EP3732350A1

EP3732350A1 - Device and method for continuously driving a tunnel

Info

Publication number: EP3732350A1
Application number: EP19704562.8A
Authority: EP
Inventors: Werner Burger; Thomas Joseph EDELMANN
Original assignee: Herrenknecht AG
Current assignee: Herrenknecht AG
Priority date: 2018-02-02
Filing date: 2019-02-01
Publication date: 2020-11-04
Anticipated expiration: 2039-02-01
Also published as: ES2904578T3; AU2019216385A1; CN111615583A; WO2019149867A1; CN111615583B; US11566522B2; EP3732350B1; US20210032991A1; JP2021507154A; JP6876203B2; RU2020126048A; DE102018102330A1; AU2019216385B2; CA3090346A1

Abstract

In a device and a method for continuously driving a tunnel along a predefinable setpoint trajectory there is provision to influence pressing forces which are applied to installed tubbing segments by compactors by means of a control circuit in such a way that during the driving and during the installation of tubbing rings, an actual trajectory remains in a region which is permissible for maintaining the predefined set point trajectory, for example by stabilising, preferably controlling an actual force focal point (406). In this context, when continuously driving a tunnel , the predefined set point trajectory is maintained solely by pressing forces acting in the axial direction, even during the installation of tubbing segments.

Description

Device and method

for continuously driving a tunnel

The invention relates to an apparatus for continuously vortr ing a tunnel along a predetermined Solltrajektorie with a cutting wheel for removing a face, with a number of on the one working face facing away from the cutting wheel to parent, working in an axial direction presses from a press warehouse, against which the cutting wheel is supported in the axial direction Rich, held and on the side facing away from the cutting wheel of the press bearing for pressing on tubbing with Anpress forces are set up. The invention further relates to a method for continuously driving a tunnel.

Such an apparatus and method for continuously driving a tunnel are known from EP 0 974 732 A1. In this apparatus for continuously driving a tunnel along a predetermined setpoint trajectory, a cutting wheel is present for breaking down a working face, while presses operating in an axial direction are provided for expanding a tunnel wall with segments, which are also provided as a support for the cutting wheel in the axial direction Press bearing ge hold and on the side facing away from the cutting wheel of Pres senlagers for pressing on segments with pressing forces are directed to. For bracing during the segmental lining, radially forward and backward movable pressure plates are arranged on a center plate.

The invention is based on the object, a device of the initially mentioned type and a method for continuous drive a tunnel specify in which in a setting of tubbing with retraction of axially operating presses without a radial support continues to ensure a continuous tunneling of a Tun nels along a predetermined setpoint trajectory.

This object is achieved in a device of the type mentioned in the present invention that at least some Pres sen are connected to a transducer module for measuring a pressure value applied to a force applied to a tubbing pressing that a central unit with a Zentralsteuermo module is present at in that the converter modules are connected for transferring the pressure values, that the central unit furthermore has a navigation measuring module, a press force correction module and a navigation prognosis module, which cooperate with the navigation prognosis module at at least one given distribution of the contact forces exerted by the presses initial trajectory prediction can be determined via a future trajectory, wherein in case of deviation of the future trajectory or an actual trajectory from the desired trajectory predetermined by the navigation measurement module via the press force correction module the pressing forces exerted by the presses for stabilizing an actual center of gravity resulting from the applied contact forces are adjustable so that the deviation of the future trajectory from the target trajectory compared to the initial target prognosis is reduced.

This object is achieved in a method for continuously driving a tunnel along a predetermined desired trajectory according to the invention with the use of a device according to the invention and with a continuous removal of a tunnel with tubbing, wherein in a pressing force modifying step, the press force correction module presses on retracted presses for still pressed to tubbing presses so determines that the deviation of the future trajectory determined by the trajectory prediction of the desired trajectory compared to the initial trajectory prognosis after retracting the presses without exerting compressive forces are reduced by these presses, in a tubbing setting step first pressing the or each on a fitted tubbing The press is moved back from the installed segment to release a space for a segment to be installed, and then the drive continues with the new contact forces and the tubing to be installed is installed until the backdriven presses like the newly installed tubbing be pressed and to hold a desired trajectory during the construction of the next Tüb bings for the presses by means of the Presskraftkorrekturmoduls new contact forces are determined and acted upon.

