JPH0631556B2 - Segment assembly method and device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method and apparatus for assembling a tunnel lining segment carried into a shield machine into a ring shape according to the position and orientation of an existing segment.

[Conventional technology]

At present, segment assembly work in the shield construction method is performed using an erector as shown in FIGS. 16 to 18. This erector is guided by a guide roller 4 arranged along the inner circumference of the tail portion of the shield body 1 and is rotated by a revolving motor 17 around the axis of the shield body 1. A suspension beam 8 supported by a pair of arms 5 projecting to each other through a guide rod 6 and moved by a pressing jack 7 in the radial direction of the elector ring 3, and a suspension beam 8 placed on the suspension beam 8 and shielded by a slide jack 11. A slider 9 that slides in the axial direction of the main body 1 is provided, and a grip 10 is provided below the slider 9. When assembling the segments, the position and the posture of the segment 12a carried in below the erector by a voice or the like are manually corrected, and the operator performs inching operations such as turning, pressing, and sliding of the erector with operation switches, Grip 10
Of the hanging metal fitting 14 screwed into the grout screw hole 12d of the segment 12a and the pin hole 14a of the hanging metal fitting 14 are aligned, and the pin 15 is inserted into the pin holes 10a and 14a to make the segment 12a.
After grasping, the segment is hoisted by an erector and swung to a predetermined position to align the bolt holes with the existing segment 13 and the bolt holes with adjacent segments in the circumferential direction, and The segment is assembled into a ring by repeating the operation of fastening the adjacent segments in the circumferential direction with the bolts 16a and 16b.

In such a current segment assembly work, when assembling the segment gripped by the erector to the existing segment,
The inching operation of the erector is performed while inserting a tool such as a crimp into the bolt hole of the segment gripped by the operator and the existing segment and the bolt hole of the adjacent segment in the circumferential direction. Must be positioned, which is dangerous to work and requires a lot of effort to handle heavy objects. In addition, since skill is required for the work, the quality of segment assembly varies, which affects the segment assembly accuracy and the sealing property of the joint.

In order to solve this problem, as part of the automation of segment assembly work, the posture of the existing segment is detected, and the posture of the segment gripped by the erector is automatically corrected according to the detected value, and the segment is changed to the existing segment. An assembling method and apparatus have been proposed by JP-A-62-72900.

[Problems to be Solved by the Invention]

In the above proposal, the distance from the temporary reference plane perpendicular to the axial direction of the shield body to the face end surface of the existing segment is measured at multiple locations spaced in the circumferential direction, and the existing values detected based on the measured values are measured. A method of correcting the posture of the segment gripped by the erector according to the posture of the segment is adopted. However, in this method, in order to align the bolt holes of the grasped segment with the bolt holes of the existing segment, it is necessary to detect the position of the bolt hole on the face end face of the existing segment by means other than the above posture detection. There is
The measurement system becomes complicated. Further, if the position of the bolt hole is detected separately, a special cycle time for that is required, and the preparation time for the segment assembly work becomes long.

An object of the present invention is to accurately measure the attitude of an existing segment and the position of a bolt hole on the end face of the segment face, which are necessary for automatic segment assembly, and to provide a measuring system for detecting the position and attitude of the existing segment. It is to provide a segment assembling method that can be simplified. Still another object is to detect the posture of the existing segment and the bolt hole position during a swinging operation of about half a round from the standby position after the completion of segment assembly of one cycle to the segment receiving position of the next cycle. The present invention is to provide a segment assembling apparatus that does not require a special cycle time for detecting the position and orientation of an existing segment.

[Means for Solving the Problems]

In order to achieve the above object, the segment assembling method of the present invention is arranged such that the shield body is arranged at an interval close to the segment width in the axial direction of the shield body, and is rotated around the axis line of the shield body together with the segment grip of the erector. With a pair of distance meters, the radial distance between the face of the existing segment and the two points on the inner peripheral surface on the shaft side and the circumferential position of the bolt mounting groove on the inner peripheral surface can be determined from the existing segment. Measured over the entire circumference of the segment ring, and based on the distance information, bolt mounting groove position information, and turning angle information from the erector turning angle detector, the posture of the existing segment and the bolt holes on the end face of the segment face at any turning angle. The position and orientation of the segment gripped by the erector are detected, and the orientation and vol And modified according to the hole position, the segment is characterized by assembling the existing segments.

