JPH11182199A - Underground work equipment behind the shield machine - Google Patents

Abstract

(57) [Abstract] [Problem] To install a long and heavy sleeper safely and accurately in a narrow space in a tunnel. The connecting walkways (21A, 21A) on both sides of a lower portion of a segment hoist (19) are provided between a rear work table (11) and a rear bogie (14).
B, a first rail 30 and a second arm 33 are provided on both rails 23A and 23B, respectively.
The two articulated manipulators 24 </ b> A and 24 </ b> B having a
A, 24B, grip both sides of the long sleeper 12,
The sleeper 12 is configured to be able to change its direction from the tunnel axis direction to the tunnel width direction and to be positioned.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underground work facility behind a shield excavator for assisting excavation of a tunnel behind a shield excavator, and more particularly to a sleeper laying device for an underground work bogie rail.

[0002]

2. Description of the Related Art Conventionally, a tunnel excavating equipment using a shield method has an erector device for assembling segments disposed at a rear portion of a shield machine having a cutter head at a front portion, and a rear work table and a rear portion at a rear portion of the erector device. A cart is arranged and connected to the shield main body to be followed and moved. The rear bogie is configured such that a segment bogie for transporting the segment from the ground arrives, and the rear work bench is provided with a segment carrying device for carrying the segment into the erector device. Further, a stock conveyor for storing the segments and a segment hoist for transferring the segments carried by the segment trucks from the segment trucks to the stock conveyor are provided between the rear working platform and the rear trucks.

[0003] The rear working platform is adapted to follow and move while being supported by a frame of the erector device, and the rear bogie is configured to move while being guided by a traveling rail laid along the inner surface of the segment. . Conventionally, a steel sleeper conventionally carried from the ground to a rear bogie is lifted using a segment hoist, the sleeper is manually installed at a predetermined position in the segment in the width direction, and the travel rail is further placed on the sleeper. Is installed.

[0004]

However, the operation of lifting and moving a heavy and long sleeper through a wire in a confined space through a wire is extremely dangerous and heavy labor.

The invention according to claim 1 of the present invention solves the above-mentioned problems, and provides an underground work facility behind a shield machine in which a long and heavy sleeper can be safely and accurately installed in a narrow space. The purpose is to provide.

[0006]

According to a first aspect of the present invention, there is provided an apparatus according to the present invention, which is provided on a machine base so as to be rotatable about a vertical axis and rotatable about a horizontal axis. First
An arm, a second arm connected to a distal end of the first arm so as to be bent around a horizontal axis, a holding frame provided at a distal end of the second arm to be rotatable around the horizontal axis, and Two articulated manipulators, each of which is provided with a sleeper gripping device that can be swiveled on a holding frame and that can grip a sleeper, are movably arranged in a tunnel axial direction at a predetermined interval in a tunnel width direction; The manipulator of (1) holds both sides of the long sleeper so that the sleeper can change its direction from the tunnel axis direction to the tunnel width direction and can be positioned.

According to the above construction, the long sleeper conveyed in the axial direction along the tunnel is gripped on both sides by two manipulators and lifted to cooperate with each other, so that the tunnel width is increased. It can be positioned and installed with high precision by turning 90 ° in the direction. Therefore, even in a narrow space, a long and heavy sleeper can be installed safely and accurately.

According to a second aspect of the present invention, a segment hoist on which a segment piece can be transferred is moved to a guide rail below a connecting beam connecting a rear work table and a rear bogie at the rear of the erector device of the shield machine. Arrange freely,
Manipulators are provided via moving rails at the lower portions of two connecting walkways provided on both lower sides of the guide rails, and sleeper laying devices are arranged.

According to the above construction, the segment hoist is arranged in the upper part of the tunnel, and the manipulators are arranged on both sides of the lower part, and the direction of the long sleeper is changed by effectively utilizing the narrow space. It can be positioned and installed automatically, which can improve the rear work.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an underground work facility behind a shield machine according to the present invention will be described with reference to FIGS.

As shown in FIGS. 1 and 2, reference numeral 1 denotes a shield excavator for excavating a tunnel by a shield method, and a cutter head 3 is provided at a front portion of a shield main body 2 so as to rotate around a tunnel axis. At the rear of the shield body 2, an erector device 5 for assembling the primary lining segment 4 on the inner surface of the excavated tunnel is provided. Although not shown, a pressure chamber is formed in the shield body 2 at the rear of the cutter head 3 for holding the face collapse earth pressure, and a mud pipe is provided for discharging the excavated earth and sand taken into the pressure chamber into a slurry. And a discharge device comprising a discharge pipe. A cutter rotation driving device for rotating and driving the cutter head 3 is also provided in the shield body 2, and the segment 4 assembled by the elector device 5 is provided.
A plurality of propulsion jacks 6 for propelling the shield main body 2 by receiving the reaction force as a reaction force are also provided.

