JP4161501B2 - Segment positioning device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a segment positioning device in a shield excavator.
[0002]
[Prior art]
3 to 6 show an example of a shield excavator provided with a conventional segment positioning device, FIG. 3 is a side sectional view of the shield excavator, FIG. 4 is a side sectional view of the conventional segment positioning device, and FIG. Is a front view of FIG. 4, and FIG. 6 is a conceptual diagram of a 6-axis parallel manipulator.
[0003]
In FIG. 3, S is an existing segment covering the tunnel, 1 is a cutter face of a shield excavator, 4 is a shield excavator body, 5 is a rear trunk of the shield excavator, and the rear trunk 5 is an excavation circumferential surface. It has a role to prevent the collapse of earth and sand.
[0004]
The cutter excavator body 4 supports a cutter face 1 in the axial direction via a thrust bearing 6, and an outer bearing 7 and an inner bearing 8 are arranged in the circumferential direction between the cutter face 1 and the shield excavator body 4. It is installed. The rotation center shaft 2 of the cutter face 1 is supported on the shield excavator body 4 via a center bearing 9.
[0005]
A ring gear 10 is provided on the cutter face 1, and a pinion 11 is engaged with the ring gear 10. The shield excavator main body 4 is provided with a motor 12 connected to a pinion 11. When the motor 12 is driven, the cutter face 1 is centered on the rotation center axis 2 of the cutter face 1 via the pinion 11 and the ring gear 10. Rotate to.
[0006]
A plurality of shield jacks 13 are provided on the inner surface of the rear portion of the shield excavator body 4 along the circumferential direction, and the shield excavator body 4 is advanced while pressing the front side surface of the existing segment S by extending the shield jack 13. .
[0007]
An inlet of a screw conveyor 25 driven by an electric motor 26 is opened at the lower part of the space 3 on the rear surface of the cutter face 1. The screw conveyor 25 is disposed to the upper right, and a discharge port at the downstream end in the conveying direction is opened above the mud pipe 18. The mud drain 18 drains in the direction of arrow A.
[0008]
In FIG. 4, an annular erector support plate 31 is vertically attached to the rear cylinder 5 of the shield excavator body 4, and a plurality of rollers 16 are circularly mounted on the erector support plate 31 with respect to the central axis of the rear cylinder 5. An annular rotator 17 is disposed on the circumference and is rotatably supported by the roller 16.
[0009]
The rotating body 17 includes a vertical surface 17a and an outer peripheral surface 17b extending in a flange shape in parallel with the central axis of the rear cylinder 5. The outer peripheral surface 17b is supported by the roller 16, and the outer peripheral surface 17b. A ring gear 17c is engraved on the inner peripheral side, and a through-hole 17d for arranging the screw conveyor 25 and the like is provided inside the vertical surface 17a of the rotating body 17.
[0010]
A motor 14 is fixed to the erector support plate 31, and a pinion 15 that rotates by the motor 14 meshes with a ring gear 17 c of the rotating body 17. It is turned around the axis of the main body 4.
[0011]
A gate-shaped member 19 is attached to the rear side of the rotating body 17 via a coupling member 20. The portal member 19 is rotated in the direction along the inner peripheral surface of the tunnel by the rotation of the rotating body 17. In other words, the motor 14, the pinion 15, the ring gear 17 c, the roller 16, and the rotating body 17 constitute a rotational direction operating mechanism for the portal member 19.
[0012]
A guide member 29 is provided behind the coupling member 20, and the portal member 19 is moved back and forth along the guide member 29 in the tunnel axis direction (left and right direction in FIG. 4) by the operation of the front and rear jacks 28. Furthermore, the gate-shaped member 19 moves up and down in the tunnel radial direction (up and down direction in FIG. 3) by the operation of the upper and lower jacks 27. That is, the upper and lower jacks 27 and the front and rear jacks 28 constitute a radial direction movement mechanism and a front and rear direction movement mechanism of the gate-type member 19, respectively.
[0013]
4 and 5, the gate-shaped member 19 is configured in a gate shape so as to be able to move up and down, back and forth, and turn without interfering with the screw conveyor 25.
