JPH0394000A - Method for positioning mounting segment of segment automatic assembling device - Google Patents

Abstract

PURPOSE:To readily position a mounting segment in response to detection signals of magnetic sensors during micro turn of the mounting segment by mounting magnetic sensors capable of detecting two bolt holes of an existing segment independently. CONSTITUTION:In the case of assembling a mounting segment 15 in the form of a ring adjacent an existing segment 20, magnetic sensors 21, 22 capable of detecting the bolt holes 18' of two bolt box holes 18 of the existing segment 20 independently are mounted via a support member 23 to near both end portions of a fine adjustment frame 12, which end portions extend in the direction A that the mounting segment 15 is turned. To position a first mounting segment 15A, it is moved to approximately a predetermined position and a rotating frame 3 is micro turned while detection by the magnetic sensors 21, 22 is carried out, and when the difference between detection signals is zero the first mounting segment ie positioned. Thus the mounting segment is readily positioned without subjecting it to special processes.

Description

DETAILED DESCRIPTION OF THE INVENTION [Icheon Field of Industry] The present invention relates to a method for positioning a mounting segment of an automatic segment assembly device.

[Prior Art] Conventionally, when positioning a new segment to be assembled (hereinafter referred to as an assembled segment) with respect to an existing segment in an automatic segment assembly device, a part of the ring shape is moved as shown in Fig. 5. A concave notch C is formed on the inner peripheral surface side of the iron bolt box hole b installed in the existing arc-shaped segment a, and both corners d of the notch C are formed. e
Two magnetic sensors r and 9 designed to detect this are attached to an automatic segment assembly device (not shown).

magnetic sensor r. g is the corner portion d of the cutout portion C. When e comes to the center of magnetic sensors r and g, the difference between the detection signals becomes zero as shown in FIG. 6, and it is thereby detected that positioning is complete.

[Problems to be Solved by the Invention] However, in the conventional method described above, it is necessary to perform special processing such as a notch C in advance in the bolt box hole b, so manufacturing is troublesome and the segment price is high. I had the problem of becoming

The present invention eliminates the need for machining the bolt box holes and directly detects the bolt holes.Since the bolt box holes provided in the segments are made of iron, when this magnetic sensor is brought close, an output is generated. Using the characteristic of zero, find the difference between the detection signals of a pair of magnetic sensors from the characteristics of the sensor output when moving from the concrete part to the steel plate and from the steel plate to the bolt hole, and detect the point where this difference becomes zero. It is an object of the present invention to provide a method for positioning an existing segment and an assembled segment.

[Means for Solving the Problems] The present invention provides a mounting segment positioning method of an automatic segment assembly device when supporting a mounting segment and moving the mounting segment to a predetermined position of an existing segment for fastening. Magnetic sensors capable of separately detecting the bolt holes of the existing segments near both end positions in the rotation direction of the mounting segment supported by the assembly device are supported by the segment automatic assembly device, and the N(L1 mounting segment is While performing detection by both magnetic sensors while pressed against the front end surface of the existing segment, the segment automatic assembly device made a slight turn of the No. 1 mounting segment, and the difference between the detection signals of the two magnetic sensors became zero. A method for positioning a mounting segment in an automatic segment assembly device characterized by stopping rotation at times, and an automatic segment assembly device for supporting a mounting segment and moving the mounting segment to a predetermined position of an existing segment for fastening. In the mounting segment positioning method of
Magnetic sensors capable of separately detecting the bolt holes of the existing segments at positions on both end sides in the rotational direction of the mounting segment supported by the segment automatic assembly apparatus are supported by the segment automatic assembly apparatus, When positioning the other mounting segment, after one magnetic sensor is removed, the other mounting segment is pressed against the front end face of the existing segment, and while the other magnetic sensor is performing detection, the automatic segment assembly device The present invention relates to a method for positioning a mounting segment of an automatic segment assembly device, characterized in that the mounting segment is slightly rotated and the rotation is stopped upon detection of a bolt hole.

