JPH05340195A - Segment attitude control mechanism in segment assembly equipment - Google Patents

Abstract

(57) [Abstract] [Purpose] The pitching / rolling posture control mechanism of the segment can be downsized with a simple structure, and the control procedure can be simplified. [Structure] A yawing adjustment mechanism 33 that rotates around a spherical bearing 34 around a radial axis of the shield body, and pitching that swings around a tangential axis of the shield main body and a shield radial axis.・ Rolling adjustment mechanism
In the automatic operation segment assembly portion 12 provided with 38, the segment holding frame 35 is provided on the tip side of the support shaft 41 rotatably supported by the spherical bearing 34, and the support shaft 41
A plurality of pitching / rolling control jacks 36, 37 having output shafts connected to each other at a predetermined angle on the plane orthogonal to the support shaft 41 are provided on the base end side of the pitching / rolling control mechanism 38, A detent device 44 for restricting the rotation of the support shaft 41 about its axis is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mechanism for controlling a posture for positioning a segment in a segment assembling apparatus for assembling a lining segment in a tunnel excavated by a shield machine.

[0002]

2. Description of the Related Art A conventional segment assembling apparatus, as disclosed in, for example, Japanese Patent Laid-Open No. 2-125099 (publication), has a swivel mechanism for swiveling around an axis of a shield body (hereinafter referred to as a shield axis). A pitching control mechanism for swinging the shield main body in the radial direction (hereinafter referred to as the shield radial direction) and a slide mechanism for sliding the shield main body in the shield axial direction, and swinging the spherical body around the spherical bearing in the circumferential direction; A rolling control mechanism for swinging the shield in the axial direction and a yawing control mechanism for turning around the shield radial axis are provided.

In this adjusting mechanism, the pitching control mechanism and the rolling control mechanism are, as shown in FIGS. 10 and 11, provided on a barrel 82 which is swingably supported by a spherical bearing 81.
The support frame 84 of the segment S is rotatably supported via the yawing mechanism 83. This spherical bearing 81
A moving frame 86 slidably guided by the guide frame 85 is disposed on the axial center side of the moving frame 86.
A screw shaft type rolling drive device 88 in which an output shaft 88a is connected to a drive shaft 87 extending from the spherical bearing 81 to the shaft center side is provided, and a rolling control mechanism 89 is configured. The guide frame 85 is slidably guided by the support frame 90 in the shield axis direction, and the screw shaft type pitching drive device 91 to which the output shaft 91a is connected is provided to form the pitching control mechanism 92. ing.

[0004]

However, the pitching / rolling posture control mechanism of the above segment is a combination of the two slide driving devices 89 and 91, so that there is a problem that the entire device becomes large and complicated. there were. Further, when the rolling drive mechanism 89 and the pitching drive mechanism 92 are operated to swing the drive shaft cylinder 87 around the spherical bearing 81, the spherical bearing 81 rotates three-dimensionally around three axes orthogonal to each other. The drive shaft 87 may be rotated about its axis, so that the yawing mechanism 83 interposed between the support frame 84 and the shaft cylinder 82 needs to correct the operation, which complicates the control procedure. There was a problem.

The present invention solves the above problems and provides a segment attitude control mechanism in a segment assembling apparatus in which the segment pitching / rolling attitude control mechanism can be downsized with a simple structure and the control procedure can be simplified. The purpose is to

[0006]

In order to solve the above-mentioned problems, a segment attitude control mechanism in a segment assembling apparatus of the present invention comprises a turning mechanism for turning in the circumferential direction about the axis of the shield body and a shield body. Equipped with a telescopic mechanism that moves in and out in the radial direction, and a slide mechanism that slides in the axial direction of the shield body. Furthermore, a pitching control mechanism that swings in the circumferential direction around a spherical bearing and a rolling that swings in the shield axial direction. In a segment assembly device provided with a control mechanism and a yawing control mechanism for turning around the shield radial direction axis,
A segment holding frame is provided on the tip side of the support shaft in the radial direction of the shield body that is rotatably supported by the spherical bearing, and is provided on the base end side of the support shaft in a direction separated by a predetermined angle on a plane orthogonal to the support shaft. Multiple pitching with output shafts connected
A rolling drive device is provided to constitute a pitching / rolling control mechanism, and a rotation stopping device for restricting rotation of the support shaft about its axis is provided.

