JPS60261900A - Segment automatic clamp apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic segment fastening device, and in detail,
The present invention relates to a device that can automatically connect segments to each other after temporarily assembling segments in a tunnel excavated by a tunnel excavating machine. This is used in the technical field of constructing tunnel walls using segments in tunnels excavated underground.

[Prior art]

When a tunnel wall is sequentially constructed using a plurality of segments in a tunnel space excavated by an excavator, the excavator excavates each time one segment ring forming the tunnel is completed. In constructing the tunnel wall, a plurality of segments are temporarily assembled using an erector device, etc., and then the respective segments are fastened together and the subsequent tunnel walls are formed. Dm 1
1ti! i, 21. Yo46゜(□,.

The tying work is done manually by workers using bolts and nuts, which is time-consuming and has a limit to how much work can be done to improve it, which in turn causes the problem of lowering the excavation efficiency of the excavator. be. Furthermore, the working environment at tunnel construction sites is poor due to dust and spring water, and work is carried out in small spaces, which often leads to injuries, and there is a strong demand for improvements in working conditions from the standpoint of health and safety. There is.

[Purpose of the invention]

The present invention was made to solve the above-mentioned problems, and its purpose is to save labor and make the fastening work using bolts and nuts unmanned after a plurality of segments are temporarily assembled during tunnel construction work. It is an object of the present invention to provide an automatic segment fastening device that can be automated and improve the efficiency of construction work.

[Structure of the invention]

The features of the automatic segment fastening device 5 of the present invention are shown in FIG.
) and '(b), there is one way as follows.

(a) Tunnel axis 4 inside shell la of tunnel boring machine l
A rotating drum 10 rotatably and slidably supported on a drum mount 6 movable in the m direction; (b) a rotation drive means 11 for rotating the rotating drum 10 in the circumferential direction of the tunnel by 15 degrees 16; In addition, the sliding means 17 that slides in the direction of the tunnel axis 4m, and (c) the rotary table 20 fixed to the rotating drum 10 and rotatable at the tip thereof, are moved in the radial direction 2L2.2 of the tunnel. transportation means 19
(d) Bolt holding arm 26 and nut holding arm 27 mounted on rotating table 20 facing each other; (e) Bolt holding arm 26 and nut holding arm 2
7, a bolt magazine 31 rotatably mounted on the bolt holding arm 26 and its rotating means 32, and a bolt magazine 31 rotatably mounted on the NAND holding arm 27. Nando Magazine 42
and its rotation means 32; (g) an opening hole 37 for supplying fastening bolts provided in the lower part 26A of the bolt holding arm 26 from the bolt magazine 31;
(h) a nut rotatable within the lower part 27A of the NAND holding arm 27 from the nut magazine 42; Transfer means 38 for transferring the nut 41 to the holding means 43, and the nut holding means 4
(2) A pair of bolt hole detection means 48A provided at the lower ends of each of the holding arms 26 and 27 to detect the position of the bolt hole 28 to be fastened to the segment.

48B, (j) rotational position detection means 50 for detecting the rotational position of the rotary drum 10, (l) sliding stroke position detection means 58 for detecting the sliding position of the rotary drum 10, and (w) revolving table 20. A moving stroke position detecting means 59 for detecting a tunnel radial moving position.

〔Example〕

Hereinafter, embodiments of the automatic segment fastening device of the present invention will be described in detail with reference to the drawings.

In FIGS. 1(a) and 1(b), a one-segment ring 3A consisting of a plurality of segments 3 is sequentially constructed in a tunnel space 2 excavated by a tunnel excavating machine 1 to form a tunnel wall. .