[Function] While detecting the two bolt holes of the existing segment with a magnetic sensor, the first mounting segment is made to make a slight turn, and when the difference between the detection signals of both magnetic sensors becomes zero, the first mounting segment is turned. The positioning work is completed.

lllQ. Positioning of the other mounting segments after 2 is performed using only one magnetic sensor.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 4 show an example of an apparatus for carrying out the method of the present invention.

A shield tunneling machine 1 extending in a cylindrical shape in the longitudinal direction and having a circular cross section is provided, and in the cross-sectional shape of the shield tunneling machine 1 (Fig. 1), the direction perpendicular to the cross section, that is, the longitudinal direction of the shield tunneling machine 1 is provided. The direction is X-X1 The horizontal direction perpendicular to X-X is Y-Y, and the vertical direction perpendicular to X-X and Y-Y is 2.
Define it as 1Z.

A ring-shaped rotating frame 3 concentric with the shield excavator 1 is rotatably attached to a plurality of rollers 2 (four in FIG. 1) arranged concentrically inside the shield excavator 1. A ring gear 4 fixed to the rotary frame 3 and a pinion 6 of a motor 5 fixed to the shield excavator i are engaged with each other so that the rotary frame 3 can be supported and rotated concentrically with respect to the shield excavator 1. There is.

a telescopic jack 7 whose upper end is pivotally connected to the rotating frame 3;
The suspension beam 8 is pivotally supported by the lower end of the rotary frame 3 via a guide rod 9 so as to be movable in the vertical direction (Z-Z direction). A sliding frame 10 is attached so as to be slidable in the X-X direction by a drive device (not shown), and the sliding frame 10
The upper end of a fluid pressure cylinder 11 is pivotally attached to both ends of the hydraulic cylinder it in the Y-Y direction, and the lower end of the fluid pressure cylinder it pivotally supports both ends of a fine adjustment frame l2 extending in an arc shape in the Y-Y direction. A spherical bearing l3 is provided between the fine adjustment frame 12 and the sliding frame lO.

A gripping device l6 capable of gripping the mounting segment l5 via the fluid pressure cylinder 14 is provided at the central lower end of the fine adjustment frame l2 in the Y-Y direction.
A plurality of (four in FIG. 1) segment receiving pads 17 that can contact the upper surface of the mounting segment 1-15 are fixed to the lower surface of the mounting segment 1-15, and are also provided around the mounting segment 15 on the side of the fine adjustment frame 12. attached mounting segment l5
A plurality of (four in Fig. 1) bolt tightening machines l9 that can be inserted into the iron bolt box holes l8 for connection and tighten the bolts.
I firmly take responsibility for this.

Attach the mounting segment l5 to the existing segment 20 in a ring shape (two-dot chain line in Figure 1) and in the longitudinal direction (X-X direction).
When assembling the mounting segment 15 adjacent to the segment receiving pad l7, as shown in FIG.
The hydraulic cylinder 11 is moved in the vertical direction (Z-Z direction) by the telescopic jack 7 and held by its friction.
Rotation around the x-x direction and the y-y direction, sliding of the sliding frame IO in the x-x direction, rotation of the rotating frame 3 by the motor 5, and free movement around the spherical bearing l3. The assembly position of segment 15 can be freely adjusted.

When assembling the segments described above, if the mounting segment 15A of the seed 1 is not accurately positioned at the predetermined location of the existing segment 20, the bolt hole 18 of the bolt box hole 18 when installing the other mounting segments 15B after L2 ' will no longer match.

Therefore, the two bolt box holes l of the existing segment 20 are located near the positions on both ends of the mounting segment I5 in the rotation direction in the fine adjustment frame l2 of the segment automatic assembly device.
Magnetic sensors 21 and 22 that can separately detect eight bolt holes 18' are attached via a support member 23.

The magnetic sensors 21 and 22 are supported so that they can be moved to the bolt hole l8' position for detection as shown by arrow B in FIG. At the same time, it is supported so that it can be moved and adjusted in the direction of arrow C so that the distance between the mounting segment l5 and the end face 24 in the turning direction is always kept constant. 20' in Figure 3
shows the front end of the existing segment 20.

