JP3428188B2 - Segment positioning method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a segment positioning method used for assembling a segment constructed as a primary lining during tunnel excavation by a shield excavator.

[0002]

2. Description of the Related Art Conventionally, a device called an erector is used for segment assembly of a shield excavator for tunnel excavation. Coarse positioning is first performed with the erector, and then the operator uses the rattling of the segment grips attached to the erector to perform the precise positioning manually.
However, since this work is hard work and dangerous work,
Recently, automation of this work has been popular. For example, JP-A-3-
In the 94000 publication, a magnetic sensor is provided on the erector,
There is disclosed a technique of moving an erector to directly detect a bolt hole of an existing segment with a magnetic sensor and stopping the erector when the bolt hole is detected.

[0003]

By the way, the weight of the erector is several t, while the weight of the gripped segment is also several 100 kg. In moving such a heavy object, accurate segment positioning cannot be performed unless the excess due to inertial force is taken into consideration. That is, the above-mentioned conventional technique does not consider such inertial force, and therefore, there is a problem that the segment cannot be positioned unless the erector is moved at an extremely low speed.

As a technique aiming at solving such a problem, there is JP-A-4-149398. However, this is a configuration in which the detector is angularly displaced and triangulation is performed with the angle and the obtained distance, but no description that can achieve the above object can be found at all from the entire disclosure.

[0005]

In order to solve the above-mentioned problems of the prior art, the first segment positioning method is that the erector 200 moves while gripping the built-in segment 300 to move the bolt hole of the built-in segment 300. In the segment positioning method of aligning 500a with the bolt hole 500b of the existing segment 400, (a) the mark detector 11a provided on the erector 200 detects the mark M such as the edge of the bolt box of the existing segment 400, and (b) It is characterized in that the detected signal is used as a trigger signal to reduce the moving speed of the erector 200, and (c) the erector 200 is stopped after moving a certain distance.

The second segment positioning method is a segment positioning method in which the erector 200 moves while gripping the built-in segment 300 to align the bolt hole 500a of the built-in segment 300 with the bolt hole 500b of the existing segment 400. (a) Two mark detectors 11 provided on the erector 200
A mark M such as the edge of a bolt box of the existing segment 400 is detected by one of the mark detectors 11a of a and 11b , and (b) the detected signal is used as a trigger signal to reduce the moving speed of the erector 200, (c) During deceleration movement, the two mark detectors 11a, 11
In the other mark detector 11b of FIG.
When the mark M such as the edge of the bolt box is detected, the erector 200 is stopped.

The third segment positioning method is characterized in that the segment positioning method according to claim 1 or 2 is performed while the posture of the built-in segment 300 with respect to the existing segment 400 is kept substantially constant in the erector 200. .

[0008]

According to the first aspect of the invention, the erector 200 moves while holding the built-in segment 300, and the mark detector 11a provided on the erector 200 detects the mark M such as the edge of the bolt box of the existing segment 400. The detected signal is used as a trigger signal to reduce the moving speed of the erector 200, and after moving a certain distance, the erector 200 is stopped. As a result, the bolt holes 50 of the embedded segment 300 are
0a is aligned with the bolt hole 500b of the existing segment 400.

According to the second aspect of the invention, the erector 200 moves while gripping the built-in segment 300,
One of the two mark detectors 11a, 11b provided in the mark detector 11a detects a mark M such as an edge of a bolt box of the existing segment 400, and (b) detects the detected signal. As a trigger signal, the moving speed of the erector 200 is decelerated, and (c) the two mark detectors 11a and 11 are decelerated when moving.
In the other mark detector 11b of FIG.
When the mark M such as the edge of the bolt box is detected, the erector 200 is stopped. As a result, the bolt hole 500a of the built-in segment 300 is installed in the existing segment 4
Align with the bolt hole 500b of 00. Two marks
When the other mark detector 11b of the detectors 11a and 11b detects the mark M, the bolt hole 500a of the built-in segment 300 is the bolt hole 500 of the existing segment 400.
It is a position that matches b.

According to a third invention, the first invention or the second invention is provided.
The invention is performed by the erector 200 while substantially maintaining the posture of the built-in segment 300 with respect to the existing segment 400.

[0011]

EXAMPLES Examples will be described with reference to FIGS.
An erector is rotatably attached to the inner circumference of the tail seal of the shield excavator via a slewing ring. Figure 1
The arm type erector will be described with reference to FIG.

