JP4161500B2 - Segment positioning device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a segment positioning device equipped in a shield machine.
[0002]
[Prior art]
4 to 7 show an example of a conventional segment positioning device. A shield machine equipped with this segment positioning device includes a cylindrical excavator body 4 having a cutter face 1 for ground excavation at the front end, and the excavation machine. The rear barrel 5 connected to the rear end of the machine body 4 and the circumferentially spaced portion at the rear end portion in the machine main body 4 so that the cylinder is located on the front side of the machine and the ram is located on the rear side of the machine. And a screw conveyor 25 for sending earth and sand excavated by the cutter face 1 to the rear side of the excavator.
[0003]
The cutter face 1 includes a thrust bearing 6 interposed between the front end portion of the excavator main body 4 and the rear portion of the cutter face 1, and the front inner peripheral surface of the excavator main body 4 and the rear outer peripheral surface of the cutter face 1. The outer bearing 7 interposed, the inner bearing 8 interposed between the outer peripheral flange of the partition wall 3 installed in the front part of the excavator main body 4 and the rear inner peripheral surface of the cutter face 1, and the cutter mounted on the partition 3 It is rotatably supported by a bearing 9 that pivotally supports a rotation center shaft 2 that protrudes coaxially from the face 1 to the rear side.
[0004]
A ring gear 10 is formed integrally with the rear inner edge of the cutter face 1.
[0005]
The ring gear 10 is engaged with a pinion 11 driven by a hydraulic motor 12 attached to the partition wall 3, and when the hydraulic motor 12 is operated, the cutter face 1 rotates in the circumferential direction of the excavator.
[0006]
The housing of the shield jack 13 is pivotally supported by the excavator main body 4. When hydraulic pressure is applied to the cylinder in a state where the ram is in contact with the segment S assembled along the inner surface of the rear trunk 5, A thrust acts on the trunk 5.
[0007]
The screw conveyor 25 penetrates the partition wall 3 so that the front end is located in the cutter face 1 and the rear end is located on the rear side of the rear barrel 5.
[0008]
A feeder driving motor 26 is attached to the rear end of the screw conveyor 25. When the motor 26 is operated, the earth and sand in the cutter face 1 is transferred to the earth discharging pipe 18 extending from the rear trunk 5 to the rear side of the excavator. Discharged.
[0009]
Further, a segment positioning device for assembling a plurality of segments S in an annular shape is disposed in the rear barrel 5.
[0010]
The segment positioning device includes an annular support plate 31 that is inscribed and fixed to the rear cylinder 5, a plurality of rollers 16 that are pivotally supported on the end surface of the support plate 31 on the rear side of the excavator, and a rotating body that is supported by the rollers 16. 17, a gate member 19 disposed on the rear side of the excavator of the rotary body 17, a holding plate 30 that is integrally displaced with the gate member 19, and a swing mechanism having a gripping mechanism 22 that can grip the segment S. A plate 38 and a parallel manipulator 32 interposed between the swing plate 38 and the holding plate 30 are provided.
[0011]
The rotating body 17 includes an annular portion 17a that is coaxially positioned on the rear side of the excavator of the support plate 31, and a flange portion 17b that protrudes from the outer edge of the annular portion 17a to the front side of the excavator and abuts against the roller 16 so as to allow rolling. And the ring gear 17c integrally formed on the inner surface of the flange portion 17b, and the screw conveyor 25 described above is inserted into the through-hole 17d at the central portion of the rotating body 17.
[0012]
The ring gear 17c meshes with a pinion 15 driven by a hydraulic motor 14 attached to the support plate 31, and when the hydraulic motor 14 is operated, the rotating body 17 rotates in the circumferential direction of the excavator.
[0013]
The gate-shaped member 19 includes a pair of moving jacks 27 extending in parallel with each other in the digging machine radial direction and a pair of moving jacks 28 extending in parallel with each other in the longitudinal direction of the digging machine. The excavator can be displaced in both the longitudinal direction.
[0014]
The holding plate 30 protrudes from the portal member 19 to the rear side of the excavator.
[0015]
The swing plate 38 is disposed so that the opposite surface of the gripping mechanism 22 faces the holding plate 30.
[0016]
The parallel manipulator 32 is composed of six hydraulic servo cylinders 33a to 33f each extending substantially in the digging machine radial direction.
[0017]
The housings of the cylinders 33a and 33b are pivotally supported by a joint 36a provided at a first location of the swing plate 38, and the housings of the cylinders 33c and 33d are connected to a joint 36b provided at a second location of the swing plate 38. The housing of the cylinders 33e and 33f is pivotally supported by a joint 36c provided at the third position of the swing plate 38.
