JPH0631555B2 - Automatic segment assembly equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic segment assembly apparatus used for shield work, and particularly to the positions of a tunnel lining segment and a segment gripping mechanism carried in for assembly. The present invention relates to a device capable of automatically performing matching.

[Conventional technology]

Currently, the segment assembly work in the shield construction method is performed using an erector as shown in FIGS. 15 to 17. This erector is guided by a guide roller 4 arranged along the inner circumference of the tail portion of the shield body 1 and is rotated by a revolving motor 17 around the axis of the shield body 1. A suspension beam 8 supported by a pair of arms 5 projecting to each other through a guide rod 6 and moved by a pressing jack 7 in the radial direction of the elector ring 3, and a suspension beam 8 placed on the suspension beam 8 and shielded by a slide jack 11. A slider 9 is slidable in the axial direction of the main body 1, and a grip 10 is provided below the slider 9. When assembling the segments, the position and orientation of the segment 12a carried in below the erector by a hoist or the like is manually corrected, and the operator performs inching operations of turning, pressing, and sliding of the erector by operating switches, Grip 10
After aligning the pin hole 14a of the hanging metal fitting 14 screwed into the grout screw hole 12d of the segment 12a of the segment 12a and inserting the pin 15 into the pin hole 10a, 14a to grip the segment 12a, the The segment is hoisted by an erector and swung to a predetermined position to align the bolt hole with the existing segment 13 and the bolt hole with the adjacent segment in the circumferential direction, and to install the existing segment and the adjacent segment in the circumferential direction with the bolt 16a, The segment is assembled into a ring shape by repeating the fastening operation with 16b.

In such a current segment assembling work, the work until the loaded segment is gripped by the erector must be performed manually, so that the work requires skill and a lot of time.

In order to solve this problem, as a part of the automation of the segment assembly work, there is an apparatus that automatically aligns the grip portion of the erector with the loaded segment and grips the segment by the erector. , 6
It is proposed by 2-50597, 62-72900, etc.

[Problems to be Solved by the Invention]

Some of these proposals include automation of positioning when gripping a segment using a device that positions and loads the segment in order to set the segment to be assembled at a predetermined position and posture with respect to the erector. Although there is a plan, this requires a special segment positioning and loading device, which complicates the lining equipment.

An object of the present invention is to automatically segment a segment gripping mechanism with respect to a segment regardless of the position and orientation of the loaded segment, and to automatically grip the segment without requiring human labor. To provide.

[Means for Solving the Problems]

The segment automatic assembly apparatus of the present invention moves the segment guide in the circumferential direction of the shield main body with a segment guide having a segment gripping mechanism in order to assemble the tunnel lining segment carried into the shield machine into a ring shape. And a turning mechanism for allowing the axis of the shield body to extend in the axial direction to be the Z axis, one axis orthogonal to the Z axis and extending in the radial direction of the shield body to be the Y axis, and another axis orthogonal to the Z axis and the Y axis. When the X axis is used, the segment guide is X
A position correcting mechanism for correcting the position of the segment guide by moving in the axial direction, the Y-axis direction and the Z-axis direction respectively, and rotating the segment guide around the X-axis, the Y-axis and the Z-axis, respectively. A posture correcting mechanism for correcting the posture of the segment guide and two posture measuring mechanisms mounted on the segment guide at intervals in the X-axis direction for measuring the distance from each position to the end face of the face of the segment. 1 sensor and X on the segment guide
A second sensor that is mounted at two locations spaced apart in the axial direction and that measures the distance from each position to the end surface of the segment in the circumferential direction on the adjacent segment side, and the positions of almost four corners of the inner circumferential surface of the segment. Which is attached to four positions on the segment guide corresponding to the above, and measures the distance from each position to the inner peripheral surface of the segment, and the measurement of each of the first, second and third sensors. And a controller for controlling the position correcting mechanism and the posture correcting mechanism so that the segment holding mechanism can hold the segment based on the value, and correcting the position and the posture of the segment guide. To do.

The controller corrects the position in the Z-axis direction and the attitude around the Y-axis of the segment guide so that the measured value of the first sensor matches the set value at two locations, and
The position of the segment guide in the X-axis direction is corrected so that the measurement value of the sensor of the second sensor coincides with the setting value of the two locations, and the measurement value of the third sensor matches the setting value of the four locations. The position of the segment guide in the Y-axis direction and the postures around the X-axis and the Z-axis may be corrected.