The link mechanism 1 is attached to the bracket 110 protruding from the turning ring 100 in the tunnel direction (left direction in the drawing).
An elector 200 is attached via 20. The erector 200 is rotatable in the direction of arrow D1 (that is, around the axis of the shield excavator) by rotating the swing ring 100 by a swing motor (reference numeral 1 in FIG. 2) not shown. The link mechanism 120 includes the bracket 1
Boom 1 pivotally mounted on 10 and rotatable in the direction of arrow D2 by a boom cylinder (reference numeral 2 in FIG. 2) not shown.
21 and an arm 122 pivotally attached to the boom 121 and rotatable by the arm cylinder 3 in the direction of arrow D3.
Consists of.

The erector 200 has a rolling adjustment member 210 pivotally attached to a roll shaft 123 at the tip of the arm 122. The rolling adjustment member 210 includes the arm 12
2 by the rolling cylinder 4 provided between the arrow D4
Direction (ie around an axis parallel to the axis of the shield excavator)
It is supposed to be rolling. A yawing adjustment member 220 is provided below the rolling adjustment member 210 so as to be yawable in the direction of arrow D5 by a yawing cylinder (not shown) (reference numeral 5 in FIG. 2). The yawing adjustment member 220 has a slide shaft 231 and a slide block 231.
30 is provided so as to pass through in parallel with the axial direction of the shield excavator. The sliding block 230 is slidable in the direction of arrow D6 by a sliding cylinder (not shown) (reference numeral 6 in FIG. 2). A pitching adjusting member 240 is attached to the lower part of the sliding block 230. The pitching adjustment member 240 is pivotally attached to the pitching shaft 241 attached to the slide block 230 via a bracket (not shown) in the tangential direction of the built-in segment 300, and is freely pitched in the direction of arrow D7 by the pitching cylinder 7. There is. Below the pitching adjustment member 240, a gripping device (not shown) for gripping the built-in segment 300 is provided. In addition, the pitching adjusting member 240 is provided with roller guides 250 having rollers 251a and 251b at the tips through force detectors (not shown) (reference numerals 8a and 8b in FIG. 2) from both ends toward the inner peripheral surface of the existing segment 400. , 25
0, and one mark detector (not shown) (not shown in FIG. 2 and FIG. 5) for detecting the mark M previously provided on the existing segment 400 toward the inner peripheral surface of the existing segment 400.
a) and are provided. Reference numeral 260 is a bolt fastening device for bolting the built-in segment 300 and the existing segment 400, and the fastening operation is automatically controlled by a controller (not shown) such as the arithmetic unit 12 in FIG. After the positioning of 300 to a predetermined position is completed, it is automatically fastened to the existing segment 400.

The erector 200 includes a force detector 8a,
In addition to 8b and the mark detector 11a, various detectors are provided, and the embedded segment 300 is positioned by the following procedure. A first embodiment will be described with reference to FIGS.

FIG. 2 is a block diagram of an apparatus using the first embodiment. The arithmetic unit 12 including a microcomputer or the like outputs a signal for positioning the built-in segment 300 to each operation valve 13 of the hydraulic circuit based on inputs from various detectors. Each operation valve 13 operates the actuator by pressure oil based on the signal.

First, the detectors are the force detectors 8a and 8b.
In addition to the mark detector 11a, a swing angle detector 1d for detecting the swing angle θ1 of the swing ring 100, a boom angle detector 2d for detecting the swing angle θ2 of the boom 121, and a swing angle θ3 of the arm 122 are set. Arm angle detector 3 for detecting
d, a rolling angle detector 4d for detecting the rolling angle θ4 of the rolling adjustment member 210, a stroke detector 5s for detecting the stroke of the yawing cylinder 5, and a stroke detector for detecting the stroke of the sliding cylinder 6. 6s, a stroke detector 7s for detecting the stroke of the pitching cylinder 7, and a hydraulic pressure detector 10 for detecting the hydraulic pressure Py of the yawing cylinder 5.
y, an oil pressure detector 10s for detecting the oil pressure Ps of the sliding cylinder 6, and an oil pressure detector 10p for detecting the oil pressure Pp of the pitching cylinder 7. The distance detectors 9a and 9b and the mark detector 11b shown in FIG. 2 are used in other embodiments described later and do not exist in the first embodiment.

