JP3365378B2 - Segment positioning device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment positioning device equipped on a shield machine.

[0002]

2. Description of the Related Art FIGS. 3 to 6 show an example of a conventional segment positioning device. A shield machine equipped with this segment positioning device is a cylindrical machine body having a cutter face 1 for ground excavation at its front end. 4, a rear body 5 connected to the rear end of the excavator main body 4, and a portion of the excavator main body 4 near the rear end so that the cylinder is located on the front side of the excavator and the ram is located on the rear side of the excavator. It is provided with a plurality of shield jacks 13 arranged at equal intervals in the circumferential direction, and a screw conveyor 25 for sending the earth and sand excavated by the cutter face 1 to the rear side of the excavator.

The cutter face 1 includes a thrust bearing 6 interposed between a front end portion of the excavator body 4 and a back surface portion of the cutter face 1, a front inner peripheral surface of the excavator body 4 and a rear outer peripheral surface of the cutter face 1. Mounted on the partition 3 and the outer bearing 7 interposed between the outer peripheral flange of the partition wall 3 installed in the front portion of the machine body 4 and the rear inner peripheral surface of the cutter face 1. Bearing 9 for pivotally supporting the rotation center shaft 2 that is coaxially projected rearward from the cutter face 1
Is rotatably supported by.

Further, on the rear inner edge of the cutter face 1,
The ring gear 10 is integrally formed.

A pinion 11 driven by a hydraulic motor 12 mounted on the partition 3 meshes with the ring gear 10, and when the hydraulic motor 12 is operated, the cutter face 1 rotates in the circumferential direction of the excavator.

The housing of the shield jack 13 is pivotally supported by the excavator body 4, and when hydraulic pressure is applied to the cylinder with the ram in contact with the segment S assembled along the inner surface of the rear body 5, the excavator body is The thrust acts on the rear body 4 and the rear body 5.

The screw conveyor 25 penetrates the partition wall 3 so that its front end is located inside the cutter face 1 and its rear end is located behind the rear body 5.

A motor 26 for driving a feeder is mounted on the rear end of the screw conveyor 25.
6 is activated, the sand in the cutter face 1 is removed from the rear body 5
Is discharged to the earth discharging pipe 18 extending toward the rear side of the excavator.

Further, a plurality of segments S are provided in the rear body 5.
A segment positioning device for annularly assembling is arranged.

The segment positioning device comprises an annular support plate 31 internally fixed to the rear body 5, a plurality of rollers 16 pivotally supported on the end face of the support plate 31 on the rear side of the excavator, and the roller 1.
6, a rotary body 17, a gate-shaped member 19 arranged on the rear side of the excavator of the rotary body 17, and the gate-shaped member 19
The holding plate 30 that is integrally displaced together with the segment S
An oscillating plate 38 having a grasping mechanism 22 capable of grabbing and a parallel manipulator 32 interposed between the oscillating plate 38 and the holding plate 30 are provided.

The rotating body 17 has an annular portion 17a coaxially located on the rear side of the excavator of the support plate 31, and a flange protruding from the outer edge of the annular portion 17a toward the forward side of the excavator and rotatably abutting on the roller 16. It has a portion 17b and a ring gear 17c integrally formed on the inner surface of the flange portion 17b, and the screw conveyor 25 described above is inserted into the through hole 17d at the central portion of the rotating body 17.

The ring gear 17c has a pinion 15 driven by a hydraulic motor 14 mounted on a support plate 31.
Are engaged, and when the hydraulic motor 14 is operated,
The rotating body 17 rotates in the circumferential direction of the excavator.

The gate-shaped member 19 is composed of a pair of moving jacks 27 extending parallel to each other in the radial direction of the excavator and a pair of moving jacks 28 extending parallel to each other in the longitudinal direction of the excavator. It can be displaced both in the radial direction and in the longitudinal direction of the machine.

The holding plate 30 projects from the gate-shaped member 19 to the rear side of the excavator.

The oscillating plate 38 has a surface opposite to the gripping mechanism 22,
It is arranged so as to face the holding plate 30.

The parallel manipulator 32 includes six hydraulic servo cylinders 3 each extending substantially in the radial direction of the excavator.
3a to 33f.

The housings of the cylinders 33a and 33b are
The housing of the cylinders 33c and 33d is pivotally supported by the joint 36a provided at the first position of the rocking plate 38, and
8 is pivotally supported by a joint 36b provided at a second position, and the housings of the cylinders 33e and 33f are pivotally supported by a joint 36c provided at a third position of the swing plate 38.

