JPH03144099A - Segment assembly device - Google Patents

Abstract

PURPOSE:To improve working efficiency by a method wherein an erector is rotatably supported to a revolving bearing mounted to a support member secured to a shield body, and a newly mounted segment is positioned by means of first and second detecting means. CONSTITUTION:An erector 2 is supported to a revolving bearing 53 mounted to a support member secured to a shield body 1 and formed with a garter ring 18, a post 51, and s support ring 52, and is revolved coaxially with the shield body 1. In automatic assembly, a segment grasping mechanism 31 and a newly mounted segment are positioned by means of a jack for correction based on the detecting result of each sensor of the first detecting means of a segment mounted to the erector 2. A grasped new segment 12a is then positioned to an existing segment 13 by an orientation correcting mechanism 25 based on the detecting result of an existing segment position orientation detecting device 32 of a second detecting means. This constitution facilitates a work.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a segment assembly device using a shield construction method, and is particularly directed to an improvement in its rotation support mechanism.

B. Prior Art FIGS. 19 and 20 show a conventional segment assembly device in the shield construction method. This is called an erector, and is rotatably supported by a guide roller 4 placed on a roller bracket ta along the inner periphery of the tail part of the shield body. revolve around the central axis of The erector 2 includes an erector ring 3 supported by rollers 4, a pair of arms 5 projecting rearward from the erector ring 3, and a pressing jack 7 supported by the arms 5 via a guide rod 6. A hanging beam 8 that moves in the radial direction of the ring 3, a slider 9 that is installed on the hanging beam 8 and slides in the axial direction of the shield body 1 by a slide jack 11, and a grip provided at the bottom of the slider 9. 10. Note that 3a is a gear provided on the inner periphery of the ring 3, 17a is a pinion provided on the rotating shaft of the upper motor 7 and meshes with the gear 3a, and 8 is a ring girder.

When assembling the segments, the position and posture of the segment 12a carried below the erector 2 by a hoist or the like is manually corrected, and the operator also performs inching operations such as turning, pressing, and sliding the erector using the operation switch. The pin holes of the grip 10 and the pin holes of the hanging fitting 14 screwed into the grout screw holes 12b of the segment 12a are aligned, and the pins 15 are inserted into these pin holes to grip the segment 12a. Then segment 12a
is lifted up by the erector 2 and turned to a predetermined position, and the bolt holes are aligned with the existing segment 13 and with the circumferentially adjacent segment 2,
Bolts 16a on the existing segment and circumferentially adjacent segments.

16b is repeated to assemble the segments into a ring shape.

C1 Problems to be Solved by the Invention When installing such an erector 2 inside the shield body 1, the four rollers 4- on the upper side of the shield body 1 must be
A gap is provided between 1 to 4-4 and the erector ring 3 so that the erector ring 3 rotates smoothly. Therefore, as shown in the second upper figure, the lower four rollers 4-
Shims SM are interposed between 5 to 4-9 and the roller bracket 1a protruding from the shield body 1, and the erector 2
The position is being adjusted. At this time, the upper roller is usually attached with a slight clearance from the outer periphery of the ring 3 to avoid errors in circularity of the outer diameter of the ring.

Therefore, the position adjustment work is complicated.

Also, as can be seen from Figure 9, the weight of the erect ring 3 is theoretically supported by the two lower rollers 4-6 to 4-7, and the local stress of the erect ring 3 is tends to be high, i.e. roller 4 and erect ring 3
The contact surface pressure with the outer peripheral surface of Also, in general, in large diameter shields, the radial deformation of the erector ring 3 (
In order to prevent abrasion, the rigidity of the ring 3 must be increased, and as the weight of the erector increases, the contact surface pressure increases. For example, in the case of a large-diameter shield with a diameter exceeding 10 m, the contact pressure between the roller 4 and the erector ring 3 may exceed 100 kg/nut, and it may be virtually impossible for the roller 4 to support the rotation of the erector 2. .

Furthermore, as disclosed in Japanese Patent Application Laid-Open No. 60-261899, an automatic segment assembly device has been known that combines the above-mentioned erector and robot to automate segment assembly work. There are problems like this.

When the conventional erector and robot described above are combined,
The center of rotation of the erector body is semi-fixed with respect to the center of the shield due to the gap between the erector ring and the roller mounted on the upper side. This poses a problem in that when aligning segments, if an assembled segment comes into contact with an existing segment, the robot may move by the gap, complicating alignment control. This inevitably leads to a decrease in work efficiency.

SUMMARY OF THE INVENTION An object of the present invention is to provide a segment assembly device that facilitates segment positioning work and is capable of handling heavy objects such as large-diameter shields and automatic segment assembly devices.

00 Means for Solving the Problems To explain an embodiment with reference to the drawings, the present invention comprises a shield main body 1, a support member 52 fixed to the shield main body 1, and a support member 52 attached to the support member 52. The erector 2 includes a swing bearing 53, an erector 2 rotatably supported by the swing bearing 53, and a drive means 17 for rotating the erector 2.

As shown in FIGS. 3 and 4, the erector 2 in claim 2 includes a gripping means 3 for gripping the newly installed segment 12a, and a gripping means 3 for gripping the newly installed segment 12a carried into the shield body l. detection means 33, 35.3
6, and positioning means for positioning the gripping means 31 on the newly installed segment 12a based on the detection result.

The erector according to claim 3 has, in addition to the device according to claim 2, a second position detecting means 32 for detecting the position of the existing segment 13, and based on the detection result, the newly installed segment gripped by the erector gripping means 31 This is to position the segment to the existing segment.