The segment automatic fastening device W5 of the present invention is installed in the shell la of the tunnel boring machine 1 that excavates a tunnel to construct such a tunnel wall. Three pairs of grippers 7 (one pair in the figure) fixed to the drum frame 6 of the main body 5A are extended, and the inner surface of the existing tunnel 4, that is, the surface 3a of the assembled segment ring 3A, is extended. By pressing these, the main body 5A is held in a centered state with respect to the tunnel 4. The main body 5A is connected to, for example, a rear truck (not shown) so that it can move in the direction of the tunnel axis 4m, that is, in the direction of the arrow 8.9 when the above-mentioned grille collar 7 is contracted. It is possible to move in the direction of arrow 8 when the segment 3 is to be fastened, and to move in the direction of arrow 9 when retracting due to the operation of an erector device (not shown). A rotating drum 10 is rotatably and slidably supported within the drum mount 6.
0, for example, has a double-tube structure with an outer tube 10a and an inner tube 1.
By interposing the key 10c between the rotary drum 10 and the inner tube 10b, the rotary drum 10 can be rotated and only the inner tube 10b can be slid. The rotating drum 10 is mounted on a drum mount 6
A rotary drive means 11 such as a hydraulic motor installed in the shaft is mounted on a bearing 14 through a gear 1313 carved in the outer tube 10a that meshes with the reducer 2 and the gear 13A, and is rotated in the circumferential direction 15 or 16 of the tunnel 4. be rotated. The sliding means 17, such as an air cylinder, has an end 1 of the cylinder part.
7a is fixed to the inner tube 10b of the rotating drum 10, and the end portion 17b of the piston rod is fixed to the outer tube 10a, so that a bolt holding arm 26 and a NAND holding arm 27, which will be described later, are connected by arrows 8. ) It can be moved in 9 directions.

As shown in FIGS. 2(a,) to (c), the rotating drum 10
A guide 18 is fixed to the inner tube 10b of the piston rod, and a moving means 19 attached to the guide 18 is attached to the inner tube 10b of the piston rod.
9a is attached to the upper member 20A of the rotatable turning table 20 via the bracket l-202, so that the turning table 20 can be moved in the radial direction 21, 22 of the tunnel 4. Note that there is a hole 20 in the bracket 20a.
b is provided, and the lower part 18b of the guide rod 18a inserted into the guide 18 is fitted into the hole 20b, so that the bracket 20a and the guide rod 18a are integrated. I'm starting to get it. For example, a rotation cylinder 23 is provided inside the rotation table 20.
The rotating part 20B of 0 is supported by a bearing 24, and can be rotated by a gear attached to a rotating shaft (not shown) and a rank (not shown) carved on the piston rod of the rotating cylinder 23 that meshes with the gear. . The rotation angle is at least 90 degrees, and the segments 3 in the axial direction and the circumferential direction of the tunnel 4 can be fastened to each other. Therefore, a bolt holding arm 26 and a nut holding arm 27 form a pair at the bottom of the turning table 20, facing each other via a member 25 that rotates together with the turning part 20B. Two pairs are installed as shown in FIG.

As shown in FIG. 2(d), in order to adjust the distance between each of the two pairs of bolt holding arms 2'6 and nut holding arms 27 described in -F, a distance adjusting means 29 is provided between each pair. One bolt hole 28 is provided and is to be fastened.
The bolt 30 and nut 41 can be properly fastened together (see FIG. 3). It should be noted that the bolt holes 28 are provided in two places, so that it can be handled even if the pitches thereof are different. That is, two bolt holding arms 26 and two nut holding arms 27.
A pitch correction cylinder (not shown) is provided so that the mutual spacing can be adjusted, and a stroke synchronization mechanism (not shown) is provided to maintain the same amount of correction.