Due to the fact that according to the invention by an interaction of the press force correction module and the Navigationsprognosemo module by expanding with Tübbingen locally greatly varying An press forces can be compensated that when installing a tubbing by a redetermination by continued active Pres sen exerted pressing forces compensation with a stabilization of a Istkräfteschwerpunkts is created, the predetermined target trajectory largely deviations can be maintained during a wei terhin continuous tunneling.

Further expedient embodiments of the invention are subject matter of the dependent claims.

In an expedient embodiment of a device according to the invention, the presses are held in a press bearing ring, which is arranged in the region of a center shield for safe recording of the counter bearing forces. For a uniform application of force, it is expedient in a erfindungsge MAESSEN device that the presses in the circumferential direction Rich evenly spaced from each other. For control reasons, it is expedient in a erfindungsge MAESSEN device that the presses in Pressenpaa ren pairwise cooperation.

For an effective control it is expedient for an inventive device that for determining the trajectory prognosis with the navigation prognosis module the deviation of the actual center of gravity of all contact forces from a setpoint center of gravity can be determined and that the deviation of the actual center of gravity from the setpoint center of gravity is a controlled variable of the Compression force correction module, the navigation forecasting module and the central control module comprehensive control loop forms.

For an effective control, it is also expedient for a device according to the invention that pressure values and travel values of the press-processing converter modules are connected to the central control module via a pressure processing module.

In one embodiment of a method according to the invention, it is expedient with regard to the least possible load change, that the Tübbingsetzschritte successively be performed in the circumferential direction be adjacent Tübbingen.

In a further embodiment of a method according to the invention is provided for efficient propulsion that the determination of the new contact forces in the construction of tubbings for the duration of Verbübaus a tubbings on a regulation of the position of Istkräfteschwerpunkts from the applied contact forces against a setpoint of gravity. Further expedient embodiments and advantages of the invention will become apparent from the following description of a Ausfüh approximately example with reference to the figures of the drawing.

Show it:

Fig. 1 in a simplified partially sectioned side view

Embodiment of a device for continuously driving a tunnel according to the invention with a number of held in a press bearing, working in a axial axial direction presses,

2 in a perspective view formed as a press bearing ring press bearing of the embodiment ge according to FIG. 1 with paired interconnected presses,

Fig. 3 in a side view a pair of interconnected

Pressing with a common pressure plate,

3a is a side view of a single press with a pressing plate,

4 in a side view corresponding to FIG. 1, the illustration of the balance of power in a vertical longitudinal plane,

1 in an end view showing a regular Istkräfteschwerpunkts in a mining situation in which all presses exert pressing forces on segments and in continuous propulsion a predetermined setpoint trajectory is met, Fig. 6 in an end view corresponding to FIG. 5, the representation of how the Istkräfteschwerpunkt un displaceable upon removal of a number of adjacent presses Tübbingen without correcting the contact forces of the other presses un desirable and

7 is a block diagram of the essential elements of a

Embodiment of the invention for a control loop for adjusting the contact forces for continuous propulsion substantially along a predetermined setpoint trajectory.

Fig. 1 shows in a partially sectioned side view Ausfüh approximately example of an apparatus for continuously propelling a tunnel along a predetermined setpoint trajectory according to the invention. The running in their essential mechanical, hydraulic and pneumatic components as a tunnel boring machine ago conventional design exemplary device of FIG. 1 has a cutting wheel 103, the drive unit by a motor to 106 for removing a lying in a direction of advance of the cutting wheel 103 working face 109 is rotatable , 1 removed from the cutting wheel 103 at the working face 109 is removed from a removal space 112 arranged in the direction of advance of the cutting wheel 103 by means of a removal unit 115 designed as a screw conveyor in the embodiment according to FIG. conveyed.

