JPH0452838B2 - - Google Patents

Description

Detailed Description of the Invention (Technical Field) The present invention relates to a device for assembling segments arranged on the inner peripheral surface of a tunnel and transporting them below a segment erector that lines the tunnel.

(Prior Art) Segments to be assembled as a primary lining on the inner peripheral surface of a tunnel are first placed below a segment erector for assembling them, and then gripped at a predetermined location by grippers of the segment erector, Thereafter, it is lifted by the segment erector and assembled into the existing segment or lining.

The segment erector cannot grip the segment unless the segment is placed at a predetermined position and in a predetermined attitude, because the gripper defines the position and orientation of the segment. For this reason, in the past, after the segments were transported below the segment erector by a crane, the position and posture of the segments with respect to the segment erector were manually corrected, which required a large amount of manpower to assemble the segments. there was.

In order to eliminate this drawback, a conveying device comprising a rail and a truck that moves along the rail is used, the segment is placed on the truck, and the truck is moved below the segment erector. It is conceivable to transport the segments below the segment erector.

However, since the conveying device has to lay the rail below the segment erector, the rail becomes an obstacle when assembling the segment to an existing segment below the rail. In addition, if the segments are only conveyed below the segment erector, the relative positional deviation between the segment erector and the conveyance device will directly become the relative positional deviation between the segment erector and the segment, and as a result, the segment will be accurately transferred to the segment erector. grip and cannot assemble the segments accurately.

(Object of the Invention) The present invention provides a segment conveying device that can convey the segment below the segment erector without interfering with the assembly of the segments, and can make the segment erector accurately grip the segment. The purpose is to provide

(Structure of the Invention) The present invention includes a frame disposed at the bottom of a tunnel, a rail assembly supported by the frame so as to be movable in the axial direction of the tunnel, and a rail assembly movable in the axial direction of the tunnel. a moving stage for transporting the segment, an attitude detection mechanism for detecting the attitude of the transport device with respect to the shield body, and a light beam generator provided in the shield body for directing the light beam toward the attitude detection mechanism; The attitude detection mechanism includes an axis extending in the axial direction of the shield body as the Z axis, an axis extending in the diametrical direction of the shield body as the Y axis, and the attitude detection mechanism as the Z axis.
The axis extending in the direction perpendicular to the axis and the Y axis is X.
a pair of attitude sensors arranged on the rail assembly at intervals in the X-axis direction;
a light beam generator disposed in the shield body and directing a light beam toward the attitude sensor; each attitude sensor is configured to direct the light beam toward the Y-axis and the X-axis direction in order to receive the light beam at a predetermined portion; a detection stand movably supported by the rail assembly; and a detection stand movably supported by the rail assembly;
and a movement amount detector that detects the amount of movement of the detection stand in the X-axis direction.

(Operations and Effects of the Invention) The segment is carried below the segment erector by moving the segment along the rail assembly while the segment is placed on the moving platform. When placing a segment below the rail assembly, the rail assembly is retracted so that it does not interfere with the segment assembly operation.

The relative positional deviation between the shield body and the transport device is determined by moving the detection table in the X-axis direction and
It can be determined from the detected value of the movement amount detector at that time by moving it in the axial direction. The detected value of the movement amount detector is used as a signal to control the attitude of the segment erector. This makes it possible to prevent relative misalignment between the segment erector and the segment due to relative misalignment between the shield body and the transport device.

According to the present invention, a movable stage on which a segment is placed is supported by a rail assembly movable in the axial direction of the tunnel so as to be movable along the rail assembly,
Since the attitude of the conveyance device with respect to the shield body is detected by the attitude detection mechanism, the segment is conveyed to the segment erector below the segment erector without interfering with the assembly of the segments, and the correct position and attitude are transmitted to the segment erector. The segment can be accurately gripped by the segment erector.

(Example) Hereinafter, an example of the present invention shown in the drawings will be described.

The segment conveying device 10 shown in FIG. 1 uses a lining 14 and an erector to convey segments 12 from a lining 14 in a tunnel to below a segment erector 18 provided at the rear of a shield body 16 of a shield tunnel excavator. 18. The shield main body 16 is advanced by a plurality of propulsion jacks 20 that generate a reaction force on the lining 14.