The E0 action erector 2 is rotated about a central axis on the shield body by a swing motor 17 via a swing bearing 53.

Since the dead weight of the erector 2 is supported by the swing bearing 53, even if the dead weight of the erector becomes large as in the case of a large-diameter shield, the erector 2 can be rotatably supported by increasing the capacity of the swing bearing 53. In addition, position detection means 32, 33, 35, 36 for new and existing segments are attached to the erector 2, and the positioning means is used to correct the position and orientation of the new segment based on the detection results, such as in an automatic assembly device. The present invention can be effectively applied to devices that tend to have a large weight.

Furthermore, since the erector 2 rotates around the central axis on the shield body, and the backlash of the swing bearing is extremely small, the backlash need not be taken into account when controlling the positioning of the automatic segment assembly. Therefore, the control content is also simplified. This improves workability.

It should be noted that in the above-mentioned sections and section E, which describe the present invention in detail, figures of embodiments are used in order to make the present invention easier to understand, but the present invention is not limited to the embodiments.

F. Embodiment 1 First ↓ Embodiment A first embodiment in which the segment assembly device according to the present invention is applied to a large-diameter shield will be described with reference to Fig. ↓ and Fig. 2. The same parts as in FIGS. 19 and 20 are given the same reference numerals, and differences will be mainly explained.

Ring girder 1 provided inside the shield body 1
As shown in FIG. 2, two posts 51 are fixed to 8, and a support ring 52 is fixed to the posts 5↓ coaxially with the shield body.

A swing bearing 53 is attached to the support ring 52, and an erector 2 configured in the same manner as in the prior art is attached to an outer race 53a of the swing bearing 53 via an erector ring 3. A pinion 17a mounted on the output shaft of the motor F meshes with a gear 3a provided on the outer periphery of the erector ring 3. Therefore, the outer race 53a of the swing bearing 53, that is, the erector 2 is
Rotates on the same axis.

In the segment assembly device configured in this way, the erector 2 is moved by the rotation bearing 53 due to the rotation of the rotation motor F.
It is supported by and rotates. Therefore, the weight of the erector 2 is supported by the swing bearing 53, and the erector ring 3
This prevents large local stresses from occurring. In addition, since the swing bearing 53 is not attached directly to the ring girder 18, but is attached via the post 51, there is no need to reduce the inner diameter of the ring girder 18, and it can be easily attached to the existing shield i. can be attached to. Furthermore, there is no need to adjust the height using shims SM as in the past, which improves installation workability.Since the erecta 2 rotates around the central axis of the shield body 1, the positioning is almost the same at any turning angle. Operation becomes possible and work efficiency improves.

Second Embodiment Next, an embodiment in which the present invention is applied to an automatic segment assembly device will be described with reference to FIGS. 3 to 5.

As shown in FIGS. 3 to 5, an automatic segment assembly device (hereinafter referred to as erector) 2 is installed at the tail portion of the shield body l. The shield main body 1 is propelled by a shield jack (not shown) using the existing segments 13 assembled into a ring shape by the erector 2 as reaction force receivers. After the propulsion of the Esegment ring is completed, the segment 12 that is about to be assembled is brought in from the rear.
It is assembled into a ring shape in contact with the face side end surface of the existing segment 13.

One piece 12a of the segments to be assembled is shown in FIG. The segment shown here is a standard concrete segment, and bolt mounting grooves 12b are provided at a predetermined pitch on the front, rear, left, and right edges for connecting rings and adjacent segments in the circumferential direction, and bolts are installed on the four end faces. Holes 12c are provided at a predetermined pitch. Further, a grout screw hole 12d is provided in the center.

In Figure ↓5, the axis extending in the axial direction of the shield body 1 is the Z axis, the upper axis extending in the radial direction of the shield body 1 perpendicular to the Z axis is the Y axis, and the other axis orthogonal to the Y axis is the Z axis. The axis is the X axis, and the rotation angle θ× around the X axis (hereinafter referred to as pitching), the rotation angle θY around the Y axis (hereinafter referred to as yawing), and the rotation around the Z axis as shown in Figures 3 to 7. The posture of the segment will be expressed by three elements: angle θZ (hereinafter referred to as rolling).

The erector 2 shown in Figs. 3 to 7 includes an erector ring 3 and a swivel motor ↑7 which are a turning mechanism, a hanging beam 20 and a pressing jack 7 which are a position correction mechanism in the Y-axis direction, and a position correction mechanism in the X-axis direction. a horizontal slide frame 21 and a horizontal slide jack 22, a front and rear slide frame 23 and a front and rear slide jack 24, which are position correction mechanisms in the Z-axis direction, a posture correction mechanism generally designated by reference numeral 25, and a segment guide 3.
0, a segment gripping mechanism 31, a position/orientation detection device 32, and the like.

In FIG. 4, reference numeral 53 is a swing bearing, and the post 51 of the ring girder 18 is similar to that shown in FIG.
It is attached to a support ring 52 attached to. The erector 2 having the above structure is attached to the outer race 53a of the swing bearing 53 via the erector ring 3. Reference numeral 17 is a swing motor installed on the ring garter 18, and a pinion 17a is attached to its output shaft.

It meshes with a gear 3a provided on the outer periphery of the erector ring 3. Therefore, the erector 2 is rotated by the rotation motor 17.
It is possible to rotate around the central axis of the shield body l. As shown in FIG. 4, the turning angle f3R of the erector ring 3 is detected by a turning angle detector ↓9 such as a rotary encoder that is interlocked via a pinion 19a that meshes with the ring gear 3a, and the detection signal is the turning angle. This is input as OR information to a control device (not shown).