Next, the actuator is the swing motor 1,
It comprises a boom cylinder 2, an arm cylinder 3, a rolling cylinder 4, a yawing cylinder 5, a sliding cylinder 6 and a pitching cylinder 7.

The detectors 8a, 8b, 11a, 1d-4.
d, 5s to 7s, 10y, 10s, 10p, arithmetic unit 1
2, the operation valve 13 and the actuators 1 to 7 are servo-controlled according to the flow of FIG. 4 to 9 show details of the flow of FIG.

The control of segment positioning is roughly divided into steps S1 to S3 as shown in FIGS.
Starting from "Coarse alignment (Fig. 4 (1))", perform "Inner diameter face alignment (Fig. 4 (2))" in steps S4 to S5,
Further, while performing the "inner diameter surface alignment" of steps S4 to S5, "yawing, pitching, sliding alignment (FIG. 4 (3))" of steps S6 to S7, and steps S8 to S
12 "tunnel circumference direction alignment (Fig. 4 (4))",
“Tunnel axial direction end face alignment ((5) in FIG. 4)” in steps S13 to S14 is performed in this order, and the process ends.

The "coarse alignment (FIG. 4 (1))" in steps S1 to S3 is as follows. When the target values (angle, stroke) for coarse positioning are set (step S1),
The computing device 12 operates the swing motor 1 until the swing angle θ1 of the swing ring 100 reaches a target value, and the swing ring 10 is operated.
Turn 0. Along with this, the boom cylinder 2 and the arm cylinder 3 are operated to move the erector 200 in the radial direction until the boom angle θ2 and the arm angle θ3 also reach the target angles. Of course, the other actuators 4 to 7 are also operated so as to reach their respective target values. That is, the arithmetic unit 12 is
From each detector 1d to 4d, 5s to 7s, the rotation angles θ1 to θ4 of each actuator 1 to 7 and each cylinder stroke S.
Input 5 to S7, and the difference from each target value is zero "0"
Servo control is performed on each of the actuators 1 to 7 (steps S2 to S3). After that, servo control for fine adjustment is performed.

Then, the arithmetic unit 12 performs steps S4 to S4.
Fine adjustment of "5. Inner diameter surface alignment (Fig. 4 (2))" is performed.
As a result of the "coarse alignment" in steps S1 to S3, the rollers 251a and 251 are provided on the inner peripheral surface of the existing segment 400.
b comes into contact with each other, and the existing segment 4 is attached to each force detector 8a, 8b.
The pressing forces Fa and Fb against 00 are detected. The arithmetic unit 12 inputs both pressing forces Fa and Fb, and compares them with the preset values Fso and Fro stored in advance. The set value Fso
Is the sum “Fao + Fbo = Fso” of the set values Fao and Fb corresponding to the two pressing forces Fa and Fb, and the set value Fro is the difference “Fao−Fbo = Fro”. The comparison is
"(Fa + Fb) -Fso" and "(Fa-Fb) -Fr"
boom cylinder 2, so that both "o" and zero are "0".
Combined servo control of the arm cylinder 3 and the rolling cylinder 4 is performed.

Specifically, if Fa + Fb> Fso, the embedded segment 300 is pulled back, and conversely, Fa + Fb <F
If so, the embedded segment 300 is pressed. That is,
This corresponds to fine adjustment of elevation. On the other hand, Fa-Fb> Fro
Then, only the Fa side of the built-in segment 300 is pulled back, or only the Fb side is pushed, or the Fb side is pushed while pulling back the Fa side. On the contrary, if Fa-Fb <Fro, press only the Fa side of the built-in segment 300, or
Pull back only Fb side or press Fb side while pressing Fb
Pull back the side. That is, this corresponds to the rolling fine adjustment. And these are power imitations. Therefore, these steps S4 to S5 are hereinafter referred to as "force copying".