The erector 18 includes a ring 22 that is rotatably disposed on the shield body 16 around its axis (hereinafter referred to as the Z axis), and a ring 22 that is disposed on the ring at intervals in the circumferential direction, and that extends from the ring to the rear thereof. a plurality of arms 24 extending to the ring 22; a gripping mechanism 26 disposed on the arms so as to be movable in the diametrical direction of the ring 22 and gripping the segment 12 to be lined; It includes a drive mechanism 28 that moves along one axis (hereinafter referred to as the Y axis) extending in the diametrical direction.

The ring 22 is supported by the shield body 16 by a plurality of guide rollers 30 provided on the inner peripheral surface of the shield body 16, and is rotated by a rotation mechanism 32 such as a motor.

The gripping mechanism 26 includes a plurality of sliding shafts 34 that pass through each of the arms 24 movably in the Y-axis direction. A stand 36 is connected to each sliding shaft 34, and the stand 36
A segment guide 38 that guides the posture of the segment 12 is connected to 6 by a connecting member 40. The segment guide 38
It has a gripper 42 for gripping.

The gripper 42 includes a first member 44 supported by the segment guide 38, as shown in FIG.
and a second member 46 movably supported by the first member. The second member 46 has a pin 48 inserted into a hole in the segment 12 and is moved relative to the first member 44 by a jack 50.

The conveyance device 10 includes a frame 52 disposed at the bottom of the lining 14, a rail assembly 54 supported by the frame so as to be movable in the Z-axis direction, and a rail assembly 54 supported by the frame so as to be movable in the Z-axis direction. The moving platform 56 includes a moving platform 56 disposed at the rail assembly 54, and a drive mechanism 58 for linearly moving the moving platform with respect to the rail assembly 54.

As shown in FIGS. 3 and 4, the frame 52 has a strip-shaped bottom 60 and rising portions 62 rising from both widthwise edges of the bottom.
Lining 1 so that the longitudinal direction of 0 is the Z-axis direction.
4 and is pulled forward by the shield body 16. Each rising portion 62 extends in the longitudinal direction of the bottom portion 60 and has a groove 64 at each opposing position that opens inward and extends in the longitudinal direction of the rising portion 62 .

As shown in FIGS. 2 and 5, the rail assembly 54 includes a pair of long rails 66 extending in the Z-axis direction. Both rails 66 are interconnected by a plurality of connecting members 68 arranged at intervals in the longitudinal direction and extend parallel to each other.

As shown in FIGS. 4 and 5, a plurality of wheels 70 are rotatably attached to the rail 66 and spaced apart from each other in its longitudinal direction.
Each wheel 70 has a rail 66 as shown in FIG.
It is rotatably supported by a shaft 72 passing through it in the width direction. Each shaft 72 is fixed to the rail 66 by a nut 74. Each shaft 72 is disposed on a widthwise side of the rail assembly 54 and is received in a groove 64 in the frame 52;
As the rail assembly 54 moves relative to the frame 52, it moves within the groove 64.

The rail 66 is connected to the moving platform 5 as shown in FIG.
A guide 76 is fixed thereto to prevent the rail assembly 6 from being displaced in the width direction of the rail assembly 54. The guide 76 extends in the longitudinal direction of the rail 66. Both guides 76 are provided with grooves 78 extending in the longitudinal direction of the rail 66. The groove 78 opens outward in the width direction of the rail assembly 54 .

As shown in FIGS. 4 and 5, each rail 66 is provided with a plurality of balls 80 rotatably provided with stops 82 to receive the movable platform 56. As shown in FIGS. Each ball 80 is arranged at intervals in the longitudinal direction of the rail 66 and projects above the guide 76.

As shown in FIGS. 2 and 5, stoppers 84 and 86 are provided at the front and rear ends of the rail assembly 54 to define the movable range of the movable platform 56. As shown in FIGS. The shield body 16 includes segment 1.
A support fitting 88 is provided to receive and support the tip of the rail assembly 54 during transportation of the rail assembly 54.

As shown in FIGS. 2, 5, and 6, the movable table 56 has a pair of strip-shaped sliders 90 that move in the longitudinal direction on the rail 66 and are interconnected by a connecting member 92. Slider 90 has a groove 94 on the side of rail 66 that receives ball 80 of rail assembly 54 . The groove 94 is the slider 9
Extends in the longitudinal direction of 0.