As shown in FIG. 3, the left and right guide rods 6 of the suspension beam 20 pass through a pair of left and right arms 5 provided to protrude from the erector ring 3 toward the tail side. Further, the cylinder side of the pressing jack 7 is attached to the arm 5, and the rond side of the pressing jack 7 is attached to the hanging beam 2.
attached to 0. Each of the jacks described below, including this pressing jack 7, all have built-in absolute stroke detectors, which input signals corresponding to the respective jack stroke amounts to a control device (not shown).

The hanging beam 20 has a gate shape, as shown in FIG.

As shown in FIG. 5, two guide rails 20b are mounted on the central beam 20a in the X-axis direction. Also, a groove 2 is provided on the upper surface of the central beam 2Qa.
0c is provided, and the horizontal slide jack 22 is housed here. The cylinder side of the lateral slide jack 22 is attached to a bracket 20d provided on the central beam 20a, and the rond side is attached to a bracket 21b provided on a lateral slide frame 21, which will be described later.

The horizontal slide frame 21 is placed on the central beam 20a of the suspension beam 20, and linear bearings 21a that engage with the guide rails 20b are attached to the four corners of the lower surface of the horizontal slide frame 21. On the lower surface of the horizontal slide frame 21 is a bracket 21 for attaching the opening side of the horizontal slide jack 22.
b stands out. At the lower part of the horizontal slide frame 2, as shown in FIG. 3, there are a pair of left and right upper flanges 21 that are L-shaped and face each other when viewed from the tail side of the shield body.
c is suspended and extends in the Z-axis direction.

Guide rails 21d are respectively attached in the Z-axis direction on the left and right pair of flanges 21c. Further, as shown in FIG. 7, a bracket 21e is provided on the lower surface of the flange 21c, and the cylinder side of the front and rear slide jack 24 is attached to the flange 21e.

As shown in FIG. 3, the front and rear slide frames 23 have L-shaped flanges 2L on the upper left and right sides of the horizontal slide frame 21.
It consists of a spherical guide part 23a inserted between the left and right flanges 23b. The flange portion 23b extends in the Z-axis direction similarly to the guide rail 21d, as shown in FIGS. 3 and 7.

Guide rails 21 are provided at the four corners of the lower surface of the flange portion 23b.
A linear bearing 23c that engages with d is attached. As shown in FIG. 6, correction jacks 28a, which will be described later, are provided at two locations on the upper surface of one side of the left and right flange portions 23b.
, 28b protrudes from the bracket 23d to which the cylinder side is attached.

A female spherical surface is formed at the center of the spherical guide 23a. Furthermore, brackets 23e protrude from the left and right sides of the spherical guide portion 23a, and the rod side of the front and rear slide jack 24 is attached to the brackets 23e.

Attitude Correction Mechanism 25> The attitude correction mechanism 1I25 has a spherical frame 26. Center shaft 27, correction jacks 28a, 28b, and pitching correction jack 2
Consists of 9. The spherical frame 26 has a male-side spherical part inserted into the spherical guide part 23a of the front and rear slide frame 23, and passes through an inner space with an open top surface hollowed out leaving the upper plate part 26a. A central axis 27 is provided on the center line of the spherical surface in the X-axis direction. Correction jacks 28a are provided at two locations on the upper surface of the upper plate portion 26a.

A bracket 26b to which the rod side of 28b is attached protrudes. Two correction jacks 28a, 28 with the same specifications
As shown in FIG. 6, b are attached in parallel to the X-axis direction at the same distance liL from the center of the spherical surface. These two correction jacks 28a, 28b are used for yawing correction and rolling correction, as will be described later.

The cylinder side of the pitching correction jack 29 is attached to a bracket 26c provided on the face side in the Z-axis direction at the lower end of the spherical frame 26, and the rod side is attached to a bracket 30c provided on a segment guide 30, which will be described later. Its mounting direction is perpendicular to the central axis 27.

As shown in FIG. 3, the segment guide 30 is separated from a central connecting portion 30a and a lower guide frame 30b.
It is rotatably suspended from the central axis 27 of the spherical frame 26. A segment gripping mechanism 31 is housed in the central inner space with one side open, and a bolt fastening device (not shown) is attached to the guide frame 30b. The outer circumferential portion of the guide frame 30b is formed into an arc shape with a curvature that matches the inner circumferential surface of the segment 12a.

A bracket 30c to which the rod side of the pitching correction jack 29 is attached protrudes from the side surface of the central connecting portion 30a on the face side in the Z-axis direction.

Segment Gripping Mechanism> As shown in detail in FIG.
1d, a screw shaft 31g, a drive motor 31i, etc.

The gripping frame 31a consists of a cylindrical body part 31a□, a flange part 31a2, and a stopper part 31a3 provided at the lower end of the body part 31a0. It is attached to the segment guide 30 at a flange portion 31a2 provided on the outer peripheral side of the section 31a. A bracket 3 for attaching gripping jacks 31b and 31c is provided on the upper surface of the flange portion 31a2.
Two pieces 1a4 are provided symmetrically, and the inner diameter of the lower end stopper part 31a is made slightly smaller than the inner diameter of the body part 31a so that the lower end of the sliding body 31d comes into contact with the stopper part 31a.