Further, the first and second sensors are attached to a segment guide through a jack so as to be movable between a position facing the end surface of the segment and a position retracted from the inner peripheral surface of the segment. Good.

[Action]

The automatic segment assembly system includes the positions of existing segments,
In order to correct the position and posture of the segment to be assembled according to the posture, it is necessary to provide a position correction mechanism and a posture correction mechanism for the segment guide with a built-in segment gripping mechanism.

The present invention uses the first, second and third sensors attached to the segment guide to determine the position of the segment that has been loaded for assembly from the segment guide.
By detecting the posture and correcting the position correcting mechanism and the posture correcting mechanism according to the detected posture, the segment gripping mechanism built into the segment guide automatically adjusts the position with respect to the segment. To do.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 1 to 3, an automatic segment assembly device (hereinafter referred to as an erector) 2 is installed in the tail portion of the shield body 1. The shield body 1 is propelled by a shield jack (not shown) using the existing segment 13 assembled in a ring shape by the erector 2 as a reaction force receiving member,
After the completion of the propulsion of one segment ring, the segment 12 to be assembled is carried in from the rear and is assembled in a ring shape by contacting the end face of the existing segment 13 on the face side.

One piece of the segment to be assembled
12a is shown in FIG. The segment shown here is a standard concrete segment, bolt mounting grooves 12b for joining between rings and adjacent segments in the circumferential direction are provided at the front, rear, left and right end edges at a predetermined pitch, and bolts are provided on the four end surfaces. The holes 12c are provided at a predetermined pitch. Further, a grout screw hole 12d is provided at the center.

In FIG. 11, the axis extending in the axial direction of the shield body 1 is orthogonal to the Z axis and the Z axis, and the axis extending in the radial direction of the shield body 1 is the Y axis, the Z axis and another axis orthogonal to the Y axis. X
As the axis, the rotation angle θ _X around the X axis shown in FIGS.
(Hereinafter referred to as pitching), rotation angle around Y axis θ _Y
(Hereinafter referred to as yawing), rotation angle about the Z axis θ _Z
The posture of the segment will be represented by three elements (hereinafter referred to as rolling).

The erector 2 shown in FIG. 1 to FIG. 5 is composed of an erector ring 3 and a slewing motor 17, which are a slewing mechanism, a suspension beam 20 and a pressing jack 7, which are a position rectifying mechanism in the Y-axis direction, and a position rectifying mechanism in the X-axis direction. A horizontal slide frame 21 and a horizontal slide jack 22, a front-rear slide frame 23 and a front-rear slide jack 24 that are position correction mechanisms in the Z-axis direction, a posture correction mechanism indicated by reference numeral 25 as a whole, a segment guide 30, a segment gripping mechanism 31, etc. I have it.

The eclectic ring 3 is guided around the circumference by guide rollers 4 rotatably mounted on brackets 4a installed at a plurality of inner circumferences of the shield body 1, and a ring gear 3a formed on the inner circumference of the erector ring 3a. A turning motor 17 such as a hydraulic motor is used to turn left and right through a pinion 17a that meshes with the turning pin.

The guide rollers 18 contacting both the face side and the tail side of the erector ring 3 are provided in order to improve the accuracy of positioning and attitude control of the erector by eliminating play in the shield body axial direction of the erector ring 3. , Is rotatably attached to the bracket 18a, and the bracket 18a is attached to the bracket 4a.

The turning angle θ _R of the elector ring 3 is determined by the ring gear 3
It is detected by a turning angle detector 19 such as a rotary encoder that works in conjunction with a pinion 19a that meshes with a, and the detection signal is input to a control device (not shown) as turning angle θ _R information.

The left and right guide rods 6 of the suspension beam 20 pass through the pair of left and right arms 5 provided so as to project from the erector ring 3 to the tail side. Further, the cylinder side of the pressing jack 7 is attached to the arm 5, and the rod side of the pressing jack 7 is attached to the suspension beam 20.
Each of the jacks described below including this pressing jack 7 has an absolute type stroke detector incorporated therein, and a signal corresponding to each jack stroke amount is input to a control device (not shown).

The hanging beam 20 has a gate shape, and its central beam 20a
Two guide rails 20b are mounted on the top of the rail in the X-axis direction. Further, a groove portion 20c is provided on the upper surface of the central beam 20a, and the lateral slide jack 22 is housed therein.

