JPH0317395A - Tail clearance measurer for shield excavator - Google Patents

Abstract

PURPOSE:To automatically measure the tail clearance of an shield excavator in a continuous manner by a method in which the sensor supporter of the shield excavator is positioned in relation to the end of segment, and detected results by two kinds of non-contact type distance sensors are sent to an arithmetic unit for calculation. CONSTITUTION:A sensor 9 is made up of the first and second non-contact type distances sensors 12 and 13 to detect the distance between the inner surface of a segment 8 and the inner surface of a tail plate 1a and a supporter 11 to hold the sensors 12 and 13 on preset relative positions. The supporter 11 is positioned in contact with or in proximity to the facing side end 8a of the segment by a sensor-operating mechanism 10 attached to the shield machine. On the basis of the outputs of the sensors 12 and 13, tail clearance is calculated in the arithmetic unit 28. The tail clearance between the tail plate 1a of the shield excavator and the segment 8 can thus be automatically measured.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application] The present invention relates to a tail clearance measuring device that can automatically measure the tail clearance between the tail plate and the segment of a shield tunneling machine.

[Conventional technology]

In shield construction, it is necessary to measure the tail clearance in order to understand the position and direction of the shield body relative to the segment and use it as data for determining the attitude control of the shield excavator, and for determining whether to adopt a tapered segment during curved construction. However, manually measuring the tail clearance at the top, bottom, left and right positions of the inner circumference of the tail plate is not only cumbersome, but also prevents continuous measurement data, so the position and direction of the shield body must be constantly monitored. It is difficult to do so.

Therefore, several proposals have been made for automating tail clearance measurement.

As an example, as shown in FIGS. 20 and 21, a contact distance detector 52 is fixed to a frame 51 that is attached to the face side end surface 8 of the segment 8 using a fixture 50,
The tail clearance Tc is measured from the expansion and contraction stroke of the detection rod 54 where the tip roller 53 contacts the inner surface of the tail plate 11.

As another example, as shown in FIG. 22, the segment 8 and the tail plate l. A wedge-shaped measuring body 60 having a slope of angle θ is inserted between them, and the extending stroke S2 of the jack 61 with a built-in stroke detector and the stroke detector 62 move the measuring body forward and backward in the central axis direction of the shield body. There is a method in which the tail clearance T is calculated from the detected extension stroke s1 of the shield jack 5 using the following calculation formula.

Tc=xtanθ Some systems measure tail clearance using a detector that converts the amount of deformation into an electrical signal.

[Problem to be solved by the invention]

The above conventional techniques each have the following problems.

(1) The devices shown in Figures 20 and 21 require manual work to remove the detector from the existing segment and attach it to the newly assembled segment every time the detector is propelled by one segment ring, which is cumbersome. be.

(2) The one shown in Figure 22 may get caught between the segment and the tail plate during excavation, damaging the measurement object or the corner of the segment, and the measured value may vary depending on the R dimension of the segment corner. , resulting in measurement error.

(3) What is described in JP-A-63-97796 is
The detection part is easily damaged by contact with the outer surface of the segment and by contact with foreign objects such as dirt, backfilling personnel, etc. that pass between the segment and the tail seal and enter the tail part, and the gap between the detection part and the segment Foreign matter may be present in the area, causing measurement errors.

The present invention has been made in consideration of the above points, and its purpose is to be able to automatically measure the tail clearance continuously without having to attach or remove the detection section for each segment ring, and to enable the detection section to To provide a tail clearance measuring device for a shield excavator that has excellent durability and reliability and is free from damage or measurement errors due to contact with foreign objects such as backfilling personnel.

[Means to solve the problem]

In order to achieve the above object, the tail clearance measuring device of the present invention includes a first non-contact distance detector that detects the distance between the inner surface of the segment and a second non-contact distance detector that detects the distance between the inner surface of the tail plate and the inner surface of the tail plate. a non-contact distance detector, and a detector support that holds both of the detectors at a predetermined relative position; A detection unit operation mechanism that moves the entire detection unit in the direction of the central axis of the shield body so that it is positioned in contact with or close to the end face, and a calculation unit that calculates the tail clearance based on the outputs of both the detectors. It is something to be prepared for.