Further, in order to achieve the above-mentioned other object, a segment assembly device of the present invention is a segment guide having a segment grip portion, a swivel mechanism for moving the segment guide in the circumferential direction of the shield body, and a shield body of the shield body. When the axis extending in the axial direction is the Z axis, one axis orthogonal to the Z axis and extending in the radial direction of the shield body is the Y axis, and the other axis orthogonal to the Z axis and the Y axis is the X axis, the segment guide is The X
A position correction mechanism for correcting the position of the segment held by moving in the axial direction, the Y-axis direction and the Z-axis direction respectively, and the segment guide for the X-axis, Y-axis and Z-axis.
A posture correction mechanism for correcting the posture of the segment gripped by rotating around the axis respectively, and a posture adjusting mechanism arranged on the detection beam extending in the axial direction of the shield body at a distance close to the segment width, and by the turning mechanism. Along with the segment guide, it is swiveled around the axis of the shield body, and the radial distance between the face of the existing segment and the shaft side and two points on the inner peripheral surface of the existing segment and the bolt mounting groove provided on the inner peripheral surface thereof. 1 for measuring the circumferential position of
Includes a pair of rangefinders, approximately 180 ° to the center of erector rotation
Existing segment position / posture detecting devices provided one by one at symmetrical positions, and postures and segment facets of existing segments detected based on the distance information and the bolt mounting groove position information and the turning angle information from the erector turning angle detector A control device for correcting the position and the posture of the gripped segment by correcting the position correcting mechanism and the posture correcting mechanism according to the position of the bolt hole on the side end surface is provided.

[Action]

A pair of distance meters, which are arranged at intervals close to the segment width in the axial direction of the shield main body and can be swung around the axis of the shield main body together with the segment gripping portion of the erector, are installed on the face side and the shaft side of the existing segment. 2 on the surface
The radial distance to the point is measured, and the circumferential position of the bolt mounting groove is also measured at the same time from the change in the radial distance at the bolt mounting groove portion provided on the inner peripheral surface of the existing segment.

By measuring the radial distance and the bolt mounting groove position over the entire circumference of the segment ring composed of existing segments, and combining the distance information and the bolt mounting groove position information with the turning angle information from the erector turning angle detector, The attitude (tilt) of the existing segment at any turning angle is detected from the difference in the radial distance between the pair of distance meters and the two points on the inner peripheral surface of the existing segment, and the bolt mounting groove position information and turning angle information are detected. The circumferential position of the bolt hole at the end face of the segment face is detected, and the radial position of the bolt hole is detected from the radial distance to the segment inner peripheral surface and the distance from the segment inner peripheral surface to the bolt hole. It

After detecting the position and orientation of the existing segment, the segment gripped by the erector is swung to a predetermined turning angle, and the erector according to the posture and bolt hole position of the existing segment at the predetermined turning angle detected in advance. When the position correcting mechanism and the posture correcting mechanism of (1) are corrected, the bolt hole position of the segment gripped by the erector and the bolt hole position of the existing segment can be automatically matched.

By providing one existing segment position / orientation detecting device including the pair of distance meters at positions approximately 180 ° symmetrical with respect to the center of rotation of the erector, the position and orientation of the existing segment can be detected by the segment where the erector is one cycle. It can be performed during a half-circle turning operation from the stand-by position after the assembly is completed to the segment receiving position of the next cycle, and no special cycle time is required.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 1 to 3, a segment assembling device (hereinafter referred to as an erector) 2 is installed in the tail portion of the shield body 1. The shield body 1 is propelled by a shield jack (not shown) by using the existing segment 13 assembled in a ring shape by the erector 2 as a reaction force receiver, and after propelling one segment ring, the segment 12 to be assembled is carried in from the rear. Then, the end face of the existing segment 13 is brought into contact with the end face and assembled into a ring shape.

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

In FIG. 12, the axis extending in the axial direction of the shield body 1 is orthogonal to the Z axis and the Z axis, and the axis extending in the radial direction of the shield body 1 is the Y axis, the Z axis and another axis orthogonal to the Y axis. X
As an axis, the rotation angle θ _x around the X axis shown in FIGS. 13 to 15
(Hereinafter referred to as pitching), rotation angle around Y axis θ _Y
(Hereinafter referred to as yawing), rotation angle about the Z axis θ _Z
The posture of the segment will be represented by three elements (hereinafter referred to as rolling).