The two gripping jacks 31b and 31c of the same specification are attached to the bracket 31 on the cylinder side so that they are located parallel to the axis of the body 31a of the gripping frame 31a and symmetrically.
a4, and the rod side is attached to a bracket 31e that protrudes toward the outer circumferential side of the upper end of the sliding body 31d.

The sliding body 31d is a cylindrical body whose outer diameter is smaller than the inner diameter of the body 31a of the gripping frame 31a and has a minute gap m between it and the body 31a1. It has a flange portion 31j to which a (hydraulic motor) 311 is attached, and two bearings 31f for rotatably supporting a screw shaft 31g are attached to the lower part. Brackets 31e project symmetrically from the outer peripheral side of the upper end. Further, a guide piece 31m is provided on the outer periphery of the intermediate portion, and a body portion 31a1 of the first gripping frame 31a.
It is guided in the axial direction by a guide groove 31n provided in.

The screw shaft 31g has a threaded portion 31k at its lower end that matches the grout screw hole 12d of the segment 12a, and its intermediate portion is rotatably supported by the sliding body 31d via a bearing 31f. Further, the upper end portion is connected to the rotating shaft of the drive motor 31i via a coupling 31h.

Segment Position Detection and Correction Device> When the segment 12a carried below the erector is gripped by the segment gripping mechanism 31.

The position and posture of the segment guide 30 with respect to the segment 12a are corrected, and the grout screw hole 1 of the segment 12a is adjusted.
2d and the screw shaft 31g are aligned. As a means for automatically performing this centering, as shown in detail in FIGS. 9 and 10, the position and orientation of the segment 12a carried in are detected on the side and lower surfaces (outer peripheral surfaces) of the guide frame 30b. Shirutanu sensors 33a, 33b, 35a
.

35b, 36a to 36d are attached.

The first sensors 33a, 33b are connected to the guide frame 30b.
Segment dimension Q in the X-axis direction on the face side surface in the X-axis direction of
They are attached to the ends of the rods of sensor jacks 41 arranged at an interval α narrower than
Distance δ0 to the face side end surface of 2a. Measure δ2.

The second sensors 35a, 35b are connected to the guide frame 30b.
are attached to the ends of the rods of sensor jacks 42, which are arranged on both sides in the X-axis direction at an interval Q2 wider than the segment dimension QX in the X-axis direction. , and the distance δ1. from that position to the adjacent segment side end face of segment 12a. Measure δ4.

The third sensors 36a to 36d are connected to the guide frame 30b.
Also, on the bottom surface of the segment, there is a spacing narrower than the segment dimension flX in the X-axis direction. In the X-axis direction, the segments are installed at intervals narrower than the segment dimension Q2, and are installed with the same protrusion amount so as to be located facing almost all four corners of the inner periphery of the segment 12a, and from each position to the inner periphery of the segment 12a. Measure the distance δ5°δ6.

The output signals of the first, second, and third sensors are input to a control device (not shown) as information for detecting the position and orientation of the segment 12a.

As these sensors, a known optical distance sensor using a laser beam, an ultrasonic distance sensor, or the like can be used. Note that among these sensors, the third sensor 3
6a to 36d are attached so as not to hit the segment 12a when the segment 12a is gripped by the segment gripping mechanism 31, and the first sensor 33
a.

33b and the second sensors 35a, 35b,
At times other than when measuring, the sensor jacks 41 and 42 are retracted from the inner circumferential surface of the segment 12a by contraction to prevent these sensors from hitting the imported segment 12a, the existing segment 13, or the adjacent segment 12 in the circumferential direction.

Existing segment position/attitude detection device> The existing segment position/attitude detection device 32 for detecting the position and posture of the existing segment 13 detects the position and posture of the existing segment 13 at a symmetrical position on the outer side of the suspension beam 20, as shown in FIGS. 3 to 5. One unit is installed in each. The mounting position of the detection bag N32 is not limited to the hanging beam 20, but also the left and right erector arms 5.
It is sufficient if the position is approximately 180° symmetrical with respect to the center of rotation of the erector.

Specifically, as shown in FIGS. 11 to 13, the existing segment position and orientation detection bag W32 includes a detection beam 32c, a guide rail 32d, and a protrusion 32f.

It is removed from the range finder 32P it 32P2, the feeding jack 32q, and the box 32a that stores them.

Box 32 attached to the outside of the hanging beam 20
a is long in the axial direction (X-axis direction) of the shield body ■;
It is a box with a rectangular cross section, and both ends are open. A guide rail 32 is provided inside the bottom plate 32a□ of the box 32a.
d is attached parallel to the X-axis direction.

The detection beam 32c has a U-shaped cross section, is open toward the inner circumference of the existing segment 13, and has a bottom hole 32c.
Two linear bearings 32e that engage with a guide rail 32d are attached to 1. A protrusion 32f is swingably attached to two locations at the tip and intermediate portion of the detection beam 32c extending toward the tail side of the shield body 1 via a hinge pin 32g and a bearing 32h.

- The detection beam 32c is provided with a bracket 32m protruding from two locations inside the bottom plate 32c to which one end of the tension spring 32Q is attached. In addition, a stopper 32s is provided near the attachment portion of the protruding body 32f to hold each protruding body 32f in a state where the direction is perpendicular to the inner periphery of the existing segment 3 from the detection beam 32c. .