Joints 36b and 3 for the joint 36a described above
The spacing of 6c and the spacing of the joint 36c with respect to the joint 36b are set to be equal.

The rods of the cylinders 33b and 33c are pivotally supported by the joint 37a provided at the first position of the holding plate 30, and the rods of the cylinders 33d and 33e are the joints provided at the second position of the holding plate 30. Cylinder 3 pivotally supported by 37b
The rods 3f and 33a are pivotally supported by a joint 37c provided at a third portion of the holding plate 30.

Joints 37b and 3 for the joint 37a described above
The interval of 7c and the interval of the joint 37c with respect to the joint 37b are set to be equal.

As a result, the cylinders 33a ...
In the state where the protrusion amounts of the piston rods of 33f are made equal, the swing plate 38 faces the holding plate 30.

Further, when the protrusion amount of the pistons of the cylinders 33a to 33f is appropriately adjusted, the front and rear X, the left and right Y, the upper and lower Z,
The swing plate 38 is displaced in each of the pitching α, rolling β, and yawing γ directions.

In the figure, 23 is a bolt between pieces and 24
Is an inter-ring bolt, and among the segments S fixed by the segment positioning device, those that are adjacent to each other in the tunnel inner circumferential direction are mutually fastened by the inter-piece bolts 23, and those that are adjacent to each other in the tunnel extension direction are
They are fastened to each other by inter-ring bolts 24.

In the segment positioning device described above, the gripping mechanism 22 is formed by rotating the rotating body 17 in the circumferential direction of the excavator with respect to the support plate 31 and moving the gate-shaped member 19 in the longitudinal direction of the excavator by the moving jack 28. The segment S gripped by the user is made to face the stationary place, and the moving jack 27
By moving the gate-shaped member 19 in the radial direction of the excavator, the segment S gripped by the gripping mechanism 22 is brought closer to the stationary position, and further, by the parallel manipulator 32, the front and rear X of the segment S, the left and right Y, and the vertical position of the segment S. The postures in the Z, pitching α, rolling β, and yawing γ directions are adjusted according to the segment S in which assembly is completed.

[0025]

However, in the segment positioning apparatus shown in FIGS. 3 to 6, when the shield machine equipped with the segment positioning apparatus has a small or small bore diameter, the cylinders 33a to 33c of the parallel manipulator 32 are arranged in parallel. When the stroke of 33f is increased and the movable range of the swing plate 38 with respect to the holding plate 30 is expanded, the component members of the segment positioning device interfere with the screw conveyor 25 inserted into the rotating body 17.

For this reason, in the conventional segment positioning device, moving jacks 27 and 28 are provided separately from the parallel manipulator 32, and the holding plate 30 together with the gate-shaped member 19 makes a large stroke in the excavator radial direction and the excavator longitudinal direction. The parallel manipulator 32 performs only the minute movement of the segment S and the positioning operation of the segment S is not easy.

Further, since hydraulic pressure is applied to each of the moving jacks 27 and 28 which rotate together with the rotating body 17 and the cylinders 33a to 33f of the parallel manipulator 32, the hydraulic pressure source for fixing the position to the rear body 5 is provided. And cylinder 33
Since it is necessary to interpose a rotary joint or the like between a and 33f, and in addition to this, it is necessary to install a special hydraulic pressure control device that is not affected by rotation on the rotary body 17, so hydraulic piping The system and the hydraulic control system become complicated.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a segment positioning device capable of facilitating positioning of a segment and simplifying a hydraulic piping system and a hydraulic control system. I am trying.

[0029]

In order to achieve the above object, in a segment positioning device according to claim 1 of the present invention, a support provided in the trunk of a machine and a rear side of the support are provided. A parallel manipulator having an oscillating body, a plurality of linear actuators extending substantially in the longitudinal direction of the excavator, and connecting a oscillating plate to an oscillating plate in a swingable manner; The rotating body is provided with a rotating body rotatable in the direction, and a segment holding mechanism attached to the rotating body and capable of holding a segment.

In the segment positioning device according to the second aspect of the present invention, an annular support body inscribed and fixed to the trunk of the excavator, an annular rocking body facing the rear end surface of the support body, and a substantially excavator machine. A parallel manipulator having a plurality of linear motion actuators extending in the front-rear direction and connecting an oscillating body to an oscillating body, and a parallel manipulator mounted coaxially on the oscillating body and rotatable in a circumferential direction of the excavator. An annular rotating body and a segment holding mechanism attached to the rotating body and capable of holding a segment are provided.