[0014]
A lower part of the gate-shaped member 19 constitutes a holding plate 30, and a rocking plate 38 parallel to the axis of the shield excavator body 4 is disposed on the lower surface of the holding plate 30 via a six-axis parallel manipulator 32. It is supported. A gripping device 22 is provided on the lower surface of the swing plate 38, and the segment S ₀ is gripped by the gripping device 22.
[0015]
The 6-axis parallel manipulator 32 will be described with reference to FIG. FIG. 6 shows a conceptual diagram of the mechanism of the six-axis parallel manipulator 32.
[0016]
The six-axis parallel manipulator 32 includes six cylinders 33 (33a to 33f), and the cylinders 33a and 33b, the cylinders 33c and 33d, and the cylinders 33e and 33f are integrally supported by a swing plate 38 by a joint 36. ing. The rod 34 (34a to 34f) of the cylinder 33 is composed of the rods 34f and 34a of the cylinders 33f and 33a, the rods 34b and 34c of the cylinders 33b and 33c, and the rods 34d and 34e of the cylinders 33d and 33e. It is supported by the holding plate 30. As a result, the cylinders 33a to 33f have a saw-tooth zigzag arrangement when viewed from the side. Each cylinder 33a to 33f is provided with a control valve 35 (FIG. 4), and the rods 34a to 34f are individually expanded and contracted by individually supplying and discharging hydraulic pressure from a hydraulic source (not shown) into the cylinder.
[0017]
By controlling the strokes of the six cylinders 33a to 33f, the swing plate 38 has six directions X, Y, Z, α, β, γ (circumferential direction, front-rear direction, radial direction, pitching, rolling, yawing). Movement can be generated.
[0018]
Next, the operation will be described. In the shield excavator described above, the shield jack 13 of the shield excavator body 4 is extended, and the shield excavator body 4 is advanced while pressing the front side surface of the existing segment S. On the other hand, the cutter face 1 is rotated by driving the motor 12. Thereby, the shield excavator main body 4 moves forward while cutting forward soil and sand. The cut earth and sand are collected in the lower part of the space 3 on the rear surface of the cutter face 1. The earth and sand collected in the space 3 on the rear face of the cutter face 1 is conveyed to the right rear side of the shield excavator main body 4 by the screw conveyor 25 and the sludge discharge pipe 18 and discharged to the outside.
[0019]
Next, any one of the plurality of shield jacks 13 is operated in the shrinking direction to form a space between the existing segment S. The gripping device 22 grips the segment S ₀ , and the portal member 19 is moved by operating the motor 14 of the rotational direction operating mechanism, the upper and lower jacks 27 of the radial direction operating mechanism, and the front and rear jacks 28 of the front and rear direction operating mechanism, respectively. the gripping segment S ₀ to rough positioning to the position of the space. Next, by combining the operations of the six cylinders 33 a to 33 f of the six-axis parallel manipulator 32, the swing plate 38 moves in the circumferential direction X, the front-rear direction Y, the radial direction Z, the pitching α, the rolling β, and the yawing γ. It is generated, a fine adjustment to match the mating surfaces and inner and outer surfaces of the gripping segments S ₀ to the existing segment S.
[0020]
At this time, by pressing the gripping segment S ₀ with respect to the existing segment S, deformed so as to crush the seal packing (not shown) are provided between the segments each other is held in close contact with.
[0021]
In this state, as shown in FIG. 3, the inter-piece bolt 23 and the inter-ring bolt 24 are inserted into the bolt holes (not shown) of the existing segment S and the gripping segment S ₀ , and tightened with nuts. coupling the gripping segment S _0. By repeating this work, a tunnel having a predetermined length is covered.
[0022]
[Problems to be solved by the invention]
However, in the shield excavator described above, when installing a device such as the screw conveyor 25 through the inside of the rotating segment positioning device, the segment positioning device interferes with the device. It may be difficult to accommodate the 6-axis parallel manipulator 32 having a sufficient movable range in between. Especially in the case of shield excavators with small and medium diameters, the problem of interference may become severe.