As shown in FIG. 2(C), a bolt magazine 31 for storing bolts 30 is rotatably mounted on the bolt holding arm 26.
is attached, and the end 32a of the cylinder part of the rotating means 32 for rotating the magazine 31 is swingably attached to the member 25A of the rotating part 20B of the rotating table 20, and the end of the piston rod The portion 32b is swingably attached to the rotating member 31A of the magazine 31. A hole 31a drilled in the rotating member 34A is slidably fitted into a pin 33 fixed to the member 25A, and the rotation means 32, which is a rotating cylinder, expands and contracts to rotate around the pin 33. The magazine 31 can be rotated to the position of an opening hole 37, which will be described later. The bolt magazine 31 is, for example, 18
6 bolts 30 are stored, and 6
A rectangular storage hole 31b is bored. A one-way clutch 34 is provided on the shaft 31B of the magazine 31. A push rod 35 is attached to the one-way clutch 34 via a pin, and the magazine 31 is moved to the arrow 36 every time the magazine 31 completes one cycle of rotation. The storage hole 31b in which the bolt 30 is stored can be moved one pinch in the above-mentioned direction by rotating the bolt 30 by 20 degrees. A hexagonal opening hole 37 is drilled through the lower part 26A of the bolt holding arm 26 so that the fastening bolt 30 can be received and stored from the magazine 31 by a transfer means 38 (described later). A transfer means 38 is fixed to the magazine 31 for pushing the bolt 30 into the opening hole 37 when the storage hole 31b matches the opening hole 37, and the arrow 3 of the magazine 31
For one pinch movement in six directions, the port 30 in the storage hole 31b to be pushed out can be transferred to the opening hole 37 described above. The bolt holding arm 26 includes
An extrusion means 39, which is an extrusion cylinder, is provided, and a pusher 40 is provided which swings through two pins as it expands and contracts and comes into contact with the head of the bolt 30, which is suitable for fastening the bolt 30 in the opening hole 37. It can be moved to a different position. On the other hand, the NAND magazine 42 for storing the nut 41 screwed into the threaded portion of the bolt 30 described above is attached to the nut holding arm 27 in exactly the same manner as the bolt magazine 31 described above is attached to the bolt holding arm 26. has been done. Since it is necessary to tighten the nut 41 at the time of fastening, the NAND holding means 4 holding the nut 41 is used.
A nut runner, number 3, extends through and is rotatably supported within the lower portion 27A of the nut retaining arm 27. A hexagonal through hole 44 for holding a nut 4 is bored in the NAND runner. As shown in FIG. 2(a), the transfer means 38 fixed to the magazine 42 moves the nut 41 from the NAND magazine 42 into the through hole 44 of the nut holding means 43 at a predetermined position suitable for fastening. No direct transport to the location. NAND rotating means 45 of nut holding means 43
For example, a hydraulic morph is attached to the nut holding arm 27, and the NAND holding means 43 is inserted into the nut holding means 43 through a gear 47 that meshes with a gear portion 46 carved on the outer surface of the NAND holding means 43, or a gear (not shown). The nut 41 is rotated in the fastening direction together with the nut 41 housed in the nut 41.

Segment 3 is attached to the lower end of both retaining arms 26,27.
Detection sensors 4'8A and 48B, each of which detects the position of the bolt hole 28 to be fastened, are mounted in pairs. To explain in detail, the fourth
As shown in Figure (a), the detection means 48A, 48B are formed in a hemispherical shape, and the detection heads abut on the gummy holes 49 drilled in the vicinity of the bolt holes 28 for fastening the segments 3. 48a, and a shaft 48b fixed to the detection head 48a is tiltable depending on the contact position between the detection head 48a and the gummy hole 49, and is extendable and retractable by a spring 48C. [See Figure 2(a)].

Mutual fastening of the segment ring 3A in the direction of the tunnel axis 4m and the temporarily assembled segment ring 3B, that is,
Taking the example of fastening in the 4 m direction of the tunnel shaft, the accuracy with which the sliding means 17 and the moving means 19 approach the bolt hole 28 to be fastened can be maintained within ±5 mm by using a limit switch (not shown) or the like. . Correction within ±5mm is
Based on the detection value obtained through the tilting position of the shaft 48b of the bolt hole detection means 48A, a control device (not shown), such as a microcomputer, calculates a correction operation value, which will be described later, and conversely, the rotational position detection means of the rotary drum 10 is detected. 50 and the movement stroke position detection means 5 described later of the movement means 19.
This is carried out by slightly operating the rotating means 11 and the moving means 19 by the amount of the corrected operation value calculated above based on the instruction value 9. Figure 1 (a'), (b)
) and 7. As shown in FIG. 2(b), for example, on the drum mount 6, the rotary drum 10 is placed in the tunnel circumferential direction 15.16.
a rotational position detection means 50 for detecting the rotational position of the rotary drum 10, a sliding stroke position detection means 58 for detecting the sliding position of the rotary drum 10 in the direction of the tunnel axis 4m (in the direction of arrows 8 and 9), and a sliding stroke position detection means 58 for detecting the sliding position of the rotary drum 10 in the tunnel radial direction of the rotary table 20. (Arrow marks 21 and 22 direction)
movement stroke position detection means 59 for detecting the movement position of
is provided.

Surprise F7*) Li4 (0 lap direction 21・220°'7'
, <71゛300 If we take the case of mutually fastening as an example, after turning the turning table 20 by 90 degrees, the precision with which the rotating drum 10 and the moving means 19 can approach the bolt holes 28 is ±5 mm as described above. Therefore, it is possible to give corrected operating values to both using a computer.

Note that the sliding means 17, the moving means 19, and the interval adjusting means 29
, the rotation means 32, the transfer means 38, and the pushing means 39 are, for example, air cylinders, and a hydraulic cylinder or various electric mechanisms may also be employed.