In the segment positioning apparatus of the present invention, the segment is conveyed to the stationary position and its posture is adjusted by the rotation of the rotating body with respect to the oscillator and the displacement of the oscillator by the plurality of linear actuators of the parallel manipulator. To do.

Further, a hydraulic piping system and a hydraulic control system are used in the case where a parallel manipulator is interposed between a position-fixed support and an oscillating body, and a hydraulic cylinder is used as a linear actuator constituting the parallel manipulator. To simplify.

[0033]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show an example of an embodiment of a segment positioning device of the present invention, and FIGS.
The parts denoted by the same reference numerals as in FIG.

This segment positioning device comprises an annular support member 40 inscribed and fixed to the rear body 5, and an annular oscillating member 4 arranged in the rear body 5 so as to face the rear end face of the support member 40.
1, a parallel manipulator 42 interposed between the rocking body 41 and the support body 40, a plurality of rollers 44 pivotally supported on the end surface of the rocking body 41 on the rear side of the excavator, and rotation supported by the rollers 44. The body 45 and the gripping mechanism 22 that is integrally displaced with the rotating body 45 are provided, and the outer diameter of the rocking body 41 is set to be smaller than the inner diameter of the rear body 5.

The parallel manipulator 42 is composed of six hydraulic servo cylinders 43a to 43f, each of which extends substantially in the longitudinal direction of the excavator.

The housings of the cylinders 43a and 43b are
The housing of the cylinders 43c and 43d is pivotally supported by a joint 46a provided at the first position of the support body 40, and
0 is pivotally supported by a joint 46b provided at a second position, and the housings of the cylinders 43e and 43f are pivotally supported by a joint 46c provided at a third position of the support body 40.

Joints 46b, 4 with respect to the joint 46a described above
The spacing of 6c and the spacing of the joint 46c with respect to the joint 46b are set to be equal.

The rods of the cylinders 43b and 43c are pivotally supported by the joint 47a provided at the first position of the rocking body 41, and the rods of the cylinders 43d and 43e are the joints provided at the second position of the rocking body 41. Cylinder 4 pivotally supported by 47b
The rods 3f and 43a are pivotally supported by a joint 47c provided at the third position of the rocking body 41.

Joints 47b and 4 for the joint 47a described above
The interval of 7c and the interval of the joint 47c with respect to the joint 47b are set to be equal.

As a result, the cylinders 43a ...
In the state where the protrusion amounts of the piston rods of 43f are made equal, the oscillating body 41 is positioned coaxially and faces the support body 40.

If the protrusion amount of the pistons of the cylinders 43a to 43f is properly adjusted, the front and rear X, the left and right Y, the upper and lower Z,
The oscillator 41 is displaced in each of the pitching α, rolling β, and yawing γ directions.

The rotating body 45 has an annular portion 45a coaxially positioned on the rear side of the excavator of the rocking body 41, and a flange protruding from the outer edge of the annular portion 45a to the forward side of the excavator and rotatably abutting on the roller 44. It has a portion 45b and a ring gear 45c integrally formed on the inner surface of the flange portion 45b, and the screw conveyor 25 (see FIG. 3) is inserted into the through hole 45d at the central portion of the rotating body 45.

The ring gear 45c has a pinion 49 driven by a hydraulic motor 48 attached to the oscillator 41.
Are engaged and the hydraulic motor 48 is operated,
The rotating body 45 rotates in the circumferential direction of the excavator.

The gripping mechanism 22 is attached to the holding plate 50 protruding from the rotating body 45 to the rear side of the excavator so as to face the inner peripheral surface of the tunnel.

In the segment positioning device described above, the rotation of the rotating body 45 with respect to the oscillating body 41 in the circumferential direction of the excavator moves the segment S gripped by the gripping mechanism 22 in the direction corresponding to the stationary position, Then, the parallel manipulator 42 brings the segment S into close proximity to the stationary position, and the front and rear X, the left and right Y, the upper and lower Z,
The postures in the pitching α, rolling β, and yawing γ directions are adjusted according to the segment S for which assembly is completed.