The erector 2 shown in FIG. 1 to FIG. 5 is composed of an erector ring 3 and a slewing motor 17, which are a slewing mechanism, a suspension beam 20 and a pressing jack 7, which are a position rectifying mechanism in the Y-axis direction, and a position rectifying 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 jacks 24 which are position correction mechanisms in the Z-axis direction, a posture correction mechanism indicated by reference numeral 25 as a whole, a segment guide 30, a segment grip 31 and the like. I have it.

The eclectic ring 3 is guided around the circumference by guide rollers 4 rotatably mounted on brackets 4a installed at a plurality of inner circumferences of the shield body 1, and a ring gear 3a formed on the inner circumference of the erector ring 3a. A turning motor 17 such as a hydraulic motor is used to turn left and right through a pinion 17a that meshes with the turning pin.

The guide rollers 18 contacting both the face side and the tail side of the erector ring 3 are provided in order to improve the accuracy of positioning and attitude control of the erector by eliminating play in the shield body axial direction of the erector ring 3. , Is rotatably attached to the bracket 18a, and the bracket 18a is attached to the bracket 4a.

The turning angle θ _R of the elector ring 3 is determined by the ring gear 3
It is detected by a turning angle detector 19 such as a rotary encoder that works in conjunction with a pinion 19a that meshes with a, and the detection signal is input to a control device (not shown) as turning angle θ _R information.

The left and right guide rods 6 of the suspension beam 20 pass through the pair of left and right arms 5 provided so as to project from the erector ring 3 to the tail side. Further, the cylinder side of the pressing jack 7 is attached to the arm 5, and the rod side of the pressing jack 7 is attached to the suspension beam 20.
Each of the jacks described below including this pressing jack 7 has an absolute type stroke detector incorporated therein, and a signal corresponding to each jack stroke amount is input to a control device (not shown).

The hanging beam 20 has a gate shape, and its central beam 20a
Two guide rails 20b are attached in the X-axis direction. In addition, a groove 20c is formed on the upper surface of the central beam 20a.
The horizontal slide jack 22 is housed here.

The cylinder side of the horizontal slide jack 22 is the central beam 20.
It is attached to a bracket 20d provided on a, and the rod side is attached to a bracket 21b provided on a horizontal slide frame 21 described later.

The horizontal slide frame 21 is the central beam of the suspension beam 20.
The linear bearings 21a which are placed on the surface 20a and which engage with the guide rails 20b are attached to the four corners of the lower surface thereof. A bracket 21b to which the rod side of the horizontal slide jack 22 is attached projects from the lower surface of the horizontal slide frame 21. A pair of left and right L-shaped flanges 21c facing each other as viewed from the tail side of the shield body are hung at the lower portion of the horizontal slide frame 21 and extend in the Z-axis direction. Guide rails 21d are respectively mounted on the pair of left and right flanges 21c in the Z-axis direction. A bracket 21e is provided on the lower surface of the flange 21c, and the cylinder side of the front-rear slide jack 24 is attached to the flange 21e.

The front and rear slide frames 23 are the horizontal slide frames 21.
It is composed of a spherical guide portion 23a and a left and right flange portion 23b inserted between a pair of left and right L-shaped flanges 21c. The flange portion 23b extends in the Z-axis direction like the guide rail 21d, and linear bearings 23c engaging with the guide rail 21d are attached to the four corners of the lower surface of the flange portion 23b. A bracket 23d for attaching the cylinder side of the correction jacks 28a and 28b, which will be described later, is projected at two places on the upper surface on one side of the left and right flange portions 23b. Spherical guide part
A female spherical surface is formed at the center of 23a. Also,
A bracket 23e projects from the left and right sides of the spherical guide portion 23a, and the rod side of the front-rear slide jack 24 is attached to the bracket 23e.

