JPS6179000A - Segment assembling method and apparatus in shield tunnel - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a method for assembling segments in a shield tunnel and an assembly apparatus therefor.

(Prior art and its problems) Conventionally, in excavating a shield tunnel, a construction method has been used in which required segments are carried into the shield tunnel after excavation and are arranged while sequentially butting and joining. With this segment construction method, heavy segments must be brought into the inner surface of the shield tunnel after excavation, and then installed one after another in the designated positions. At present, it is difficult to adjust the position of the delivered segments, and we have to rely on the experience and intuition of skilled workers.

For this reason, it was difficult to standardize construction procedures, and problems were raised in terms of construction efficiency and cost. Furthermore, since the segments themselves are made of concrete or steel plates, their unit weight is large, and there is always a danger when handling them during installation.

(Purpose of the invention) Therefore, the segment assembly method and device of the present invention automate the assembly of segments in a shield tunnel using a special machine, thereby improving assembly speed and assembly accuracy and eliminating danger to workers due to handling. The purpose is to

(Summary of the invention) In order to achieve this purpose, the position of the installed segment carried into the shield tunnel is detected as a relative position from the guide frame, and the installed segment is gripped by a grip provided on the kite frame. Then, the position of the installed segment is adjusted by detecting the position of the existing segment and displacing the guide frame based on these positions, aligning the relative positions of both segments, and pushing the installed segment into the existing segment. An assembly method characterized in that, after being joined together, adjacent disposed segments are also joined to each other; a revolving part having a revolving ring that is rotated in a direction perpendicular to the excavation direction of a shield excavator; an elevating section for elevating and lowering a rotary table provided at the lower end of a guide rod using a pair of elevating cylinders disposed at the rear; an attitude control cylinder provided at a joint between the elevating section and the rotary table; A dedicated assembly device is provided which includes a guide frame attached via an attitude control section on the lower surface, a segment lifting section adjacent to the kite frame, a segment gripping section, and a fastening pin pressing section.

(Example) The method and device for assembling segments in a shield tunnel of the present invention will be explained in detail below based on the drawings.

FIG. 1 is a schematic diagram of a shield tunnel 100 formed by a shield tunneling machine.

This shield tunnel 100 is sequentially excavated in a predetermined excavation direction 0 by a shield excavator.

On the other hand, a segment 20 is provided on the inner surface of the seal tunnel 100.
0 are arranged according to the excavation process.

Normally, the segments 200 are arranged with reference to the Z-axis, which is coaxial with the excavation direction 0, and the E-axis direction of the X and Y axes, which are orthogonal to the Z-axis and are also orthogonal to each other. The X and Y wheels rotate about the Z axis until they reach the predetermined assembly position of the segment. That is, as shown in FIG. 2, on the inner surface of the shield tunnel 100 with respect to the three axes X, Y, and Z, there are constant Al segments, followed by A2 segments, A3 segments, B1 segments, B2 segments, and finally segments at the top. It is assembled using the following construction procedure. When the segments are arranged in a ring shape in A1-, the segments are similarly arranged in the next Al- according to the excavation direction O, and the segments 200 are assembled throughout the shield tunnel.

The segment assembly method according to the present invention is explained using the flowchart shown in Fig. 3.The guide frame is raised, lowered, and rotated, and the grip provided on the guide frame is turned to a predetermined position to carry it into the shield tunnel. The position of the placement segment is measured relative to the guide frame and the placement segment is gripped.

The position of the disposed segment is determined by determining the relative distance in the x, y, and z directions using a detector provided in the guide frame, and by numerical analysis including pattern recognition.

Based on this numerical analysis, the position control unit corrects the displacement of the guide frame, grips the installed segment, and pulls it up. Next, the position and orientation of the existing segment is measured, and based on the same numerical analysis, the relative position and orientation of the installed segment and the existing segment are recognized, and the position of the installed segment is adjusted using a guide frame to match the relative position of both segments. and align the butt end faces of the installed segment with the butt end faces of the existing segment.

Next, the installed segment is pressed by the shield propulsion jack, the joining pin is fitted into the socket of the existing segment to join it, and the fastening pin is slid and fitted into the socket provided on the side end surface of the adjacent installed segment. . Thereafter, the disposed segment is released from the grip.