[0007]

According to the above construction, by driving the pitching / rolling drive device to move the base end side of the support shaft in the axial direction of the shield body, the segment held by the holding frame is centered on the spherical bearing. It is held on the holding frame by swinging the shield body in the axial direction to adjust the pitching, and driving the pitching / rolling retracting device to move the base end side of the support shaft in the tangential direction of the shield body. Rolling adjustment is performed by swinging the segment around the spherical bearing in the tangential direction of the shield body. further,
At this time, the rotation of the support shaft swinging by the pitching / rolling retracting device is restricted by the rotation stopping device, so that the yawing device does not need a correcting operation.

Therefore, since the plurality of pitching / rolling driving devices are arranged on the same plane and driven simultaneously, the driving mechanism of the supporting shaft can be simplified and downsized, and the rotation preventing device can be used. Since the rotation around the axis of the support shaft is restricted, correction operation by another mechanism is not required, and the control procedure can be simplified as compared with the conventional case.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a segment assembling apparatus according to the present invention will be described below with reference to the drawings.

As shown in FIGS. 6 and 7, the shield body 1
A swivel mechanism 3 is provided in the ring girder 2 arranged at the rear part of the swivel mechanism 3, and the swivel mechanism 3 includes a support roller 4, 5 provided in the ring girder 2 at predetermined intervals in the circumferential direction so that the swivel ring 6 is The shield main body 1 is rotatably supported in the circumferential direction C about the axis (hereinafter referred to as the shield axis O), and is driven by a turning motor 8 with a speed reducer mounted in the ring girder 2 via a column 7. The turning pinion 9 is constituted by meshing with a ring gear 10 provided in the intermediate portion of the outer peripheral surface of the turning ring 6.

A swivel frame 11 is attached to the rear portion of the swivel ring 6, and an automatic operation segment assembly portion 12 is arranged at one end of the swivel frame 11 and a manual operation segment is provided at the other end. An assembling section 13 is provided, and both of the segment assembling sections 1 are provided by the turning mechanism 3.
2 and 13 are rotated in the circumferential direction C.

The automatic operation segment assembly section 12 will be described. The swivel frame 11 includes a pair of side frames 11a.
And a connecting frame 11b are formed in a gate shape, and the revolving frame 11 is provided with an extendable frame 21 slidably arranged outside the side frame 11a via a linear bearing. A retractable mechanism 23 that can move in and out is provided. In addition, on the opposite side of the connecting frame 11b of the expandable frame 21,
A slide jack 24 is provided with a slide frame 24 supported slidably in the shield shaft center direction Z via a linear bearing on an arm portion 21a at the end of the expandable frame 21.
A slide mechanism 25 is provided for moving by.

Further, as shown in detail in FIGS.
This slide frame 24 includes slide frame 24
The swivel adjustment frame 27 slidably supported in the tangential direction of the shield body 1 (hereinafter referred to as the shield tangential direction X) via a linear bearing is attached to the swivel adjustment jack 2
A fine turning adjustment mechanism 2 that slides by 8 and adjusts the position in the circumferential direction Y by correcting the operation by the expansion mechanism 23 and a pitching / rolling adjustment mechanism 38 described later.
9 and a yawing adjustment frame 31 rotatably supported in the swivel adjustment frame 27 through a bearing 30 about an axis O _{Y in the} shield radial direction Y in the arrow C _Y direction can be turned by a yawing control jack 32. A yawing adjustment mechanism 33 and a segment holding frame 35 in which the yawing adjustment frame 31 is swingably supported via a spherical bearing 34, and a pitching / rolling control jacks 36 and 37 are used to provide an axis O _{X in the} shield tangential direction _X. And an arrow C _X about the axis O _Z of the shield axis Z,
Pitching Rolling adjusting mechanism 38 which swingably provided in the C _Z direction.

The pitching / rolling adjusting mechanism 38
The yaw adjustment frame 31 will be described in detail.
Spherical portion 34b through which the support shaft 41 in the shield radial direction Y penetrates into the seat portion 34a of the spherical bearing 34 provided outside
Is rotatably supported, and a segment holding frame 35 is attached to the tip of the support shaft 41. On the inner peripheral side of the yawing adjustment frame 31, θ ° with respect to an axis O _Y ′ that passes through the axis of the support shaft 41 and is parallel to the shield axis on a plane orthogonal to the axis O _Y in the shield radial direction Y. Two pitched and rolling control jacks 3 inclined
6, 37 are arranged, and these pitching / rolling control jacks 36, 37 are jack main bodies 36a, 37a.
Is a support pin 42 in a two-axis direction orthogonal to its axis.
It is swingably supported via A and 42B. The output rods 36b and 37b of the pitching / rolling control jacks 36 and 37 extend toward the same point on the axis of the support shaft 41, and the bracket 43a of the connecting ring 43 rotatably provided on the support shaft 41. , 43b via a universal bearing. Therefore, the support shaft 41 can be moved in the shield axis Z direction to adjust the pitch by synchronously advancing or contracting the pitching / rolling control jacks 36 and 37, and the pitching / rolling control jack 36 can be adjusted. , 37 relative to each other, the support shaft 41 can be moved in the shield tangential direction X for rolling adjustment.