According to the embodiment with the above-described configuration, it is possible to speed up the segment fastening work in tunnel construction work by operating as follows.

As shown in FIGS. 5(a) and 5('b), the main body 5A of the automatic segment fastening device 5 is assembled with the segment 3 temporarily placed on the erector device and temporarily assembled on the segment ring 3B. With the evacuation of the arrow 8
This is the state where the movement in the direction has been completed. As described above, the main body 5A is maintained in a centered position with respect to the tunnel 4 by the three grippers 7. First, the fastening operation between the segment rings 3A and 3B in the direction of the tunnel axis 4m will be described. The sliding cylinder 17 extends in the direction of arrow 8, and the telescopic cylinder 19 contracts in the radial direction 21 of the tunnel 4, and the bolt holding arm 26 and the nut holding arm 27
is located above the surface 3a of the segment ring 3B. The bolt magazine 31 and the NAND magazine 42 rotate in the directions of arrows 51 and 52, respectively, due to the expansion of the rotation cylinder 32, and the positions of the bolt 30 and nut 41 in the respective storage holes 31b are adjusted to the positions of the holding arms 2, 6, . 27 and the through hole 44 of the NAND runner 43. There, the transfer cylinders 38 are shown at arrows 53 and 54, respectively.
When the process of pushing out the bolt 30 and nut 41 in the direction into the opening hole 37 and the through hole 44 of the NAND runner 43 is completed,
As mentioned above, the nut 41 is connected to the predetermined NAND runner 43.
Meanwhile, the bolt 30 is located in the open hole 37 of the holding arm 26 and moved to a position suitable for its fastening.

Next, as shown in FIGS. 6(a) and 6(b), since the sliding cylinder 17 is contracted in the direction of arrow 9 from the position shown by the imaginary line, the main body 5A moves to the position shown by the solid line and the segment ring is moved to the position shown by the solid line. It stops at a position where the center of the turning table 20 coincides with the fastening surfaces of 3A and 3B. Further, the main body 5A rotates the rotary drum 10 by a minute amount in the circumferential direction 15 of the tunnel 4 for fine adjustment with the rotation of the hydraulic motor 11 (see FIG. 1(a)), and from the position of the imaginary line to the position of the solid line. Move to position.

The stop position of the rotating drum 10 is detected by the rotational position detection sensor 50 and input to the computer. Before that, the spacing of the two bolt holding arms 26 and the spacing of the two NAND holding arms 27 are adjusted by the correction cylinder to match the pinch of the two bolt holes 28 (see Figure 3).
The distance between the center of the port hole 28 and both holding arms 26. is adjusted so that it is suitable for the operation described below. Preparations are made so that the centers of the bolt 30 and nut 41 in the opening hole 37 of No. 27 and the through hole 44 of the NAND runner 43 can coincide with each other. As the rotation cylinder 32 is reduced, the two bolt magazines 31 and the two NAND magazines 42 are rotated in the directions of arrows 55 and 56, and both the holding arms 2
6. 'Leave 27.

During this rotation, the bolt magazine 31 and the NAND magazine 42 are held in one of the storage holes 31b by the bushing rod 35 or the like.
It is rotated by a pinch amount, that is, 20 degrees in the direction of arrow 36° 36A, and is held in the rotated position by the one-way clutch 34,
The bolts 30 and y) 41 in their storage holes 31b are connected to both retaining arms 26. ．． 27 opening hole 37 and NAND runner 4
3 to a position that coincides with the through hole 4'4. here,
The positioning process necessary for tightening the main body 5A has not been completed.
Ru.