[0018]
The distance between the joints 36b and 36c with respect to the joint 36a and the distance between the joints 36c with respect to the joint 36b are set equal.
[0019]
The rods of the cylinders 33 b and 33 c are pivotally supported by a joint 37 a provided at the first location of the holding plate 30, and the rods of the cylinders 33 d and 33 e are pivoted by a joint 37 b provided at the second location of the holding plate 30. The rods of the cylinders 33f and 33a are pivotally supported by a joint 37c provided at the third location of the holding plate 30.
[0020]
The distance between the joints 37b and 37c with respect to the joint 37a and the distance between the joints 37c with respect to the joint 37b are set equal.
[0021]
As a result, the swinging plate 38 faces the holding plate 30 in a state where the protruding amounts of the piston rods of the cylinders 33a to 33f are equal.
[0022]
Further, when the protruding amount of the piston of the cylinders 33a to 33f is appropriately adjusted, the swinging plate 38 is displaced in each of the front and rear X, left and right Y, up and down Z, rolling α, pitching β, and yawing γ directions.
[0023]
In the figure, reference numeral 23 denotes a piece-to-piece bolt, and reference numeral 24 denotes a ring-to-ring bolt. Among the segments S fixed by the segment positioning device, those adjacent in the tunnel inner circumferential direction are fastened together by the piece-to-piece bolt 23. Also, those adjacent in the tunnel extension direction are fastened to each other by inter-ring bolts 24.
[0024]
In the above-described segment positioning device, the rotary body 17 is rotated with respect to the support plate 31 in the circumferential direction of the digging machine, and the portal member 19 is moved in the longitudinal direction of the digging machine by the moving jack 28 and is gripped by the gripping mechanism 22. The segment S held by the holding mechanism 22 is brought close to the fixed place by moving the gate-shaped member 19 in the radial direction of the digging machine by the moving jack 27. The manipulator 32 adjusts the postures of the segment S in the front and rear X, left and right Y, upper and lower Z, rolling α, pitching β, and yawing γ directions according to the segment S that has been assembled.
[0025]
[Problems to be solved by the invention]
However, in the segment positioning device shown in FIGS. 4 to 7, when the drilling diameter of the shield machine equipped with the segment positioning device is small and medium, the stroke of the cylinders 33a to 33f of the parallel manipulator 32 is increased and held. When the movable range of the swing plate 38 with respect to the plate 30 is expanded, the constituent members of the segment positioning device interfere with the screw conveyor 25 inserted into the rotating body 17.
[0026]
For this reason, in the conventional segment positioning device, the movable jacks 27 and 28 are provided separately from the parallel manipulator 32, and the holding plate 30 is displaced together with the gate-shaped member 19 with a large stroke in the digging machine radial direction and the digging machine longitudinal direction. Only the minute movement of the segment S is performed by the parallel manipulator 32, and the positioning operation of the segment S is not easy.
[0027]
The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a segment positioning device that can easily position a segment and can simplify the structure.
[0028]
[Means for Solving the Problems]
In order to achieve the above object, in the segment positioning device of the present invention, a rotating body provided in the excavator body and rotatable in the circumferential direction of the excavator, an oscillating body disposed on the rear side of the rotating body, and one end Is pivotally supported at the first location of the rotating body and the other end is pivotally supported at the first location of the oscillating body, and one end is pivotally supported at the second location of the rotating body, and A second linear motion actuator whose other end is pivotally supported at the second location of the oscillator, and one end pivotally supported in the vicinity of the first location of the rotating body and the other end of the second location of the oscillator. A third linear motion actuator pivotally supported in the vicinity, a gripping mechanism to which a segment to be transported to a stationary place can be connected, and a rolling fine adjustment for finely adjusting the position of the segment connected to the gripping mechanism in the rolling direction Mechanism and a segment yaw connected to the gripping mechanism. It includes a yawing fine adjustment mechanism capable of finely adjusting the grayed-direction position, a tangentially moving mechanism capable of moving the shield machine tangentially gripping mechanism and both the fine adjustment mechanism with respect to the oscillator.
[0029]
In the segment positioning device of the present invention, the segment is transported to a stationary place by the rotation of the rotating body and the displacement of the swinging body by the three linear actuators, and further, a tangential moving mechanism, a rolling fine adjustment mechanism, The segment posture is adjusted by the yawing fine adjustment mechanism.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0031]
1 to 3 show an example of an embodiment of a segment positioning device according to the present invention. In the figure, the same reference numerals as those in FIGS. 4 to 7 denote the same parts.