A rear work table 1 is provided at the rear of the
1 is connected and supported, and at a position away from the rear work table 11 by a predetermined distance, a rear carriage 14 that is movable on an outer running rail 13A laid via a steel sleeper 12 is disposed. The rear working table 11 and the rear carriage 14 are connected via a connecting beam 15 arranged on the ceiling.
A plurality of segment trucks 16 are movably arranged on the inner running rail 13B laid through the steel sleeper 12, and the segment pieces 4a carried from the ground side are provided.
And sleepers 12, and running rails 13A and 13B are sequentially carried in.

A stock conveyor 17 for storing the segment pieces 4a is disposed between the rear work table 11 and the rear carriage 14, and a stock conveyor 17 is provided below the rear work table 11 from the stock conveyor 17 to the erector device 5. A segment carry-in device 18 for carrying in the segment piece 4a is provided. A segment hoist 19 which is movable by being guided by a guide rail 20 attached to the lower part of the connecting beam 15 is disposed on the connecting beam 15. The segment hoist 19 causes the segment piece 4 a carried by the segment cart 16 to move. Can be suspended and transferred to the stock conveyor 17.

Between the rear work platform 11 and the work vehicle 14, connecting walkways 21A and 21B through which workers can pass at predetermined intervals on both lower sides of the connecting beam 15 are connected. , 21B, a sleeper laying device 22 is arranged.

As shown in FIGS. 3 and 4, the sleeper laying device 22 includes moving rails 23A, 23A in the axial direction of the tunnel.
It is constituted by two articulated manipulators 24A and 24B which are respectively arranged along B in the direction of the tunnel axis. These articulated manipulators 24
Since A and 24B have the same configuration, only one will be described and the other description will be omitted.

That is, the articulated manipulator 24A
Is a traveling machine base 26 that is guided by a pair of left and right moving rails 23A installed along the lower part of the connecting corridor 21A and is movable by the traveling device 25, and a vertical driving center 27 A swivel 28 provided rotatably around the first arm, a first arm 30 rotatably provided on a bracket 28a of the swivel 28 via a first horizontal shaft 29 around a horizontal axis, and a first arm A first arm driving cylinder 31 for rotating the arm 30 up and down within a predetermined range; a second arm 33 foldably connected to a distal end of the first arm 30 via a second horizontal shaft 32; Arm drive cylinder 34 for rotating the cylinder up and down within a predetermined range
A holding frame 36 swingably supported at the distal end of the second arm 33 via a third horizontal shaft 35, and a rotating frame supported by the holding frame 36 so as to be rotatable around a vertical axis. And a sleeper gripping device 38 provided at 37.

The traveling machine base 26 is provided with traveling wheels 41 which contact the upper and lower surfaces of the lower flanges of the H-shaped moving rails 23A, 23A, respectively. Further, the traveling device 25 includes a connecting beam 15 between the moving rails 23A, 23A.
And a running pinion 43 meshed with the running rack 42 and a motor 44 for driving the running rack.

Further, the turning drive device 27 includes a traveling machine base 26.
A large gear 27a is attached to a rotating shaft 28a that is rotatably hung down, and a rotating pinion 27b that meshes with the large gear 27a and a driving motor 27c are provided on the rotating table 28.

Further, the holding frame 36 is formed in a cylindrical shape, and has a pair of third horizontal shafts 35 protruding from the outer surface. A rotating frame 37 is rotatably supported in the holding frame 36 around a central axis within a predetermined range. The sleeper gripping device 38 includes a pair of gripping hands 46, 46 rotatably supported in the rotary frame 37 via support shafts 45, 45, and an opening / closing cylinder 47 suspended from the rotary frame 37. A holding member 48 connected to the piston rod of the opening / closing cylinder 47 and capable of moving up and down; and a pair of opening / closing links 49, 49 for connecting the holding member 48 and the passive ends of the gripping hands 46, 46 with pins. By moving the opening / closing cylinder 47 to extend and retract, the gripping hand 46 can be opened and closed, and at the same time, the pressing member 48 can be raised and lowered to grip and open the upper flange of the sleeper 12.

The two articulated manipulators 24A,
24B grips both sides of the long sleeper 12 with a pair of gripping hands 46 by setting the arrangement interval and the rotation angles and lengths of the arms 30 and 33 and driving them in cooperation with each other. The loaded sleeper 12 can be turned 90 degrees from the tunnel axis direction to the tunnel width direction, and can be positioned with high precision at the laying position.