The posture correction mechanism 25 includes a spherical frame 26, a central shaft 27, correction jacks 28a and 28b, and a pitching correction jack 29. The spherical frame 26 is the front and rear slide frame 23.
Of the spherical surface in the X-axis direction of the spherical surface having a male spherical surface portion inserted in the spherical surface guide portion 23a of the spherical surface and penetrating the hollow portion of the one surface open shape which is hollowed out leaving the upper plate portion 26a. A center axis 27 is provided on the center line. There are two locations on the upper surface of the upper plate portion 26a.
A bracket 26b for mounting the rod side of the correction jacks 28a, 28b is projected. As shown in FIG. 4, the two modified jacks 28a and 28b having the same specifications have a spherical center O
Are attached in parallel with each other at the same distance L from each other in the X-axis direction. These two modified jacks 28a, 28
b is used for yawing and rolling corrections, as described below. The cylinder side of the pitching correction jack 29 is attached to a bracket 26c provided on the lower end of the spherical frame 26 in the Z-axis face, and the rod side is attached to a bracket 30c provided on a segment guide 30 described later, The mounting direction is perpendicular to the central axis 27.

The segment guide 30 is composed of a central connecting portion 30a and a lower guide frame 30b, and has a central axis of the spherical frame 26.
It is rotatably suspended at 27. A segment grip 31 is housed in the central inner space of which one surface is open, and a bolt fastening device (not shown) is attached to the guide frame 30b. The outer periphery of the guide frame 30b is a segment
It is formed in an arc shape having a curvature that matches the inner peripheral surface of 12a. On the face on the face side in the Z-axis direction of the central connecting portion 30a,
A bracket 30c for attaching the rod side of the pitching correction jack 29 is projected.

The segment gripping portion 31 housed in the inner space of the segment guide 30 includes a screw shaft 31a having a male screw thread that matches the grout screw hole 12d of the segment 12a. The segment grip 31 includes a drive motor 31b for rotating the screw shaft 31a and two grip jacks 31c for projecting the screw shaft 31a from the segment guide 30 toward the segment 12a placed under the erector. It is equipped with a segment guide on the cylinder side of the gripping jack 31c.
The grip frame 31d fixed to 30 has a screw shaft on the rod side.
31a and a slide body 31e that supports the drive motor 31b, respectively. The sliding body 31e is a gripping frame
It is guided in the axial direction by 31d and is prevented from rotating by a guide piece and a guide groove (not shown) so as to receive the rotational reaction force of the drive motor 31b.

As shown in FIGS. 1 to 3, the existing segment position / orientation detecting devices 32 for detecting the position and orientation of the existing segment 13 are attached one by one at the left and right symmetrical positions on the outer side of the suspension beam 20. There is. The mounting position of the detecting device 32 is not limited to the suspension beam 20, and may be any position symmetrical with respect to the center of erection of the erector, such as the left and right erector arms 5.

For details, as shown in FIGS. 8 to 10, the existing segment position / orientation detection device 32 includes a detection beam 32c and a guide rail.
32d, a protrusion 32f, distance meters 32p ₁ and 32p ₂ , a feeding jack 32q, and a box 32a for storing these.

Box 32a attached to the outside of the hanging beam 20
Is a box body having a rectangular cross section, which is long in the axial direction (Z-axis direction) of the shield body 1, and has both ends open. box
Inside the bottom plate 32a ₁ of 32a, a guide rail 32d is attached in parallel with the Z-axis direction.

The detection beam 32c has a U-shaped cross section, and the existing segment 13
The two linear bearings 32 that are open toward the inner periphery of the bottom plate 32c ₁ engage with the guide rail 32d on the bottom plate 32c _1.
e is attached. Projection bodies 32f are swingably attached to the shield body 1 at two positions, a tip portion and an intermediate portion, of a detection beam 32c extending toward the tail side, via hinge pins 32g and bearings 32h. Bracket 32m for mounting one end of the later pulling spring 32l is provided to protrude inwardly two places of the bottom plate 32c ₁ in the detection beam 32c. Further, stoppers 32s for holding each of the protrusions 32f in a state of being raised at a right angle from the detection beam 32c toward the inner circumference of the existing segment 13 are provided near the mounting portion of the protrusion 32f.

Distance meters 32p ₁ and 32p ₂ are attached to the ends of the protrusions 32f opposite to the boss 32i. Rangefinder 32
p ₁ and 32p ₂ are non-contact type distance sensors such as an optical distance sensor using laser light, an ultrasonic distance sensor, etc., and are left and right in a state where the protrusion 32f is raised at right angles from the detection beam 32c. The total of four distance meters of the detection device 32 of the
It is attached so as to project toward the inner circumference of the. A mounting bracket 32j for attaching a wire 32k, which will be described later, projects to the outside of the boss 32i of the projecting body 32f, and the projecting direction thereof coincides with the mounting direction of the projecting body 32f to the hinge pin 32g.

