JP2808191B2 - Segment positioning method and device for tunnel machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for connecting a plurality of segment pieces in a ring shape in a tunnel excavated by a tunnel excavator such as a shield excavator to automatically assemble the segment pieces. The present invention relates to a method and an apparatus for positioning a segment for positioning in a direction.

[0002]

2. Description of the Related Art As is well known, the shield excavator described above
After the tunnel is excavated by rotating the cutter disk provided at the front end of the excavator main body, a segment (wall surface) is constructed behind the main body and the tunnel is excavated by a predetermined distance. The assembly of the above segments
This is performed as follows using arc-shaped segment pieces divided into a plurality in the circumferential direction. That is, as shown in FIG. 5, one segment piece A1 is grasped by a segment grasping mechanism 5 of a segment assembling device (hereinafter, also referred to as an erector) 2 provided in a shield tail 1 of a shield excavator, and an excavated tunnel is formed. In the circumferential direction, the revolving drum 4 equipped with the erector 2 is rotated to position the segment piece A1 at the lowermost central position thereof and fasten it to the existing segment wall with a fastener. Thereafter, another segment piece A2 is connected to the segment gripping mechanism 5 of the erector 2.
, And placed adjacent to one side of the lowermost segment piece A1 (for example, the right side in the figure). The segment pieces A1 and A2 are fastened to each other with fasteners. To conclude. Subsequently, another segment piece A3 is arranged on the other side of the lowermost segment piece A1 by the erector 2, and similarly fastened with a fastener. Hereinafter, the above procedure is repeated, and the segment pieces A4 and A5 are alternately arranged and fastened to the left and right. Finally, the segment piece K having a tapered surface whose arc length gradually increases inward in the radial direction of the tunnel is placed on the upper portion. It is arranged at the center, fastened, and assembled on a ring-shaped segment wall.

As shown in FIGS. 5 and 6, a device used for assembling the above segments is a swivel rotatably supported by a plurality of support rollers 3 fixed to a shield tail 1 of a shield machine. Generally, the drum 4 has a structure in which the erectors 2 for holding the segment pieces A1 to K one by one via a pair of cylinder devices 6 are arranged so as to be able to expand and contract in the radial direction.

In general, the segment pieces are positioned by a plurality (four in FIG. 5) of hydraulic motors 8 having a driving gear 9 meshing with a ring gear 7 provided on the outer periphery of the revolving drum 4. , The rotating drum 4 is rotated in an arbitrary direction.

[0005]

The above-described conventional method or apparatus for positioning a segment requires the operator to manually assemble the segments by assembling the segments even if the positions of the segments are slightly shifted. There was no problem at all because it could be easily corrected.
The following inconveniences have been encountered in so-called automatic assembling, in which fastening is automatically performed using nuts or the like.

(A) Since there is a backlash (gap) between the pair of teeth of the ring gear and the teeth of the drive gear, the hydraulic motor (and the drive gear) are rotated in the reverse direction when switching the rotation direction of the rotating drum. However, the rotating drum does not rotate immediately, and the backlash in the non-rotating state causes a positioning error, so that it is difficult to position the segment in the circumferential direction with high accuracy. In order to reduce the backlash, it is necessary to increase the processing accuracy of the gears. However, the manufacturing cost is high, and it is necessary to leave the backlash to maintain a smooth meshing relationship between the gears. Cannot be removed.

(B) As described in JP-A-63-217100, a frame for turning fine adjustment is provided on the turning drum, and the frame can be moved by a jack (cylinder device). There is a method of finely adjusting by finely adjusting the frame by moving the fine adjustment frame with a jack after the coarse positioning by turning, but this method requires a separate frame for fine adjustment and a jack for moving the fine adjustment. And control becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and substantially eliminates backlash between a ring gear of a revolving drum and a drive gear of a hydraulic motor, and enables highly accurate positioning of the segment in the circumferential direction. It is an object of the present invention to provide a positioning method and an apparatus therefor.

[0009]

In order to achieve the above object, a method for positioning a segment according to the present invention comprises the steps of: a) a rotating drum provided on a tunnel machine and rotatably disposed in a circumferential direction thereof; A segment gripping mechanism movably mounted at least in the radial direction with respect to the revolving drum, and a plurality of hydraulic motors having drive gears meshing with a ring gear provided on the revolving drum, allowing the revolving drum to have an arbitrary shape. In the segment positioning method for rotating the segment in the circumferential direction to position the segment in the circumferential direction, b) when high-precision segment positioning is required, some hydraulic motors of the plurality The segment is rotated in a specific direction while a rotational force is generated in the reverse direction to the hydraulic motor, and c) the rotation direction of the segment is switched in the reverse direction. The rotational force of the hydraulic motor to the rotation force in the forward direction of the hydraulic motor is to perform by adjusting relatively large.