In the direction of dismantling the rear of the cutting wheel 103 and the drive unit 106, the embodiment of FIG. 1 in the region ei Nes for the invention is not necessarily radially clamped center plate 118 equipped with a press bearing ring 121 formed press bearing against which the cutting wheel 103 in supported in the axial direction and in which a number of hydraulically operated in a axia len direction presses 124 are held. In this embodiment, two presses 124 are coupled to press pairs 127 and are paired with each one ner in the degradation direction back of the press bearing ring 121 angeord Neten pressure plate 130 in conjunction.

In the degradation direction back of the center plate 118 nelausbau segments are available for a Tun 133, which in a continuous tunneling of the tunnel by means of tunnel boring machine in Be rich a shield tail 136 usually successively to the tunnel tight lining tubbing rings 139 installed who the. Fig. 2 shows in a perspective view of the press bearing ring 121 of the embodiment of FIG. 1 with the Pressenpaa ren 127 coupled presses 124. The distances of a pair of presses 127 forming presses 124 are the same for all pairs of presses 127, while the pairs of presses 127 in the circumferential direction of the press bearing ring 121 are each arranged uniformly spaced. The pressure plates 130 thus also have in the circumferential direction of the press bearing ring 121 at a uniform distance from each other. The presses 124 are, as shown in Fig. 2, mounted in the press bearing ring 121 fixedly connected press brackets 203 and thus held firmly in the press bearing ring 121.

Fig. 3 shows a side view of a press plate 124 by means of a press 130 coupled to each other presses 124 formed pressing pair 127. The presses 124 are equipped with a hydraulic connection 303 and 306 with a displacement sensor. Via the hydraulic connection 303, controlled by a converter module 309, the pressing forces exerted by a press 124 on the press plate 130 on a tub 133 can be determined, as explained in more detail below. tert, specifically set via adjustable pressure values. The converter modules 309 of a pair of presses 127 are likewise connected to the displacement sensors 306 in question, so that the position of the presses 124 can also be detected via travel values with the converter modules 309 and, as explained in more detail below, can be further processed.

Fig. 3a shows a side view corresponding to FIG. 3 a single ne press 124 with a pressure plate 130 which sen with appropriate hydraulic dimensioning as a substitute for at least one press pair 127 used and, as not further explained, such as a press 124 a Press pair 127 can be controlled.

Fig. 4 shows in a side view corresponding to FIG. 1, the illustrated embodiment. In Fig. 4 is symbolically in a vertical longitudinal plane, a force profile 403 with increasing in the direction of gravity from the top to the bottom Kompensationskräf th to compensate for the earth pressure in the field face 109 is provided. The center of gravity 406 which results in the axial direction and is shown by an arrow in FIG. 4 lies in the direction of gravity somewhat below the central longitudinal axis of the tunneling machine. The compensation forces are according to the invention thereby applied exclusively or substantially exclusively by the contact forces of the presses 124 to a press bearing ring 121 einbindende power flow chain in the axial direction between the presses 124 and the cutting wheel 103, the cutting wheel 103 to comply with a predetermined desired trajectory in the propulsion of the Tunnels at right angles to the desired trajectory. 5 shows an end view of the tunnel boring machine according to the illustrated exemplary embodiment, with a view of a pressure wall 503 arranged on the rear side of the cutting wheel 103, which delimits the work area 112 in the direction of dismantling. From Fig. 5 it can be seen that in order to comply with the predetermined target trajectory of the in Fig. 5 by a circle with an inner cross symbolically represented Istchakteschwerpunkt 406 is located on the central vertical axis. Fig. 6 shows in a representation corresponding to FIG. 5 end view of the tunnel boring machine with symbolic by three "X" as indicated by a tubing 133 marked pressing plates 130 to release a space for a new, ver to be built tubbing 133. In the case of the rest of the pressure plates 130 otherwise unchanged pressing forces, the Istchäfteschwerpunkt 406 moves relative to the position shown in FIG. 5 so that in a continuous propulsion without further measures Men the predetermined setpoint trajectory would be abandoned. 7 shows in a block diagram the structure of a control for the illustrated embodiment for continuously driving a tunnel along a predetermined setpoint trajectory. The converter modules 309 already explained in connection with FIG. 3 are connected with their outputs for the pressure values to a print processing module 703, while the outputs for the travel values can be fed to a path processing module 706. The print processing module 703 and the path processing module 706 transmit their output data to a central control module 709 as an element of a central processing unit, to which a navigation measurement module 712 on the input side continues to be connected as a further element of the central unit.