A pulling spring 32l is attached via a wire 32k between a bracket 32m provided on the detection beam 32c and a bracket 32j provided on a boss 32i of the projecting body 32f.

The feeding jack 32q is installed parallel to the detection beam 32c, and the cylinder side thereof is the bottom plate 32 of the box 32a.
a bracket 32n projecting from a _1, the rod side are respectively attached to the bracket 32r which projects from the side surface of the detection beam 32c, the detection beam at the jack contraction length
It is housed inside the box 32a together with 32c.

Next, the operation of each part of the above-mentioned erector will be described.

As described above, the eclectic ring 3 is rotated left and right by the turning motor 7, and the segment guide 30 is moved in the circumferential direction of the shield body 1 accordingly.

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

The horizontal slide frame 21 mounted on the suspension beam 20 via the linear bearings 21a is horizontally slid in the X-axis direction with respect to the suspension beam 20 due to the expansion and contraction of the horizontal slide jack 22. 30 also slides laterally in the X-axis direction with respect to the suspension beam 20, and the position in the X-axis direction is corrected. This corresponds to fine adjustment of the erector turning angle θ _R. The swinging motion of the elector ring 3 by the swinging motor 17 causes a large inertia load and the ring gear 3
Since the backlash of the pinion 17a and the pinion 17a makes it difficult to finely adjust the turning angle θ _R , a minute position correction in the X-axis direction is performed by expanding and contracting the lateral slide jack 22.

The front-rear slide frame 23 mounted on the horizontal slide frame 21 via the linear bearings 23c allows the front-rear slide jack 24 to expand and contract to move the Z relative to the horizontal slide frame 21.
The segment guide 30 is slid back and forth in the axial direction, and accordingly, the segment guide 30 is also slid back and forth in the Z axis direction with respect to the lateral slide frame 21 to correct the position in the Z axis direction.

The spherical frame 26 of the posture correcting 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. 4, when the two correction jacks 28a and 28b are simultaneously expanded or contracted, the spherical frame 26 is tilted around the Z axis including the spherical center O in the arrow θ _Z direction in FIG. This movement is used for rolling correction of the segment guide 30. When the correction jack 28a is extended and the correction jack 28b is contracted, the spherical frame 26 is swiveled around the Y axis including the spherical center O in the arrow θ _Y1 direction of FIG. If the jack 28a is contracted and the correction jack 28b is expanded, the spherical frame 26 is swiveled in the direction of the arrow θ _{YZ in} FIG. This movement is used to correct the yaw of the segment guide 30.

Further, in FIG. 2, the segment guide 30 suspended from the central axis 27 of the spherical frame 26 is expanded or contracted by the pitching correction jack 29 attached to the spherical frame 26 so that the segment guide 30 is moved around the central axis 27, that is, the X axis. It is tilted in the direction of the arrow θ _{X in the} figure. This movement is used to correct the pitching of the segment guide 30.

Segment gripper 31 mounted on the segment guide 30,
A bolt fastening device (not shown) is position-corrected in the X-axis, Y-axis, and Z-axis directions together with the segment guide 30, and is also corrected for rolling, yawing, and pitching.

The existing segment position / orientation detection device 22 operates as follows.

In order to prevent the distance meters 32p ₁ and 32p _{2 from} being damaged by external force, the feeding jack 32q is shortened except when detecting
The detection beam 32c is housed in the box 32a as shown by the chain double-dashed line 32c 'in FIGS. When the position and orientation of the existing segment 13 are to be detected, the feeding jack 32q is extended to detect the detection beam 32c in FIGS.
As shown by the solid line in the figure, it is extended from the inside of the box 32a to the tail side of the shield body. At this time, the detection beam 32c extends without rattling by the guide rail 32d and the linear bearing 32e. The projecting body 32f is constantly subjected to a pulling force about the hinge pin 32g on the face of the face by the pulling spring 32l, but when the feeding jack 32q is contracted, the projecting body 32f covers the box 32a. 32b
The detection beam is pushed down by the
It is stored in the inner space of 32c.

