JP3535926B2 - Segment assembly equipment - 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 assembling apparatus for assembling a tunnel-carrying segment carried in a shield machine, and more particularly to a segment assembling apparatus suitable for causing a segment gripping portion to grip the segment.

[0002]

2. Description of the Related Art A conventional general segment assembly device has an erector device installed in a shield machine, and this erector device includes a segment grip portion for gripping a segment piece carried by a transport hoist device and a segment grip device. A plurality of actuators including a swing motor for moving the portion in the tunnel circumferential direction, a pressing jack for moving the segment gripping portion in the tunnel radial direction, and a front-back moving jack for moving the segment gripping portion in the tunnel axial direction. In the case of assembling a segment using such a general segment assembling apparatus, after the segment piece to be assembled is conveyed by the conveying hoist apparatus and placed at a predetermined position below the erector apparatus, the operator, for example, a pendant switch. By manually operating the swing motor,
By driving the pressing jack and the forward / backward moving jack, the segment gripping part is moved to grip the segment piece, and then the segment gripping part is turned to a predetermined position by the manual operation of the operator, and the segment piece was assembled at that position. .

Further, Japanese Unexamined Patent Publication No. 4-111899 discloses a segment assembling apparatus having a segment grip portion provided with a screw shaft that matches a grout hole of a segment piece. In this prior art, a CCD camera, which is an image pickup means, is installed inside the screw shaft of the segment grip, and the CCD camera simultaneously images the grout hole of the segment piece and the screw shaft inner diameter part, and from the image data, the grout hole. The relative position of the inner diameter of the screw shaft is detected, and the segment is automatically gripped by screwing the screw shaft into the grout hole based on the information.

[0004]

However, the above-mentioned prior art has the following problems. In the general segment assembly apparatus described above, the operator manually operates the pendant switch to drive the turning motor, the pressing jack, and the forward / backward moving jack to cause the segment grip to grip the segment grip. The work of reliably gripping the segment is very complicated, and it takes time to grip the segment.

On the other hand, in the one disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 4-111899, a grout hole of a segment piece placed below the elector device is imaged by a CCD camera, and based on the image data of the CCD camera. Although segment gripping can be performed automatically, the process until the CCD camera images the grout hole of the segment piece must be manually operated by the operator.
Also in this case, the work of gripping the segment piece by the segment gripping portion becomes complicated.

Although not disclosed in Japanese Patent Laid-Open No. 4-111899, when the CCD camera tries to automatically move the segment gripper to a position where the grout hole of the segment piece can be imaged, the CCD camera Since it is provided inside the screw shaft of the segment grip, CC
The screw shaft wall is located around the lens of the D camera, and the CCD
The field of view that can be captured by the camera is very narrow. For this reason,
If the screw shaft of the segment gripping portion largely deviates from the position substantially aligned with the grout hole of the segment piece, the grout hole will not be in the field of view of the CCD camera, and the relative position of the grout hole and the screw shaft inner diameter part cannot be detected. In particular, a normal erector device that does not have a posture control function cannot be expected to have the same high rigidity as an erector device that has a posture control function, so it is possible that the position of the screw shaft of the segment gripping part may shift significantly. It is highly possible that the grout hole will not be in the field of view of the CCD camera. Therefore,
In Japanese Patent Laid-Open No. 4-111899, it is difficult to automatically move the segment gripper so that the grout hole of the segment piece falls within the field of view of the CCD camera.

It is an object of the present invention to locate the segment assembly position.
Existing seg
All steps required to grip the segment placed on the instrument to automate and further by devising the installation position of the imaging means
By increasing the field of view of the imaging means, the existing segment
And to provide a segment assembly device which can be gripped in a short time segment without requiring a complicated operation by the operator as well as to facilitate the automation of the process up to grip the segment placed on the preparative .

[0008]

[0009]

In order to achieve the above object, the present invention adopts the following constitution. Ie segment
Electa with gripping device, segment assembly position
Install the erector at the assembly position in the front-back direction of the tunnel.
After moving to a position where you can grasp the segment placed on the existing segment in and grasping that segment,
A segment assembling apparatus for moving the erector again to the segment assembling position to position and assemble the segments, wherein the erector is moved in the tunnel front-rear direction.
Includes a movable sliding jack to tunnel the erector
A plurality of actuators for moving to desired positions within the
The segment gripping device in the front-back direction of the tunnel
Provided on the side surface of the bets entry side, an imaging unit for imaging the segments the placed on existing segment, the electronics
And instruction means for instructing a start-up segment gripping by data, based on an instruction signal from the instruction means, the existing cell
The mounting segment on segment to the imaging means
To move the erector to an initial position where it can be imaged
Controlling the sliding jack further the Elekta to image the said segment to said image pickup means upon reaching said initial position, said Jer on the basis of the captured image information
Kuta is configured to have a control means for controlling said actuator to grip the segment by moving the gripping position where it can grip the said segment.