Each slider 90 is provided with a positioning plate 96. The positioning plate 96 is partially received in the groove 78 of the guide 76 and is connected to the rail assembly 5.
When the movable table 56 moves relative to 4, it moves within the groove 78.

A spring 98 is provided at the front end of the slider 90 to facilitate mounting of the segment 12 on the moving table 56, and a pair of sensors 100 is provided at the rear end.

Each sensor 100 is supported by a sensor stand 102 extending upward from the rear end of the slider 90, and detects the lower edge of the segment guide 38 when the elec- tor 18 is lowered. A detection signal from the sensor 100 is used as a signal for controlling the lowering position of the erector 18 when the gripper 42 grips the segment 12.

The drive mechanism 58 is a chain 1 provided on the rail assembly 54, as shown in FIGS. 2 and 6.
04 and a rotation source 106 provided on the moving table 56
and a sprocket 108 rotated by the rotation source and engaged with the chain. chain 1
04 is supported by a support 110 attached to the rail assembly 54 and extends between the rails 66 in the Z-axis direction.

The transport device 10 also includes a posture sensing mechanism 112 for detecting the posture of the transport device 10 with respect to the shield body 16. The posture sensing mechanism 112 is
It includes a pair of pillars 114 extending upward from the rear end of the rail assembly 54, and a pair of attitude sensors 116 provided at the top of the pillars.

As shown in FIGS. 7 to 10, each posture sensor 116 includes a box-shaped frame 118 attached to the column 114, and a box-shaped frame 118 provided above and below the frame in parallel with the frame. A pair of first rods 120 and a frame 1
A first rack 122 provided on the upper frame of 18 in parallel with the first rod 120;
a pair of moving bodies 124 supported movably in the axial direction thereof, and a first rotary encoder 126 attached to the moving body 124 located above.
and a first
a first gear 128 meshing with the rack 122 of the
A second rack 130 whose ends are attached to both movable bodies 124, a pair of second rods 132 whose both ends are attached to both movable bodies 124, and a detection device movably supported by the second rods. A stand 134, a second rotary encoder 136 attached to the detection stand, and a second gear 1 attached to the rotary encoder and meshing with the second rack 130.
38, and the detection table 134 is provided with a light receiving element 140 such as a photodiode.

Each sensor 116 is connected to a column 114 such that a first rod 120 extends in the direction of an axis (hereinafter referred to as the Fixed. Each detection stage 134 is moved along the first and second rods 120 and 132 so that a laser beam from a laser generator 142 provided on the shield body 16 is incident on the light receiving element 140. Detection stand 1
34 may be moved by a drive mechanism such as a motor, or may be moved manually.

The first rotary encoder 126 is connected to the detection table 1
34 is rotated by the first rack 122 and the first gear 128 when the detection table 134 is moved in the X-axis direction, and outputs an electric signal corresponding to the amount of movement of the detection table 134 at that time. The encoder 136 detects the second rack 130 and the second gear 1 when the detection table 134 is moved in the Y-axis direction.
38, and the detection table 134 at that time is rotated by
Outputs an electrical signal corresponding to the amount of movement. The output signal of each rotary encoder 122, 136 determines the attitude of the segment 12 with respect to the shield body 16 and the erector 18, and
It is used as a signal to control the attitude of the robot.

When transporting the segments 12, the frame 52 of the transport device 10 is placed on the bottom of the lining 14 in a state extending in the Z-axis direction. Next, the rail assembly 54 is advanced in the Z-axis direction relative to the frame 52, and its tip is supported by the support fitting 88. As a result, the rail assembly 54 is assembled between the frame 52 and the support fittings 88.
Supported by In this state, posture sensing mechanism 1
12 detection tables 134 are moved, and the shield body 1
The attitude of the transport device 10 with respect to 6 is sensed.

Next, the moving table 56 is retracted and the segment 12 is placed on it. When the segment 12 is placed, the drive mechanism 58 is actuated to
The moving table 56 is moved below the erector 18. As a result, the segment 12 on the movable table is conveyed below the erector 18.

The gripping mechanism 26 is then lowered and the segment 1
2 is gripped by the grippers 42. At this time, the sensor 100 senses the lower edge of the segment guide 38. Upon grasping the segment 12, the erector 18 lifts the segment and removes the lining 14.
After it is assembled in the specified position, it returns to the initial position.