When the feeding jack 32q is extended, the protrusion 32f passes through the rear end 32t of the cover member 32b and the pulling spring 32
It is caused by the pulling force of 1 toward the inner circumference of the existing segment 13 around the hinge pin 32g until it hits the stopper 32s, and the distance meters 32p ₁ , 32p attached to the projecting body 32f.
₂ is projected toward the inner circumference of the existing segment 13.

The positions where the distance meters 32p ₁ and 32p ₂ are projected are such that the respective distance meters face two points on the inner peripheral surface where the bolt mounting grooves 13a and 13b on the face of the existing segment 13 and the shaft side are provided. The extension amount of the detection beam 32c and the mounting interval l ₁ of the distance meters 32p ₁ and 32p ₂ on the detection beam are set so that Since the four distance meters installed on the left and right detectors 32 are all at the same distance from the shield center,
If the existing segment 13 to be detected is tilted with respect to the axis of the shield body 1, there will be a difference in the distances δ ₁ and δ ₂ from the pair of front and rear distance meters 32p ₁ and 32p ₂ to the inner peripheral surface of the existing segment 13. Therefore, the distance difference, that is, the inclination of the segment can be detected by the pair of distance meters 32p ₁ and 32p ₂ .
Left and right detectors 32 are approximately 180 ° to the eclectic center of rotation
With the symmetrical positions, measurement can be performed over the entire circumference of the segment ring constituted by the existing segment 13 only by rotating the erector approximately half a turn. Further, by attaching the rangefinders 32p ₁ and 32p ₂ to the tip of the projecting body 32f and projecting from the detection beam 32c to the inner circumference of the existing segment 13 at the time of detection, the rangefinders can be brought close to the respective measurement points and highly accurate measurement can be performed. it can.

It is assumed that, as shown in FIGS. 1 and 2, the existing segment 13 is assembled in a ring shape, 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.

Assembly of the segments is usually completed with the key segment at the top of the ring and the excavation of the shield begins. At this time, the erector waits with the segment grip 31 at the time of completion of assembly kept up, and when the excavation is completed, the segment to be assembled next is received. Turn the erector half turn. Before turning the erector from the standby position, the detection beams 32 are emitted from the left and right detection devices 32, and the rangefinders 32p ₁ , attached to the tips of the protrusions 32f ₁ ,
32p ₂ is projected toward the inner circumference of the existing segment 13. As a result, the distance meters 32p ₁ and 32p ₂ can be installed in the existing segment 13
Are placed at positions facing two points on the inner peripheral surface where the bolt mounting grooves 13a and 13b on the face side and the shaft side are provided.

Next, the eclectic ring 3 is rotated by a half turn by the turning motor 17 so that the radial distances δ ₁ , δ ₂ from the respective distance meters 32p ₁ , 32p ₂ to the inner peripheral surface of the existing segment 13 are turned.
Is measured over the entire circumference of the existing segment ring.

FIG. 11 (a) is a diagram showing the positional relationship in the circumferential direction between the distance meter 32p ₁ and the bolt mounting groove 13a on the face of the existing segment 13, and the relationship between the turning angle θ _{R of the} erector and the measured distance δ. First
It looks like Figure 11 (b). That is, when the distance meter 32p ₁ passes over the bolt mounting groove 13a (AB-C-
The distance δ between D and EF) is measured to be larger than other portions of the inner circumference of the segment, so that the position of the bolt mounting groove 13a in the circumferential direction can be measured together with the measurement of the distance δ.

A turning angle θ from a rotary encoder 19 connected to the erector ring 3 via a ring gear 3a and a pinion 19a.
By combining the _R information and the distance δ information,
The radial position of the existing segment 13 at an arbitrary turning angle θ _R from the reference position can be known. That is, at the radial distance δ ₁ from the inner circumference of the segment to the bolt hole
By adding the distance k to 13c (a constant determined from the segment size), the bolt hole at the end face of the segment
The radial position of 13c is obtained. The circumferential position of the bolt hole 13c is obtained from the bolt mounting groove position information and the turning angle θ _R information.

In addition, since the radial distances δ ₁ and δ ₂ between the front and rear two points of the existing segment 13 are measured by the pair of distance meters 32p ₁ and 32p ₂ , the existing segment 13 at an arbitrary turning angle θ _R is measured. The inclination θ with respect to the axis of the shield body Required by.