[0023]
For this purpose, in the prior art shown in FIG. 3 to FIG. 6, in addition to the rotation direction operation mechanism, a radial direction operation mechanism and a front / rear direction operation mechanism are specially provided to roughly adjust the gripping segment S _{0 with} a large stroke. was carried out, and to perform only the six-axis parallel the manipulator 32 fine adjustment, the structure is very complicated, the positioning operation of the gripping segment S ₀ also had a problem of cumbersome.
[0024]
The present invention has been made to solve the above-mentioned conventional problems, and can easily perform from rough positioning to fine adjustment of a segment with a simple configuration, and further, the operation for bringing the gripping segment into close contact with the existing segment is small. It is an object of the present invention to provide a segment positioning device that can be easily configured.
[0025]
[Means for Solving the Problems]
The present invention relates to a segment positioning apparatus for a shield excavator that covers a tunnel by gripping and rotating and positioning the segment on the inner surface of a tunnel excavated by a shield excavator and connecting the segment to an existing segment. An oscillating plate provided with a segment gripping device at a part of the outer side in the circumferential direction is disposed at a rear portion of the rotating body provided at the rear portion of the excavator body with a predetermined interval. Are connected by a six-axis parallel manipulator arranged in the circumferential direction of the rotating body so that the rocking plate can be moved in six degrees of freedom, and the shield is positioned at a position corresponding to the rocking plate gripping device in the rotating body. The present invention relates to a segment positioning device including a crimping manipulator that extends in the axial direction of an excavator body and pushes and pulls a swing plate.
[0026]
In the above means, a through hole may be provided at an inner position where the 6-axis parallel manipulator and the crimping manipulator in the rotating body and the swing plate are arranged.
[0027]
According to the present invention, since the swing plate is disposed opposite to the rotating body and supported by the six-axis parallel manipulator, a linear cylinder having a large movable range can be used, and the stroke control of the six cylinders can be performed. To position the gripping segment by moving the gripping segment supported by the gripping device of the oscillating plate with a required stroke in six degrees of freedom in the circumferential direction, the front-rear direction, the radial direction, pitching, rolling and yawing. Can do. Therefore, not only can the radial motion mechanism and the front-rear motion mechanism in the prior art be made unnecessary, but also a fine adjustment function by the 6-axis parallel manipulator in the prior art can be provided, so that the configuration is greatly increased compared to the prior art. Simplification and improved operability can be achieved.
[0028]
In addition, a crimping manipulator that extends in the axial direction of the shield excavator main body and pushes and pulls the swinging plate is provided at a position corresponding to the swinging plate gripping device in the rotating body, so that the gripping segment is pressed against the existing segment. The close contact force can be obtained with a small (small diameter) cylinder. Thus, compared to a method in which the adhesion force of the segment is obtained only by the 6-axis parallel manipulator, a large adhesion force can be obtained by one crimping manipulator, and thus the 6-axis parallel manipulator has a capacity for positioning the segment. As long as it is provided, the 6-axis parallel manipulator can be made small (small diameter).
[0029]
Moreover, since the through-hole is formed in the inner position where the 6-axis parallel manipulator and the crimping manipulator are arranged in the rotating body and the swing plate, the arrangement of the screw conveyor or the like is facilitated.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0031]
FIG. 1 is a side sectional view of a segment positioning device according to an example of the present invention, and FIG. 2 is a perspective view of the segment positioning device of FIG. In addition, the same code | symbol is attached | subjected to the part same as the part demonstrated in the prior art, and description is abbreviate | omitted.
[0032]
As shown in FIG. 1 and FIG. 2, a vertical rocking plate 39 is disposed so as to face the rotating body 17 rotatably provided in the shield excavator with a predetermined interval. The swing plate 39 is supported by a six-axis parallel manipulator 40 disposed in the circumferential direction of the rotating body 17. A holding plate 46 provided with a gripping device 47 is fixed to the outer side of a part of the swing plate 39 in the circumferential direction.