It is desirable that the detection unit be provided with means for adjusting the inclination of the detector support with respect to the segment arcuate surface, and means for adjusting the position of the detector support in the segment girder height direction.

Further, in order to cause the detector support to follow the inclination of the segment end face with respect to the shield body, it is preferable to provide a flexible joint at at least one location between the detector and the detector operating mechanism.

When a flexible joint is provided between the detection section and the detection section operation mechanism, it is desirable to provide an angle detector that detects the bending angle at the flexible joint section in order to grasp the position and orientation of the detection section.

Further, as one means for determining the position and direction of the shield body, the detection unit operating mechanism may be provided with a stroke detector that detects the movement stroke of the detection unit in the direction of the shield body central axis.

[Effect]

The detector support holds the first and second non-contact distance detectors at predetermined relative positions, and the detector operating mechanism moves the entire detector in the direction of the central axis of the shield main body in synchronization with the shield propulsion. The detector support is moved such that the detector support is positioned against or in close proximity to the face end surface of the segment. In this state, the first distance detector detects its own position relative to the inner surface of the segment, that is, detects the distance between the inner surface of the segment, and the second distance detector detects its own position relative to the inner surface of the tail plate, that is, detects the distance between the segment and the inner surface of the segment. Detects the distance between the inner surface of the plate and the inner surface of the plate. The tail clearance can be determined from the distances measured by the first and second distance detectors using the following calculation (see Figure 1).

'rc= (s+s(+)-(Si+T)) If S=T, then T c'' S o S = Here, Si: Distance between the l-th distance detector and the inner surface of the segment S0: Second distance Distance S between the detector and the inner surface of the tail plate: 1st, 2nd distance Distance between the detectors T: Segment girder height (thickness) T,: Tail clearance As described above, the tail clearance Tc is measured. distance S,
Since it is determined as the difference between +So and the tail clearance measurement, even if the position of the detector support in the segment digit height direction changes, the tail clearance measurement is not affected. Therefore, by arranging the detection section and the detection section operation mechanism at the top, bottom, left and right positions of the inner circumference of the tail plate, and manually inputting the measurement data from each detection section to the central calculation section, it is possible to The tail clearance at each position can be measured in real time, and furthermore, the position and direction of the shield body relative to the segment can be determined from the tail clearance value at each position and the detection unit movement stroke.

〔Example〕

Embodiments of the present invention are shown in FIGS. 1 to 15 below. I will clarify.

FIG. 1 is a vertical cross-sectional view of the main parts of an embodiment of the present invention excluding the signal processing system, (a) is a state diagram of the detection section at the time of center, (bl
is a state diagram during excavation. FIG. 2 is a longitudinal sectional view of a shield tunneling machine to which the present invention is applied, and FIG. 3 is a right side view thereof.

The shield excavator illustrated in FIGS. 2 and 3 is equipped with a cassota foil 2 on the front side of a cylindrical shield main body l, and has a cutter drive device 3, a wandering device 4, a shield jack 5,
It is equipped with a smoothing soda machine 6, a segment assembly erector 7, etc., and excavates the ground with a cutter wheel 2, and propels the shield body 1 with a shield jack 5 using segments 8 as reaction force receivers.

The tail clearance measuring device includes a detection section 9 shown in FIG.
, consists of a detection unit operating mechanism 10 and an arithmetic processing device (not shown).

The detector support 1l of the detection unit 9 has horizontal parts l1■1 at both ends.
1. and an intermediate vertical portion 11c, one of which is a horizontal portion 11. The first non-contact distance detector l2 is supported on the inner surface of the segment 8, and the tail plate 1 of the shield body 1 is mounted on the other horizontal part 11.
, supports a second non-contact type distance detector 13 set opposite to the inner surface. As these non-contact distance detectors, eddy current sensors, ultrasonic sensors, etc. can be used.