Furthermore, since the inclination of the entire segment ring and its direction can be grasped from the above-mentioned values of θ at the four positions of the segment ring formed by the existing segment, the posture (pitching, yawing) of the existing segment at an arbitrary turning angle θ _R can be grasped. , Rolling) can be obtained.

Further, by counting the measured bolt mounting groove, it is possible to determine what number of bolt mounting groove it is from the turning start point and what number of segment bolt mounting groove.

The above-described posture detection of the existing segment and detection of the bolt hole position are performed by arithmetic processing in a control device (not shown) based on the measurement values of a total of four distance meters of the left and right detection devices 32, and the result is calculated by the control device. It is stored in the memory.

Next, by controlling the pressing jack 7, the lateral slide jack 22, the front and rear slide jacks 24, the correction jacks 28a and 28b, and the pitching correction jack 29 according to the position and posture of the segment 12a placed under the erector, the segment guide The position and posture of 30 are corrected, and the grout screw hole 12d of the segment 12a and the screw shaft 31a of the segment grip 31 are aligned. After the centering is completed, the driving motor 31b rotates the screw shaft 31a to shorten the grip jack 31c, and the screw shaft 31a is screwed into the grout screw hole 12d. When the screwing is completed, the gripping jack 31c is extended and the screw shaft 31a is pulled back until the inner peripheral surface of the segment 12a contacts the outer surface of the segment guide 30, and the gripping operation is completed. In addition, when gripping the segment, the segment mounted on the segment guide 30 is placed under the erector by the sensor.
By detecting the position and orientation of 12a and controlling the jacks based on the detected values, the segment guide 30
It is also possible to automatically correct the position and orientation of.

After grasping operation is completed, the pressing jack 7 is Chijimicho lift the segments 12a and, after turning to a predetermined turning angle theta _R, the segments in a predetermined turning angle theta _R stored in the storage unit of the control device The correction jacks 28a, 28b and the pitching correction jack 29 of the posture correction mechanism 25 are controlled on the basis of the detected posture value to perform posture correction such as pitching, yawing and rolling of the gripped segment 12a. This correction operation calculates the deviation between the detected posture value of the existing segment and the current detected posture value of the segment guide 30 (the posture of the segment guide 30 itself is always known by the absolute stroke detector attached to each jack). It is automatically performed by feedback control such that it is set to zero.

When the posture of the grasped segment 12a matches the posture of the existing segment 13, the pressing jack 7 is operated for a predetermined stroke (stroke control is performed according to the radial position of the existing segment obtained from the distance δ information and the turning angle θ _R information. Then, the radial position of the gripped segment is corrected. Next, use the front and rear slide jacks 24 to
a is pressed against the end face of the existing segment 13 on the face side. The position and orientation of the segment 12a at this time are the same as those of the existing segment 13
The positions of the bolt holes of the segment 12a to be assembled and the existing segment 13 are completely the same, and both segments can be bolted by a bolt fastening device (not shown). it can. By repeating the above operation, the loaded segment is assembled into a ring shape.

〔The invention's effect〕

 According to the present invention, the following effects can be obtained.

() At least one pair of distance meters, which are arranged at intervals close to the segment width in the axial direction of the shield body and can be swung around the axis of the shield body together with the segment gripping portion of the erector, and the erector swivel angle detector. ,
Since it is possible to simultaneously detect the posture of the existing segment and the position of the bolt hole on the end face of the segment face at an arbitrary turning angle position required for automatic assembly of the segment, the measurement system for detection can be simplified.

() The distance to two points on the inner peripheral surface of the face of the existing segment on the face side and the shaft side is measured by the at least one pair of distance meters over the entire circumference of the segment ring, and based on the distance information and the erector turning angle information, the existing Since the radial position and orientation of the segment are detected, the detection accuracy is high, and the position and orientation of the segment gripped by the erector with respect to the existing segment can be accurately corrected based on the detected value.

() By providing the existing segment position / orientation detection devices including the pair of distance meters at positions symmetrical to each other by approximately 180 ° with respect to the eclectic center of rotation, the erector can move from the standby position after completion of one-cycle segment assembly to the next position. It is possible to detect the position and orientation of the existing segment while making a turn for about half a turn to the segment receiving position of the cycle, and it is possible to shorten the preparation time for the segment assembly work without requiring a special cycle time for detection.