As described above, the relative positions of the installed segments are numerically analyzed using the guide frame as a reference, and based on this, the positions and postures of the installed segments are displaced and the installed segments are adjusted sequentially, so the installed segments are extremely accurate. And it can be assembled in a good order.

4 to 6 are a side view, a plan view, and a front view illustrating the segment assembly device of the present invention.

This assembly device 1 has a rotating part lO inside the shield excavation*300.
or is incorporated. This turning section 10 has a structure in which a guide roller 11 is provided around the shield tunneling machine 300, and a turning ring 12 turns along the kite roller 11. Therefore, as explained in FIG. 2, when arranging each segment (A1 segment), A2 segment), A3 segment, etc. in a ring shape, the segment assembly device is moved to an appropriate position by the rotation of this rotating part 10. It has a rotating structure.

Further, an elevating section 20 is provided at the rear of the rotating ring 12 of the rotating section 10. One end of the arm part 21 of the elevating part 20 is fixed to the turning ring 12, and the other end is provided with a pair of guide shirts h22, 22. Inside this guide shaft 22.22, an id rod 2 slides within the guide shaft 22 by the drive of an elevating cylinder 23.23.
4.24 is provided. Moreover, the guide rod 24
, 24 have attitude control cylinders 25, 25...
A rotary table 2B is provided through the rotary table 2B, and the zero-rotary table 26 whose angle with respect to the X-axis can be varied by driving the posture control cylinders 25, 25, etc. is provided with a slide frame 32 and a rotation correction table 35. Further, a guide frame 40 is provided on the lower surface of the rotary table 26 via an attitude control section 30.

The posture control unit 30 includes a slide frame 32 that slides a guide frame 40 in the Z-axis direction using a slide cylinder 31, and a rotation correction table 3 that can vary the rotation angle around the Y-axis by driving a rotation correction cylinder 38.
The position of the guide frame 40 is controlled by the attitude control unit 30.

Correct the displacement of the posture.

The unassembled device l must be equipped with a shock absorber 34 mainly consisting of a shock absorber cylinder that softens collisions between segments and absorbs misalignment when fastening pins are fitted. If the cylinder 25.25 is provided to control the angle in the X-axis direction, the shock absorber 34 may be provided in the attitude control section 30, and a method of providing the attitude control cylinder 25.25 in the attitude control section 30 is also considered. However, according to this method, the buffer device 34 cannot be provided.

Further, a grip portion 50 for moving and lifting the arrangement segment 201 is provided within the guide frame 40.

This gripping portion 50 is formed from a gripping cylinder 51 and a claw portion 52 provided at the tip thereof.

On the other hand, a fastening pin pressing section 60 is provided within the guide frame 40 in a state perpendicular to the gripping section 50 . This fastening pin pressing portion 60 is formed by adjacent disposed segments) 20
1 and 201, a bushing metal fitting 61 that slides and projects a fastening pin and a roller chain 62 that drives 61 through the bushing metal. Sprocket 63. Guide car 64. It consists of a motor 65.

Furthermore, segment lifting sections 70.70 are provided at both ends of the guide frame 40, each consisting of a cylinder 71 for lifting an adjacent disposed segment 201 and a moving cylinder 72 for moving this cylinder 71.

Using the segment assembly device l having the above configuration, the disposed segments 20 are assembled based on the flowchart shown in FIG.
Assemble 1 inside the shield tunnel. Although not shown in the drawings, if a device for carrying the installed segments into the shield tunnel is linked to the gripping portion of this assembly device, it becomes possible to assemble the segments extremely easily and smoothly.

Next, position detection of each of the installed segment 201 and the existing segment 202 will be explained with reference to FIGS. 7 to 15.

FIG. 7 is a front view showing a state in which the position of the disposed segment 201 to be lifted by the grip portion 50 is detected.

That is, a distance detection device using a position detector, such as a potentiometer or a rotary encoder, is provided at a required portion of the guide frame 40, and this distance detection device P+
, P2, and P3 to measure the distance between the guide frame 40 and the disposed segment 201 to detect the positional relationship.