Further, on the outer peripheral portion of the spherical bearing 34, there is provided a detent device 44 for restricting the rotation of the support shaft 41 around the axis center by an operation other than the yawing adjustment mechanism 33. In this rotation stopping device 44, a base portion 46 is arranged on the inner surface of the segment holding frame 35, and the base portion 45 is provided.
On the bracket 45a of the first support shaft 46 which is arranged on the axis parallel to the shield axis and passing through the center of the spherical bearing 34.
The gate-shaped frame 47 is rotatably supported by the gate-shaped frame 47, and extends on both sides of the spherical bearing 34.
7 arm portion 47b and yawing adjustment frame 31,
They are connected by a second support shaft 48 which is arranged parallel to the tangential direction of the shield and on the axis passing through the center of the spherical bearing 34.
Therefore, the support shaft 41 attached to the segment holding frame 35 is provided with the first support shaft 46 and the second support shaft 4.
8 around the center of the spherical bearing 34, swinging in the pitching direction C _X around the axis parallel to the tangential direction of the shield and rolling direction around the axis parallel to the axis of the shield passing through the center of the spherical bearing 34 Only the swing of C _Z is allowed, and the pitching / rolling control jacks 36, 37 do not cause the support shaft 41 to rotate C _Y about the axis O _Y.

Furthermore, the segment holding frame 35 is provided with a segment S.
It is equipped with a twist lock type segment holding device 51 for holding and a bolt / nut fastening device 52.

Next, the adjusting operation of the segment assembling apparatus having the above construction will be described. First, the initial positioning work is performed in the order of revolving, expanding and contracting, and sliding by using the revolving mechanism 3, the telescopic mechanism 23, and the slide mechanism 25, and the segment S held by the segment holding device 51 is positioned by the segment holding frame 35. ..

Next, the final positioning fine adjustment of the segment is automatically performed in the order of yawing → pitching → rolling → expansion / contraction → turning fine adjustment → turning fine adjustment correction (extension / rolling) → slide. That is, (1) yawing ... using the yawing adjustment mechanism 33,
The yawing control jack 32 rotates the yawing adjustment frame 31 around the shield radial axis O _{Y in the} direction of arrow C _Y.

(2) Pitching → Rolling ... By using the pitching / rolling adjusting mechanism 38, the pitching / rolling control jacks 36, 37 are synchronously expanded / contracted to move the base end of the support shaft 41 in the shield axis Z direction. Then, the segment holding frame 35 is moved to the tangential axis O
The pitch of the segment S is adjusted by swinging in the direction of arrow C _X around _X. Further, the pitching / rolling control jacks 36 and 37 are relatively expanded / contracted to move the base end portion of the support shaft 41 in the shield tangential direction X to move the segment holding frame 35 to an axis O _Z parallel to the shield axis O. Swing in the direction of arrow C _{Z to the} center
Adjust the rolling of. At this time, since rotation of the support shaft 41 around the axis is restricted by the detent device 44, it is not necessary to make a correction by the yawing adjustment mechanism 33 as in the conventional case.

(3) Fine turning adjustment → Fine turning adjustment correction ... The fine turning adjusting mechanism 28 is used to extend / contract the turning adjusting jack 28 to move the segment holding frame 35 along the shield tangential direction X. Then, the expansion / contraction jack 22 is expanded / contracted to move the segment holding frame 35 along the shield radial direction Y, and the pitching / rolling control jacks 36, 37 are relatively expanded / contracted to move the segment holding frame 35 in the arrow C _Z direction. Then, the rolling adjustment is performed by swinging to the right, the movement of the segment S in the shield tangential direction X is corrected, and the fine adjustment of the turning direction is performed.

(4) Slide ... Using the slide mechanism 25, the slide jack 26 is expanded and contracted to move the segment holding frame 35 in the shield axis Z direction. As a result, positioning of the segment S held by the segment holding frame 35 can be completed with an accuracy of 0.1 mm, and then the telescopic mechanism 23 can fit the segment S at a predetermined position. .. And 5 for the bolt and nut fastening device
2 is driven to connect and fix the segments S in the circumferential direction and the segments S in the shield axial direction.