In the above-mentioned structure, when the start of segment grasping is instructed by the instructing means, the control means causes the erector to move from the segment assembly position to the initial position where the image pickup means can image the segment placed on the existing segment. To
Control the sliding jack to move, let the imager image the segment when the erector reaches the initial position,
The segment is gripped by moving the erector to a grip position where the segment can be gripped based on the captured image information. Accordingly, the segment placed on the existing segment at the rear of the assembling position tunnel in the front-rear direction can be grasped in a short time without requiring a complicated operation of the operator. Further, the image pickup means is the segment gripping device.
A structure provided on the side surface of the segment loading side in the tunnel front-rear direction
The field of view of the imaging means is widened by
Since the segment can be imaged with a wide field of view,
The center position of the image means and the center position of the segment are
Even if the segment is gripped, the gripping position where the segment can be gripped is
Accurately obtained from image data of image means
From the process of moving to the fixed position,
It is easy to automate up to the process.

[0011]

[0012] In the segment assembly device, preferably before Symbol control means, the Elekta to image the said segment to said image pickup means upon reaching the initial position, the gripping position on the basis of the captured image information a controller for determining the said error in gripping position determined by the control device
An actuator control device that controls the actuator so that the lecter moves to grip the segment.

Preferably, the image pickup means is attached so as to pick up an image of the grout hole of the segment, and the control means moves the erector to the grip position based on position information of the grout hole, Control the actuator to grip

Further, preferably, the image pickup means is attached so as to pick up an image of the gripping metal fitting engaged with the segment segment, and the control means is arranged such that the erector grips the gripping metal based on position information of the gripping metal fitting. Control the actuator to move to a position and grip the segment.

Further, preferably, the image pickup means is attached so as to pick up an image of the bolt box of the segment, and the control means moves the erector to the gripping position based on position information of the bolt box, and the segment. The actuator is controlled so as to grip the.

Further, preferably, the image pickup means is attached so as to pick up an image of the bolt box of the segment, and the control means moves the erector to the gripping position on the basis of position information of the bolt box to cause the segment to move. The actuator is controlled so as to grip the.

[0017]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment of the present invention will be described with reference to FIGS. 1 and 2, the segment assembling apparatus according to the present embodiment has an erector 2, which is arranged at the rear part of the shield body 1. A bracket 1b is attached to the ring gutter portion 1a of the shield body 1, and the roller 12 is attached to the bracket 1b.
Is supported. The rollers 12 are arranged at a plurality of locations on the outer diameter portion of the erector ring 31 of the erector 2, and support the erector ring 31 in a freely rotatable manner. Electa ring 3
Reference numeral 1 is a ring having a rectangular cross section, and a gear (not shown) is attached to the inner diameter portion. Inner shell member 1d of the shield body 1
A swing motor 11 is attached to the swing motor 1.
By driving 1, the elector ring 31 turns via the pinion 13 attached to the output shaft of the turning motor 11 and the gear (not shown). A rotation sensor 31a capable of measuring a turning position is built in the erector ring 31, and the rotation sensor 31a outputs the detected value as an electric signal.

The tail side of the elector ring 31 (P in FIG. 1)
A pair of left and right arms 32 each having a rectangular cross section are attached to the rear end of the tunnel so as to project toward the rear of the tunnel, and linear bearings 33 for front and rear sliding are provided inward of the left and right arms 32 in parallel to the tunnel front and rear direction (tunnel axis direction). Three rods 34 are attached to these linear bearings 33 for front and rear sliding. Although the rod guide 34 is attached to the inside of the arm 32 in the present embodiment, the rod guide 34 may be attached to the outside of the arm 32. Face of rod guide 34 (Q in FIG. 1)
A sliding jack 35 is attached to the (side) end surface, and the rod guide 34 is guided by the linear bearing 33 for front-rear sliding by this slide jack 35, and can be slid in the front-rear direction of the tunnel. The sliding jack 35 has a built-in stroke meter 35a capable of measuring a stroke, and the stroke meter 35a outputs the detected value as an electric signal. Further, a through hole is provided in the pressing direction in substantially the center of the rod guide 34, and a rod 36 is slidably inserted in the pressing direction into the through hole, and one end of the rod 36 is attached to the suspension beam 37. ing. The suspension beam 37 has a substantially gate shape, the rods 36 are attached to the left and right, and a holding screw 38 which is a member for suspending the segment 6 is provided on the lower surface of the suspension beam 37. The gripping screw 38 matches the grout hole 6a formed in the center position of the segment 6 as shown in FIG. 3, and is screwed into the grout hole 6a by the drive motor 39 mounted inside the suspension beam 37. A push jack 40 is attached to the tail end of the rod guide 34.
The suspension beam 37 thus moves up and down. A steady rest 41 is attached to the lower surface of the suspension beam 37 to prevent the suspended segment 6 from swinging. Here, the suspension beam 37, the gripping screw 38, and the steady rest 41 constitute a segment gripping device that grips the segment 6.