Next, as shown in FIGS. 7(a) and 7(b), as the telescopic cylinder 19 expands, the turning table 20 moves into the tunnel 4.
It moves in 22 radial directions. At the same time, data on the positions of the bolt holes 28 on the fastening surfaces of the target segment rings 3A and 3B are input into the computer, and at the same time, their movements are controlled according to the set values by using a rimisoto switch (not shown) or the like. Automatically stops at the position. and,
From the position shown by the imaginary line to the position shown by the solid line, opening 1]
7'i:3□ or fy)57+-43(7)'1iff
l: lT441°Bolt 30 and nut 41 are bolt holes 2
Move to the vicinity of 8. At that position, the interval adjustment cylinder 2
With the contraction of 9, both holding arms 26, 27 move in the directions of arrows 8 and 9, respectively. Therefore, the hemispherical detection heads 48a of the detection sensors 48A, 48B at the lower ends thereof
protrudes from both the holding arms 26 and 27 due to the elastic force of the spring 48C, so it comes into contact with the dummy hole 49 drilled at a fixed distance from the target bolt hole 28 [Fig. 4 (a), (b) )reference〕. Since the shaft 48b is tilted in correspondence with the contact position of the detection head 48a, the detection sensors 48A and 48B automatically input data of this tilt angle into the computer, and the computer adjusts the A command is given to correct the position of the main body 5A in the axial direction and the Y-axis direction. Then, the rotary drum 10 is caused to rotate a minute amount in the directions of arrows 15 and 16 via the rotational position detection sensor 50, and the telescopic cylinder 19 is rotated via the movement stroke position detection means 59 that detects the movement position. The arrows 21 and 22 are expanded and contracted by a minute amount. At that time, the amount of correction commanded above is half the difference in diameter between the bolt holes of segment rings 3A and 3B, as shown in FIG. 4(b). 28 can be inserted smoothly. At this point, the process of final positioning of the bolt 30 and nut 41 and the bolt hole 28 is completed.

Next, as shown in FIG. 8, as the spacing adjustment cylinder 29 is reduced, both holding arms 26. ．． 27 moves in the directions of arrows 8 and 9, and its lower portions 26A and 27A abut against segment rings 3'A and 3B, respectively. As the bolt extrusion cylinder 39 expands, the pusher 40 comes into contact with the head of the bolt 30 in the opening hole 37 via two pins, pushes it out in the direction of arrow 9, and pushes the bolt 30 through the through hole 4 of the NAND runner 43.
4, the bolt 30 is brought into contact with the nut 41 in the fixed position. Then, the hydraulic motor 45 rotates and rotates the NAND runner 43 in the direction of arrow 57, which is the fastening direction, through the gear part 46 of the NAND runner 43 that meshes with the gear 47. Therefore, the nut 41 rotates together with the nut runner 43, and while moving in the direction of arrow 9, the nut 41 is screwed into the threaded part of the bolt 30, and the screw tightening operation is performed by detecting the transmitted rotational torque. The motor 45 automatically stops and the process ends. Here, segment ring 3A
, 3I3 is completed.

Next, as shown in FIGS. 9(a) and 9(b), as the spacing adjustment cylinder 29 expands, both the holding arms 26 and 27
move in the direction of arrow 8.9, respectively, and the lower part 26A,
27A separates from the bolt 30 in the fastened state. At this point, the first step of separating from the fastening position is completed.

Next, as shown in FIGS. 10(a) and 10(b'), with the contraction of the telescopic cylinder 19, the turning table 20 moves in the radial direction 21 of the 1st heel 4, and both the holding arms 26, 27
moves from the position shown by the imaginary line to the position shown by the solid line. Therefore, the second step of separating from the fastening position is completed.

Since the position of the main body 5A has returned to the position shown in FIGS. 5(a) and 5(b), the segment ring 3A.

One cycle of the entire process of fastening one bolt hole 28 of 3B is completed. If the segment automatic fastening device 5 sequentially repeats this entire fastening process, the segment rings 3A and 3B can be fastened in the direction of the axis 4m of the tunnel 4.

In addition, when performing the fastening work between the segments 3 of the segment ring 3B temporarily assembled in the circumferential direction 15 and 16 of the tunnel 4, the rotation table 20 is operated by operating the rotation cylinder 23 installed inside the rotation table 20. By rotating the bolts, the fastening work can be performed in the same way as the above-mentioned fastening work.

In this case, the final position of the bolt 30 and nut 41 and the bolt hole 28 is determined by the detection sensor 4.
The correction operation amount detected by 8A and 48B is carried out by slight operation via sliding stroke position detection means 58 and moving shaft I/loaf position detection means 59, which are respectively attached to the sliding means 17 and the moving means 19. It will be done. Note that when the key segment at the top of the tunnel 4 is fastened, its fastening surface is at a different angle from the fastening surface between both segments 3; Based on this, each operating section works together to automatically perform operations suitable for fastening at that angle, making fastening easy.

Furthermore, even in the case of a tunnel 4 excavated by the tunnel excavating machine 1, the distance between the segment rings in the axis 4 m direction and the circumferential direction 15. It is also possible to perform fastening between segments. In addition, both magazines 31.
42 can also be replaced automatically. moreover,
Even if the segments 3 are made of steel or concrete, the automatic segment fastening device 5 can perform the fastening work.