As is well known, eddy current sensors measure the distance between objects placed in a magnetic field created by a high-frequency coil, based on changes in coil impedance caused by eddy currents flowing through the object. In addition to steel segments and cast iron segments, it can also be applied to reinforced concrete segments. Ultrasonic sensors receive echoes from emitted sound waves that are reflected by an object, and measure distance from the time from transmission to reception, and can be used regardless of the material of the object.

The detection unit operation mechanism 10 includes a guide unit 14 of the shield body 1.
One end of the guide rod 15, which is movable back and forth in the direction of the central axis of the shield body along It is configured, and the operating Jasokki 1
6 performs a push/pull operation in conjunction with the shield jack 5 shown in FIG. 18 is a flexible joint provided on the guide rod 15 (details will be described later)
, 19. 20 is a distance detector 12. 13 of the signal line led out through the hollow part of the guide rod l5 to the transducer 25.1 shown in FIG. 26. 21 is a stroke detector provided to determine the position and direction of the shield body 1, and the wire 2 folded back by the roller 22
3, and converts the movement stroke of the detection section 9 in the direction of the central axis of the shield body into an electrical signal and outputs it.

The detection unit 9 and the detection unit operating mechanism 10 described above are respectively installed between the shield jacks 5 at four locations on the upper and lower, left and right sides of the inner circumference of the tail plate, as shown in FIG.

In the above configuration, the assembly of the segment 8 is completed, and at the same time the shield jack 5 presses down the face side end surface (hereinafter referred to as segment end surface) 8 of the segment 8, the operating jack 16 is pulled. The detection part 9 is advanced toward the segment 8 side via the inner rod 15, and the detector support 1l is moved forward.
The vertical portion 11c of the segment end face 8. to press against. As a result, the detector support 11 is positioned with respect to the segment end surface 81 so that the first and second distance detectors 12 and 13 are at positions facing the inner surface of the segment and the inner surface of the tail plate, respectively ( Figure 1). After that, the operation jack 16 is pulled again in synchronization with the shield propulsion by the shield jack, and the detection part 9 is further advanced with respect to the shield body 1, and the detector support 1 is moved even during excavation.
1 comes into contact with the segment end face 8 and holds it in a positioned state (FIG. 2).

In this state, the first distance detector 12 detects the distance S from the inner surface of the segment 8. The detection signal of
is the tail plate 1. The detection signal of the distance S0 between the inner surface and the inner surface is sent to the signal line 19. 20. Further, the stroke detector 21 transmits a detection signal of the movement stroke SR of the detection unit 9 during excavation through the signal line 24. After the propulsion for one segment ring is completed, at the same time as the shield jack is pulled back, the operation jack 1 is
6 moves backward to move the detection section 9 back, making it possible to assemble the next segment.

FIG. 4 is a block diagram of the signal processing system. First and second distance detectors 12. The detection signals from 13 are sent to converters 25, . The detected signal from the stroke detector 21 is converted into a signal suitable for input to the arithmetic unit 26 in the same way. The calculation unit 28 is the converter 25
, 26. The tail clearance Tc is calculated based on the measured data of the distance S from the first distance detector 12 to the inner surface of the segment, and the distance S0 from the second distance detector 13 to the inner surface of the tail plate. .

FIG. 4 shows first and second distance detectors 12. 13 is shown by l″m, but by sampling the measurement data from the detection units 9 installed at the top, bottom, left and right positions of the inner periphery of the tail plate, the tail clearance at each position can be calculated simultaneously by the calculation unit 28. In addition, as shown in Fig. 5, the tail clearance value TCI obtained before and after the time,
The inclination ψ of the shield main body l with respect to the segment 8 can be calculated from TCt and the movement stroke SR between them using the following equation.

ψ==j31 1 Tc+TczSR If this calculation is performed for each of the upper, lower, left and right positions of the inner circumference of the tail plate, the position and direction of the shield body can be determined in real time. The calculation unit 28 records these calculation results and displays them on the display unit 29.