The shield body 1 is provided with a screw conveyor 3 for discharging excavated earth and sand, and the excavated earth and sand sent by the screw conveyor 3 is transported to the rear of the tunnel by a belt conveyor 4. A traveling rail (conveyance beam) 8 is attached below the belt conveyor 4, and one end of the belt conveyor 4 is a pillar 1e provided on the shield body 1.
And the other end is attached to a segment truck (not shown) behind the tunnel together with the carrier beam 8.

A segment carrier 16 is suspended below the carrier beam 8. The segment carrier 16 is
A traveling body 44 that moves in the front-rear direction of the tunnel along the transport beam 8, a substantially L-shaped elevating portion 45 protruding and attached to the face of the traveling body 44, and a segment 6 attached to the tip of the elevating portion 45 on the face of the face. 4 to suspend
6. It comprises an elevating jack 47 which is mounted between the traveling body 44 and the elevating section 45 and elevates the elevating section 45 with respect to the traveling body 44. The lower part of the traveling body 44 and the upper part of the elevating part 45 have a rectangular pipe structure with a rectangular cross section, and constitute elevating guide parts 48 composed of an outer pipe and an inner pipe, respectively. The traveling body 44 has wheels 44 a and a traveling motor (not shown) for traveling the wheels 44 a along the transport beam 8. The traveling motor and the lifting jack 47 are driven by a pendant switch 109 (see FIG. 4) described later. The segment transfer device 16 suspends and transfers the segment 6 from a segment carriage (not shown), and as shown in FIG. 1, the position P1 at which the erector 2 assembles the segment.
(Hereinafter, referred to as a segment assembly position P1) A predetermined position P2 (hereinafter, referred to as a segment assembly position P1) of the existing segment ring 9
It is placed at the segment placement position P2).

A CCD camera (image pickup means) 100 for picking up an image of the segment 6 is provided on the side surface of the suspension beam 37 of the erector 2 on the segment loading side in the tunnel front-rear direction. As shown in FIG. 4, the CCD camera 100 takes an image of the grout hole 6a of the segment 6 at a position P3 (hereinafter, referred to as an initial position P3) which is almost directly above the grout hole 6a of the segment 6 with a field of view S in the drawing. It is installed so that In addition, the CCD camera 100 is a video signal cable 1
The image processing device 105 is connected via 01 to the image processing device 105, and the image processing device 105 collects an image of the CCD camera 100, displays the image on the monitor device 106, performs image processing, and outputs the image to the control device 102. A pendant switch 109, which is manually operated by an operator, is connected to the control device 102. The pendant switch 109 is manually operated to rotate the swivel motor 11, the sliding jack 35, the pressing jack 40, the screw drive motor 39, and the segment transfer device 16 described above. Drive or instruct a segment grip described later. As shown in FIG. 5, the control device 102 controls the image processing device 105 according to a signal from the pendant switch 109, and also detects signals from the rotation sensor 31a and the stroke meter 35a, and an image processing signal from the image processing device 105. A predetermined calculation is performed on the basis of
Output to 3. The actuator control device 103 controls the swing motor 11, the sliding jack 35, the pressing jack 40, and the screw drive motor 39 according to the actuator control signal.

Next, the segment gripping control function of the controller 102 will be described with reference to the flowchart of FIG.
Here, the erector 2 has the segment assembly position P shown in FIG.
1 and the segment 6 is carried in from the rear of the tunnel by the segment transfer device 16 and placed at the segment placement position P2 shown in FIG.

First, at step 50, it is judged whether or not an instruction signal for holding the segment 6 from the pendant switch 109 by the erector 2 is inputted. If it is judged that the instruction signal is inputted, the routine proceeds to step 51.

In step 51, the sliding jack 35 for moving the erector 2 from the segment assembly position P1 to the initial position P3 rearward in the tunnel front-rear direction by L1.
Actuator control signals of the actuator control device 1
Output to 03.

Subsequently, at step 52, it is judged whether or not the erector 2 has reached the initial position P3 based on the detection signal from the stroke gauge 35a built in the sliding jack 35, and the erector 2 has reached the initial position P3. If it is determined that the operation has been performed, the process proceeds to step 53.

Subsequently, in step 53, an image processing instruction signal is sent to the image processing device 105, and the CCD camera 1
00, the grout hole 6a of the segment 6 is imaged, the position information of the grout hole 6a is collected, and the center position of the grout hole 6a of the segment 6, that is, the center position of the segment 6 is calculated using image processing. This image processing device 1
The following two methods are conceivable as the calculation of the center position of the grout hole 6a by 05.

