the tail clearance measuring device S becomes able to scan reliably without coming into contact with machines or people. .

Furthermore, since the distance sensor 41 is installed at the same position where the segment 90 is installed, there is nothing blocking the distance sensor 41, making it suitable for constant measurement. Furthermore, since the end face 90a of the segment 90 can be scanned and distance measured from the front, the distance can be accurately measured. Therefore, the angle of the end face 90a can be accurately measured.

(2) Further, the distance sensor 41 is disposed at a substantially intermediate position between the two shield propulsion jacks 18, 18 of the earth pressure type shield 1 in the circumferential direction of the earth pressure type shield 1 as a shield excavator, that is, Although the shield propulsion jack 18 may pose a hindrance to scanning, this problem can be resolved by arranging the measurement section 40 between the two shield propulsion jacks 18, 18. This location is not easily affected by the equipment of the shield tunneling machine or the scope of work such as segment assembly, and is easy to install and maintain. It also has the advantage of being less susceptible to vibrations during operation of the erector 15, which is a shield facility.

(3) Further, the distance sensor 41 is arranged at at least three locations in the circumferential direction of the earth pressure type shield 1 as a shield tunneling machine, so that the tail clearance c around the entire circumference of the shield can be determined.

(4) Furthermore, the control unit 60 as a calculation unit calculates the line segment La based on the measurement results at multiple points on the end surface 90a of the segment 90, and based on the measurement results at multiple points on the inner surface of the skin plate 2. A line segment Lb is calculated based on the line segment Lb, and a tail clearance c1 on the face side of the segment 90 is calculated based on the intersection C of the line segment La and the line segment Lb. According to this calculation method, the tail clearance c1 on the face side (front end position) of the segment 90 can be calculated based on the measured value based on the point cloud data of the end surface 90a and the point cloud data on the inner surface of the skin plate 2. .

(5) Furthermore, the control unit 60 as a calculation unit calculates the line segment La based on the measurement results at multiple points on the end face 90a of the segment 90, and based on the measurement results at multiple points on the inner surface of the skin plate 2. The tail clearance c2 of the segment 90 on the mine entrance side is calculated based on the intersection C of the line segment La and the line segment Lb and the angle θx formed by the line segment La and the line segment Lb. It has become. According to this calculation method, the tail clearance c2 on the mine entrance side (rear end position) of the segment 90 is calculated based on the measured value based on the point cloud data of the end face 90a and the point cloud data on the inner surface of the skin plate 2. can.

Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention may be made to the present invention. included.

1: Earth pressure shield;
2: skin plate; 3: bulkhead; 5: cutter head;
10: cutter rotating shaft; 11: bearing; 12: cutter drive unit;
13: Gearbox; 14: Rotation drive source; 15: Erector;
16: Chamber; 17: Earth removal device;
18: Shield propulsion jack; 18a: Piston part; 18b: Spreader part;
19: Tail seal; 21: Soil supply pipe; 22: Earth pressure gauge;
40: Measuring part; 40a: Bracket;
41: Distance sensor; 42: Rotation mechanism; 43: Rotation position detection section;
51: cutter spoke; 52: cutter bit;
53: Fishtail bit; 54: Stirring blade;
60: Control unit;
61: La calculation unit; 62: Lb calculation unit; 63: Intersection C calculation unit; 64: Point D calculation unit;
65: Keyboard; 66: Mouse; 71: Monitor;
90: Segment; 90T: Tapered segment; 90a: Segment end surface;
A: Singular point; B: Singular point; C: Intersection; D: Back end point;
La: line segment; Lb: line segment;
S: Tail clearance measuring device;
c: Tail clearance; c1: Tail clearance; c2: Tail clearance;
θ _L : Angle between line segment La and line segment Lb;
θx: relative angle; θy: taper angle

Claims (5)

a non-contact distance sensor disposed outside the inner surface of the segment in the shield radial direction; a rotation mechanism for rotating the distance sensor; and a rotation mechanism for detecting the rotation position of the distance sensor by the rotation mechanism. a measuring section having a dynamic position detecting section;
a calculation unit that calculates a tail clearance based on measurement results at a plurality of points on the end face of the segment and measurement results at a plurality of points on the inner surface of the skin plate;
Tail clearance measuring device. 2. The tail clearance measuring device according to claim 1, wherein the distance sensor is disposed at a substantially intermediate position between two shield propulsion jacks of the shield tunneling machine in a circumferential direction of the shield tunneling machine. The tail clearance measuring device according to claim 2, wherein the distance sensor is arranged at at least three locations in the circumferential direction of the shield tunneling machine. The calculation unit calculates a line segment La based on measurement results at a plurality of points on the end face of the segment, calculates a line segment Lb based on measurement results at a plurality of points on the inner surface of the skin plate, and The tail clearance measuring device according to any one of claims 1 to 3, wherein the tail clearance on the face side of the segment is calculated based on the intersection of the segment La and the line segment Lb. . The calculation unit calculates a line segment La based on measurement results at a plurality of points on the end face of the segment, calculates a line segment Lb based on measurement results at a plurality of points on the inner surface of the skin plate, and The tail clearance on the mine entrance side of the segment is calculated based on the intersection of the segment La and the line segment Lb, and the angle formed by the line segment La and the line segment Lb. The tail clearance measuring device described in any one of Item 3.

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