[0010] The positioning device of the present invention is also provided in A) a tunnel excavator, which is provided with a swivel drum which is arranged so as to be able to swivel in the circumferential direction thereof, and which is freely movable in at least a radial direction with respect to the swivel drum. A segment gripping mechanism, and a plurality of hydraulic motors having a drive gear meshing with a ring gear provided on the rotating drum, and rotating the rotating drum in an arbitrary direction to position the segment in the circumferential direction. B) a servo valve is interposed between each of the plurality of hydraulic motors and a hydraulic circuit that connects a hydraulic pressure generation source in parallel, and C) a hydraulic pressure of a part of the plurality of hydraulic motors. A servo amplifier of another system is connected so that the servo valve for the motor and the servo valve for another hydraulic motor can be operated independently of each other.

[0011]

According to the segment positioning method of the present invention having the above-described structure, for example, when positioning the segment at the lowest center position where the highest accuracy is required, some of the plurality of hydraulic motors are used. The segment is rotated in the forward direction together with the turning drum by the rotation of the main drive hydraulic motor while generating a rotational force in the direction opposite to the forward direction (main drive) hydraulic motor. Then, when the rotating drum rotates, for example, by a predetermined angle from the reference position and the segment reaches the set position, the rotation of the rotating drum is stopped. When the turning drum stops in this way, if the turning drum excessively rotates in the forward direction (overruns) due to its inertial force or the like, the torque of some hydraulic motors that generated the torque in the reverse direction is reduced. The segment is rotated with the rotating drum in the reverse direction by the rotation of the reverse rotation hydraulic motor, and the overrun is returned. As a result,
When the segment comes to the set position, the turning drum is held and positioned at that position. When positioning as described above, the teeth of the drive gears of some hydraulic motors abut against the teeth on the reverse rotation side of the ring gear, and the teeth of the drive gears on the remaining hydraulic motors abut on the forward rotation teeth of the ring gear. And there is no backlash in either direction,
Even when the reverse rotation hydraulic motor starts rotating, the turning ring rotates simultaneously with the rotation of the reverse rotation hydraulic motor, and the segment is positioned with high accuracy. The fixed position of the turning drum is maintained by, for example, reducing the flow rate of the pressurized oil to the hydraulic motors for the main drive and the reverse rotation to apply only the oil pressure.

According to the positioning device of the second aspect, the supply direction of the pressure oil to a part of the plurality of hydraulic motors is
By reversing the other hydraulic motor by a servo valve, it can be used as a hydraulic motor for removing backlash. Also, when a high rotational force is required to rotate the rotating drum, the supply direction of the pressure oil to the hydraulic motor for removing the backlash is switched to the same direction as the other hydraulic motors by the servo valve. Can also contribute to the forward rotation of.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A segment positioning method according to the present invention will be described below with reference to the drawings, together with an embodiment of a positioning device. FIG. 1 shows an outline of a positioning device in an automatic assembling device for a segment of a shield excavator. Control of a plurality of hydraulic motors and a hydraulic circuit (FIG. 2)
Except for the above, since it is common to the above-described conventional segment assembling apparatus, detailed description is omitted. As shown in the figure, a plurality of (four in the present embodiment) hydraulic motors are provided with a ring gear 7 fixedly mounted on a revolving drum 4 provided with a segment gripping mechanism 5 and supported by a shield tail 1 (FIG. 6). Drive gears 9a to 9d of 8a to 8d are meshed with the ring gear 7, respectively.

Each of the hydraulic motors 8a to 8d is connected to a pressurizing pump 11 and an oil tank 12, which are a common hydraulic pressure generating source, as shown in FIG.
Electro-hydraulic servo valves (hereinafter referred to as servo valves)
They are connected by a pipe 13 via 10a to 10d. Each of the servo valves 10a to 10d is operated by an electric signal from the servo amplifiers 14 and 15, so that the output of hydraulic pressure supplied to the hydraulic motors 8a to 8d, the amount of hydraulic oil are adjusted, and the supply direction of hydraulic oil is switched. In this embodiment, the servo valves 10a to 10c of three hydraulic motors 8a to 8c among the hydraulic motors 8a to 8d are operated by a common servo amplifier 14, and the servo valves 10d of the remaining one hydraulic motor 8d are operated. The servo amplifier 15 of another system is operated independently.

That is, when positioning the segment A1 gripped by the segment gripping mechanism 5 at the lowermost center position, as shown in FIG. 1, the three hydraulic motors 8a to 8c
Are rotated in the same direction by an electric signal from the servo amplifier 14 (FIG. 2) to rotate the ring gear 7 clockwise. At this time, each tooth t of the drive gears 9a to 9c abuts the clockwise tooth T1 of the ring gear 7. At the same time,
The remaining one hydraulic motor 8d generates a rotational force (idling state) in the reverse direction by an electric signal from the servo amplifier 15 (FIG. 2), so that the teeth t of the driving gear 9d are generated.
Comes into contact with the tooth T2 on the counterclockwise side of the ring gear 7. Therefore, when rotating the rotating drum 4 in the reverse direction (counterclockwise), the output (rotational force) of each of the hydraulic motors 8a to 8c is reduced to the idling state by the electric signal from the servo amplifier 14, and the servo amplifier 15 By increasing the output of the hydraulic motor 8d from the total output of the three hydraulic motors 8a to 8c by the electric signal of the above, the rotating drum 4 rotates in the reverse direction. As described above, the teeth t of the drive gear 9d of the hydraulic motor 8d
Is in contact with the tooth T2 on the counterclockwise side of the ring gear 7, so that there is no backlash and the rotating drum 4 rotates simultaneously with the rotation of the hydraulic motor 8d.

