JPH10131694A - Shield tunneling method automating system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To save labour by automating a process to supply a segment from a vertical shaft to an erector device and to roughly position it by the erector device. SOLUTION: An automatic handling device 7 receiving an arrival signal of an unmanned battery locomotive 2 travels to a rough position to hold a segment 5 on a segment carriage 3. At this time, the device 7 detects a position of the segment 5 by image-processing it by a CCD camera, and after sacking it by a vacuum pad and carrying it to a stock device 11, it moves onto the carriage 3 to hold the following segment 5. The device 11 sequentially delivers the segment 5 forward by centering it, and a segment supply device 16 supplies the segment 5 to an erector device 15. The device 15 holds the segment 5 and automatically roughly position it in accordance with a selected assembly pattern. Consequently, it is possible to save labour, to shorten working time, to safely and certainly construct and to economically work for a semi-automatic system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically transporting and supplying a predetermined segment from a shaft to an erector device at a face portion, while automatically segmenting the erector device according to a pre-planned assembly pattern. The present invention relates to a shield method automation system for rough positioning of a shield.

[0002]

2. Description of the Related Art A segment bogie equipped with a segment is towed by a battery locomotive and is manually conveyed from a shaft to a vicinity of a face and a rear bogie. Next, hanging hardware is attached using a grout hole in the center of the segment, transferred to the face side by manual terha, and the segment is temporarily stored using an empty space.

[0003] When segment assembly is started, the stored segments are sequentially supplied to the erector device using the same Telha. The segments delivered to the erector device are assembled in advance at predetermined positions according to a planned assembly pattern with bolts, and finally the hanging hardware is manually removed.

[0004]

SUMMARY OF THE INVENTION
It is a repetitive work with regularity, narrow and
Dangerous work at high altitude. The present invention has been made in view of such a conventional problem, and measures automation of a series of operations from transport of a segment to assembly, thereby enabling automation of a shield method capable of saving labor and improving safety. It is intended to provide a system.

[0005]

Means for Solving the Problems: The shield construction automation system of the present invention comprises the following steps: a) a transportation step of automatically transporting a segment mounted on a segment truck from directly below a shaft to a face; b) an upper segment After handling, the sleeper removal process of automatically removing the sleeper on the lower segment by the automatic sleeper removal device mounted on the segment cart, c) Detecting the gripping hardware attached to the segment with the CCD camera and the image processing device, and running After the device is controlled to guide the automatic handling device to the segment gripping position, the segment is sucked by the vacuum suction pad and automatically transferred to the stock device. D) Receiving the segment transferred by the handling device. , A stocking process for stocking segments by sequentially sending them forward E) a segment supplying step of automatically supplying the segments delivered from the stock apparatus to the erector apparatus; f) grasping the segments supplied from the segment supplying apparatus and roughly positioning the segments according to a planned assembly pattern. And the process of doing.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. This system controls and controls each device shown in FIG. 1 and automatically transports and supplies a predetermined segment from a shaft to an erector device at a face portion. The system includes the following devices.

Automatic traveling vehicle (AGV) system Automatic handling device Stock device Segment supply device Elector device Monitoring system Control system Next, each device will be described. (1) Automatic driving vehicle (AG-) system The automatic driving vehicle (AGV) system, as shown in FIG.
It consists of one unmanned battery locomotive 2 and two segment trucks 3 (in the figure, one truck), runs on the rail 4 laid in the tunnel pit, and has a maximum of four-piece segments in one transfer. 5 can be transported to a predetermined position.

The feature of this system is that the segment carriage 3 is equipped with an automatic sleeper removing device 6 as shown in FIG. This is because when transferring the segment 5 to the automatic handling device 7 at the face, the upper segment 5
This is a device for removing the sleeper 8 remaining on the lower segment 5b with the rotary arm 9 after the transfer of a. That is, FIG.
In the left sleeper 8a, the left-hand rotary arm 9a
Is rotated in the counterclockwise direction so that the left evacuation unit 10
a, and the right sleeper 8b is
b is rotated clockwise so that the right evacuation unit 10
Save to b.

The segment truck 3 has an obstacle detection sensor (safety device) (not shown) at the front portion (face side) of the truck, detects an obstacle in front, automatically decelerates, and stops. It has become. (2) Automatic Handling Device As shown in FIG. 1, the present device 7 automatically grips and transports the segment 5 transported by the unmanned battery locomotive 2, and the stock device 11 installed in front (face side). Hand over to

As shown in FIGS. 3 and 4, the apparatus 7 includes a positioning device 21 for detecting a segment using an image processing system (only this device is shown in FIG. 5), a hoisting device 22, a traveling device 23, and a turning device. It comprises a device 24, a vacuum suction device 25 as a hanging tool, and a control / monitoring device 26. Further, even if the segment type is changed, it is possible to attach a mechanical gripping device to the hanging tool and cope with this.