Next, the detailed structure of the detection section 9 will be explained with reference to FIGS. 6 to 8. FIG. 6 is a longitudinal sectional view, FIG. 7 is a plan view, and FIG. 8 is a bottom view.

In this example, one horizontal portion 11. of the detector support body l1. Two first distance detectors l2 are attached to the segments 8 in parallel in the circumferential direction, and only one second distance detector l3 is attached to the other horizontal portion 11. 30 is the vertical portion 11 of the detector support 1l. Rotation center shaft attached to 3
l is a bearing stand that supports the shaft 30; 32 is an inclination adjustment screw attached to the detector support 11, which adjusts the inclination φ (9th
Rotate the support 11 until the position (see figure) is approximately O.
, tighten the adjusting screw 32 to the bearing stand 31. By providing such an inclination adjustment means, the first distance detector L2 can be directly opposed to the inner surface of the segment, and measurement errors can be reduced. Further, 33 is a bolt attached to the bearing pedestal 31, 34 is a girder height direction position adjustment screw that engages with this, 35 is a push spring, 36 is a guide rod that guides the movement of the bearing pedestal 31 in the segment girder height direction, and 37 is a bracket that supports the guide iron 36. The plastic rod 37 is a guide rod 15 that moves back and forth in the direction of the central axis of the shield body.
is attached to the tip, and by turning the adjustment screw 34 engaged with the bracket 37, the bearing stand 31 moves along the guide rod 36, and the position of the detector support 11 in the digit/height direction changes. By providing such a girder height direction position adjustment means, the first and second distance detectors 12.
13, each of which can be set within a measurable range for the inner surface of the segment and the inner surface of the tail plate.

In addition, 18 is a flexible joint made of a spiral coil provided in the middle of the guide rod 15, and detects it so that the detector support l1 hits the segment end face 83 parallel to the inclination of the shield body relative to the segment C. 38 is a lining made of a relatively flexible material that is attached to the surface of the detector support 11 that comes into contact with the segment end face 8m. This is for stable positioning on the segment end face 81 and for preventing damage to the segment.

FIG. 9 is an explanatory diagram of correcting the inclination of the detection unit 9 with respect to the segment arc surface. As described above, the inclination adjustment means of the detection unit is used to adjust the detector support 11 so that the inclination φ with respect to the segment arc surface becomes approximately O. The influence of the slope φ can be removed by calculating the average value of the measurement data of the first distance detectors 12 provided on the left and right sides.

Next, correction of the inclination and positional deviation of the detection section with respect to the center axis of the shield body will be explained with reference to FIGS. 10 and 11. FIG. IO is a side view, in which the flexible joint 18 provided on the guide rod 15 allows the detector support 11 to follow the inclination γ of the segment 8 in a plane perpendicular to the central axis of the shield body, and to the end face 8 of the segment. Shows a state in which they are in parallel contact. At this time, the second distance detector l3 is tilted by an angle T with respect to the tail plate 1, causing a measurement error. The distance S is calculated by detecting the bending angle γ and inputting it manually to the calculating section 28 in FIG. measurement errors can be corrected.

FIG. 11 is a plan view showing that the flexible joints 18 and 18' provided at two locations on the guide rod 15 allow the detector support 11 to follow the inclination β in the horizontal plane with respect to the central axis of the shield body of the segment 8. The state in which it abuts parallel to the segment end face 81 is shown by a two-dot chain 'Ia11'. At this time, the position of the detection part shifts in the segment circumferential direction from the original position (shown by the solid line), but the flexible joint 18. 18
' The angle detectors 40 and 4l built into the angle detectors 40 and 4l detect the bending angles α and β at each part, and these are calculated by the calculation unit 2 in FIG.
8, it is possible to calculate the positional deviation of the detection unit and correct the measurement data of the position and direction of the shield body.

Here, angle detectors 39, 40. As 41, a strain gauge or the like can be used.