[0033]
The cylinder 41 and the rod 42 of the 6-axis parallel manipulator 40 have the same action as the cylinder 33 and the rod 34 of the 6-axis parallel manipulator 32 shown in FIG. Each cylinder 41 is a double-acting actuator provided with an unillustrated expansion-side and contraction-side pressure oil chamber that actuates a rod 42 fixed to a piston that slides within the cylinder 41 by supplying and discharging hydraulic pressure by a control valve 45. Is configured.
[0034]
Each cylinder 41 is connected to the outer peripheral position of the rotating body 17 and the swing plate 39 by joints 43 and 44 so that when viewed from the side, the cylinder 41 has a saw-tooth zigzag arrangement when viewed from the side. ing. At this time, the cylinders 41 are inclined so that three or more of the swinging plates 39 are not parallel to each other regardless of the position and posture of the rocking plate 39.
[0035]
A crimping manipulator 48 that extends in the axial direction of the shield excavator body 4 and pushes and pulls the swing plate 39 is provided at a position corresponding to the gripping device 47 of the swing plate 39 in the rotating body 17. In the crimping manipulator 48, the base end of the cylinder 49 is connected to the rotating body 17 by a joint 50, and the end of the rod 51 is connected to the swing plate 39 by a joint 52.
[0036]
A through-opening 53 is formed at the inner central position of the rotating body 17 and the swing plate 39 where the 6-axis parallel manipulator 40 and the crimping manipulator 48 are disposed so as to correspond to the through-opening 17d of the rotating body 17. The screw conveyor 25 and the like can be accommodated.
[0037]
Next, the operation of the present invention will be described with reference to FIGS.
[0038]
1 and 2, when the motor 14 is driven to rotate the pinion 15, the rotating body 17 supported by the roller 16 rotates via the ring gear 17c, and is supported by the rotating body 17 via the 6-axis parallel manipulator 40. The rocking plate 39 thus rotated rotates. Thereby, the grip segment S ₀ supported by the grip device 47 of the holding plate 46 fixed to the swing plate 39 can be rotated to a required position and positioned in the circumferential direction.
[0039]
Further, the pressure oil from the hydraulic source (not shown) is supplied to and discharged from the pressure oil chambers on the extending side and the contracting side (not shown) by the control valves 45 of the six cylinders 41, respectively. and the swing plate 39 is stroked in a large range of movement according to, the longitudinal direction of the gripping segment S _0, it is possible to arbitrarily position the position in the radial direction.
[0040]
The 6-axis parallel manipulator 40 can also be finely controlled, and moves in the six directions X, Y, Z, α, β, and γ similar to those in FIG. 6 to the gripping segment S ₀ via the swing plate 39. It is possible to surely generate and accurately align (posture adjustment) the alignment surface and the inner and outer surfaces of the gripping segment S ₀ with respect to the existing segment S.
[0041]
As described above, each cylinder 41 of the six-axis parallel manipulator 40 that supports the swing plate 39 provided so as to face the rotating body 17 does not interfere with the screw conveyor 25 or the like even if the expansion stroke is increased. Thus, a sufficient amount of movement of the swing plate 39 can be ensured, and therefore, the configuration is greatly simplified and the operability is improved as compared with the configuration including the radial motion mechanism and the longitudinal motion mechanism in the prior art. Can be achieved.
[0042]
On the other hand, in positioning the grip segment S _0, by pressing the gripping segment S ₀ with respect to the existing segment S, necessary to maintain the adhesive force by crushing a seal packing (not shown) are provided between the segments each other There is.
[0043]
At this time, a crimping manipulator 48 that extends in the axial direction of the shield excavator body 4 and pushes and pulls the swing plate 39 is provided at a position corresponding to the gripping device 47 of the swing plate 39 in the rotating body 17. Therefore, the action of obtaining the required adhesion force by pressing the gripping segment S ₀ against the existing segment S can be obtained with the small (small diameter) cylinder 49. The operation of bringing the gripping segment S ₀ into close contact with the existing segment S is performed by extending the crimping manipulator 48 in a state where the six-axis parallel manipulator 40 holds a thrust force that only holds the position of the gripping segment S ₀ .