The cylinder side of the horizontal slide jack 22 is the central beam 20.
It is attached to a bracket 20d provided on a, and the rod side is attached to a bracket 21b provided on a horizontal slide frame 21 described later.

The horizontal slide frame 21 is the central beam of the suspension beam 20.
The linear bearings 21a, which are placed on the 20a and are engaged with the guide rails 20b, are attached to the four corners of the lower surface thereof. On the lower surface of the horizontal slide frame 21, a bracket 21b for attaching the rod side of the horizontal slide jack 22 is projected. A pair of left and right L-shaped flanges 21c facing each other when viewed from the tail side of the shield body are hung at the bottom of the horizontal slide frame 21 and extend in the Z-axis direction. Guide rails 21d are respectively mounted on the pair of left and right flanges 21c in the Z-axis direction.
A bracket 21e is provided on the lower surface of the flange 21c, and the cylinder side of the front-rear slide jack 24 is attached to the flange 21e.

The front and rear slide frames 23 are the horizontal slide frames 21.
It is composed of a spherical guide portion 23a and a left and right flange portion 23b inserted between a pair of left and right L-shaped flanges 21c. The flange portion 23b extends in the Z-axis direction like the guide rail 21d, and the guide rail 2 is provided at four corners of the lower surface of the flange portion 23b.
A linear bearing 23c engaging with 1d is attached. A bracket 23d for mounting the cylinder side of the correction jacks 28a and 28b, which will be described later, is projected at two places on the upper surface on one side of the left and right flange portions 23b. A female spherical surface is formed at the center of the spherical guide portion 23a. A bracket 23e projects from the left and right sides of the spherical guide portion 23a, and the rod side of the front-rear slide jack 24 is attached to the bracket 23e.

The posture correction mechanism 25 includes a spherical frame 26, a central shaft 27, correction jacks 28a and 28b, and a pitching correction jack 29. The spherical frame 26 has a male spherical surface that is inserted into the spherical guide portion 23a of the front-rear slide frame 23, and has a hollow inner surface that is hollowed out with the upper plate portion 26a left open. Through the center line on the center line of the spherical surface in the X-axis direction
27 are provided. Brackets 26b to which the rod sides of the correction jacks 28a and 28b are attached project from two positions on the upper surface of the upper plate portion 26a. As shown in FIG. 4, the two correction jacks 28a and 28b having the same specifications are mounted in parallel with each other in the X-axis direction at the same distance L from the center O of the spherical surface. These two correction jacks 28a and 28b are used for yawing correction and rolling correction as described later. The cylinder side of the pitching correction jack 29 is attached to a bracket 26c provided on the lower end of the spherical frame 26 on the face side in the Z-axis direction, and the rod side is attached to a bracket 30c provided on a segment guide 30 described later, The mounting direction is perpendicular to the central axis 27.

The segment guide 30 is composed of a central connecting portion 30a and a lower guide frame 30b, and has a central axis 2 of the spherical frame 26.
It is rotatably suspended at 7. A segment gripping mechanism 31 is housed in the central inner space where one surface is open, and a bolt fastening device (not shown) is attached to the guide frame 30b. The outer peripheral portion of the guide frame 30b is formed in an arc shape having a curvature that matches the inner peripheral surface of the segment 12a. A bracket 30c to which the rod side of the pitching correction jack 29 is attached projects from the side surface of the central connecting portion 30a on the face side in the Z-axis direction.

The segment gripping mechanism 31 housed in the inner space of the segment guide 30 has a gripping frame 31a, gripping jacks 31b and 31c, a sliding body 31d, and a screw shaft 3 as shown in detail in FIG.
It consists of 1g and drive motor 31i.

The gripping frame 31a includes a cylindrical body 31a ₁ and a flange 31a.
₂ and consists of the stopper portion 31a ₃ provided at the lower end of the body portion 31a _1, and the inner surface of the trunk portion 31a ₁ and the guide surface for the sliding body 31d, the trunk portion 31a flange portion 31a ₂ provided on the outer periphery side of the ₁
It is attached to the segment guide 30. _Two brackets 31a ₄ for attaching the gripping jacks 31b, 31c are provided symmetrically on the upper surface of the flange portion 31a ₂ , and the stopper portion 31a _{3 at} the lower end has its inner diameter so that the lower end of the sliding body 31d hits. It is made slightly smaller than the inner diameter of the portion 31a ₁ .