In FIGS. 6 to 8, two first distance detectors 12 are arranged side by side in the circumferential direction of the segment, but as shown in FIG. By arranging two detector supports in the central axis direction and taking the average value of their measurement data, the detector support l1 is aligned with the segment end face 8. Measurement errors can be eliminated even when the sensor contacts the sensor at an angle in a vertical plane.

In addition, as shown in FIG. 13, two first distance detectors l2 are mounted on the detector support 11 at intervals of a and b in the central axis direction of the shield body and in the segment circumferential direction, respectively.
By arranging the detector support 11 and taking the average value of the measured data, the inclination φ (FIG. 9) with respect to the segment arc surface of the detector support 11 and the inclination γ (
Both measurement errors due to FIG. 12 can be corrected.

14 and 15 are diagrams showing other examples of the arrangement of the stroke detector 21. As shown in FIG. 14, the stroke detector 2l and the guide rod 15 may be connected by a straight wire 23'. , as shown in FIG. 15, the stroke detector 2l
may be built into the operating jack 16.

In addition, stroke detection of the operation jack 16 is omitted,
It is also possible to use a stroke detection value of a shield jack located adjacent to the detection unit 9 instead.

However, in this case, when determining the position and direction of the shield main body, it is necessary to correct the positional deviation between the detection section 9 and the shield holder.

The above has described an example in which the detection section 9 for tail clearance measurement and the detection section operation mechanism 10 are provided independently, but as shown in FIG. First distance detector 12
A frame 42 to which is fixed, a frame 43 to which a second distance detector 13 is fixed are attached, the spray soda 6 is used as a detector support, and the shield jack 5 is used as a detection part operating mechanism to measure the tail clear lath. In this case, the position and direction of the shield body can be determined using the stroke detection value of the shield jack 5 as the movement stroke of the detection section.

In addition to this, it is also possible to use a perfect circle holding device equipped on the shield tunneling machine as the detection unit operating mechanism.

As shown in FIGS. 17 and 18, the perfect circle holding device 4
4 is attached to a support trunk 46 placed on the rear frame 45 of the shield main body 1, and has two vertically extending left and right lifting guides 47, and a lifting jack 48 built into the lifting guide 47. 49, and a pair of upper and lower holding beams 50 that move up and down, and a sliding jack 51 that is attached to the rear frame 45 on the cylinder side and the lift guide 47 on the rond side, etc. When assembling the segments, the holding beam 50 is moved to the lifting jack 48.
．． 49 to the inner periphery of the existing segment 8.
The holding beam 50 is held in the state I in FIG. 7 by reducing the size of the sliding jack 51 in accordance with the shield excavation. ■ shows the state of the holding beam 50 relative to the shield body after the completion of excavation;
Elevate and descend from this state 48. 49 to return the holding beam 50 to the state shown in (2), and then extend the sliding jack 51 to advance the holding beam 50 to the state shown in (2).

The perfect circle holding device 44 holds the assembled segment ring in a perfect circle by repeating the above operation.

Therefore, the guide rod 53 supported by the holding beam 50 via the bearing 52 is connected to the rond of the jack 54 which expands and contracts in the shield axial direction, and the jack 55 attached to the tip of the guide rod 53 expands and contracts in the shield radial direction. Attach the detector support l1 to the loft to be assembled, and when assembling the segment, reduce the jack 5455 to retract the detector support If to a position where it will not interfere with the segment assembly work,
After the segment assembly is completed, as shown in FIG. 19, the jack 5455 is extended and the detector support 11 is positioned close to the face side end surface of the newly assembled segment 8, thereby removing the detector support 1l. first and second distance detectors attached to 12. 13, the tail clearance can be continuously measured during shield digging.

[Effects of the Invention] According to the present invention, (i) there is no need to manually attach and detach the detection section for each segment ring, and the tail clearance can be automatically measured continuously.

(ii) The detection part will not be damaged by sliding contact with the segment or by contact with foreign matter such as dirt or backfilling personnel entering the tail part.

(iii) The tail clearance can be measured with high accuracy without causing measurement errors due to the R dimension of the segment corners or the presence of foreign matter such as dirt.