A method for obtaining the center position of the grout hole 6a from ordinary image processing. This method is based on the contour of the grout hole 6a.
First, the CCD camera 1 is used to obtain the center position of a.
The image detected at 00 is binarized so that the features of the portion of the grout hole 6a become clear, and then this image is expanded, contracted, smoothed, projected, or the like using a normal image processing,
Make more distinctive features. As a result, the detection screen becomes as shown in FIG. 8, and the center position G of the portion of the grout hole 6a can be seen. At this time, if the detection screen does not become a circle, the processing method or shape (sharp edge etc.) is changed so as to make a circle, and the center position of the shape is obtained.
From the detection screen shown in FIG. 8, the shift amounts dx and dy between the center position G of the grout hole 6a and the screen center position (center position of the CCD camera 100) O in the x and y directions are obtained. The x direction indicates the tunnel front-rear direction, and the y direction indicates the tunnel width direction.

Grout holes 6 by pattern matching
Method for Obtaining Center Position of a This method is shown in the memory of the image processing apparatus 105 as shown in FIG.
The pattern J of the grout hole 6a as shown in FIG. 9 is registered in advance, and the CCD camera 1 as shown in FIG.
The pattern J of the grout hole 6a is sequentially searched from the end on the detection screen by 00, and the matching rate of the part of the grout hole 6a on the detection screen shown by K in FIG. 9B and the pattern J of the grout hole 6a is a predetermined ratio. If it exceeds (for example, 90% or more), it is determined that they match each other, and the grout hole 6 on the detection screen is displayed.
The center position G of the portion K of "a" is obtained, and the center position G of the grout hole 6a and the screen center O are measured in the x direction and the y direction as in
The deviation amounts dx and dy in the directions are calculated. Here, FIG.
Although only the pattern J of the grout hole 6a as shown in (a) is registered, it is registered as a reference image when the grout hole 6a is placed at a prescribed position, and the detection screen is compared with the reference image. However, this method will be described later.

Then, in step 54, the center position G of the grout hole 6a obtained by the image processing apparatus 105 and the CCD
The shift amounts dx and dy in the x and y directions with respect to the center position O of the camera 100 are input, and the center position of the gripping screw 38 of the erector 2 and the center position of the grout hole 6a are aligned to enable segment gripping. A gripping position P4 (not shown) is determined, and based on this, a command value for the sliding jack 35 and the turning motor 11 that causes the erector 2 to move to the gripping position P4 is determined.

Here, first, the gripping screw 3 of the erector 2 is used.
The erector 2 is moved rearward and rearward in the tunnel front-back direction so that the center position of 8 corresponds to the center position of the grout hole 6a.
The actuator command value is calculated so that the rectifier 2 is moved in the tunnel radial direction so as to be screwed into a and the segment 6 is gripped. At this time, the command value of the pressing jack 40 corresponding to the movement amount of the erector 2 in the tunnel radial direction and the command value of the screw drive motor 39 corresponding to the screwing amount of the gripping screw 38 are set in advance and stored in the memory in the control device 102. The command value of the sliding jack 35 corresponding to the amount of movement of the erector 2 in the front-rear direction of the tunnel and the command value of the swing motor 11 corresponding to the amount of movement of the erector 2 in the tunnel circumferential direction are x.
It is obtained by using the shift amounts dx and dy in the direction and the y direction. When the displacement amounts dx and dy in the x direction and the y direction are both 0, a command value for the sliding jack 35 that causes the erector 2 to move backward L in the front-rear direction of the tunnel is obtained, as can be seen from FIG. This movement amount L is a basic movement amount, and x
If the deviation amounts dx and dy in the direction and the y direction are not 0,
The erector 2 corrects the basic movement amount L by the deviation amounts dx and dy to obtain the command values of the sliding jack 35 and the turning motor 11.

Subsequently, at step 55, the command values of the sliding jack 35 and the turning motor 11 are output to the actuator control device 103 as an actuator control signal.

Subsequently, at step 56, the center position of the gripping screw 38 of the erector 2 is determined based on the detection signals from the rotation sensor 31a and the stroke meter 35a incorporated in the turning motor 11 and the sliding jack 35, respectively. It is determined whether or not the gripping screw 38 can be screwed into the grout hole 6a in conformity with the center position of 6a, and when it is determined that the screw can be screwed in, the process proceeds to step 57.

Subsequently, at step 57, the erector 2
The gripping screw 38 of No. 3 is screwed into the grout hole 6a of the segment 6 and the actuator control signal of the pressing jack 40 and the screw drive motor 39 for causing the erector 2 to grip the segment 6 is transmitted to the actuator control unit 103.
Output to.