The two gripping jacks 31b and 31c having the same specifications are mounted on the bracket 31a ₄ on the cylinder side and on the rod side on the rod side so that the gripping jacks 31b and 31c are positioned in parallel with the axis of the body 31a ₁ of the gripping frame 31a and symmetrically. It is attached to a bracket 31e protruding toward the outer peripheral side of the upper end of the sliding body 31d.

The sliding body 31d has an outer diameter of the body portion 31 of the grip frame 31a.
It is a cylindrical body that is smaller than the inner diameter of a ₁ and has a minute clearance m between it and the body portion 31a ₁ , the upper portion is open, and the intermediate portion has a flange portion 31j for mounting a drive motor (hydraulic motor) 31i, Two bearings 31f for rotatably supporting the screw shaft 31g are attached to the lower portion. The bracket 31e projects symmetrically on the outer peripheral side of the upper end portion.
Further, the guide piece 31m is provided in the intermediate portion outer periphery, the gripping frame 31a guide groove 17n provided in the trunk portion 31a ₁ of
Guided axially by.

The screw shaft 31g has a screw portion 31k at the lower end thereof that matches the grout screw hole 12d of the segment 12a, and the middle portion is rotatably supported by the sliding body 31d via the bearing 31f. The upper end portion is connected to the rotary shaft of the drive motor 31i via a coupling 31h.

When the segment 12a carried in below the erector is gripped by the segment gripping mechanism 31, the segment guide
Correct the position and orientation of 30 with respect to the segment 12a and align the grout screw hole 12d of the segment 12a with the screw shaft 31g. As means for automatically performing this alignment,
Guide frame as detailed in Figures and 10
Sensors 33a, 33 for detecting the position and orientation of the loaded segment 12a are provided on the side surface and the lower surface (outer peripheral surface) of 30b.
b, 35a, 35b, 36a to 36d are attached.

The first sensors 33a and 33b are attached to the tip ends of rods of sensor jacks 32 arranged on the face of the guide frame 30b on the face side in the Z-axis direction at intervals ₁ narrower than the segment dimension _X in the X-axis direction. When the jack 32 extends, the jack 32 is projected to a position facing the face on the face side of the segment 12a, and the distances δ ₁ and δ ₂ from the position to the face on the face side of the segment 12a are measured.

The second sensors 35a, 35b are arranged on both side surfaces of the guide frame 30b in the X-axis direction at intervals larger than the segment dimension _X in the X-axis direction.
₂ is attached to the rod ends of the sensor jacks 34 arranged in ₂ , and is extended by the extension of the sensor jacks 34 to a position facing the end surface of the segment 12a adjacent to the adjacent segment in the circumferential direction. The distances δ ₃ and δ ₄ to the side end face are measured.

The third sensors 36a to 36d are arranged on the lower surface of the guide frame 30b at intervals ₃ smaller than the segment dimension _X in the X-axis direction.
Also, in the Z-axis direction, the spacing is narrower than the segment dimension _Z.
4 are attached with the same amount of protrusion so as to be opposed to almost four corners of the inner peripheral surface of the segment 12a, and the distance δ from each position to the inner peripheral surface of the segment 12a.
₅ and δ ₆ are measured.

The output signals of the first, second and third sensors are input to a control device (not shown) as information for detecting the position and orientation of the segment 12a.

As these sensors, a known optical distance sensor using laser light, an ultrasonic distance sensor, or the like can be used. Of these sensors, the third sensor 36
The a to 36d are attached so as not to hit the segment 12a when the segment 12a is gripped by the segment gripping mechanism 31, and the first sensors 33a, 33b and the second sensor 33a.
Regarding the sensors 35a and 35b, the sensor jacks 32 and 34 are retracted from the inner peripheral surface of the segment 12a by the contraction of the sensor jacks 32 and 34 except during measurement, and the segment 12a into which these sensors have been loaded, the existing segment 13, or the adjacent segment 12 in the circumferential direction, I try not to hit.

Next, the operation of each part of the above-mentioned erector will be described.

As described above, the eclectic ring 3 is turned left and right by the turning motor 7, and the segment guide 30 is turned in the circumferential direction of the shield body 1 accordingly.

The suspension beam 20 supported by the left and right arms 5 of the erector ring 3 via the guide rods 6 is moved in the radial direction of the erector ring 3 by the expansion and contraction of the pressing jack 7, and along with this, the segment guide 30 and the erector ring 3 are also moved. With respect to, the Y-axis direction is moved and the position in the Y-axis direction is corrected.