It is possible to realize a tail clearance measuring device that combines the advantages of (i) to (iii) above.

The unique effects of the related invention other than those mentioned above are as described in the Examples section.

[Brief explanation of drawings]

FIG. 1 is a vertical cross-sectional view of the main parts of an embodiment of the present invention excluding the symbol processing system, (a) is a state diagram of the detection section at the time of setting, (b)
1 is a state diagram during excavation, FIG. 2 is a vertical cross-sectional view of a shield tunneling machine to which the present invention is applied, FIG. 3 is its right side view, FIG. 4 is a block diagram of the signal processing system, and FIG. 5 is a shield Explanatory diagrams of direction measurement, Figures 6 to 8 are detailed views of the detection section in Figure 1, where Figure 6 is a longitudinal sectional view, Figure 7 is a plan view, Figure 8 is a bottom view, and Figure 9 is a detailed view of the detection unit in Figure 1. The figure is an explanatory diagram of correcting the inclination of the detecting unit with respect to the segment arc surface, Fig. 10 is an explanatory diagram of correcting the inclination of the detecting unit with respect to the central axis of the shield body, Fig. 11 is an explanatory diagram of correcting the positional deviation of the detecting unit, and Fig. 12 is an explanatory diagram of correcting the inclination of the detecting unit with respect to the segment arc surface. , FIG. 13 is a side view of the main part of another embodiment of the present invention in which the arrangement of the first distance detector is changed, and a bottom view of the main part, and FIGS. FIG. 16 is a vertical cross-sectional view of a main part similar to FIG. 1 of another embodiment of the present invention, FIG. The figure is a vertical cross-sectional view of the main part of another embodiment that uses a perfect circle holding device as the detection unit operation mechanism, Figure 18 is a right side view of Figure 17, and Figure 19 is the center of the detection unit in this embodiment. 20 and 2l are horizontal sectional views and enlarged sectional views of essential parts showing an example of the prior art, and FIG. 22 is a longitudinal sectional view showing another example of the prior art. It is. l...Shield body, 11...Tail plate, 8
...Segments, 8...Segment end faces, 9...
・Detection unit, 10...Detection unit operation mechanism, 1l...Detector support body, 12...First non-contact type distance detector, l3
...Second non-contact distance detector, l6...Operation jack, 18.18'...Flexible joint, 21...Stroke detector, 28...Calculating section, 30-32 ...Detector support inclination adjustment means, 33-37...Detector support body height direction position adjustment means, 39, 40, 4l...
・Angle detector diagram 2

Claims (1)

[Claims] 1. A device for automatically measuring the tail clearance between the tail plate and the segment of a shield tunneling machine, comprising:
a first non-contact type distance detector for detecting the distance between the segments and the inner surface of the segment; a second non-contact type distance detector for detecting the distance between the tail plate inner surface; A detection part including a detector support to be held in a relative position, and a detection part that is attached to the shield body so that the detector support is positioned in contact with or close to the face side end surface of the segment during shield excavation. A tail clearance measuring device for a shield excavator, comprising: a detection unit operation mechanism that moves the shield body in the central axis direction; and a calculation unit that calculates the tail clearance based on the outputs of both of the detectors. 2. The tail clearance measuring device for a shield tunneling machine according to claim 1, wherein the detection section is provided with means for adjusting the inclination of the detector support with respect to the segment arc surface. 3. The tail clearance measuring device for a shield excavator according to claim 1, wherein the detection section is provided with means for adjusting the position of the detector support in the segment girder height direction. 4. The tail clearance measuring device for a shield tunneling machine according to claim 1, further comprising a flexible joint provided at at least one location between the detection section and the detection section operating mechanism. 5. Tail clearance measurement for a shield excavator according to claim 4, characterized in that an angle detector for detecting a bending angle at the flexible joint portion between the detection portion and the detection portion operating mechanism is provided. Device. 6. Claim 1, characterized in that the detection unit operating mechanism is provided with a stroke detector for detecting the movement stroke of the detection unit.
Tail clearance measuring device for the shield tunneling machine described.