Among other things, the navigation measuring module 712 feeds to the central control module 709 a predetermined setpoint trajectory to be observed for the continuous propelling of a tunnel, as well as specific times, for example only after closing a tubbing ring 139 or alternatively at least once during the construction Tübbingen 133, current, the actual positioning of Tunnelvor driving machine associated navigation data.

On the output side, a press force correction module 715 and a display module 718 as further elements of the central unit are connected to the central control module 709. With the display module 718, as shown symbolically in FIG. 7, the current position of the Istkräfteschwertspunkt 406 explained in conjunction with FIG. 4 to FIG. 6, before geous legally in relation to an illustrative reference system 721, can be displayed.

The press force correction module 715 in turn is on the output side with a Navigationsforgnosemodul 724 as another element of the central unit in conjunction with given distributions of the presses 124 and the press pairs 127 applied contact forces a trajectory over a future trajectory for a certain period, for example, until closing a next tubbing ring 139 after the last th determination of the current actual positioning of the tunnel boring machine, can be determined. Forecast data associated with the trajectory prediction is traceable by the navigation prediction module 724 to the central control module 709.

Furthermore, the press force correction module 715 is connected to inputs of the converter modules 309 in order to use these with pressure values to control the presses 124 for providing pressing forces that are predetermined via the press force correction module 715.

The modules of the above-explained arrangement act together in the manner of a control loop as explained below.

For the installation of a new tubing 133, as explained above, it is necessary to use certain presses 124 for releasing a lining. withdraw space for the tubing to be installed 133, so that their contact forces are equal to zero. To compensate for, as explained in conjunction with Fig. 6, thereby, to compensate for undesirable shift of the Istkräfteschwerpunkts 406, new Anpresskräfte be calculated net and the Navigationsprognosemodul 724 fed to the Presskräftekorrekturmodul 715 to determine a trajectory forecast for a future trajectory. The calculation of the new contact forces is carried out for efficient propulsion, for example, in advance for a period from the start of Verbübübbing a 133 until the completion of the Verbube this tubbing 133 and thus until the beginning of the construction of the next Tuebings 133, but can in particular for a hochprä zisen Propulsion or small-scale strongly changing geologies even for shorter consecutive periods done. Due to the deviation of the future trajectory from the predefined desired trajectory due to the displacement of the actual center of gravity 406, the pressing force correction module 715 determines new pressing forces such that the trajectory prediction determined by the navigation prognosis module 724 at least increases by stabilizing the actual center of gravity 406 an approximation of the actual trajectory, expediently in the context of tolerable smaller deviations to a coincidence of the future trajectory, with the desired trajectory for the period of the construction of new tubbing 133 takes place.

When falling below a predetermined limit for a maxi male deviation are still in contact with tubbing 133 located presses 124 or press pairs 127 applied to the newly calculated pressure values to provide correspondingly assigned contact forces, so that at a continu- ous propulsion on the regulation of the position of the Istkräfte focal point 406, for example, to comply with a situation shown in FIG. 5 also in a occurring without regulation emigration in an undesirable position according to FIG. 6, with respect to a setpoint center of gravity, the predetermined target trajectory is maintained even during the successive construction of segments 133 without the need for a regular query of Istposi- tion of the tunnel boring machine, for example during the removal of a tubbing ring 139 ,

These adaptation steps for the contact forces during a continuous propulsion are expediently carried out relatively short in relation to the propulsion rate ratio for a high-precision propulsion, so that at all times the predetermined target trajectory is maintained very accurately or essentially maintained.