(A) Positioning device As shown in FIG. 5, the positioning device 21 is provided with a gripping metal 12 attached to the center of a segment 5 by a very small (CCD).
The traveling device 2 is detected by the camera 31 and the image processing device 32.
3 to control the automatic handling device 7 to the segment gripping position.

The apparatus 21 employs a pattern matching method using a personal computer, performs image processing calculations in consideration of the correction of the inclination angle in the construction conditions, and sends positioning data to the sequencer 33 of the control system. I have. The positioning by the device 21 is performed as shown in FIG. The adoption of this apparatus is an important point in automation of the entire system, and the following effects can be obtained.

(A) Automatic follow-up of the change of the gripping position In other words, during the excavation of the shield machine 1 (see FIG. 1),
The traveling beam 13 of the automatic handling device 7 is towed by the shield machine 1, but is moved by the unmanned battery locomotive 2.
Is stopped, the gripping position of the segment changes. Since the present apparatus 21 automatically detects the gripping position of the segment 5 every time, it is possible to reliably perform the following gripping operation.

(B) Shortening of work time The vacuum suction device employing this system can hold and transport segments without using hanging hardware, and does not require high-precision positioning when holding. Therefore, it is not necessary to remove the hanging hardware attached by the shaft until the assembly of the segment is completed, so that the number of work items is reduced and the overall work time is shortened.

(C) Improvement of work safety The present system eliminates the need for the worker to enter the vicinity of the crane during the segment transportation, so that the safety can be improved. (B) Hoisting device The present device 22, as shown in FIG. 3, is located at the center of the automatic handling device 7, and is configured to lift and lower the turning device 24 and the hanging tool 25.

(C) Traveling device As shown in FIG. 3, the present device 23 is provided before and after the hoisting device 22, and is capable of traveling on an uphill portion, which is a construction condition, since the tire contact pressure is used as a reaction force. is there. (D) Swivel device The present device 24 is a device for rotating the transferred segment 5 by ± 90 ° on the stock device 11, and includes a gear-equipped swing bearing (not shown) and a pinion type (not shown). Has adopted.

(E) Vacuum Suction Device The present device 25 grips a concrete segment by utilizing a vacuum suction force, and comprises a suction pad portion 41, a positioning guide portion, a vacuum pump unit 43, and a safety device. Have been. By adopting this device 25, high-accuracy positioning is not required for segment gripping,
Work time can be reduced.

For the suction pad 41, neoprene sponge and neoprene rubber are used. The positioning guide includes a hydraulically driven K segment guide 45 and a fixed ring end surface guide 46. The vacuum pump unit 43 is provided in front of the hoisting device 22 (face side), is pulled by the traveling device 23, and moves together with the automatic handling device 7. A system diagram from the vacuum pump 43 to the suction pad 41 is shown in FIG.

As a safety device, when the suction pad 41 causes vacuum breakage for some reason, a fall prevention safety hook 47 (see FIG. 4) for receiving the segment, even if the control power supply is stopped during a power failure, a sudden vacuum A holding-type vacuum solenoid valve 48 (see FIG. 7) for holding the pressure so as not to cause destruction, and constantly monitoring whether or not the pressure is within a required vacuum pressure range, automatically operating the pump 43, and confirming the completion of adsorption. A switch 49 (see FIG. 7) and the like are provided.

(F) Control and monitoring panel unit The control panel of the automatic handling device 7 is provided at the rear of the traveling device 23 and at the inside of the cab vehicle 14, respectively, and exchanges signals with a wired cable. The control unit 26 on the rear side of the traveling device 23 mainly includes the inverter devices 34
(See FIG. 5) and a positioning device personal computer (not shown). On the control panel on the cab 14 side, a sequencer for controlling the automatic handling device 7 and a touch panel 52 (see FIG. 8) for monitoring each system are provided. Equipped. The touch panel 52 is capable of monitoring the progress in addition to data input / management of the segment 5 to be transferred, and includes an error display function at the time of abnormality. (3) Stock Device The present device 11 is a device that receives the segments 5 transferred by the automatic handling device 7 and automatically stocks the segments 5 while sequentially sending them forward (face side). In addition, the device 11 has a function of sending out the stocked segments 5 in response to a request from the eclector device 15 when assembling the segments. Therefore, the segment supply device 16 can be omitted.