Then, the arithmetic unit 12 performs steps S6 to S6.
7 "Yawing, pitching, sliding alignment (Fig. 4
(3)) ”is finely adjusted. The force copying is performed during the fine adjustment so that the fine adjustment and the ascending / descending value and the rolling value obtained by the force copying maintain the optimum values without hindering each other. That is, the arithmetic unit 12 controls the boom cylinder 2, the arm cylinder 3 and the rolling cylinder 4 to move up and down and rolls by the force copying, and further, the hydraulic pressure detectors 10y, 10s, 10p.
The hydraulic pressure Py of the yawing cylinder 5, the hydraulic pressure Pp of the pitching cylinder 7 and the hydraulic pressure Ps of the sliding cylinder 6 are inputted from the above, and the respective differences "Py-Pyo, Pp-" with the preset values Pyo, Ppo, Pso stored in advance. The cylinders 5, 7, and 6 are servo-controlled so that "Ppo, Ps-Pso" becomes zero "0" (steps S6 to S7). Each set value Pyo, P for the yawing cylinder 5 and the pitching cylinder 7
po is a pressure enough to balance with its own weight, and when an external force acts around the yawing axis or the pitching axis during servo control to reach these pressures,
Each axis can move freely in a manner that follows this external force. Further, the set value Pso for the sliding cylinder 6 is a force for pressing the built-in segment 300 against the end surface of the existing segment 400 in the tunnel axis direction, whereby the yawing axis and the pitching axis can be completely matched with the existing segment 400. The yawing adjustment and the pitching adjustment are completed in this step.

Then, the arithmetic unit 12 executes steps S8 to S.
12. Fine adjustment of "tunnel circumferential direction alignment (FIG. 4 (4))" is performed. That is, as shown in FIG. 5, the arithmetic unit 12 slightly reduces the distance from the point where the edge M or the like (hereinafter referred to as the mark M) of the bolt box provided in the existing segment 400 is detected to the bolt hole 500b. It is stored in advance as the value φso of the turning angle φs. Then, the arithmetic unit 12 actuates the boom cylinder 2, the arm cylinder 3, and the rolling cylinder 4 to slightly rotate the erector 200,

(A) The mark detector 11a detects the mark M (steps S8 to S9). When the mark M is detected,
The arithmetic unit 12 determines the turning angle φs of the erector 200 at that time.
Is stored (step S10). This fine turning angle φs is
As shown in FIG. 6, in the erector coordinates around the turning center O of the turning ring 100, the rotation of the boom 121 obtained based on the turning angle θ1 (= θ1s) input from the turning angle detector 1d of the turning ring. The center coordinates (x0, y0), the boom length L2, the arm length L3, and the rolling adjustment member length L4 which are stored in advance, and the respective angle detectors 2d.
Boom angle θ2 which is the rotation angle of each joint input from 4d
(= Θ2s), arm angle θ3 (= θ3s) and rolling angle θ4 (= θ4s) are used (the rotation angles in this example are all clockwise),

## EQU1 ## φs = tan ^-1 (ys / xs) (where, ys = L2.sin .theta.2s + L3.sin (.theta.2s +
θ3s) + L4 · sin (θ2s + θ3s + θ4s) + yo xs = L2 · cos θ2s + L3 · cos (θ2s + θ3s)
+ L4.cos (θ2s + θ3s + θ4s) + xo).

(B) When the mark detector 11a detects the mark M as described above, the arithmetic unit 12 uses the detected signal as a trigger signal as shown in FIG.
Starts decelerating the fine turn of (step S11). The deceleration method is, as shown in FIG. 7, a method of maintaining a low constant velocity V2 outside the constant deceleration, for example, after the rapid deceleration as shown in FIG. 8, or a combination of these as shown in FIG. Various preparations can be made.

(C) Then, after moving a certain distance (that is, after slightly turning by the slight turning angle φso), the erector 200 is stopped (step S12). In addition, the force copying is performed during the fine turning fine adjustment so that the fine turning fine adjustment and the ascending / descending value and the rolling value obtained by the force copying maintain the optimum values without hindering each other. That is, the arithmetic unit 12 performs the elevation control and rolling control of the boom cylinder 2, the arm cylinder 3, and the rolling cylinder 4 by the force copying, and further, each angle detector 2d.
Input boom angle θ2, arm angle θ3 and rolling angle θ4 from ~ 4d,

(2) φ = tan ⁻¹ (y / x) (where y = L2 · sin θ2 + L3 · sin (θ2 + θ)
3) + L4 · sin (θ2 + θ3 + θ4) + yo x = L2 · cos θ2 + L3 · cos (θ2 + θ3) +
L4 · cos (θ2 + θ3 + θ4) + xo) and the fine turning angle φ, and the fine turning angle “φs + φs”.
The fine rotation by the boom cylinder 2, the arm cylinder 3, and the rolling cylinder 4 is servo-controlled so that the difference “φ− (φs + φso)” from “o” becomes zero “0”.