At the installation position of the sleeper 12 of the assembled segment 4, an installation hole 51 is formed as shown in FIGS. 5 and 6, and a fixing bracket 52 a to be installed in the installation hole 51,
A receiving member 52 fixed to the fixing member 52a by a bolt 52b.
The sleeper support bracket 52 made of c is mounted.

In the above configuration, the sleeper 12 loaded from the ground side is mounted on the segment truck 16 and transported to the rear truck 14 position. Then, the two articulated manipulators 24 </ b> A and 24 </ b> B are moved above the segment truck 16 by the traveling device 25, the arms 30 and 33 are extended, and the sleeper 12 is grasped by the grasping hand 46 and lifted from the segment truck 16. Then, after moving the traveling machine base 26 to a place where there is no interference, the turning drive devices 27, 27
The both turntables 28 are respectively driven to rotate by the
Is turned 90 degrees from the tunnel axis direction to the tunnel width direction, and then moved to the installation position for positioning.
2 are lowered onto the sleeper support bracket 52, and are fixed with fixing members such as bolts and nuts.

According to the above-described embodiment, the two articulated manipulators 24 installed by effectively utilizing the lower space of the connecting walkways 21A and 21B on both lower sides of the segment hoist 19, and are long and heavy. The sleeper 12 can be turned 90 degrees and positioned and installed with high accuracy. Therefore, dangerous work in a narrow space can be mechanized and automated, and the work of installing the sleepers on the traveling rails 13A and 13B can be performed efficiently and safely.

[0024]

As described above, according to the first aspect of the present invention, a long sleeper conveyed in the axial direction along the tunnel is gripped on both sides by two manipulators. By lifting and cooperating the two manipulators, the manipulator can be turned 90 ° in the tunnel width direction and positioned and installed with high accuracy. Therefore, even in a narrow space, a long and heavy sleeper can be installed safely and accurately.

According to the second aspect of the present invention, the segment hoist is arranged at the upper part in the tunnel,
Manipulators are placed on both sides of the lower part to effectively use the narrow space, long and heavy sleepers can be turned and installed automatically, and the rear work can be improved. .

[Brief description of the drawings]

FIG. 1 is a transverse sectional view showing an embodiment of an underground work facility behind a shield machine according to the present invention.

FIG. 2 is a longitudinal sectional view showing the underground work facility.

FIG. 3 is a front view showing a manipulator of the sleeper laying device of the underground work facility.

FIG. 4 is a side view showing the manipulator.

FIG. 5 is a side view showing a sleeper support bracket of the underground work facility.

FIG. 6 is a plan view showing a sleeper support bracket of the underground work facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shield excavator 2 Shield body 3 Cutter head 4 Segment 4a Segment piece 5 Electa apparatus 11 Rear work table 12 Sleepers 13 Travel rail 14 Rear trolley 16 Segment trolley 19 Segment hoist 21A, 21B Connecting walkway 22 Sleeper laying apparatus 23A, 23B Moving rail 24A, 24B Articulated manipulator 25 Traveling device 26 Traveling machine stand 27 Swivel device 28 Swivel platform 30 First arm 33 Second arm 38 Sleeper gripping device 46 Gripping hand

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Kitaoka 2-3-3 Kandajicho, Chiyoda-ku, Tokyo Co., Ltd. Obayashi Corporation Tokyo Head Office (72) Inventor Nobuhiko Hiruko 2-3-3 Kandajicho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (72) Inventor Taiji Hanaoka 5-28 Nishikujo, Konohana-ku, Osaka City, Osaka Inside Hitachi Zosen Corporation

Claims (2)

[Claims] 1. A traveling machine base that is movable along a traveling rail in the direction of a tunnel axis, and a first platform provided on the traveling machine platform so as to be rotatable around a vertical axis and rotatable around a horizontal axis. An arm, a second arm connected to the distal end of the first arm so as to be bent around a horizontal axis, and a holding frame provided at the distal end of the second arm so as to be rotatable around the horizontal axis.
A sleeper laying device is configured by arranging two manipulators at a predetermined interval in a tunnel width direction and a sleeper gripping device capable of swinging on the holding frame and capable of gripping a sleeper for an underground work truck rail, The two manipulators hold both sides of a long sleeper so that the sleeper can change its direction from the tunnel axis direction to the tunnel width direction and can be positioned. Work equipment. 2. A segment hoist, on which a segment piece can be transferred, is movably disposed on a guide rail below a connecting beam connecting a rear work table and a rear bogie of a rear part of an erector device of a shield machine. 3. The underground work behind a shield machine according to claim 2, wherein manipulators are respectively provided via moving rails and sleeper laying devices are arranged at lower portions of two connecting walkways installed on both lower sides of the rails. Facility.