[0044]
Therefore, according to the above, it is possible to obtain a large adhesion force with one crimping manipulator 48 as compared with a method in which the adhesion force of the gripping segment S ₀ is obtained only by the 6-axis parallel manipulator 40, and the 6-axis parallel manipulator 40. Can be provided with a capacity capable of positioning the gripping segment S ₀ , so that the 6-axis parallel manipulator can be made small (small diameter).
[0045]
Moreover, since the through-holes 17d and 53 are formed in the rotary body 17 and the rocking | swiveling board 39 in the inner position in which the 6-axis parallel manipulator 40 and the crimping manipulator 48 are arrange | positioned, arrangement | positioning of screw conveyor 25 grade | etc., Is easy. .
[0046]
In the embodiment of the present invention, the 6-axis parallel manipulator has been described using a cylinder having the same specification. However, depending on the application, it may be configured by combining actuators having different specifications. It goes without saying that various modifications are made without departing from the scope of the present invention.
[0047]
【The invention's effect】
According to the present invention, since the swing plate is disposed opposite to the rotating body and supported by the six-axis parallel manipulator, a linear cylinder having a large movable range can be used, and the stroke control of the six cylinders can be performed. To position the gripping segment by moving the gripping segment supported by the gripping device of the oscillating plate with a required stroke in six degrees of freedom in the circumferential direction, the front-rear direction, the radial direction, pitching, rolling and yawing. Can do. Therefore, not only can the radial motion mechanism and the front-rear motion mechanism in the prior art be made unnecessary, but also a fine adjustment function by the 6-axis parallel manipulator in the prior art can be provided, so that the configuration is greatly increased compared to the prior art. There is an effect that simplification and improvement in operability can be achieved.
[0048]
In addition, a crimping manipulator that extends in the axial direction of the shield excavator and pushes and pulls the swinging plate is provided at a position corresponding to the swinging plate gripping device on the rotating body. The force to be generated can be obtained with a small (small diameter) cylinder. Therefore, compared with the method of obtaining the adhesion force of the gripping segment with a 6-axis parallel manipulator, a large adhesion force can be obtained with one crimping manipulator, and thus the 6-axis parallel manipulator has a capacity for positioning the segment. Therefore, there is an effect that the 6-axis parallel manipulator can be made small (small diameter).
[0049]
Moreover, since the through-hole is formed in the inner position where the 6-axis parallel manipulator and the crimping manipulator are arranged in the rotating body and the swing plate, there is an effect that the arrangement of the screw conveyor or the like is facilitated.
[Brief description of the drawings]
FIG. 1 is a side sectional view of a segment positioning device for an excavator according to the present invention.
2 is a perspective view of the segment positioning device of FIG. 1. FIG.
FIG. 3 is a side sectional view of a shield excavator.
FIG. 4 is a side sectional view of a conventional segment positioning device.
FIG. 5 is a front view of FIG. 4;
6 is a conceptual diagram of the 6-axis parallel manipulator of FIG. 4;
[Explanation of symbols]
4 Shield excavator main body 17 Rotating body 17d Through-hole 39 Oscillating plate 40 6-axis parallel manipulator 47 Gripping device 48 Crimp manipulator 53 Through-hole S Existing segment S ₀ segment (gripping segment)

Claims (2)

A segment positioning device for a shield excavator that covers the tunnel by gripping and rotating and positioning the segment on the inner surface of the tunnel excavated by the shield excavator and connecting to the existing segment. At the rear part of the rotating body provided at the rear part, an oscillating plate provided with a segment gripping device on a partly outer side in the circumferential direction is arranged with a required interval, and between the rotator and the oscillating plate, It is connected by a 6-axis parallel manipulator arranged in the circumferential direction of the rotating body so that the rocking plate can be moved with six degrees of freedom, and the shield excavator body is positioned at a position corresponding to the rocking plate gripping device in the rotating body. A segment positioning device comprising a crimping manipulator that extends in an axial direction and pushes and pulls an oscillating plate. 2. The segment positioning device according to claim 1, wherein a through-hole is provided at an inner position where the six-axis parallel manipulator and the crimping manipulator are arranged in the rotating body and the swing plate.

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