The operation of the segment assembling apparatus of the present embodiment configured as above will be described. First, the operator attaches the hanging metal fitting 14 to the grout hole 6a of the segment 6 placed on the segment truck (not shown) behind the tunnel, and manually operates the pendant switch 109 to drive the lifting jack 47 of the segment transfer device 16 to lift the lifting frame. After lowering 45 and inserting the grasping pin 15 into the grasping portion 46 and the suspending metal fitting 14, the segment frame 6 is suspended by raising the elevating frame 45. Next, the traveling body 44 is driven to move the segment conveying device 16 along the conveying beam 8 to the vicinity of the erector 2, and when the segment 6 reaches the segment mounting position P2, the traveling of the traveling body 44 is stopped, and the elevating frame 45 is moved. Down to place the segment 6 on the existing segment ring 9 adjacent to the currently assembled segment ring 10 and then pull out the gripping pin 15 and remove the hanging bracket 14. Note that FIG. 1 shows a state in which the grasping pin 15 is inserted into the grasping portion 46 to grasp the segment 6 and hang it on the segment conveying device 16 and to place it on the segment mounting position P2 of the existing segment ring 9.

When the placement of the loaded segment 6 is completed, the elevating frame 45 of the segment transfer device 16 is pulled up, and the segment 6 is moved to the rear of the tunnel for the next segment 6. At this time, the erector 2 grips the front segment 6 *, and the swing motor 11 is held at the segment assembly position P1.
The erector 2 is turned by to assemble the front segment 6 *.

When the front segment 6 * is assembled in the predetermined position, the operator manually starts the pendant switch 109 to start the segment gripping. Then, the control device 102 extends the sliding jack 35 so that the erector 2 moves from the segment assembly position P1 to the initial position P3 as shown in FIG.
When the number reaches 3, the CCD camera 100 is caused to image the grout hole 6a of the segment 6. The image processing device 105 is CC
The image of the D camera 100 is sampled, and from the position information of the grout hole 6a of the segment 6, the center position G of the grout hole 6a and the screen center position O of the CCD camera 100 are measured in the x direction and y.
The deviation amounts dx and dy in the directions are calculated. The control device 102 obtains the grip position P4 based on the deviation amounts dx and dy, and first drives the sliding jack 35 and the turning motor 11 so that the erector 2 moves to the grip position P4.
So that the center position of the gripping screw 38 coincides with the center position of the grout hole 6a, and then the pressing jack 40 is extended and the screw drive motor 39 is rotated to connect the gripping screw 38 and the grout hole 6a of the segment 6. Then, the grip of the segment 6 is completed.

Then, the operator uses the pendant switch 109 to contract the pressing jack 40 to pull up the suspension beam 37, and then contract the sliding jack 35 to move the erector 2 to the segment assembly position P1.
The turning motor 11 is rotated to turn the erector 2 to a predetermined turning position, and the segment 6 is assembled at that position. During the assembly of the segment 6, the operator operates the segment transfer device 16 by manually operating the pendant switch 109 to place the segment 6 to be assembled next at the segment mounting position P2.

According to the segment assembling apparatus of the present embodiment configured as described above, when the operator instructs the segment gripping, the control apparatus 102 moves the erector 2 from the segment assembling position P1 to the initial position P3, and the initial position thereof. At the position P3, the CCD camera 100 is made to image the grout hole 6a of the segment 6, a gripping position P4 is obtained based on the position information of the grout hole 6a, and the erector 2 is moved to the gripping position P4 and the segment 6 is attached to the erector 2. Since it is gripped, the segment 6 can be gripped in a short time without requiring complicated operations by the operator.

In addition, the CCD camera 100 has the suspension beam 3
7 is attached to the side surface of the segment in the front-rear direction of the tunnel, which is different from the case where the CCD camera 100 is attached inside the gripping screw 38.
00 has a wide field of view, and the grout hole 6a of the segment 6 can be imaged with the wide field of view. Therefore, C
Even if the center position of the screen of the CD camera 100 and the center position of the grout hole 6a are deviated to some extent, the grout hole 6a is not covered by the CCD.
Be sure to enter the visual field of the camera 100, and hold the grip position P4 at CC.
Since it is accurately obtained from the image data of the D camera 100, automation from the step of moving the erector 2 to the initial position P3 to the step of gripping the segment 6 by the erector 2 becomes easy.

Further, the CCD camera 100 is fixed to the gripping screw 3
If it is attached inside 8, the structure of the gripping screw 38 becomes complicated and it is necessary to make the structure large in order to have strength, which causes a cost increase. However, in the present embodiment, the CCD camera 100 is used as a suspension beam. Since it is attached to the side surface of 37, it is not necessary to make the structure of the gripping screw 38 complicated and large, and the cost can be reduced.

In this embodiment, the segment carrying device 16 carries the segment 6 to the segment mounting position P2 by using the pendant switch 109, but the segment 6 can also be carried and placed. It may be carried out automatically, and in this case, since the transportation and placement of the segment 6 to the gripping of the segment 6 are automatically carried out, the assembly time of the segment 6 is shortened. Further, in the present embodiment, the segment 6 is assembled by the erector 2 by using the pendant switch 109, but the segment 6 may be automatically assembled in addition to the transportation and the placement of the segment 6. In this case, the transportation and placement of the segment 6 and the assembly of the segment 6 are performed continuously, so that the assembly time of the segment 6 is significantly shortened.