At the end of each protrusion 32f opposite to the boss 32i,
A distance meter 32P 132P2 is attached. The distance meter 32P t + 32P 2 is a non-contact type distance sensor such as an optical distance sensor using a laser beam or an ultrasonic distance sensor, and the protrusion 32f is connected to the detection beam 3.
2c, the left and right detection devices 32, a total of four rangefinders, are installed so that they all protrude toward the inner periphery of the existing segment 13 with the same dimensions from the center of the shield body. . Boss 3 of protruding body 32f
There is a bracket 32j for mounting on the wire 32 on the outside of 2i.
protrudes, and the direction of the protrusion coincides with the direction in which the protrusion 32f is attached to the hinge pin 32g.

A tension spring 32Q is attached via a wire 32k between a bracket 32m provided on the detection beam 32c and a bracket 32j provided on the boss 32i of the protrusion 32f.

The feeding jack 32q is installed parallel to the detection beam 32c, and its cylinder side is connected to the bottom plate 3 of the box 32a.
The rod side is attached to a bracket 32n protruding from the section 2a, and the rod side is attached to a bracket 32r protruding from the side surface of the detection beam 32c, and is housed inside the box 32a together with the detection beam 32c when the jack is contracted.

<Description of the operation of the erector> Next, the operation of each part of the erector configured as described above will be explained.

As described above, the erector ring 3 supported by the rotation bearing 53 is rotated left and right by the rotation motor 17, and the segment guide 30 is accordingly rotated in the circumferential direction of the shield body 1.

The suspension beam 20 supported by the left and right arms 5 of the erector ring 3 via the guide rod 6 is moved in the radial direction of the erector ring 3 by the expansion and contraction of the pressing jack 7.
Along with this, the segment guide 30 also moves in the Y-axis direction with respect to the erector ring 3, and its position in the Y-axis direction is corrected.

The horizontal slide frame 2 mounted on the suspension beam 20 via the linear bearing 21a is horizontally slid in the X-axis direction with respect to the suspension beam 20 by the expansion and contraction of the horizontal slide jack 22 without rattling. The segment guide 30 also slides laterally in the X-axis direction with respect to the hanging beam 20, and its position in the X-axis direction is corrected. This corresponds to fine adjustment of the erector rotation angle OR. The turning operation of the erector ring 3 by the turning motor 17 has a large inertial load and backlash of the ring gear 3a and pinion 17a, making it difficult to finely adjust the turning angle OR.
Minute positional corrections in the X-axis direction are performed by expanding and contracting the horizontal slide jack 22.

The front and rear slide frames 23 mounted on the horizontal slide frame 21 via linear bearings 23c are moved by the horizontal slide frame 21 by the expansion and contraction of the front and rear slide jacks 24.
Accordingly, the segment guide 30 also slides back and forth in the Z-axis direction with respect to the horizontal slide frame 21, and its position in the Z-axis direction is corrected.

The spherical arm 26 of the attitude correction mechanism 25 incorporated in the spherical guide portion 23a of the front and rear slide frame 23 moves as follows by the expansion and contraction of the two correction jacks 28a and 28b. In FIG. 6, two correction jacks 28a
, 28b are simultaneously expanded or contracted, the spherical frame 26 is tilted in the direction of arrow 02 in FIG. 3 around the Z-axis including the spherical center O. This movement is segment guide 3
Used for 0 rolling correction. Also.

When the correction jack 28a is extended and the correction jack 28b is contracted, the spherical frame 26 is rotated in the direction of arrow θY1 in FIG. , modified jack 28b
If the spherical frame 26 is extended, the spherical frame 26 will be
It can be rotated in two directions. This movement is used to correct the yaw of the segment guide 30.

In addition, in FIG. 4, the central axis 27 of the spherical frame 26
The segment guide 30 suspended from the spherical frame 26 is tilted in the direction of the arrow θX in FIG. 4 around the central axis 27, that is, the X axis, by the expansion and contraction of the pitching correction jack 29 attached to the spherical frame 26. This movement is used to correct the pitch of the segment guide 30.

The segment gripping mechanism 31 and bolt fastening device (not shown) attached to the segment guide 30 are adjusted in position in the X-axis, Y-axis, and Z-axis directions together with the segment guide 30, and are also subjected to rolling, yawing, and pitching corrections.

The existing segment position and orientation detection device W32 operates as follows.

In order to prevent the rangefinders 32p1 and 32p2 from being damaged by external force, the extension jack 32q is retracted except during detection, and the detection beam 32c is set as shown in FIG.

It is stored in a box 32a as shown by the two-dot chain g32c' in FIG. The position of the existing segment 13,
When trying to detect the posture, the extension jack 32q
is extended, and the detection beam 32c is sent out from inside the box 32a to the tail side of the shield body, as shown by the solid line in FIGS. 18 and 19. At this time, the detection beam 32c extends without wobbling due to the guide rail 32d and the linear bearing 32e. The protruding body 32f is a constant tension spring 32
However, due to Q, a tensile force is being applied to the face side around the hinge pin 32g.

When the feeding jack 32q is contracted, this protruding body 32
f is held down by the cover member 32b of the box 32a and is housed in the inner cavity of the detection beam 32c in a state of being tilted toward the side opposite to the face 5.

When the feeding jack 32q is extended, the protruding body 32f passes through the rear end 32t of the cover member 32b, and also hits the stopper 32s on the inner periphery of the existing segment 3 with the hinge pin 32g as the center due to the tensile force of the tension spring 32Q. Then, the distance meter 32p t + 32 P 2 attached to the protruding body 32f is projected toward the inner periphery of the existing segment ↓3.