FIG. 8 is a plan view taken along line A--A in FIG. 7.

This distance measurement is performed using distance detection devices P+, P2, P'+
The attitude control unit 30 performs a numerical analysis on the measured values, and operates each hydraulic cylinder based on the values obtained from this analysis.
drive. That is, if the values of the distance detection devices P and P] are made equal, and the difference between the values shown by the distance detection devices P+ and P2 or the difference between the values shown by the distance detection devices P3 and P2 are made equal, then the guide frame 40 and Arrangement segment 2
01 is in the same position and posture.

FIG. 9 and FIG. 1O are a side view taken along the line B--B and a side view taken along the line C--C in FIG. 7, showing the measurement states of the distance detecting devices P and P2, respectively.

As can be seen from FIGS. 8 to 10, one distance detecting device P2 at one end of the guide frame 40 is the apex, and the distance detecting devices P1 and P3 at the other end form an isosceles triangle. If the shape is determined, the relative relationship between the guide frame 40 and the disposed segment 201 can be detected extremely accurately.

FIG. 11 to FIG. 14 are diagrams for explaining position detection of the existing segment 202.

As shown in the front view of FIG. 11, the position of the existing segment 202 is detected in substantially the same manner as the position of the installed segment 201 described above. However, this position detection is performed using a distance detection device p+ on the rear side of the guide frame 40 because the existing segment 202 is located at the rear in the direction of excavation of the segment assembly bag ml.

P4. It is necessary to provide each PI.

FIG. 11 shows the distance detecting devices P+, Pa, Pt.
12 is a front view of the position of the existing segment 202 being measured by installing it on the rear side of the kite frame 40.
The figure is a plan view taken along the line A-A.

Further, FIG. 13 is a side view taken along the line B--B in FIG. 11, showing a measurement state by the distance detecting device P4 located at the center. This distance detection device @P4 comes into contact with the top surface and end surface of the existing segment 202, and measures the distance in the Y-axis direction from the top surface, and measures the angle with respect to the X-axis direction and the Y-axis from the end surface.

FIG. 14 is a side view taken along line C-C in FIG.
It shows the measurement state by the distance detection device P1.

This equidistant detection device PI, P4. The distance in the Y-axis direction is measured by the PI, the angle around the Z-axis is measured, and the angle with respect to the X-axis and Y-axis directions is determined by the distance detection device P4. As a result, the guide frame 40
The relative position and posture of the existing segment 202 are detected.

FIG. 15 is a partially omitted front view illustrating a part of the sensor of the distance detecting device P2, + in more detail.

Since the distance detection device @P4 measures the angle with respect to the X-axis force direction and the Y-axis direction of the existing segment 202, there are a measuring part P4a around the X-axis and a measuring part P4b, P4 around the Y-axis.
It has b.

Guide frame 4 was determined by the above distance measurement and analysis of the measured values.
The relative position and posture of the installed segment 201 and the existing segment 202 are detected using θ as an intermediary, and as a result, the posture control unit 30 displaces the guide frame 40 to align the installed segment 201 with the existing segment 202 and thrust it. It can be matched.

At this time, the installed segment) 201 and the existing segment)
The connection with 202 is made by shield propulsion shirt +400.

Incidentally, when matching the installed segment 201 and the existing segment 202, it is convenient to pull up the distance detection devices PI, P4 and P3 to the upper part of the guide frame 40.

A specific means for abutting the existing segment 202 and the installed segment 201 is to fit a joining pin 500 implanted in the abutting surface of the installed segment 201 into a socket 600 provided in the abutting surface of the existing segment 202. It is something that makes you

In order to easily construct this specific joining means, the joining pin 5
00 and the socket 800 must be properly opposed and aligned. Therefore, as shown in the JIB diagram.

Using the mark sensor 700 and reading fiber tube (not shown), insert the socket yh80 into the existing segment 202.
Detect 0 position.

FIG. 17 is a plan view of the mark 800 read by the mark sensor 700.

This mark 800 has a pair of zones 801°80 on both sides.
2, and the position of the socket and Toro 00 is displayed on the linear display section 803 approximately at the center. Further, correction display sections 804 and 805 are provided at regular intervals on both sides of the linear display section 803.