A second embodiment of the present invention is shown in FIGS.
Will be described. In the present embodiment, the segment suspending member is not the gripping screw 38 screwed into the grout hole 6a of the segment 6 as in the first embodiment, but the grip metal fitting 70 attached to the grout hole 6a of the segment 6 is used. The present invention is applied to the erector 2A, which is the engageable engaging portion 38A. In the figure, the same members and procedures as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In FIGS. 10 and 11, the erector 2A
On the lower surface of the hanging beam 37 of the fork-shaped engaging portion 38A
As shown in FIG. 12, the engaging portion 38A is composed of a fork portion 38a, a pin 38b attached to one of the fork portions 38a, and a stopper 38c which rotates around the pin 38b. Electa 2A is segment 6
As shown in FIG. 13, when gripping the
The rod 70b between the upper and lower two brims 70a of the gripping metal fitting 70 screwed into the grout hole 6a of the fork 38.
After hooking a, the stopper 38c is rotated about the pin 38b in the direction of the arrow in FIG. 16 by a rotation mechanism (not shown) so that the gripping metal fitting 70 does not fall out.

In the present embodiment, the CCD camera 10
As shown in FIG. 14, 0 is attached so as to capture an image of the gripping metal piece 70 of the segment 6 at an initial position P3 * from almost directly above the gripping metal piece 70 of the segment 6 in the field of view S in the drawing. Further, as shown in FIG. 15, the control device 102A performs a predetermined calculation based on signals from the rotation sensor 31a, the stroke meter 35a, the image processing device 105, and the pendant switch 109, and the result is used as an actuator control signal for actuator control. Output to the device 103, and the actuator control device 103 controls the swing motor 11, the sliding jack 35, and the pressing jack 40 according to the actuator control signal.

The segment gripping control function of the controller 102A will be described with reference to the flowchart of FIG. In step 51A, the CCD camera 100 is in the segment 6
The actuator control signal of the sliding jack 35 for moving the erector 2A from the segment assembly position P1 to the initial position P3 * is output to the actuator control device 103 so that the gripping metal fitting 70 can be imaged.

In step 53A, an image processing instruction signal is sent to the image processing device 105, and the CCD camera 10
The image of the holding metal piece 70 of the segment 6 is imaged at 0, the position information of the holding metal piece 70 is collected, and the center position of the holding metal piece 70 of the segment 6, that is, the center position of the segment 6 is calculated by using image processing.

Subsequently, in step 54A, the center position of the gripping metal fitting 70 determined by the image processing apparatus 105 and the CCD
Gripping position P4 * (shown in the figure) where the shift amounts in the x and y directions with respect to the screen center position of the camera 100 are input, and the engaging portion 38A of the erector 2A engages with the grip fitting 70 to enable segment gripping. )) And based on this, the electa 2
The pressing jack 40 that moves the gripping position P4 *,
The command values of the sliding jack 35 and the turning motor 11 are obtained. Here, first, the height of the fork portion 38a of the engaging portion 38A of the erector 2A is determined by the height of the rod portion 70b of the grip fitting 70.
The command value of the pressing jack 40 for lowering the erector 2A by M1 is obtained so as to match the height of the contact portion, and at the height position, the fork portion 38a of the engaging portion 38A comes to the rod portion 70b of the gripping metal fitting 70, and A command value of the sliding jack 35 and the turning motor 11 that can lock the grip 70, that is, move the erector 2A backward by M2 in the tunnel front-rear direction is obtained.

Then, in step 55A, the command values of the pressing jack 40, the sliding jack 35 and the turning motor 11 are output to the actuator control device 103 as actuator control signals.

In the segment assembly of this embodiment,
First, after the operator attaches the gripping metal fitting 70 to the grout hole 6a of the segment 6 placed on the above-described segment carriage, the operator carries the same to the segment mounting position P2 by the segment carrying device 16 as in the first embodiment. Place it. After the erector 2A completes assembling the front segment 6 * at a predetermined position, the operator manually operates the pendant switch 109 to instruct to grip the segment 6. Then, the control device 102A sets the erector 2A to the initial position P3 *.
When the erector 2A reaches its initial position P3 *, the CCD camera 100 causes the gripping metal piece 70 of the segment 6 to be imaged. The image processing device 105 uses the image of the CCD camera 100 to determine the center position of the holding metal fitting 70 and the CCD.
The shift amounts dx and dy in the x and y directions with respect to the screen center position of the camera 100 are obtained. The control device 102A obtains the gripping position P4 * based on the deviation amounts dx and dy, and drives the pressing jack 40, the sliding jack 35, and the turning motor 11 so that the erector 2 moves to the gripping position P4 *. As a result, the engaging portion 38A of the erector 2A locks the grip fitting 70, and the grip of the segment 6 by the erector 2A is completed.