The positions where the distance meters 32 pi and 32 Pz are protruded are opposite to two points on the inner peripheral surface where the bolt mounting grooves 13a and 13b are provided on the face side and the shaft side of the existing segment) 3. The detection beam 32c
and the distance meter on this detection beam 32 px, 3
The installation interval of 2 p,+211 is set. A total of four rangefinders installed in the left and right detection devices 32 are located at the same distance from the center of the shield, so if the existing segment 13 to be detected is tilted with respect to the axis of the shield body 1, the front and rear l pairs Since there is a difference in the distances δ, □, δ, 2 from the rangefinder 329□132P2 to the inner peripheral surface of the existing segment 13, the distance difference, that is, the inclination of the segment, can be detected by the pair of rangefinders 32Pt+32p2. . If the left and right detection devices 32 are placed at approximately 180° symmetrical positions with respect to the erector rotation center, it is possible to measure the entire circumference of the segment ring made up of the existing segments 13 by simply rotating the erector approximately half a circle. . In addition, the distance meter 32Px + 32pz is attached to the protruding body 32.
By attaching it to the tip of f and protruding toward the inner periphery of the existing segment 13 from the detection beam 32c during detection, the distance meter can be brought closer to each measurement point and highly accurate measurement can be performed.

Assume that the existing segments 13 are assembled into a ring shape as shown in FIGS. 3 and 4, and one piece 12a of the segment 12 to be assembled is placed under the erector. The operation of the entire erector from this state will be described below.

Normally, assembly of the segments is completed with the key segment positioned at the top of the ring, and the shield is moved to the digging operation. At this time, the erector is waiting with the segment gripping mechanism 31 facing upward when the assembly is completed, and when the excavation is completed, the gripping mechanism 31 is positioned downward in order to pick up the segment to be assembled next. Rotate the erector half a circle as shown. Before turning this erector from the standby position, the detection beam 3 is sent from the left and right detection devices 32.
2 (wire number), and the distance meter 32p attached to the tip of the protruding body 32f, 32P2, is made to protrude toward the inner periphery of the existing segment 13. As a result, rangefinder 32 pH 32
P2 is placed at a position opposite to two points on the inner circumferential surface of the existing segment E 3 where the bolt attachment grooves 13a and 13b are provided on the face side and the shaft side.

Next, each distance meter 3291132 is rotated by rotating the erector ring 3 by half a circle using the rotation motor ↓7.
Radial distance δ10 from pz to the inner circumferential surface of the existing segment L3. δ1□ is measured all around the ring of the existing segment.

Figure 14(a) shows the distance meter 32p1 and the existing segment 13.
It is a diagram showing the positional relationship in the circumferential direction with the bolt mounting groove 13a on the face side of the erector, and the rotation angle OR of the erector and the measured distance δ
The relationship is as shown in Figure I4 (b). That is, when the distance meter 32p1 passes over the bolt mounting groove 13a (
A-B in the above diagram.

CD, E-F), the distance δ is measured to be larger than other parts of the inner circumference of the segment, so that it is possible to measure not only the distance δ but also the position of the bolt attachment groove 13a in the circumferential direction.

By combining the turning angle θR information from the rotary encoder 19 connected to the erector ring 3 via the ring gear 3a and pinion 19a and the distance δ information, the diameter of the existing segment 13 at any turning angle OR from the reference position can be determined. You can know the direction position. That is, by adding the distance k from the segment inner circumference to the bolt hole 13c (a constant determined from the segment size) to the radial distance δ11 to the segment inner circumference, the radial position of the bolt hole 13c on the segment end face is determined.

The position of the bolt hole 13c in the circumferential direction is determined from the bolt mounting groove position information and the turning angle OR information.

In addition, the radial distances δ1□, δ1 between the two points on the front and rear of the existing segment 13 are measured using a pair of distance meters 32p and y32Pz.
2, it can be determined from the shield body of the existing segment 13 at an arbitrary turning angle f3R.

Furthermore, since the inclination and direction of the entire segment ring can be determined from the values of θ at the four locations above, below, left, and right of the segment ring that the existing segment constitutes, it is possible to determine the attitude (pitching, yawing, etc.) of the existing segment at any turning angle OR. rolling).

Furthermore, by counting the measured bolt mounting grooves, it is possible to determine which bolt mounting groove it is from the turning start point and which segment of the bolt mounting groove it is.

The above-mentioned detection of the attitude of the existing segment and the detection of the bolt hole position is performed by arithmetic processing in a control device (not shown) based on the measurement values of a total of four distance meters, the left and right detection devices 32, and the results are processed by the control device. Stored in the storage unit.

The alignment of the segment 12a to be assembled and the segment gripping mechanism 31 is performed as follows (see FIGS. 3 to 7, 9, and 10).

When the segment 12a is carried and placed under the erector by a hoist (not shown) or the like, the control device causes all the third sensors 36a to 36d attached to the lower surface of the guide frame 30b to sense the segment 12a. Rotate the erector ring 3 and roughly position it. next.

Extend the sensor jacks 41 and 42 and connect the first sensor 3.
3a, 33b and second sensor 35a.

Push out all four pieces of 35b. First sensor 33a.

33b is the distance δ1.33b from the face side end surface of the segment 12a. δ2 is measured, and this δ2. The control device performs a position correction in the Z-axis direction using the front and rear slide jack 24 and a 3-ing correction using correction jacks 28a and 28b so that the measured value of δ2 becomes a preset value δ7. Further, the second sensors 35a and 35b are connected to the segment 12.
The distance δ1.a between adjacent segment side end faces in the circumferential direction.
δ, and this δ1. The control device corrects the position in the X-axis direction (fine turning adjustment) using the horizontal slide jack 22 so that the measured value of δ becomes a preset value δ8.