The horizontal slide frame 21 mounted on the suspension beam 20 via the linear bearing 21a is horizontally slid in the X-axis direction with respect to the suspension beam 20 due to the expansion and contraction of the horizontal slide jack 22. 30 also slides laterally in the X-axis direction with respect to the suspension beam 20, and the position in the X-axis direction is corrected. This corresponds to fine adjustment of the erector turning angle θ _R. The swinging motion of the elector ring 3 by the swinging motor 17 causes a large inertia load and the ring gear 3
Since there is a backlash between the a and the pinion 17a, it is difficult to finely adjust the turning angle θ _R. Therefore, a minute position correction in the X-axis direction is performed by expanding and contracting the lateral slide jack 22.

The front-rear slide frame 23 mounted on the horizontal slide frame 21 via the linear bearings 23c allows the front-rear slide jack 24 to expand and contract to move the Z relative to the horizontal slide frame 21.
The segment guide 30 is slid back and forth in the axial direction, and accordingly, the segment guide 30 is also slid back and forth in the Z axis direction with respect to the lateral slide frame 21 to correct the position in the Z axis direction.

The spherical frame 26 of the posture correcting mechanism 25 incorporated in the spherical guide portion 23a of the front-rear slide frame 23 makes the following movements by the expansion and contraction of the two correction jacks 28a and 28b. Fourth
In the figure, when the two correction jacks 28a and 28b are simultaneously extended or contracted, the spherical frame 26 is tilted in the direction of the arrow θ _{Z in} FIG. 1 around the Z axis including the spherical center O.
This movement is used for rolling correction of the segment guide 30. When the correction jack 28a is extended and the correction jack 28b is contracted, the spherical frame 26 is swiveled around the Y axis including the spherical center O in the arrow θ _Y1 direction of FIG. Reduced jack 28a, modified jack 2
If 8b is extended, the spherical frame 26 will move to the arrow θ in FIG.
It can be turned in the _Y2 direction. This movement is used to correct the yaw of the segment guide 30.

Further, in FIG. 2, the segment guide 30 suspended from the central axis 27 of the spherical frame 26 is expanded or contracted by the pitching correction jack 29 attached to the spherical frame 26 so that the segment guide 30 is moved around the central axis 27, that is, the X axis. It is tilted in the direction of the arrow θ _{X in the} figure. This movement is used to correct the pitching of the segment guide 30.

Segment gripping mechanism 3 mounted on the segment guide 30
1, the bolt fastening device (not shown), the segment guide 3
The position is corrected in the X-axis, Y-axis, and Z-axis directions together with 0, and rolling, yawing, and pitching are corrected.

The alignment between the segment 12a to be assembled and the segment gripping mechanism 31 is performed as follows (see FIGS. 1 to 5, 9, and 10).

When the segment 12a is carried in and placed below the erector by a hoist (not shown) or the like, the control device causes the third sensor 3 mounted on the lower surface of the guide frame 30b to have four positions.
The elector ring 3 is swung so that all of 6a to 36d sense the segment 12a, and the general positioning is performed. next,
The sensor jacks 32 and 34 are extended to provide the first sensors 33a and 33b.
And four second sensors 35a and 35b are projected together. The first sensors 33a and 33b measure the distances δ ₁ and δ ₂ from the end face of the cutting face of the segment 12a, respectively, so that the measured values of δ ₁ and δ ₂ become the preset value δ _7. The controller performs position correction in the Z-axis direction by the front and rear slide jacks 24 and yaw correction by the correction jacks 28a and 28b. The second sensors 35a, 35 measure the distances δ ₃ , δ ₄ between the end faces of the adjacent segments in the circumferential direction of the segment 12a, and the measured values of δ ₃ , δ ₄ are preset values. The control device controls the X by the lateral slide jack 22 so that δ ₈ is obtained.
Correct axial position (fine adjustment of turning).

Next, the control device presses so that the distances δ ₅ and δ ₆ between the inner peripheral surface of the segment 12a measured by the third sensors 36a to 36d become the preset value δ ₉ at all four positions. Position adjustment in the Y-axis direction by the jack 7 and correction jacks 28a, 28
b and posture correction (rolling correction, pitching correction) by the pitching correction jack 29.