Thereafter, the process of retracting the movable table 56, placing the segments 12 on the movable table 56, advancing the movable table 56, and assembling the segments to the lining 14 using the erector 18 is repeated multiple times.

When assembling the segment 12 to the lining at the bottom of the tunnel, the rail assembly 54 will get in the way, so the transported segment 12 is gripped by the erector 18 and lifted up, and the rail assembly 5
4 and, in this state, the segment 12 is placed in a predetermined position, and then the rail assembly 54 is moved forward again.

According to the conveyance device 10, by placing the segment 12 in the correct position and in the correct attitude on the moving table 56, the segment 12 can be placed in the correct position and in the correct attitude with respect to the erector 18. Segment 12 below rail assembly 54
When arranging the segments 12, the rail assembly 54 only needs to be moved backward, and the rail assembly 54 does not interfere with the assembly work of the segments 12.

[Brief explanation of drawings]

FIG. 1 is a longitudinal cross-sectional view showing the rear part of the shield main body, FIG. 2 is a vertical cross-sectional view showing an embodiment of the conveyance device of the present invention, and FIG. 3 is a right side view of the conveyance device shown in FIG. FIG. 4 is a cross-sectional view taken along the second - line; FIG. 5 is a plan view of the frame and rail assembly;
FIG. 6 is a plan view of the moving platform, FIG. 7 is a front view showing an embodiment of the attitude sensor, FIG. 8 is a plan view of the attitude sensor, and FIG. 9 is a view taken along the seventh - line. FIG. 10 is a cross-sectional view taken along the ninth line XX. 12... Segment, 14... Lining, 16...
Shield body, 18...Segment erector, 5
2...Frame, 54...Rail assembly, 56...
...Moving table, 58... Drive mechanism, 64... Groove, 66
...Rail, 68...Connecting member, 70...Wheel,
80... Ball, 90... Slider, 92... Connecting member, 112... Attitude sensing mechanism, 116... Attitude sensor, 120, 132... Rod, 122,
130...Rack, 124...Moving object, 126,
136...Rotary encoder, 128, 13
8... Gear, 134... Detection stand.

Claims (1)

[Scope of Claims] 1. A conveying device for conveying segments for tunnel lining below a segment erector provided in a shield body, comprising a frame disposed at the bottom of the tunnel, and a frame arranged on the bottom of the tunnel; a rail assembly supported movably in the axial direction of the tunnel; a moving table disposed on the rail assembly so as to be movable in the axial direction for conveying the segment; and a posture of the conveying device with respect to the shield body. and a light beam generator that is provided in the shield body and directs a light beam toward the attitude detection mechanism, and the attitude detection mechanism is configured to rotate an axis extending in the axial direction of the shield body into a Z direction. When the axis extending in the diametrical direction of the shield body is the Y axis, and the axis extending in the direction perpendicular to the Z axis and the Y axis is the X axis, the rail assembly is arranged at intervals in the X axis direction. A pair of three-dimensionally arranged attitude sensors; and a light beam generator arranged in the shield body to direct a beam of light toward the attitude sensor, each of the attitude sensors directing the light beam to a predetermined region. a detection stand supported by the rail assembly so as to be movable in the Y-axis and the X-axis directions, and a movement amount detector for detecting the amount of movement of the detection stand in the Y-axis and the X-axis directions. A segment conveyance device comprising: 2. The rail assembly includes a pair of rails extending in the axial direction, a plurality of connecting members that interconnect the rails, and a plurality of first rotating members rotatably supported by the rails and in contact with the frame. The segment conveying device according to claim 1, comprising a plurality of second rotary bodies rotatably supported by the rail and receiving the movable platform. 3. The segment conveyance device according to claim 2, wherein the first rotating body is a wheel, and the second rotating body is a ball. 4. According to claim 3, the movable table includes a pair of sliders extending in the axial direction and a connecting member that interconnects the sliders, and the slider has a groove for receiving the ball. segment conveyor. 5. The segment conveying device according to any one of claims 1 to 4, wherein the moving table has a drive mechanism that reciprocates the moving table in the axial direction with respect to the rail assembly. 6. The detection stand is supported by the rail assembly via a frame supported by the rail assembly,
Claim 1, wherein each of the attitude sensors further includes a mechanism for moving the detection stand in the X-axis direction and the Y-axis direction with respect to the frame.
6. The segment conveyance device according to any one of items 5 to 5.