[Brief description of drawings]

FIG. 1 is a cut-away front view of the shield machine equipped with the segment assembling apparatus of the present invention as seen from the tail side, FIG. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is III- of FIG. III sectional view, FIG. 4 is IV-IV sectional view of FIG. 1, and FIG. 5 is VV of FIG.
A sectional view, FIG. 6 is a detailed view of part (a) of FIG. 1, and FIG. 7 is a second view.
FIG. 8 is a detailed view of (b) part, FIG. 8 is an enlarged cross-sectional view of the existing segment position / orientation detecting device in FIG. 3, and FIG. 9 is IX- of FIG.
IX sectional view, FIG. 10 is an XX sectional view of FIG. 8, FIG. 11 is an explanatory view of existing segment position / orientation detection, FIG. 12 is a perspective view of one segment of the segment, and FIG. 13 is a segment attitude Explanatory drawing, FIG. 14 is a sectional view taken along the line XIV-XIV of FIG. 13, FIG. 15 is a sectional view taken along the line VIII-VIII of FIG. 13, and FIG. 16 is seen from the tail side of a shield machine equipped with a conventional erector. FIG. 17 is a front view, FIG. 17 is a view showing a relationship between a grip and a segment hanging metal fitting of a conventional erector, and FIG. 18 is a cut side view of FIG. DESCRIPTION OF SYMBOLS 1 ... Shield body, 2 ... Electa, 3 ... Erector ring, 7 ... Pressing jack, 12, 12a ... Segment to be assembled from now on, 13 ... Existing segment, 13a, 13b
… Bolt mounting groove, 13c… Bolt hole, 17… Swing motor, 19
… Swivel angle detector (rotary encoder), 20… Suspended beam, 21… Horizontal slide frame, 22… Horizontal slide jack, 23… Front and rear slide frame, 24… Front and rear slide jack, 25… Posture correction mechanism, 28a, 28b… Corrected jack,
29… Pitching correction jack, 30… Segment guide,
31 ... segment gripper, 32 ... existing segment position and orientation detecting device, 32c ... detection beam, 32p _1, 32p 2 _... rangefinder.

Claims (2)

[Claims] 1. A method of assembling a tunnel lining segment carried into a shield machine into a ring shape, comprising:
At least one pair of rangefinders arranged at intervals close to the segment width in the axial direction of the shield main body and pivotable around the axis of the shield main body together with the segment gripping portion of the erector, enable to measure the face of the existing segment and the shaft side. The radial distance between two points on the inner peripheral surface and the circumferential position of the bolt mounting groove provided on the inner peripheral surface are measured over the entire circumference of the segment ring formed of the existing segments, and the distance information and the bolt are measured. Based on the mounting groove position information and the turning angle information from the erector turning angle detector, it detects the posture of the existing segment and the bolt hole position of the end face of the segment face at any turning angle, and determines the position and posture of the segment gripped by the erector. Correct it according to the detected posture and bolt hole position of the existing segment, and change the segment to the existing segment. Segment assembly wherein the attaching seen. 2. A segment guide having segment grips for assembling a tunnel lining segment carried into a shield machine into a ring shape, and a swivel for moving the segment guide in the circumferential direction of the shield body. The mechanism and the axis extending in the axial direction of the shield body are the Z axis,
One axis that is orthogonal to the Z axis and extends in the radial direction of the shield body is Y
When the other axis orthogonal to the axis, the Z axis and the Y axis is the X axis, the segment guide is moved in the X axis direction, the Y axis direction and the Z axis direction to correct the position of the gripped segment. For correcting the posture of the segment held by rotating the segment guide around the X-axis, the Y-axis and the Z-axis, and extending in the axial direction of the shield body. Placed on the detection beam with a spacing close to the segment width,
The turning mechanism is turned around the axis of the shield main body together with the segment guide, and is provided on the radial distance between the face of the existing segment and the two points on the inner peripheral surface on the shaft side and the inner peripheral surface thereof. An existing segment position / posture detection device including a pair of distance meters for measuring the position of the bolt mounting groove in the circumferential direction, each of which is provided at a position symmetrical about 180 ° with respect to the center of rotation of the erector, and the distance information. And the position correction mechanism and the position correction mechanism according to the posture of the existing segment and the bolt hole position of the end face of the segment face detected based on the rotation angle information from the bolt mounting groove position information and the erector rotation angle detector. Let
A segment assembling apparatus comprising a controller for correcting the position and orientation of a gripped segment.