That is, the mark sensor 700 is located in either the left or right zone 8.
Upon reading 01,802, a signal is delivered by the Phi/S-tube circuit to cause the kite frame 40 to move either in or out of zone 801 or 802 by pivoting the pivoting section 10 and rotating through the rollers 851. The pulse generator 850 counts pulses from the break in the zone 801 or 802 to the linear display section 803, and measures this interval. At this time, correction display sections 804 and 805
The pulse generation of the generator is confirmed, and the linear display section 803 is displayed, and finally the socket
The position of is confirmed.

FIG. 18 shows the joining pin 50 implanted in the butt end face of the installed segment 201 in the butt joining of the installed segment 201 and the existing segment 202 described above.
0 is a side sectional view showing a state in which the socket 600 is fitted into the socket 600 provided at the butting end of the existing segment 202. FIG.

In such a state, if the installation segment 201 is pushed in by the shield propulsion jack 400, the joining pin 50
0 is fitted into socket 600. And socket 6
Spring steel plate 80 with many cuts on the inner diameter side of 00
1 is provided, so when the joining pin 500 is partially fitted into the socket 600, this spring steel plate Ei01 is fitted around the outer periphery of the joining pin 500 (1 is fitted, and from then on it cannot be easily removed). become.

Figure 19 shows the installation segment) 201 in the existing segment 2.
02, and is a plan view showing a state in which it is butt-joined to the adjacent arrangement segment 201'.

In other words, the installed segment 201 is replaced by the existing segment 202.
In the state of butt joining, the built-in fastening pin 9
00 is slid to protrude from the side end surface and fit into the socket 901 of the adjacent installation segment 201' to fasten the installation segment 201 and the adjacent installation segment 1-201'.

In order to slide the fastening pin 900, the pin press part 80 of the segment assembly device 1 must be
1 by chain drive.

In addition, the above-mentioned joint bottle 500 and socket 600. Fastening bottle 900. Each segment phase U is joined by the socket 901, but it is also possible to complete each segment assembly device in the shield tunnel by using these joining means as is for the main connection, but if necessary, the joining by each of these bottles can be done. There is also a case where temporary fastening (so-called secondary fastening) is performed, and after this temporary fastening, the bolts are sequentially fastened using high-tension bolts or the like during shield excavation (so-called secondary fastening).

(Effects of the Invention) As explained above, the method and device for assembling segments in a shield tunnel of the present invention have the following very remarkable effects.

(1) The relative positional relationship between the installed segment carried into the shield tunnel and the existing segment is detected as the relative position by the guide frame, so the gripping of the installed segment and butt joint to the existing segment can be carried out with high precision. can be done.

(2) Since the segment assembly device can freely operate within a certain range of three-dimensional space and can move and rotate, assembly of segments is extremely easy.

(3) Furthermore, if a segment carrying device is installed or linked, it will be possible to automatically carry the installed segment to the gripping part, allowing a single operator to perform the entire process from carrying the segment to completing the assembly. Become.

(4) Since the gripping of the installed segment and the butt-joining with the existing segment can be performed in conjunction with various sensors and a control computer capable of numerical analysis, highly accurate setting is possible.

(5) Since each segment is mainly joined by pin joints, the construction of the shield tunnel itself can be completed very quickly.

(6) Depending on the on-site situation inside the shield tunnel, it is possible to select between assembly using only the joint pins and binding bins and assembly using up to the final tightening bolts, allowing for efficient construction as appropriate.