Next, the arithmetic unit 12 starts from step S13.
Fine adjustment of "tuning of the end faces in the tunnel axial direction ((5) in FIG. 4)" in S14 is performed, and all adjustments are completed. That is, the arithmetic unit 12 finely adjusts the sliding. The force copying is performed during the main sliding adjustment so that the fine adjustment of the sliding movement and the elevation value and the rolling value obtained by the force copying maintain the optimum values without hindering each other. That is, the arithmetic unit 12 controls the boom cylinder 2, the arm cylinder 3, and the rolling cylinder 4 to move up and down and rolls by the force copying, and further inputs the hydraulic pressure Ps of the sliding cylinder 6 from the hydraulic pressure detector 10s. The sliding cylinder 6 is servo-controlled so that the difference "Ps-Pso" from the preset value Pso stored in advance becomes zero "0" (step S1).
3 to S14).

According to the first embodiment described above, the following effects can be obtained. (1) The erector 200 moves while gripping the built-in segment 300 to move the bolt hole 500a of the built-in segment 300.
In the method of positioning the segment in which the bolt is aligned with the bolt hole 500b of the existing segment 400, (a) the erector 20
The mark detector 11a provided on the
For example, the mark M such as the edge of the bolt box is detected,
(b) The detected signal is used as a trigger signal to reduce the moving speed of the erector 200, and (c) the erector 200 is stopped after the erector 200 is moved for a certain distance. The segment can be accurately positioned at the optimum position regardless of the weight. (2) In addition, high-speed control is possible until deceleration, and the deceleration time thereafter is short.
(Less than a second), work efficiency becomes extremely high. (3) Further, since the vertical movement and the rolling are optimally maintained even during deceleration, and the yawing, the pitching, and the sliding are almost maintained, that is, the posture of the built-in segment 300 with respect to the existing segment 400 in the erector 200 is almost maintained. Since the positioning of the segments is performed while keeping constant, it is possible to achieve more reliable and highly accurate positioning of the segments.

Items of other embodiments will be listed below. (1) A second embodiment will be described. In the first embodiment, one mark detector 11a was used, but as shown in FIG.
Using the two mark detectors 11a and 11b, (a) the two mark detectors 11 provided on the erector 200
A mark M such as the edge of a bolt box of the existing segment 400 is detected by one of the mark detectors 11a of a and 11b , and (b) the detected signal is used as a trigger signal to reduce the moving speed of the erector 200, (c) During deceleration movement, the two mark detectors 11a, 11
In the other mark detector 11b of FIG.
When the mark M such as the edge of the bolt box is detected, the segment is positioned by stopping the erector 200. In FIG. 2, the mark detector 11b, the description of which is omitted, is this detector, and is shown by a dotted line in FIG.

(2) A third embodiment will be described. Although the first embodiment is an example in which the segment positioning is performed while following the force, as shown in FIG. 11, the roller guides 250 and 250, the rollers 251a and 251b, and the force detectors 8a and 8b of the first embodiment. By providing the distance detectors 9a and 9b instead of the above, the segment can be positioned while following the distance. In FIG. 2, the distance detectors 9a and 9b whose description is omitted are these detectors, and the distance detectors 9a and 9b are shown by dotted lines in FIG. In addition, the procedure for positioning the segment while scanning the distance is as follows: "Fa + Fb = F" in steps S5, S7, S9, S12, and 14 in the description of the first embodiment and the flowchart of FIG.
“So, Fa−Fb = Fro” is replaced with “La + Lb = Lso, La−
Replaced with “Lb = Lro” and set value “Fso = Fao +
Fbo Fro = Fao−Fbo ”is set value“ Lso = Lao + Lb
o, Lro = Lao−Lbo ”can be completely explained (thus, duplicated explanation is omitted). As shown in FIG. 11, the distances La and Lb are distances to the inner peripheral surface of the existing segment 400 detected by the distance detectors 9a and 9b, and Lao, Lbo, Lso, and Lro are
It is a set value that the arithmetic unit 12 stores in advance.