Next, the distance δ between the segment 12a and the inner circumferential surface measured by the third sensors 36a to 36d.

The control device corrects the position in the Y-axis direction using the pressing jack 7 so that δ becomes the preset value δ at all four locations,
Posture corrections (rolling correction, pitching correction) are performed using the correction jacks 28a, 28b and the pitching correction jack 29.

Preset value δ7. δ3. δ is segment 1
The coordinates of the threaded shaft 31g of the segment gripping mechanism 31 match the coordinates of the threaded shaft 31g of the segment gripping mechanism 31 with respect to the grout threaded hole 12d of FIG. The above corrective action is
This is performed by feedback control such that the deviation between the measured value and the set value of each distance is set to O. When the above correction operation is completed, the four sensor jacks 41 and 42 are retracted together, and the first. Second sensors 33a, 33b.

35a and 35b are drawn in from the inner peripheral surface of the segment 12a.

When the preparation for the gripping operation is completed, the segment gripping mechanism 31
operates as follows (Figures 3 and 4).

(See Figure 8).

First, the drive motor (hydraulic motor) 311 is activated and rotates the screw shaft 31g. The reaction force in the rotational direction during rotation is received by the guide piece 31m and the guide groove 31n. The gripping jack 31b is rotated.

By contracting 31c, the screw shaft 31g is moved in the direction of arrow A in FIG. 8 together with the sliding body 31d and the drive motor 31i. As a result, the tip of the threaded shaft 31g having the male thread 31k is projected from the lower surface of the guide frame 30b until the lower end of the sliding body 31d hits the lower end stopper portion 31a of the gripping frame 3La. In this way, the centers of the grout screw hole 12d of the segment 12.a and the screw shaft 31g are aligned, and the screw shaft 31g is rotated while protruding and screwed into the grout screw hole 12d. When the stroke detector built into the gripping jacks 31b, 31c reaches a predetermined stroke, the rotation of the drive motor 31i is stopped, and then the gripping jacks 31b, 31c are extended to pull up the segment ↓2a together with the screw shaft 31g, and the segment 12a is The inner circumferential surface is fixed by coming into contact with the outer circumferential surface of the guide frame 30b.

In this gripping mechanism, a screw shaft 31g is connected to two gripping jacks 31b and 31c, a sliding body 31d, and a gripping frame 31.
The sliding body 31d, which is suspended on one side of the four-bar link formed by a and supports the screw shaft 31g, is guided by the body 31a of the gripping frame 31a with a small gap m. , the screw shaft 31g suspended in the air is
4 with respect to the gripping frame 31a by this minute gap m.
Parallel movement is possible with node link motion.

In addition, the gripping frame 31 of the gripping jacks 31b and 31c
By providing a clearance between the mounting portion a and the sliding body 31d, the screw shaft 31g can also be swung by a minute clearance m in a direction perpendicular to the direction of movement by the four-bar link motion. Therefore, even if a minute control error occurs when aligning the grout screw hole 12d and the screw shaft 31g, the control error can be absorbed by the aforementioned swinging of the grout shaft 31g relative to the gripping frame 31a. , it becomes possible to grip the segment by pushing it in.

After the gripping operation is completed, the pressing jack 7 is contracted to lift the segment 12a, and after turning it until it reaches a predetermined turning angle OR, the posture of the existing segment 13 at the predetermined turning angle OR stored in the storage section of the control device is determined. Based on the detected values, the correction jacks 28a, 28b and the pitching correction jack 29 of the posture correction mechanism 25 are controlled to correct the posture of the gripped segment 12a, such as pitching, yawing, rolling, etc. This correction operation is performed based on the posture of the existing segment. Detected value and current segment guide 3° attitude detected value (
The position of the segment guide 30 itself is always known by the absolute stroke detector attached to each jack).This is automatically performed by feedback control such that the deviation from the position of the segment guide 30 itself is set to O.

The posture of the gripped segment 12a is the same as that of the existing segment 13
When the posture matches the posture, the pressing jack 7 is operated by a predetermined stroke (the stroke is controlled according to the radial position of the existing segment obtained from the information on the distance δ and the information on the turning angle OR), and the radial direction of the gripped segment is moved. Perform position correction. Next, the segment L2a is pressed against the face side end surface of the existing segment width 3 by the front and rear slide jacks 24. At this time, the position and orientation of the segment 12a have been modified to match the position and orientation of the existing segment 13, so the bolt hole positions of the segment 12a to be assembled and the existing segment 13 are completely aligned, and are not shown. A bolting device allows bolting of both segments. By repeating the above operations, the delivered segments are assembled into a ring shape.

In the above embodiment, a segment gripping mechanism is shown in which a screw shaft is screwed into a grout screw hole, but the mechanism is not limited to this, and a pin insertion (gripper) method as shown in the above-mentioned known example may be used.

The present invention can be similarly applied to cases where other gripping mechanisms such as a twist rod type are used.

According to this embodiment, the following effects can be obtained.

(B) The position and orientation of the segment carried in are detected by multiple sensors attached to the segment guide, and the position and orientation of the segment guide are corrected accordingly so that the segment can be gripped. Regardless of the position and orientation of the transported segment, the segment gripping mechanism and the segment can be automatically aligned, no special segment positioning and transporting device is required, and the lining equipment can be simplified.

(b) By performing feedback control so that the measured values of each sensor that detects the position and orientation of the transported segment become preset values, the segment gripping mechanism and the segment can be aligned with high accuracy.