(7) The assembly method and device can be applied to various segments used in shield tunnel construction, so they are highly practical and versatile.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram illustrating a state in which segments are arranged in a fixed coordinate direction within a shield tunnel, FIG. 2 is a partially omitted sectional view showing a state in which various segments are arranged within a shield tunnel, and FIG. Figure 3 is a flowchart explaining the segment assembly method, Figure 4 is a side view of the segment assembly device assembled in the shield tunneling machine, Figure 5 is a plan view of the segment assembly device, and Figure 6 is: 9 is a front view illustrating the movable state of the segment assembly device; FIG. 7 is a front view showing a state in which the position of the disposed segment is measured; FIG. 8 is a plan view taken along line A-A in FIG. 7; The figure is a cross section taken along line B-B in FIG. FIG. 10 is a cross-sectional view taken along the line C--C in FIG. 7, and FIG. 11 is a front explanatory view showing a state in which the position of an existing segment is measured. 12 is a plan view taken along the line AA in FIG. 11, and FIG. 13 is a side view taken along the line BB in FIG. 11. Fig. 14 is a side view taken along the line C-C in Fig. 11, Fig. 15 is a partially omitted front view of a distance detection device that measures the position of the existing segment in the X-axis and Y-axis directions, and Fig. 16 teeth,
An explanatory schematic diagram of a mark sensor for detecting the socket position of an existing segment. Fig. 17 is a plan view of the mark for detecting the socket position. Fig. 18 is a diagram showing how to connect a joining bin provided in an installed segment to an existing segment. FIG. 18 is a side sectional view illustrating a state in which they are fitted together. FIG. 18 is a plan view illustrating a state in which an existing segment and a disposed segment are butt-joined and adjacent disposed segments are fastened together. lO...Swivel part, 11... Guide roller. 12... Swivel ring, 20... Lifting section. 23.23... Lifting cylinder. 25.25... Attitude control cylinder. 26...Rotary table, 30...Attitude control unit. 31...Slide cylinder. 32...Slide frame. 33.33... Attitude control cylinder. 34...Buffer device, 35...Rotation correction table. 3B...Rotation correction cylinder. 40... Guide frame, 50... Gripping part. so, eo... fastening bottle pressing part. 70... Segment retraction part. 71... Retraction cylinder, 72... Moving cylinder. 200...Segment h, 201...Arrangement segment. 202...Existing segment. 300...Shield excavator. PI, P2, P3, P4... Distance detection device. 400... Shield digging jack. 500...Joining bottle, 600...Socket. 900... Fastening bottle, 901... Socket.

Claims (1)

[Claims] 1. The position of the installed segment carried into the shield tunnel is detected as a relative position from the guide frame, and the installed segment is gripped by a grip provided on the guide frame, and the existing segment is detect the position of
The method is characterized in that the position of the installed segment is adjusted by displacement of the guide frame, the relative positions of both segments are aligned, the installed segment is butt-joined to the existing segment, and then adjacent installed segments are joined together. Segment assembly method inside shield tunnel. 2. The method for assembling segments in a shield tunnel according to claim 1, wherein the position of the installed segment is measured by detecting the distance from the guide frame with a detector. 3. The segment in the shield tunnel according to claim 1, wherein the position of the existing segment is measured by using a detector to detect the distance from the guide frame and the inclination of the butting end face. Assembly method. 4. A patent claim characterized in that the installed segment and the existing segment are joined by fitting a connecting pin implanted in the butting end surfaces of the installed segment into a socket provided in the butting end surface of the existing segment. Scope: The method for assembling segments in the shield tunnel described in item 1. 5. A claim characterized in that an installed segment and an adjacent installed segment are joined by, after joining the opposing existing segment, a fastening pin is projected from the end face on the mating side and fitted into the socket. The method for assembling segments in a shield tunnel as described in item 1. 6. The shield according to claim 4 or 5, wherein the installed segment and the existing segment are joined by fitting at least one of a joining pin and a fastening pin into a socket. Segment assembly method inside the tunnel. 7. A rotating part that rotates at right angles to the excavation direction of the shield excavator, and an elevating part that raises and lowers a rotary table provided at the lower end of the guide rod by a pair of elevating cylinders provided at the rear of the rotating part; A posture control cylinder provided at the joint between the lifting section and the rotary table, a guide frame attached via the posture control section on the lower surface of the rotary table, a segment lifting section and a segment gripping section attached to the guide frame; A segment assembly device having a fastening pin pressing section. 8. The segment assembly device in a shield tunnel as set forth in claim 7, wherein the attitude control section comprises a slide cylinder, an attitude control cylinder, and a rotation correction cylinder. 9. The segment assembly device in a shield tunnel according to claim 7, wherein a shock absorber is provided in the attitude control section.