According to the present embodiment configured as described above, as in the first embodiment, the segment 6 can be grasped in a short time without requiring the operator to perform a complicated operation.

FIG. 17 and FIG. 1 show the third embodiment of the present invention.
8 will be described. In the present embodiment, instead of obtaining the gripping position P4 from the position information of the grout hole 6a of the segment 6 in the first embodiment, the gripping position P4 is obtained from the position information of the bolt box 6b of the segment 6 shown in FIG. is there. In the figure, the same members and procedures as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

When the image processing device 105 obtains the center position of the grout hole 6a by using the above method or the above method, first, as shown in FIG. 17, the CCD camera 100 allows the CCD box 100 to image all the bolt boxes of the segment 6. The field of view S of 100 is made larger than when capturing the image of the grout hole 6a. Then, the coordinate values of the center positions N1 and N2 of the two bolt boxes 6b which are point-symmetrical with respect to the center of the segment are detected from the collected image data as shown in FIG. 18, and the center of the segment 6 is detected from these coordinate values. Find the position G.

Further, when the center position G of the segment 6 is obtained by using the above-mentioned pattern matching, when all the bolt boxes 6b as shown in FIG. 19 are placed in the prescribed positions in the memory of the image processing apparatus 105. Reference image M
r (dotted line in the figure) is registered in advance, and the detection screen Md (solid line in the figure) by the CCD camera 100 is used as the reference image M.
It may be compared with r. In this case, not only the center position G of the segment 6 but also the mounting posture of the segment 6 can be obtained. For example, when the segment 6 yaws as shown in FIG. 19, the bolt box of the detection screen Md is displayed. The portion is a position rotated from the bolt box portion of the reference image Mr. When the segment 6 is thus tilted, for example, the operator stops the segment gripping control by the control device 102 and manually corrects the tilt to prevent the segment 6 from being assembled while tilted. be able to.

The bolt box 6b of the segment 6
When obtaining the center position G of the segment 6 from the image of
The CD camera 100 does not necessarily include all bolt boxes 6b.
Need not be imaged, and at least one set of bolt boxes 6b located at a point symmetrical position with respect to the center of the segment 6 may be imaged.

Further, instead of obtaining the grip position P4 from the position information of the grip fitting 70 attached to the segment 6 in the second embodiment, this embodiment may be applied.

A fourth embodiment of the present invention will be described with reference to FIG. In the third embodiment, in the third embodiment, the grip position P is calculated from the position information of the bolt box 6b of the segment 6.
Instead of obtaining 4, the holding position P4 is obtained from the position information of the corner portion 6c of the segment 6 shown in FIG.

The image processing apparatus 105 detects the coordinate values of the two corner portions 6c (N1, N2) located at point symmetry positions with respect to the center of the segment from the sampled image data as shown in FIG. The center position G of the segment 6 is obtained from the value. Also in this case, not only the center position G of the segment 6 but also the mounting posture of the segment 6 can be obtained.

In some of the embodiments described above, when the field of view of the CCD camera 100 is increased, the positional resolution is lowered, and when it is decreased, the target member may not be in the field of view. Further, even if the CCD camera 100 has the same field of view, a target member may not be included in the field of view depending on the measurement distance. Therefore, it is necessary to select the optimum measurement distance and visual field according to the object to be image-processed.

According to the present invention, the segment assembly position is
The erector to the rear of the tunnel in the assembly position.
You can grip a segment placed on the existing segment.
To the position where you want the segment to be gripped by the erector.
Since the process until it is done is fully automatic, the existing segment
It is possible to significantly reduce the burden on the operator to reliably grasp the segment on the screen and to capture an image.
Set the installation position of the means in front of and behind the tunnel of the segment gripping device.
The image can be captured by installing it on the side of the segment loading side.
The instrument has a wider field of view, and the wider field of view captures the segment.
Since the image can be displayed, the center position of the image pickup means and the segment
Even if the center position of the
The grip position that can be gripped is correct from the image data of the imaging means.
Is it a process that is accurately obtained and moves the erector to the initial position?
From the process of gripping the grip part of the erector to
It will be easy.

Further, automation from the step of moving the segment gripping device to the initial position to the step of moving the segment gripping device to the gripping position and gripping the segment by the segment gripping device can be facilitated.

[Brief description of drawings]

FIG. 1 is an overall view of a shield machine equipped with an erector of a segment assembling apparatus according to a first embodiment of the present invention.

FIG. 2 is a rear cross-sectional view of the shield machine shown in FIG.

FIG. 3 is a top view of a segment used in the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of segment center position measurement according to the first embodiment of the present invention.