As described above, in the segment positioning device shown in FIGS. 1 and 2, since the rocking body 41 is displaced by the parallel manipulator 42 having the plurality of cylinders 43a to 43f extending substantially in the longitudinal direction of the excavator, the cylinders 43a to 43f are displaced. Even if the stroke of 43f is increased and the movable range of the oscillating body 41 with respect to the support body 40 is expanded, the constituent members of the segment positioning device do not interfere with the screw conveyor 25 (see FIG. 3) inserted into the rotating body 45.

Further, the rotation of the rotating body 45 with respect to the oscillating body 41 and the displacement of the oscillating body 41 by the parallel manipulator 42 convey the segment S to the stationary position and adjust its posture, so that the positioning operation of the segment S is performed. Can be done easily.

Further, the cylinders 43a to 43f of the parallel manipulator 42 have a structure in which they do not move in the circumferential direction of the excavator, and a hydraulic pressure source fixed to the rear case 5 and the cylinders 43a to 4f.
It is possible to simplify the hydraulic piping system and the hydraulic control system without interposing a rotary joint or the like with 3f or using a special hydraulic control device.

The segment positioning device of the present invention is not limited to the above-described embodiment, but a linear actuator of another system may be used instead of the hydraulic servo cylinder, and an electric motor instead of the hydraulic motor. It is needless to say that the above is used for the driving means of the rotating body and that other changes can be made without departing from the scope of the present invention.

[0051]

As described above, according to the segment positioning device of the present invention, various excellent effects can be obtained as follows.

(1) Since the oscillating body is displaced by the parallel manipulator having a plurality of linear motion actuators extending substantially in the longitudinal direction of the excavator, the stroke of the linear motion actuator is increased and the movable range of the oscillating body with respect to the support is expanded. However, it is possible to avoid interference between the linear motion actuator of the parallel manipulator and other devices of the shield machine.

(2) Since the segment is transported to the stationary place and its posture is adjusted by the rotation of the rotating body with respect to the oscillator and the displacement of the oscillator by the parallel manipulator,
The segment positioning operation can be easily performed.

(3) Since the parallel manipulator is interposed between the position-fixed support and the oscillator, and the linear actuator constituting the parallel manipulator does not move in the excavator circumferential direction, the linear actuator is When using a hydraulic cylinder, it is not necessary to interpose a rotary joint between the hydraulic source and the hydraulic cylinder whose position is fixed in the trunk of the machine, and to use a special hydraulic control device. It is possible to simplify the pressure piping system and the hydraulic control system.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing a shield machine equipped with an example of an embodiment of a segment positioning device of the present invention.

FIG. 2 is a vertical sectional view showing an example of an embodiment of a segment positioning device of the present invention.

FIG. 3 is a vertical cross-sectional view showing a shield machine equipped with an example of a conventional segment positioning device.

FIG. 4 is a vertical cross-sectional view showing an example of a conventional segment positioning device.

FIG. 5 is a front view showing an example of a conventional segment positioning device.

FIG. 6 is a conceptual diagram of the parallel manipulator in FIGS. 4 and 5.

[Explanation of symbols] 5 Rear torso (Excavator body) 22 Grip mechanism 40 support 41 Oscillator 42 Parallel manipulator 43a to 43f Cylinder (direct acting actuator) 45 rotating body

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroaki Tomimatsu 11-1 Kitahama-cho, Chita-shi, Aichi Ishikawajima Harima Heavy Industries, Ltd. Aichi factory (56) Reference JP-A-6-60698 (JP, A) Kaihei 9-112197 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (2)

(57) [Claims] 1. A support body provided with a support body provided inside the trunk of the excavator, a rocking body disposed on the rear side of the support body, and a plurality of linear actuators extending substantially in the front-rear direction of the excavator and supporting the rocker body. A parallel manipulator that is swingably connected to the rotary manipulator; a rotating body that is attached to the swinging body and that is rotatable in the circumferential direction of the excavator; and a segment gripping mechanism that is attached to the rotating body and that can grip a segment. A segment positioning device comprising: 2. An annular support body inscribed and fixed to the body of the excavator, an annular oscillating body facing the rear end surface of the support body, and a plurality of linear motion actuators extending substantially in the longitudinal direction of the excavator. A parallel manipulator that swingably connects the swing body to the support body, an annular rotary body that is coaxially mounted on the swing body and is rotatable in the circumferential direction of the excavator, and is attached to the rotary body. A segment positioning device comprising a segment gripping mechanism capable of gripping a segment.