[0032]
This segment positioning device includes an annular support plate 31 that is inscribed and fixed to the rear cylinder 5, a rotating body 17 that is coaxially supported by the rear cylinder 5 by a plurality of rollers 16 that are pivotally supported on the support plate 31, and an excavator A swinging body 41 extending in the radial direction and disposed in the rear barrel 5 so as to face the rear end surface of the rotating body 17, a parallel manipulator 42 interposed between the swinging body 41 and the rotating body 17, and a segment gripping portion 43 and a tangential direction moving mechanism 44 capable of moving the segment gripping portion 43 in the tangential direction of the excavator with respect to the rocking body 41. The screw conveyor shown in FIG. 25 is inserted.
[0033]
Further, the pinion 15 driven by the hydraulic motor 14 meshes with the ring gear 17 c of the rotating body 17.
[0034]
The parallel manipulator 42 includes three hydraulic servo cylinders 45a to 45c and guide mechanisms 46a and 46b arranged along the hydraulic servo cylinders 45a and 45b.
[0035]
The guide mechanisms 46a and 46b are a front member positioned closer to the rotating body 17, and a rear member positioned on the swinging body 41 side and fitted so as to be slidable in the axial direction of the cylinders 45a and 45b. And have.
[0036]
The housing of the cylinder 45a and the front member of the guide mechanism 46a are pivotally supported by a joint 47a provided at the first location of the rotating body 17. The rod of the cylinder 45a and the rear member of the guide mechanism 46a are 1 is pivotally supported by a joint 48a provided at one location.
[0037]
The housing of the cylinder 45 b and the front member of the guide mechanism 46 b are pivotally supported by a joint 47 b provided at the second location of the rotating body 17, and the rod of the cylinder 45 b and the rear member of the guide mechanism 46 b are the first members of the oscillator 41. It is pivotally supported by a joint 48b provided at two locations.
[0038]
The housing of the cylinder 45c is pivotally supported by a joint 47c provided in the vicinity of the first location of the rotating body 17, and the rod of the cylinder 45c is pivotally supported by a joint 48c provided in the vicinity of the second location of the swinging body 41. Has been.
[0039]
The joints 47a to 47c and 48a to 48c are all of the pin type, and the pivot pins are parallel to each other.
[0040]
The interval between the joints 47a and 47b and the interval between the joints 48a and 48b are set to be equal.
[0041]
The segment gripping portion 43 includes a casing 49, a gripping mechanism 50, a rolling fine adjustment mechanism 51, and a yawing fine adjustment mechanism 52.
[0042]
The gripping mechanism 50 has a connector that protrudes downward from the casing 49 and can engage with a hole in the central portion of the concave curved surface of the segment S.
[0043]
The rolling fine adjustment mechanism 51 is disposed on the left and right of the gripping mechanism 50, and has a jack that can press the segment S outward in the radial direction of the excavator.
[0044]
The yawing fine adjustment mechanism 52 is provided on the left and right sides of the casing 49, and has a cylinder that can press the end surface of the segment S near the rear end of the excavator through a pad.
[0045]
The tangential direction moving mechanism 44 is provided at the lower end of the oscillating body 41 and guides the casing 49 of the segment gripping portion 43 in the tangential direction of the excavator, the housing is connected to the oscillating body, and the rod is connected to the casing 49. Cylinder.
[0046]
In the segment positioning device shown in FIGS. 1 to 3, when the protrusion amount of the rods of the cylinders 45 a to 45 c of the parallel manipulator 42 is appropriately adjusted when the oscillating body 41 is vertical when viewed from the axial direction of the excavator, When the oscillating body 41 is displaced in the forward / backward X, up / down Z, and pitching β directions with respect to the rotating body 17 and the tangential direction moving mechanism 44 is operated, the gripping mechanism 50 and both fine adjustment mechanisms are operated with respect to the oscillating body 41. 51 and 52 are displaced in the left-right Y direction.
[0047]
Further, when the protruding amount of the jack of the left and right rolling fine adjustment mechanism 51 is increased or decreased in a state where the coupling tool of the gripping mechanism 50 is engaged with the hole of the segment S, the position of the segment S in the rolling α direction is finely adjusted. When the protruding amount of the cylinder rod of the yawing fine adjustment mechanism 52 is increased or decreased, the position of the segment S in the yaw γ direction is finely adjusted.
[0048]
Further, when the hydraulic motor 14 is operated, the rotating body 17, the parallel manipulator 42, the oscillating body 41, the tangential moving mechanism 44, the gripping mechanism 50, the fine adjustment mechanisms 51 and 52, and the segment connected to the gripping mechanism 50. S is displaced in the rolling α direction.