As shown in FIG. 9, the apparatus 11 comprises a frame portion 61, an extruding device 62, a centering device 63 (see FIG. 10), a traveling device 64, and a power unit (not shown). It is controlled by the sequencer of the automatic handling device 7 via the operation panel. The frame portion 61 has a steel frame structure capable of stocking a maximum of three pieces of the segments 5 and is pulled by the shield machine main body 1 and has a rolling following mechanism.

The extruding device 62 is equipped with a telescope cylinder 62a at the rear end of the frame portion 61, and sends out the segment 5 transferred from the automatic handling device 7 to the front (face side). The centering device 63 includes the frame 6
The centering is performed by the cylinders 63a (see FIG. 10) provided at both sides of the segment 5 which is located at the center portion of the segment 1.

The traveling device 64 is located at the front of the frame 61, and sends out the segment 5 at the end of centering to the leading end of the frame 61 and the segment supply device 16. (4) Segment supply device The present device 16 is a device that receives the segments 5 stored in the stock device 11 and automatically supplies the segments 5 to the erector device 15. This device 11 is installed directly below the workbench behind the shield machine 1 and has an arc-shaped upper frame portion (not shown) made of a mold steel.
It is divided into a lower frame portion 71 (see FIG. 1) on which only a piece can be mounted, and can be individually moved by a hydraulic cylinder (not shown). (5) Erector Device The present device 15 automatically grips the segment 5 supplied from the segment supply device 16 and then coarsely aligns the segment 5 according to an assembly pattern selected in advance. At this time, in order to secure an assembly area, a predetermined pulling operation of the shield jack 17 is automatically performed. Fine adjustment positioning of the segment 5 is performed by wireless manual operation, and bolt supply / fastening work is performed manually as before.

After the above operation is completed, the present apparatus 15 again
The collection of the grip metal 12 and the grip and coarse positioning of the next piece segment are automatically performed continuously to form an assembly cycle. This device 15 employs a portal ring gear system, and as shown in FIGS. 12 and 13, an erector ring 81 is rotated by a turning motor 82. Further, an external erector box 85a provided on the erector frame 84 is raised and lowered by a lifting jack 83 attached to the erector ring 81. The lateral erection of the outer erector box 85a with respect to the erector frame 84 is performed by a traversing jack 86, and the sliding (forward and backward movement) of the inner erector box 85b with respect to the outer erector box 85a is performed by a sliding jack 87.

Further, a support jack 88 is provided on the erector frame 84 and an inner erector box 85 is provided.
The b is provided with an anti-vibration jack 89 and a gripping hardware collection device 90. (6) Monitoring System The operator's cab 14 employs a touch panel 52 (see FIG. 8) with a built-in CPU, and performs not only segment monitoring but also system operation planning and management. A display panel is provided at the work table behind the shield machine, and displays the operation status of the erector device. (7) Control System Control of the entire system is performed by a sequencer mounted on the automatic handling device 7. This sequencer exchanges signals with a control device of the AGV system, a control panel of the stock device 11, a sequencer of the erector device 15, and the like, and controls each device and the entire system.

FIG. 11 shows an outline of the control system configuration, FIGS. 14 to 16 show the operation flow of the automatic segment transport system, and FIGS. 17 to 19 show the operation flow of the erector device. As a system safety measure, a danger zone and a safety zone are set, and a double safety device is provided at the entrance to the danger zone, and measures are taken to activate the interlock upon entry. In addition, patrol lights,
We are working to alert workers with sound effects.

The unmanned battery locomotive 2 that has received the entry permission signal from the automatic handling device 7
Go to the stop position in the rear bogie. The automatic handling device 7 which has received the arrival signal of the unmanned battery locomotive 2 goes to grasp the upper segment 5a on the segment truck 3 from the origin position. After traveling to the coarse position, the CCD camera 3
1 to perform image processing to detect an accurate position of the segment 5a. Then, the segment 5a is applied to the vacuum pad 41.
And transported to the stock device 11.

The stock device 11 centers the segments 5a and sequentially sends them forward. After the delivery is completed, the automatic handling device 7 moves the lower segment 5b.
Is moved on the segment truck 3 to grasp the same. The segment cart 3 automatically removes the sleeper 8. After that, detection,
Repeat gripping. The empty segment truck 3 is pulled by the unmanned battery locomotive 2 to just below the shaft.