FIGS. 8 and 9 show another example of arrangement of the pitching / rolling control jacks in the pitching / rolling adjusting mechanism 38. That is, FIG. 8 is composed of a first pitching / rolling jack 61 arranged in the shield tangential direction X direction and a second pitching / rolling jack 62 arranged in the shield axial direction Z, and the second pitching / rolling jack is used during pitching adjustment. The first pitching / rolling jack 61 is expanded / contracted so as to follow the second pitching / rolling jack 62, and the base end portion of the support shaft 41 is moved in the shield axial direction Z while the jack 62 is expanded / contracted. During the rolling adjustment, the first pitching / rolling jack 61 is expanded / contracted and the second pitching / rolling jack 6 is moved.
2 is expanded and contracted so as to follow the second pitching / rolling jack 61, and the base end of the support shaft 41 is moved in the shield tangential direction Z. Further, FIG. 9 shows the case where three pitching / rolling jacks are used.
The pitching / rolling jack 71 is arranged in the shield shaft center direction Z, and the second pitching / rolling jack 7 is provided.
Twelve 2nd and 3rd pitching / rolling jacks 73
It is arranged at equal intervals of 0 °.

[0023]

As described above, according to the segment attitude control mechanism in the segment assembling apparatus of the present invention, a plurality of pitching / rolling retracting devices are arranged on the same plane and driven simultaneously. The drive mechanism of the support shaft can be simplified and miniaturized, and the rotation of the support shaft is restricted by the rotation stop device, so correction operation by other mechanisms is not required, and the control procedure is the same as before. It can be simplified in comparison.

[Brief description of drawings]

FIG. 1 is a rear sectional view showing an embodiment of a main part of an automatic operation segment assembly section according to the present invention.

FIG. 2 is a side view of a main part of the automatic operation segment assembly section.

3 is a cross-sectional view taken along the line AA shown in FIG.

FIG. 4 is a sectional view taken along line BB shown in FIG.

FIG. 5 is a schematic perspective view illustrating an operating mechanism of the segment assembling apparatus.

FIG. 6 is an overall rear view of the segment assembly device.

FIG. 7 is an overall side sectional view of the segment assembling apparatus.

FIG. 8 is a sectional view showing another arrangement example of the pitching / rolling control jack in the segment assembling apparatus.

FIG. 9 is a sectional view showing another arrangement example of the pitching / rolling control jack in the segment assembling apparatus.

FIG. 10 is a side sectional view of an essential part showing a conventional segment assembly device.

11 is a cross-sectional view taken along line DD of FIG. 10.

[Explanation of symbols]

 S segment O shield axis X shield tangential direction 1 shield body 3 swivel mechanism 6 swivel ring 11 swivel frame 12 segment segment for automatic operation 13 segment segment for manual operation 23 telescopic mechanism 25 slide mechanism 27 swivel adjustment frame 28 swivel fine adjustment Jack 29 Fine turning adjustment mechanism 33 Yawing adjustment mechanism 34 Spherical bearing 35 Segment holding frame 36,37 Pitching / rolling control jack 38 Pitching / rolling adjustment mechanism 38 Pitching / rolling adjustment mechanism 41 Support shaft 43 Connection ring 44 Rotation stop device 45 Base Part 46 1st support shaft 47 Gate type frame 48 2nd support shaft 51 Segment holding device 52 Bolt / nut fastening device

Claims (1)

[Claims] 1. A swivel mechanism that swivels in the circumferential direction about the axis of the shield body, an expansion / contraction mechanism that extends and retracts in the radial direction of the shield body, and a slide mechanism that slides in the axial direction of the shield body. In a segment assembly device provided with a pitching control mechanism for swinging in a circumferential direction around a spherical bearing, a rolling control mechanism for swinging in a shield axial direction, and a yawing control mechanism for turning around a shield radial axial center. ,
A segment holding frame is provided on the tip side of the support shaft in the radial direction of the shield body that is rotatably supported by the spherical bearing, and is provided on the base end side of the support shaft in a direction separated by a predetermined angle on a plane orthogonal to the support shaft. Multiple pitching with output shafts connected
A segment attitude control mechanism in a segment assembly device, wherein a rolling drive device is provided to constitute a pitching / rolling control mechanism, and a detent device for restricting rotation of the support shaft about its axis is provided.