[0049]
That is, by rotating the oscillating body 41 with respect to the support plate 31 in the circumferential direction of the digging machine, the segment S gripped by the gripping mechanism 50 is moved in a direction corresponding to the placement position, and then the parallel manipulator 42 A segment in which the segment S is brought close to a fixed place and the postures in the left and right Y, rolling α, and yawing γ directions are assembled by the tangential direction moving mechanism 44 and the fine adjustment mechanisms 51 and 52. Adjust according to S.
[0050]
As described above, in the segment positioning device shown in FIGS. 1 to 3, the oscillating body 41 is displaced by the parallel manipulator 42 having three cylinders 45a to 45c extending in the longitudinal direction of the excavator and located in the same plane. Even if the strokes of the cylinders 45a to 45c are increased and the movable range of the swinging body 41 with respect to the rotating body 17 is expanded, the component members of the segment positioning device are placed on the screw conveyor 25 (see FIG. 4) inserted through the rotating body 17. The apparatus configuration can be simplified without interference.
[0051]
Further, since the segment S is transported to the stationary place and its posture is adjusted by the rotation of the rotating body 17 and the displacement of the swinging body 41 by the parallel manipulator 42, the positioning operation of the segment S can be easily performed. .
[0052]
Note that the segment positioning device of the present invention is not limited to the above-described embodiment. Instead of the hydraulic servo cylinder, another type of linear motion actuator is used, and the electric motor is replaced by a rotating body instead of the hydraulic motor. Needless to say, the present invention can be used for the above-mentioned driving means, and other modifications can be made without departing from the scope of the present invention.
[0053]
【The invention's effect】
As described above, according to the segment positioning device of the present invention, various excellent effects can be obtained as described below.
[0054]
(1) Since the oscillating body is displaced by the three linear actuators extending in the longitudinal direction of the excavator, even if the stroke of the linear actuator is increased and the movable range of the oscillating body is expanded with respect to the rotating body, Interference with other devices of the shield machine can be avoided, and the device configuration can be simplified.
[0055]
(2) The segment is transported to a stationary place by the rotation of the rotating body and the displacement of the rocking body by the three linear actuators, and further, by the tangential direction moving mechanism, rolling fine adjustment mechanism and yawing fine adjustment mechanism, Since the posture of the segment is adjusted, the segment positioning operation can be easily performed.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram showing a shield machine equipped with an example of an embodiment of a segment positioning device of the present invention.
FIG. 2 is a longitudinal sectional view showing an example of an embodiment of a segment positioning device of the present invention.
3 is a conceptual diagram showing a segment gripping unit in the segment positioning device shown in FIGS. 1 and 2. FIG.
FIG. 4 is a longitudinal sectional view showing a shield machine equipped with an example of a conventional segment positioning device.
FIG. 5 is a longitudinal sectional view showing an example of a conventional segment positioning device.
FIG. 6 is a front view showing an example of a conventional segment positioning device.
7 is a conceptual diagram of the parallel manipulator in FIGS. 5 and 6. FIG.
[Explanation of symbols]
5 Rear trunk (digging machine trunk)
17 Rotating body 41 Oscillating body 44 Tangential direction moving mechanism 45a-45c Hydraulic servo cylinder (linear actuator)
50 Grasp mechanism 51 Rolling fine adjustment mechanism 52 Yawing fine adjustment mechanism S segment

Claims (1)

A rotating body provided in the excavator body and capable of rotating in the circumferential direction of the excavator, a swinging body disposed on the rear side of the rotating body, and one end pivotally supported at the first location of the rotating body and the other end A first linear motion actuator pivotally supported at the first location of the oscillator, one end pivotally supported at the second location of the rotating body, and the other end pivotally supported at the second location of the oscillator. A second linear motion actuator, a third linear motion actuator having one end pivotally supported in the vicinity of the first location of the rotating body and the other end pivoted in the vicinity of the second location of the oscillating body, A gripping mechanism capable of connecting a segment to be transported to a place, a rolling fine adjustment mechanism capable of finely adjusting the position of the segment connected to the gripping mechanism in the rolling direction, and a yawing direction of the segment connected to the gripping mechanism Yaw fine adjustment mechanism that can finely adjust the position of the handle and gripping mechanism Beauty segment positioning apparatus characterized by comprising a tangential moving mechanism capable of moving the shield machine tangentially both fine adjustment mechanism with respect to the oscillator.

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