On the other hand, the segment 5 of the stock device 11
Is automatically supplied from the segment supply device 16 to the erector device 15. After gripping the supplied segment 5, the erector device 15 automatically performs rough alignment of the segment 5 according to an assembly pattern selected in advance. At this time, a predetermined pulling operation of the shield jack 17 is automatically performed to secure an assembly area. Fine adjustment positioning of the segment 5 is performed by wireless manual operation, and bolt supply / fastening work is performed manually as before.

After the above operation is completed, the erector device 15
Again, the collection of the grip hardware 12 and the grip and coarse positioning of the next piece segment are automatically and continuously performed again.

[0031]

As described above, according to the present invention, the following excellent effects can be obtained. That is, labor saving by automation is achieved. This system achieves unmanned operation from the down shaft to the face erector device, and it is possible to reduce the number of battery locomotive driving vehicles, Telha crane operators and subsidies.

In the conventional method, the segment transportation near the rear bogie has a small effective space for the worker and has a high degree of danger. However, according to the present system, the worker can perform the segment transportation. Since there is no need to enter the vicinity of the inside crane,
Safety can be improved.

In the conventional method, the hanging metal used for transporting and assembling the segments is attached each time a crane is used, and is removed after the operation is completed. The suction device does not use hanging hardware,
Segments can be gripped and transported, and high-precision positioning is not required when gripping. Therefore, it is not necessary to remove the hanging hardware attached by the shaft until the assembly of the segment is completed, so that the number of work items is reduced and the overall work time is shortened.

Operation certainty With the automation, the operation of each device proceeds according to a predetermined procedure, so that the re-operation due to mis-operation caused by the conventional manual operation is eliminated, thereby ensuring a reliable and efficient operation. It will be. Since this erector device is a semi-automatic system and is realized without using expensive products and equipment,
It is very economical compared to fully automatic erector devices.

[Brief description of the drawings]

FIG. 1 is a perspective view including a partial cross section of a shield machine.

FIG. 2 is a side view of the segment truck.

FIG. 3 is a side view of the automatic handling device.

FIG. 4 is a rear view of the automatic handling device.

FIG. 5 is a system diagram of a positioning device.

FIG. 6 is a control flowchart of the positioning device.

FIG. 7 is a system diagram of a vacuum suction device.

FIG. 8 is a front view of a monitor screen.

FIG. 9 is a schematic diagram of a stock device.

FIG. 10 is a sectional view taken along line XX of FIG. 9;

FIG. 11 is a schematic diagram of a control system configuration.

FIG. 12 is a side view of the erector device.

FIG. 13 is a front view of the erector device.

FIG. 14 is a flowchart (head) of the operation of the automatic segment transport system.

FIG. 15 is a flowchart (body section) of the operation of the automatic segment transport system.

FIG. 16 is a flowchart (legs) of the operation of the automatic segment transport system.

FIG. 17 is an operation flowchart of the erector device (head).

FIG. 18 is an operation flowchart of the erector device (body portion).

FIG. 19 is a flowchart (legs) of the operation of the erector device.

[Explanation of symbols]

Reference Signs List 3 segment cart 5 segment 6 sleeper removal device 7 automatic handling device 8 sleeper 11 stock device 12 gripping hardware 15 erector device 16 segment supply device 31 CCD
Camera 32 Image processing device 41 Vacuum suction pad

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Kenji Oguro 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (72) Inventor Kengo Fujii 5- 6-4 Tsukiji, Chuo-ku, Tokyo Mitsui (72) Inventor Tadashi Matsuo 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd. (72) Keizo Kazama 2-3 Kandajicho, Chiyoda-ku, Tokyo Obayashi-gumi Tokyo Co., Ltd. Headquarters (72) Inventor Takashi Kitaoka 2-3 Kandaji-cho, Chiyoda-ku, Tokyo Tokyo Main office (72) Inventor Akira Tomioka 2-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Tokyo main office

Claims (1)

[Claims] 1. a) a transport step of automatically transporting a segment mounted on a segment truck from directly below a shaft to a face portion; b) an automatic truck equipped with a sleeper on the lower segment after handling the upper segment. A sleeper removing process for automatically removing the sleeper by the sleeper removing device, c) detecting the gripping hardware attached to the segment with the CCD camera and the image processing device, controlling the traveling device, and guiding the automatic handling device to the segment gripping position. After that, a handling step of sucking the segments with a vacuum suction pad and automatically transporting the segments to a stock device; d) A stock process of receiving the segments transported by the handling device and sequentially sending the segments forward to stock the segments; e) The segment passed from the stock device is converted to the erector device. Dynamically segment supplying step of supplying, f) gripping the segment supplied from the segment feeder, the step of coarse positioning segments according to planned assembled pattern, shield tunneling automation system consisting of.