(c) If the first and second sensors for measuring the distance between the segment end face and the segment end face are attached to the segment guide via jacks, and after the correction operation is completed, the above-mentioned sensors can be retracted from the segment inner peripheral surface. Each of the sensors described above will not be damaged by hitting the imported segment, the existing segment, or the circumferentially adjacent segment, and will not interfere with segment assembly.

(d) at least l pairs of rangefinders arranged at intervals close to the segment width in the axial direction of the shield body and rotated around the axis of the shield body together with the segment gripping mechanism of the erector; and an erector rotation angle detector; As a result, it is possible to simultaneously detect the posture of the existing segment at any turning angle position necessary for automatic segment assembly and the bolt hole position on the end face of the segment face, thereby simplifying the measurement system for detection.

(E) Measure the distance to two points on the inner peripheral surface of the face side and shaft side of the existing segment using at least one pair of distance meters over the entire circumference of the segment ring, and use the distance information and the erector rotation angle information to Since the radial position and orientation of the segment are detected, the detection accuracy is high, and based on the detected values, the position and orientation of the segment gripped by the erector relative to the existing segment can be corrected with high accuracy.

At this time, since the erector 2 rotates via the rotation bearing 53 around the center axis of the shield body l, the relative positional relationship between the gripped segment and the existing segment is almost equal at any rotation position, and the center of the connecting bolt hole The unloading operation is the same for all segments, reducing the amount of correction operations and improving work efficiency.

(f) By installing existing segment position and orientation detection devices including a pair of distance meters at approximately 1800 symmetrical positions with respect to the erector rotation center, the erector can move from the standby position after completing one cycle of segment assembly to the next cycle. It is possible to detect the positions and postures of the existing segments while turning approximately half a turn to the segment receiving position, and no special cycle time is required for detection, and the preparation time for segment assembly work can be shortened.

Note that the segment automatic assembly device is not limited to the embodiment.

G.0 Effects of the Invention According to the present invention, the erector rotates coaxially with the shield body via the swivel bearing, so it is not difficult to use, especially when the erector is heavy, such as in a large-diameter shield or a fully automatic segment assembly device. In addition, the center of rotation of the erector coincides with the center axis of the shield body at any rotation angle position of the erector, so segment positioning operations are easy, whether manually or automatically, and work efficiency is improved. . Furthermore, when assembling the erector to the shield body, the conventional shim adjustment is no longer necessary, improving work efficiency.

[Brief explanation of the drawing]

1 and 2 illustrate the first embodiment,
FIG. 1 is a side view of the erector, and FIG. 2 is a front view of the erector viewed from the face side. Figures 3 to 4 are for explaining the second embodiment, in which Figure 3 is a cutaway front view seen from the tail side of a shield tunneling machine equipped with the automatic segment assembly device of the present invention, and Figure 4 is the third
Figure 5 is a cross-sectional view taken along ■-■ in Figure 3, Figure 6 is a cross-sectional view taken along IV-■ in Figure 3, and Figure 7 is a cross-sectional view taken along
■Cross-sectional view, Figure 8 is an enlarged cross-sectional view of the segment gripping mechanism,
9 is an enlarged view of the sensor section in FIG. 4, FIG. 1O is a sectional view taken along line XX in FIG. 9, FIG. 11 is a cutting-cut cross-sectional view of FIG. 11, FIG. 13 is a cross-sectional view taken along the line Xl-XIX of FIG. 11, and FIG. 14 is an explanatory diagram of detecting the position and orientation of an existing segment. Fig. 15 is a perspective view of one piece of the segment, Fig. 16 is an explanatory diagram of the posture of the segment, and Fig. 17 is the same as Fig. 16.
18 is a sectional view taken along the line X--X in FIG. 16. FIG. 19 is a front view of a shield tunneling machine equipped with a conventional erector as seen from the tail side, FIG. 20 is a side view of the conventional erector, and FIG. 21 is an enlarged view of the vicinity of the roller. 1: Shield body 2: Erector 3: Erector ring 7: Pressing jack 12.12a
: Top 3 of the segment to be assembled: Existing segment 13a, 13b: Bolt mounting groove 13c: Bolt hole 17: Swing motor 19: Swing angle detector (
Rotary encoder) 20: Hanging beam 21
:Horizontal slide frame 22:Horizontal slide jack 23
:Front and rear slide frame 24:Front and rear slide jack
25: Attitude correction mechanism 28a, 28bi correction jack 29: Pitching correction jack 30: Segment guide 31: Segment gripping mechanism 32: Existing segment position and attitude detection device 32c: Detection beam 32p1.32p2: Distance meter 41.42
:Sensor jacks 33a, 33b:First sensors 35a, 35b:Second sensors 36a to 36d:Third sensor 52:Support ring 51:Post 53:Swivel bearing

Claims (1)

[Claims] 1) A shield body, a support member fixed to the shield body, a swing bearing attached to the support member, an erector rotatably supported by the swing bearing, and the erector. A segment assembly device comprising: a drive means for rotating the segment assembly device. 2) In the device according to claim 1, the erector includes a gripping means for gripping the newly installed segment, a first detection means for detecting the position of the newly installed segment carried into the shield main body, and based on the detection result, and positioning means for positioning the gripping means on the newly installed segment. 3) The apparatus according to claim 2, wherein the erector has second position detection means for detecting the position of the existing segment;
A segment assembly apparatus characterized in that, based on the detection result, a newly installed segment gripped by an erector gripping means is positioned on an existing segment.