(3) A fourth embodiment will be described. Although the first to third embodiments describe the link-type erector,
The same applies to the U-shaped erector. Figure 1 shows a U-shaped erector
2 shows. The turning ring 100 is a turning motor 1 not shown.
Therefore, it is possible to freely rotate D1. A U-shaped support frame 140 is attached to the swivel ring 100 via a pair of elevating cylinders 141, and the support frame 140 is movable up and down with respect to the swivel ring 100 by expansion and contraction of the elevating cylinder 141. The erector 200 is attached to the center of the support frame 140, and the built-in segment 300 is held on the lower surface thereof. The erector 200 includes a fine turning cylinder, a rolling cylinder, a yawing cylinder, a sliding cylinder, and a pitching cylinder, and allows the built-in segment 300 to be finely turned, rolled, yawed, slid, and pitched. In other words, the U-shaped erector is driven by dedicated actuators for each of the operations (turning, lifting, fine turning, rolling, yawing, sliding and pitching). On the other hand, in the arm type erector, as is clear from the description of the first embodiment,
Lifting, fine turning and rolling are achieved by a combined drive of the boom cylinder 2, the arm cylinder 3 and the rolling cylinder 4, and other operations are driven by dedicated actuators. As described above, the U-shaped erector has some differences in the means for achieving the function from the arm-type erector, but an example of a segment positioning method in consideration of these differences is shown in the flowchart of FIG. This flowchart corresponds completely to the flowchart of FIG. 3 for the arm-type erector of the first embodiment (thus,
Duplicate explanation is omitted). As described above, the U-shaped erector can be configured as in the first embodiment. U
It is needless to say that the second to third embodiments can be similarly applied to the character-shaped erector.

[0033]

As can be seen from the description of the above embodiment, the present invention is as described in the claims as required, and as is apparent from the above embodiment, the weight of the erector and the built-in segment. Regardless of, the segment can be accurately positioned at the optimum position. Also, high speed control is possible until deceleration,
Moreover, since the deceleration period is not so long (the deceleration period is less than 1 second in the test results), the work efficiency becomes extremely high. Furthermore, more accurate segment positioning can be performed by positioning the segment while the erector substantially maintains the posture of the built-in segment with respect to the existing segment.

[Brief description of drawings]

FIG. 1 is a perspective view of an arm-type erector.

FIG. 2 is a device block diagram of a first embodiment (including a second embodiment and a third embodiment).

FIG. 3 is a flowchart in the first embodiment.

FIG. 4 is a schematic process diagram corresponding to FIG.

FIG. 5 is a detailed view of a lower portion of the erector in the first embodiment.

FIG. 6 is a diagram illustrating a fine turning angle in the first embodiment.

FIG. 7 is a graph of an example of a fine turning pattern.

FIG. 8 is a graph of another example of fine turning.

FIG. 9 is a graph of another example of fine turning.

FIG. 10 is a detailed view of the lower portion of the erector in the second embodiment.

FIG. 11 is a detailed view of the lower portion of the erector in the third embodiment.

FIG. 12 is a perspective view of a U-shaped erector.

FIG. 13 is a flowchart of the U-shaped erector corresponding to FIG. 3 according to the fourth embodiment.

[Explanation of symbols]

200: Erecta 300: Embedded segment 400: Existing segment 500a, 500b: Bolt holes 11a, 11b: Mark detector M: Mark.

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (3)

(57) [Claims] 1. A segment (300) embedded in an elector (200 )
Move while grasping the assembly segment (300) bolt hole
In the method of positioning the segment that aligns (500a) with the bolt hole (500b ) of the existing segment (400) , (a) The mark detector (11a) provided on the erector (200) is used for the existing segment (400) The feature is that the mark M such as an edge is detected, (b) the detected signal is used as a trigger signal to reduce the moving speed of the erector (200) , and (c) the erector (200) is stopped after moving a certain distance. How to position the segment. 2. An electret (200) with a built-in segment (300)
Move while grasping the assembly segment (300) bolt hole
In the segment positioning method of aligning (500a) with the bolt hole (500b ) of the existing segment (400) , (a) two mark detectors (11a, 1a ) provided on the erector (200)
1b) One of the mark detectors (11a) has an existing segment (40
0) For example, the mark M such as the edge of the bolt box is detected, (b) the detected signal is used as a trigger signal to reduce the moving speed of the erector (200) , and (c) the two marks are detected during decelerated movement. Of vessels (11a, 11b)
When the other mark detector (11b) detects a mark M on the existing segment (400) , such as the edge of a bolt box,
A segment positioning method characterized in that the erector (200) is stopped. 3. An existing segment (400) for an elector (200 )
3. A method for positioning a segment according to claim 1, wherein the position of the built-in segment (300) with respect to is maintained substantially constant.