The preset values δ ₇ , δ ₈ , and δ ₉ mean that the segment 12
The value of the coordinate of the screw shaft 31g of the segment gripping mechanism coincides with the grout screw hole 12d of a, and the preparation for the gripping operation of screwing the screw shaft 31g into the grout screw hole 12d is completed by the correction operation. The correction operation is performed by feedback control so that the deviation between the set values of the measured values of the respective distances becomes zero. When the above correction operation is completed, the four sensor jacks 32 and 34 are shortened together, and the first and second sensors 3
3a, 33b, 35a, 35b are drawn in from the inner peripheral surface of the segment 12a.

When the preparation for the gripping operation is completed, the segment gripping mechanism 31 operates as follows (see FIGS. 1, 2, and 8).

First, the drive motor (hydraulic motor) 31i starts, and the screw shaft 31g
To rotate. The rotation direction reaction force during rotation is guide piece 31
It can be received by m and the guide groove 31n. By contracting the gripping jacks 31b and 31c while rotating, the screw shaft 31g is moved in the direction of arrow A in FIG. 8 together with the sliding body 31d and the drive motor 31i. As a result, the screw shaft 3
Tip of 1g is the lower end of the sliding body 31d is protruded from the lower surface of the guide frame 30b until it hits the stopper portion 31a ₃ of the lower end of the grip frame 31a. As described above, the grout screw hole 12d of the segment 12a and the center of the screw shaft 31g are aligned with each other, and the screw shaft 31g is rotated while protruding and screwed into the grout screw hole 12d. When the stroke detector built into the gripping jacks 31b, 31c reaches the specified stroke, the drive motor 31
Stop the rotation of i, then extend the gripping jacks 31b and 31c to pull up the segment 12a together with the screw shaft 31g,
The inner peripheral surface of 12a is brought into contact with and fixed to the outer peripheral surface of the guide frame 30b.

In this gripping mechanism, the screw shaft 31g has two gripping jacks 31
It is suspended on one side of a four-bar link composed of b, 31c, a sliding body 31d, and a gripping frame 31a.
Since the sliding body 31d supporting g has a minute clearance m and is guided by the body portion 31a ₁ of the gripping frame 31a, the screw shaft 31g suspended in air is held in the gripping frame 31a by this minute clearance m. On the other hand, it can be translated by a four-bar link motion. In addition, by providing a clearance in the mounting portions of the gripping jacks 31b and 31c for the gripping frame 31a and the sliding body 31d, the screw shaft 31g can be separated by a minute clearance m even in the direction perpendicular to the moving direction by the 4-node link motion. Can only be rocked. Therefore, even when a minute control error occurs when centering the grout screw hole 12d and the screw shaft 31g, the control error can be absorbed by the swing of the screw shaft 31g with respect to the gripping frame 31a. The segment can be gripped by screwing.

After the gripping operation is completed, the pressing jack 7 is then contracted, and the turning motor 17 turns the electret ring 3 until a predetermined turning angle θ _R is reached.

The posture of the segment 12a to be assembled from now on needs to be corrected according to the posture of the existing segment 13,
The attitude of the existing segment 13 is detected by the attitude detecting means separately provided for the correction. Based on the detected result, the existing segment at the predetermined turning angle θ _R
The correction jacks 28a, 28b and the pitching correction jack 29 adjust the posture of the segment guide 30 holding the segment 12a such as pitching, rolling, and yawing so that the posture of the segment 12a can be adjusted by the pressing jack 7. Correct the radial position,
Then use the front and rear slide jacks 24 to segment 12a.
Is pressed against the end face of the existing segment 13 on the face side, and both segments are bolted by a bolt fastening device (not shown). By repeating the above operation, the segments are assembled into a ring shape.

In the above embodiment, the method of screwing the screw shaft into the grout screw hole is shown as the segment gripping mechanism, but the present invention is not limited to this, and the pin insertion (gripper) method and the hook as shown in the above-mentioned known example. The same can be applied to the case of using another gripping mechanism such as a rod (twist rod) system.

〔The invention's effect〕

 According to the present invention, the following effects can be obtained.

(I) Since the position and orientation of the loaded segment are detected by a plurality of sensors attached to the segment guide, and the position and orientation of the segment guide are corrected so that the segment can be gripped accordingly, Regardless of the position and orientation of the loaded segment, the segment gripping mechanism can be automatically aligned with the segment, no special segment positioning loading device is required, and the lining equipment can be simplified.

(Ii) By performing feedback control so that the measured value of each sensor that detects the position and orientation of the carried-in segment becomes a preset value, the segment gripping mechanism and the segment can be accurately aligned.