Claims

1. A device for continuously driving a tunnel along a predetermined desired trajectory with a cutting wheel (103) for breaking down a working face (109), with a number of on a working face (109) facing away from the cutting wheel (103) arranged in one axial direction working presses (124) of a press bearing (121) against which the cutting wheel (103) supported in the axial direction Rich held and on the cutting wheel (103) from the side facing the press bearing (121) for pressing on Tubular members (133) are arranged with pressing forces, characterized in that at least some presses (124) are coupled to a transducer module (309) for measuring one at one on one

Tübbing (133) applied pressure force associated pressure value are connected, that a central unit with egg nem Zentralsteuermodul (709) is present, to which the converter modules (309) are connected for transferring the pressure values, that the central unit (709) via a Navigation measuring module (712), via a Presskräftekorrek turmodul (715) and a navigation forecasting module (724) cooperating such that with the navigation onsngnosemodul (724) at least one given distribution of the forces exerted by the presses (124) Anpress forces an initial Trajektorienforgnose over a future trajectory is determinable, wherein in case of deviation of the future trajectory or an actual trajectory of the predetermined by the navigation measuring module (712) Solltrajekto- ria on the press force correction module (715) by the

Presses (124) are applied to stabilize an actual center of gravity (406) resulting from the applied pressing forces so that the Deviation of the future trajectory from the target trajectory compared to the initial trajectory prediction reduced.

2. Apparatus according to claim 1, characterized in that the presses (124) in a press bearing ring (121) are held, which is arranged in the region of a center plate (1 18).

3. Apparatus according to claim 1 or claim 2, characterized in that the presses (124) are equally spaced in the circumferential direction.

4. Device according to one of claims 1 to 3, characterized in that the presses (124) in pairs of presses (127) interact in pairs.

5. Device according to one of claims 1 to 4, characterized in that for determining the Trajektorienforgnose with the Navigationsprognosemodul (724), the deviation of the Istkräfteschwerpunkts (406) of all contact forces of a setpoint gravity can be determined and that the deviation of the Istkräfteschwerpunkts of the setpoint balance is a control variable of the Presskräftekorrek turmodul (715), the navigation forecasting module (724) and the central control module (709) comprehensive control loop forms.

6. Device according to claim 5, characterized in that pressure values and travel values of the presses (124) processing converter modules (309) are connected to the central control module (709) via a print processing module (703).

7. A method for continuously driving a tunnel along a predetermined setpoint trajectory with use of an on device according to one of claims 1 to 6 and with a Continuous removal of a tunnel with segments (133), in which, in a pressing force modifying step, the pressing force correction module (715) determines new pressing forces for presses (124) pressed against segments (133) in such a way that the deviation of the forces caused by the trajectories Prediction of certain future trajectory of the target trajectory compared to the initial trajectory forecast after retracting the presses (124) without exerting An press forces by these presses (124) are reduced, in a tubbing step, first the or each on a ver built tubbing (133) pressed Press (124) of the built tubbing (133) for releasing a mounting space for a tubing to be installed (133) is moved back and then the propulsion continues with the new contact forces and the to-be-installed tubing (133) is installed until the retracted presses ( 124) are pressed against the newly installed tubbing (133) again and to maintain the desired trajectory during the installation of the next tubbing (133) for the presses (124) by means of the press force correction module (715), new contact forces are determined as required.

8. The method according to claim 7, characterized in that the tubbing setting steps are carried out successively on adjacent segments in the circumferential direction (133).

9. The method according to claim 7 or claim 8, characterized in that the determination of the new contact forces during the construction of segments (133) for the duration of an assembly of a tubbings (133) via a regulation of the position of a Istchakteschwerpunkts (406) from the applied An pressing forces against a setpoint of gravity takes place.