When positioning the NLL1 mounting segment 15A, move the Seed 1 mounting segment 15A supported by the segment automatic assembly device to the roughly planned position, then press it against the front end 20' of the existing segment 20, and in this state. The rotating frame 3 of the automatic segment assembly device is slightly rotated while the magnetic sensors 21 and 22 perform detection, and the point where the difference between the detection signals obtained from both the magnetic sensors 21 and 22 becomes zero as shown in FIG. Detect and complete positioning.

In addition, when positioning the other mounting segments 15B after kl, one of the magnetic sensors will interfere with the mounting segment l5 that has already been installed, so the magnetic sensor on the side of the mounting segment l5 that has already been installed is moved to the fine adjustment frame l.
2 side, and positioning is performed using only the other magnetic sensor.

Thereby, it is possible to control the pressing force of the other attachment segment 15B against the attachment segment 15 that has been completely attached.

Note that the mounting segment positioning method of the segment automatic assembly device of the present invention is not limited to the above-mentioned embodiment, and is not limited to the mounting support method of the magnetic sensor. It goes without saying that the present invention can be applied regardless of its shape, and that various other changes can be made without departing from the gist of the present invention.

[Effects of the Invention] As explained above, according to the mounting segment positioning method of the segment automatic assembly device of the present invention, the mounting segment is positioned by detecting a bolt box-sized bolt hole using a magnetic sensor. Therefore, there is no need to perform special processing on the bolt box hole as in the conventional method, and excellent effects can be achieved at low cost.

[Brief explanation of drawings]

FIG. 1 is a front view showing an example of an apparatus for carrying out the method of the present invention, FIG. 2 is a perspective view schematically showing the main parts of FIG. 1, and FIG.
The figure is a plan view of Fig. 2, Fig. 4 is a view from the IV-IV arrow in Fig. 3, Fig. 5 is a front view showing an example of the conventional method, and Fig. 6 is an output line showing a detection method using a magnetic sensor. It is a diagram. 1 is a shield excavator, 4 is a ring gear, 12 is a fine adjustment frame, l5 is a mounting segment, 15A is a seed 1 mounting segment, 15B is another mounting segment, 18 is a bolt box hole, l8' is a bolt hole, 20 is an existing segment , 20'
21 and 22 are magnetic sensors, 23 is a support member, 24 is the direction of rotation, and A is the direction of rotation.

Claims (1)

[Scope of Claims] 1) In a method for positioning a mounting segment of an automatic segment assembly device when supporting a mounting segment and moving the mounting segment to a predetermined position of an existing segment for fastening, the segment automatic assembly device supports the mounting segment. A magnetic sensor capable of separately detecting the bolt holes of the existing segment in the vicinity of both end positions in the rotational direction of the mounting segment to be mounted is provided supported on the segment automatic assembly apparatus, and With the No. 1 mounting segment pressed against the front end surface of the existing segment, both the magnetic sensors detect the No. 1 mounting segment and the automatic segment assembly device detects the No. 1. A method for positioning a mounting segment of an automatic segment assembly apparatus, characterized in that one mounting segment is slightly turned, and the turning is stopped when the difference between the detection signals of the two magnetic sensors becomes zero. 2) In a mounting segment positioning method of an automatic segment assembly device when supporting a mounting segment and moving the mounting segment to a predetermined position of an existing segment for fastening, the mounting segment supported by the segment automatic assembly device is rotated. Magnetic sensors capable of separately detecting the bolt holes of the existing segments at both ends in the direction are supported by the segment automatic assembly apparatus, and No. When positioning other mounting segments after 1, after one magnetic sensor is removed, the other mounting segment is pressed against the front end surface of the existing segment, and while the other magnetic sensor is performing detection, the segment automatic assembly device A method for positioning a mounting segment of an automatic segment assembly device, characterized in that the mounting segment is slightly rotated by another mounting segment, and the rotation is stopped upon detection of a bolt hole.