(Iii) If the first and second sensors for measuring the distance to the segment end face are attached to the segment guide through the jacks and after the correction operation is completed, the above-mentioned respective sensors can be retracted from the inner peripheral face of the segment. The above-mentioned sensors do not damage the loaded segments, existing segments, or adjacent segments in the circumferential direction, and do not hinder segment assembly.

[Brief description of drawings]

1 is a cutaway front view of a shield machine equipped with the automatic segment assembly apparatus of the present invention as seen from the tail side, FIG. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is III of FIG. -III sectional view, FIG. 4 is an IV-IV sectional view of FIG. 1, FIG. 5 is a VV sectional view of FIG. 1, and FIG. 6 is a detailed view of part (a) of FIG. The figure is a detailed view of (b) part of Fig. 2, Fig. 8 is an enlarged sectional view of the segment gripping mechanism, Fig. 9 is an enlarged view of (c) part of Fig. 2, and Fig. 10 is X- of Fig. 9. X sectional view, FIG. 11 is a perspective view of one piece of the segment, FIG. 12 is an explanatory view of the posture of the segment, FIG. 13 is a sectional view taken along the line XIII-XIII in FIG. 12, and FIG. 14 is a sectional view taken along the line XIV- in FIG. X
IV sectional view, FIG. 15 is a front view of the rear part of the shield machine equipped with the conventional erector, FIG. 16 is a view showing the relationship between the grip of the conventional erector and the segment hanging metal fittings, and FIG. 17 is the cutting of FIG. It is a side view. 1 ... Shield body, 3 ... Erector ring, 7 ... Pressing jack, 12, 12a ... Segment to be assembled from now on, 13 ... Existing segment, 17 ... Rotating motor,
20 …… Suspended beam, 21 …… Horizontal slide frame, 22 ……
Horizontal slide jack, 23 …… Front and rear slide frame, 24
…… Front and rear slide jacks, 25 …… Posture correction mechanism, 30…
… Segment guide, 31 …… Segment gripping mechanism, 32,3
4 …… Sensor jack, 33a, 33b …… First sensor, 35a,
35b ... second sensor, 36a to 36d ... third sensor.

Claims (3)

[Claims] 1. A segment guide having a built-in segment gripping mechanism for assembling a tunnel lining segment carried into a shield machine into a ring shape, and a swing for moving the segment guide in the circumferential direction of the shield body. Set the mechanism and the axis extending in the axial direction of the shield body to Z
When one axis that is orthogonal to the axis and the Z axis and extends in the radial direction of the shield body is the Y axis and the other axis that is orthogonal to the Z axis and the Y axis is the X axis, the segment guides are the X axis direction and the Y axis direction. And a position correction mechanism for moving the segment guide in the Z-axis direction to correct the position of the segment guide, and rotating the segment guide around the X-axis, the Y-axis, and the Z-axis to correct the posture of the segment guide. And a first sensor attached to the segment guide at two positions spaced apart in the X-axis direction on the segment guide, for measuring the distance from each position to the face on the face side of the segment, A second sensor attached to the segment guide at two positions spaced apart in the X-axis direction, and measuring the distance from each position to the end surface of the segment in the circumferential direction on the adjacent segment side; A third sensor attached to four positions on the segment guide corresponding to positions of substantially four corners of the inner peripheral surface of the segment, and measuring a distance from each position to the inner peripheral surface of the segment; , The position correction mechanism and the posture correction mechanism are controlled so that the segment holding mechanism can hold the segment based on the measurement values of the second and third sensors, and the position and the posture of the segment guide are corrected. A segment automatic assembly apparatus, comprising: 2. The control device corrects the position of the segment guide in the Z-axis direction and the attitude around the Y-axis so that the measured values of the first sensor coincide with the set values at two locations, and The position of the segment guide in the X-axis direction is corrected so that the measured values of the second sensor match the set values at the two locations, and the measured values of the third sensor match the set values at the four locations. 2. The automatic segment assembly apparatus according to claim 1, wherein the position of the segment guide in the Y-axis direction and the postures about the X-axis and the Z-axis are corrected as described above. 3. A segment guide via a jack so that the first and second sensors can be moved to a position facing the end surface of the segment and a position retracted from the inner peripheral surface of the segment, respectively. The segment automatic assembly apparatus according to claim 1, wherein the segment automatic assembly apparatus is attached.