〔Effect of the invention〕

As explained in detail above, the work of fastening each segment of the segment ring temporarily assembled adjacent to the existing tunnel using the erector device in the tunnel circumferential direction and axial direction can be done without relying on manual labor (labor saving). Therefore, the fastening work in tunnel construction work can be done quickly and with high efficiency, which in turn makes it possible to improve the efficiency of excavation work by tunnel boring machines and to reduce the need for human labor. Labor costs can be saved because there is no need for manual fastening.In addition, it is possible to avoid manual work in a narrow and poor work environment with a lot of dust and spring water that is associated with traditional fastening work. Problems such as injuries to workers caused by tools can be eliminated.

[Brief explanation of drawings]

FIG. 1(a) is a front view of the automatic segment fastening device of the present invention, FIG. 1(b') is a view taken along line nn in FIG. 1(a), and FIG. 2(a) is the automatic fastening device. Main part front view, Figure 2(b)
is a one-sided arrow view taken along the line m-m in Figure (a), and Figure 2 (
c) is a one-sided arrow view of the ■-IV line in Figure (a), and Figure 2 (d)
) is a sectional view taken along the line V-V in FIG. 3(a), FIG. 3 is an enlarged perspective view of the main part, and FIGS. The correction state diagram, Fig. 5(a)
. (b) - Figure 7 (a) +' (b), Figure 8, Figure 9
Figures (a), (b), and Figure 10 (a>, (b,) are explanatory diagrams of the operation. 1-1-un tunnel excavator, 1a-shell, 4 m-tunnel axis, 5-automatic Fastening device, 6-tram frame, 10-rotating drum, 11-rotating drive means, 17-sliding means, 19
- moving means, 20 - rotating table, 26 - bolt holding arm, 27 - nut holding arm, 28 - bolt hole, 29
- interval adjustment means, 30 - bolt, 31 - bolt magazine, 32 - rotation means, 37 - opening hole, 38 - transfer means, 3
9-Bolt extrusion means, 41-Nut, 42-Nand magazine, 43-Nand holding means, 45-Nand rotation means, 48A, 48B-bolt hole detection means, 50 one-rotation position detection means, 58-sliding stroke position detection means, 59
- Moving stroke position detection means. Patent applicant: Tokyo Electric Power Company, Inc. (and 1 other person) Representative: Patent attorney Katsutoshi Yoshimura (1 idiot) Figure 1 (b) ■'' Figure 2 (b) Figure 2 (C) Figure 5 (a) Figure 5 (b) Figure 6 (a) Figure 6 (b) Continued from page 1 [Co., Ltd.] Inventor Ike 1) Tsuyoshi Inside Toyousha Kobe Factory, Chuo-ku, Kobe City

Claims (1)

[Claims] (1) A rotating drum rotatably and slidably supported by a drum mount movable in the tunnel axial direction within the shell of the tunnel excavating machine, a rotational drive means for rotating the rotating drum in the tunnel circumferential direction, and a sliding means for sliding in the axial direction of the tunnel; a moving means for moving in the radial direction of the tunnel a turning table fixed to the rotary drum and rotatable at its tip; A bolt holding arm and a NAND holding arm that are mounted opposite to each other, a distance adjusting means for adjusting the distance between the two holding arms, a bolt magazine rotatably mounted on the bolt holding arm and its rotation means, and , a nut magazine rotatably mounted on the NAND holding arm and its rotation means; a transfer means for transferring the bolt from the bolt magazine to an opening hole for supplying a fastening port provided at the lower part of the bolt holding arm; and a bolt pushing means for pushing out a bolt in a large or medium opening thereof, a transfer means for transferring a nut from the NAND magazine to a nut holding means rotatable within the lower part of the NAND holding arm, and a nut for rotating the nut holding means. a pair of bolt hole detection means provided at the lower ends of each of the holding arms to detect the position of a bolt hole to be fastened to the segment; and a rotation position detection means to detect the rotational position of the rotating drum. , a sliding stroke position detecting means for detecting a sliding position of the rotary drum, and a moving stroke position detecting means for detecting a moving position of the rotary table in the tunnel radial direction, An automatic segment fastening device characterized in that segments can be fastened to each other in a tunnel circumferential direction and a tunnel axial direction.