FIG. 5 is a control system configuration diagram of the segment assembling apparatus according to the first embodiment of the present invention.

6 is a flowchart showing a segment grip control function of the control device shown in FIG.

FIG. 7 is an operation explanatory view of the segment assembly device according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a screen of a CCD camera when a method of obtaining a center position of a grout hole 6a is used from normal image processing.

FIG. 9 is a diagram showing a screen of a CCD camera when a method of obtaining the center position of the grout hole 6a is used by pattern matching.

FIG. 10 is an overall view of a shield machine equipped with an erector of a segment assembling apparatus according to a second embodiment of the present invention.

11 is a rear cross-sectional view of the shield machine shown in FIG.

12 is a diagram showing an engaging portion of the erector shown in FIG.

FIG. 13 is a view showing a holding metal fitting attached to a segment used in a second embodiment of the present invention.

FIG. 14 is an explanatory diagram of segment center position measurement according to the second embodiment of the present invention.

FIG. 15 is a control system configuration diagram of a segment assembling apparatus according to a second embodiment of the present invention.

16 is a flowchart showing a segment grip control function of the control device shown in FIG.

FIG. 17 is an explanatory diagram of segment center position measurement according to the third embodiment of the present invention.

FIG. 18 is a diagram showing a screen of a CCD camera when a segment center position is obtained according to the third embodiment of the present invention.

FIG. 19 is a diagram showing a screen of a CCD camera when obtaining a segment mounting posture according to the third embodiment of the present invention.

FIG. 20 is a diagram showing a screen of a CCD camera when a segment center position is obtained according to the fourth embodiment of the present invention.

[Explanation of symbols]

2 Electa 2A Electa 6 segments 6a grout hole 6b bolt box 6c corner section 11 Swing motor 35 sliding jack 37 hanging beam 38 Grip screw 38A engagement part 39 Drive motor 40 push jack 70 Metal fittings for gripping 100 CCD camera 102 control device 102A control device 105 image processing device

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takami Kusagi 650 Kazutachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor Hiroki Polymorph 650 Kintachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Tsuchiura Plant Co., Ltd. (72) Inventor Ken Kamei, 650 Kintatecho, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (56) Reference JP-A-4-111899 (JP, A) JP-A-4-83098 (JP, A) JP-A-4-353197 (JP, A) Actual development 3-58400 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (6)

(57) [Claims] 1. An erector having a segment gripping device.
Elector in segment assembly position
After moving the segment mounted on the existing segment on the rear of the tunnel in the front and rear direction to a position where the segment can be gripped, and then moving the erector to the segment assembly position again to position and assemble the segment. an apparatus, slide Ja movable said erector the tunnel longitudinal direction
Position the erector at the desired location in the tunnel
A plurality of actuators to be moved and the segment in the front-rear direction of the tunnel of the segment gripping device.
An image pickup means which is provided on the side surface of the load carrying-in side and which picks up an image of a segment placed on the existing segment; an instruction means which gives an instruction to start the segment gripping by the erector; and an instruction means from the instruction means. Based on the instruction signal, the existing segment
Segments placed on the cement shooting by the image pickup means
Wherein to move the erector the image possible initial positions
A grip that controls a sliding jack, causes the imaging unit to capture an image of the segment when the erector reaches the initial position, and allows the erector to grasp the segment based on the captured image information. And a control means for controlling the actuator so as to move to a position and grip the segment. 2. A segment assembling apparatus according to claim 1, wherein said control means causes said image pickup means to pick up an image of said segment when said erector reaches said initial position, and based on this imaged image information. a control device for determining the gripping position, the error in the gripping position determined by the control device
An actuator control device that controls the actuator so that a lector moves to grip the segment. 3. The segment assembling apparatus according to claim 1, wherein the image pickup means is attached so as to pick up an image of the grout hole of the segment, and the control means controls the grip of the erector based on position information of the grout hole. A segment assembling apparatus, wherein the actuator is controlled to move to a position and grip the segment. 4. The segment assembling apparatus according to claim 1, wherein the image pickup means is attached so as to pick up an image of the gripping metal fitting engaged with the segment segment, and the control means is arranged to detect position information of the gripping metal fitting. on the basis of Electrabel
The segment assembling apparatus is characterized in that the actuator is controlled so that the actuator moves to the gripping position and grips the segment. 5. The segment assembling apparatus according to claim 1, wherein the image pickup means is attached so as to pick up an image of the bolt box of the segment, and the control means is arranged such that the erector holds the grip box based on position information of the bolt box. A segment assembling apparatus, wherein the actuator is controlled to move to a position and grip the segment. 6. A segment assembling apparatus according to claim 1, wherein said image pickup means is attached so as to pick up an image of a corner portion of said segment, and said control means is arranged so that said erector grasps said corner portion based on position information of said corner portion. A segment assembling apparatus, wherein the actuator is controlled to move to a position and grip the segment.