In this way, the positioning of the segment A1 at the lowermost center position can be performed with high accuracy.
To the existing segment, the segment A1
The other segments may be stacked and positioned with reference to. In this case, since high-precision positioning is not required, the servo amplifier is used to eliminate hydraulic energy loss.
The output (rotation) direction of the hydraulic motor 8d is switched to the same direction as the other hydraulic motors 8a to 8c by the electric signal from 15, and the rotating drum 4 is rotated by the four hydraulic motors 8a to 8d in the same manner as the conventional device. It should be done.

FIGS. 3 and 4 show a positioning device according to another embodiment of the present invention. The difference of the apparatus of the present embodiment from the above embodiment is that two of the four hydraulic motors 8a to 8d described above generate a rotational force in the opposite direction to the other hydraulic motors 8a and 8b. Or cause
It is possible to rotate in the opposite direction. For this reason, as shown in FIG. 4, the servo valves 10c and 10d of the hydraulic motors 8c and 8d can be simultaneously operated by the servo amplifier 15. Other configurations are the same as those of the above-described embodiment, and a description thereof will be omitted.

According to this embodiment, the backlash can be eliminated at all the turning angles of the turning drum 4 in the circumferential direction.
High-precision positioning is possible. The turning direction of the turning drum 4 is switched by the servo amplifier 14 using two hydraulic motors.
The outputs of 8a and 8b and the amount of hydraulic oil are also adjusted as appropriate by the servo amplifier 15, and the outputs of hydraulic motors 8c and 8d and the amount of hydraulic oil are appropriately adjusted. Can be performed by making the sum larger than

[0019]

As is apparent from the above description,
According to the segment positioning method and apparatus of the present invention, the following effects can be obtained. (1) Since the backlash between the ring gear of the rotating drum and the drive gear of the hydraulic motor can be substantially eliminated,
Highly accurate positioning of the segments in the circumferential direction is enabled. For this reason, as described in the above-mentioned publication, it is not necessary to separately provide a frame for fine turning adjustment or a jack for movement on the turning drum. (2) When switching the turning direction of the turning drum, the turning direction can be smoothly reversed without rattling.

[Brief description of the drawings]

FIG. 1 is a front view showing an outline of a segment positioning device according to an embodiment of the present invention.

FIG. 2 is a hydraulic circuit diagram of the positioning device of FIG.

FIG. 3 is a front view showing a positioning device according to another embodiment of the present invention.

4 is a hydraulic circuit diagram of the positioning device of FIG.

FIG. 5 is a front view of a segment assembling apparatus provided with a conventional general positioning device.

FIG. 6 is a side sectional view of FIG. 5;

[Explanation of symbols]

 4 Revolving drum 5 Segment gripping mechanism 7 Ring gear 8a-8d Hydraulic motor 9a-9d Drive gear 10a-10d Servo valve 14,15 Servo amplifier

Claims (2)

(57) [Claims] 1. A swivel drum provided in a tunnel machine and rotatably arranged in a circumferential direction thereof, and a segment gripping device movably mounted at least in a radial direction with respect to the swivel drum. In a segment positioning method for rotating the rotating drum in an arbitrary direction and positioning the segment in the circumferential direction by a plurality of hydraulic motors provided with drive gears meshing with the ring gear provided on the rotating drum, a high precision When positioning of the segment is required, some of the plurality of hydraulic motors,
The segment is rotated in a specific direction while a rotational force is generated in a direction opposite to that of the other hydraulic motors, and switching of the rotational direction of the segment is performed by changing the rotational force of the hydraulic motor in the reverse direction to the hydraulic motor in the forward direction. A method of positioning a segment in a tunnel machine, wherein the method is performed by adjusting the rotation force to be relatively larger than the rotation force. 2. A rotating machine according to claim 1, further comprising: a rotating drum provided on the tunnel machine and rotatably disposed in a circumferential direction thereof; and a segment gripping mechanism movably mounted at least in a radial direction with respect to the rotating drum. In a segment positioning device, a plurality of hydraulic motors each having a drive gear meshing with a ring gear provided on the turning drum rotate the turning drum in an arbitrary direction to position the segment in the circumferential direction. Servo valves are interposed between each hydraulic motor and a hydraulic circuit that connects a hydraulic pressure generation source in parallel, and a servo valve for some hydraulic motors and a hydraulic valve for another hydraulic motor among the plurality of units are used. A servo amplifier of a different system is connected so that the servo valves can be operated independently of each other.