EP3732350B1 - Device and method for continuously driving a tunnel - Google Patents

Description

The invention relates to a device for driving a tunnel according to the preamble of claim 1.

The invention also relates to a method for continuously driving a tunnel.

An apparatus according to the preamble of claim 1 and a method for driving a tunnel are out JP 4 206 054 B2 known. This previously known device for driving and building a tunnel along a predetermined target trajectory has a cutting wheel for cutting a face, and a number of presses that are arranged on the side of the cutting wheel facing away from the face and that work in an axial direction and that are supported by a press bearing that the cutting wheel is supported in the axial direction, held and set up on the side of the press bearing facing away from the cutting wheel for pressing on segments with contact pressure. Some presses are connected to a converter module for measuring a pressure value assigned to a contact pressure exerted on a segment, a central unit with a central control module being present to which the converter modules for transferring the pressure values are connected. The central unit also has a navigation measuring module and a pressing force correction module, whereby if the future trajectory or an actual trajectory deviates from the target trajectory specified by the navigation measuring module, the pressing force correction module can be used to adjust the pressing forces exerted by the presses to stabilize an actual force center of gravity resulting from the exerted pressing forces are that the deviation of the future trajectory from the target trajectory is reduced compared to the initial trajectory forecast.

the end JP H04 92094 A a device and a method for driving a tunnel are known in which, in order to maintain a target trajectory, feed forces can be adapted via a control module.

Another apparatus and method for continuously driving a tunnel are off EP 0 974 732 A1 known. In this device for continuously driving a tunnel along a specified target trajectory, a cutting wheel is provided for dismantling a face, while presses operating in an axial direction are provided for removing a tunnel wall with segments, which are also set up as a support for the cutting wheel in the axial direction Press bearings are held and set up on the side of the press bearing facing away from the cutting wheel for pressing against segments with contact forces. For bracing during the lining of the segment, press shields that can be moved radially forwards and backwards are arranged on a center shield.

The invention is based on the object of specifying a device of the type mentioned at the beginning and a method for the efficient, continuous driving of a tunnel, in which, when placing segments with retraction of axially operating presses without a radial support, a continuous driving of a tunnel along a tunnel continues predetermined target trajectory is guaranteed.

This object is achieved according to the invention with a device of the type mentioned at the beginning with the characterizing features of claim 1.

This object is achieved in a method for continuously driving a tunnel along a predetermined target trajectory according to the invention with the features of claim 6.

In that, according to the invention, due to the interaction of the pressing force correction module and the navigation forecast module through the expansion with segments, locally strongly varying contact forces can be compensated by creating a compensation with a stabilization of an actual force center of gravity by re-determining the contact forces exerted by further active presses when a tubbing is being built is, the specified target trajectory can be maintained with relatively even load distributions largely deviating-free while the tunnel advance continues to be continuous.

Further expedient refinements of the invention are the 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 area of a central shield, to reliably absorb the abutment forces.

For a uniform introduction of force, it is expedient in a device according to the invention that the presses are evenly spaced from one another in the circumferential direction.

For control reasons, it is expedient in a device according to the invention that the presses cooperate in pairs in presses.

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

In a further embodiment of a method according to the invention, it is provided for an efficient advance that the determination of the new contact pressure during the lining of segments for the duration of the lining of a segment takes place by regulating the position of an actual force center from the applied pressure forces against a target force center.

Further useful embodiments and advantages of the invention emerge from the following description of an exemplary embodiment with reference to the figures of the drawing.

Fig. 1

in einer vereinfachten teilgeschnittenen Seitenansicht ein Ausführungsbeispiel einer Vorrichtung zum kontinuierlichen Vortreiben eines Tunnels gemäß der Erfindung mit einer Anzahl von in einem Pressenlager gehaltenen, in einer axialen Richtung arbeitenden Pressen,

Fig. 2

in einer perspektivischen Ansicht das als Pressenlagerring ausgebildete Pressenlager des Ausführungsbeispiels gemäß Fig. 1 mit paarweise zusammengeschalteten Pressen,

Fig. 3

in einer Seitenansicht ein Paar von zusammengeschalteten Pressen mit einer gemeinsamen Anpressplatte,

Fig. 3a

in einer Seitenansicht eine einzelne Presse mit einer Anpressplatte,

Fig. 4

in einer Seitenansicht entsprechend Fig. 1 die Veranschaulichung der Kräfteverhältnisse in einer vertikalen Längsebene,

Fig. 5

das Ausführungsbeispiel gemäß Fig. 1 in einer Stirnansicht mit Darstellung eines regulären Istkräfteschwerpunkts in einer Abbausituation, in der alle Pressen Anpresskräfte auf Tübbinge ausüben und im kontinuierlichen Vortrieb eine vorgegebene Solltrajektorie eingehalten wird,

Fig. 6

in einer Stirnansicht entsprechend Fig. 5 die Darstellung, wie sich der Istkräfteschwerpunkt bei Abnahme einer Anzahl von einander benachbarten Pressen von Tübbingen ohne Korrektur der Anpresskräfte der übrigen Pressen unerwünscht verlagert und

Fig. 7

in einem Blockschaubild die wesentlichen Elemente eines Ausführungsbeispiels der Erfindung für einen Regelkreis zum Einstellen der Anpresskräfte für einen kontinuierlichen Vortrieb im Wesentlichen entlang einer vorgegebenen Solltrajektorie.

Show it:

Fig. 1

in a simplified, partially sectioned side view, an embodiment of a device for continuously driving a tunnel according to the invention with a number of presses held in a press store and working in an axial direction,

Fig. 2

in a perspective view of the press bearing, designed as a press bearing ring, of the exemplary embodiment according to FIG Fig. 1 with presses connected in pairs,

Fig. 3

in a side view a pair of interconnected presses with a common pressure plate,

Fig. 3a

a side view of a single press with a pressure plate,

Fig. 4

in a side view accordingly Fig. 1 the illustration of the balance of forces in a vertical longitudinal plane,

Fig. 5

the embodiment according to Fig. 1 in a front view showing a regular focus of actual forces in a dismantling situation in which all presses exert contact pressure on segments and a specified target trajectory is maintained in continuous advance,

Fig. 6

in a front view accordingly Fig. 5 the representation of how the actual force center of gravity shifts undesirably when a number of adjacent presses of tubbing segments are removed without correcting the contact pressure of the other presses and

Fig. 7

in a block diagram the essential elements of an exemplary embodiment of the invention for a control loop for setting the contact forces for continuous propulsion essentially along a predetermined target trajectory.

Fig. 1 shows in a partially sectioned side view an embodiment of a device for continuously driving a tunnel along a predetermined target trajectory according to the invention. The exemplary device according to FIG. 1, executed in its essential mechanical, hydraulic and pneumatic components as a tunnel boring machine of conventional design Fig. 1 has a cutting wheel 103, which can be rotated by a motor drive unit 106 for dismantling a face 109 lying in front of the cutting wheel 103 in a driving direction. Dismantled from the cutting wheel 103 on the face 109, in Fig. 1 Overburden, not shown, is extracted from a mining space 112 arranged on the rear side of the cutting wheel 103 in the advancing direction by means of a mining space 112 in the exemplary embodiment according to FIG Fig. 1 designed as a screw conveyor discharge unit 115 can be discharged counter to the advance direction.

In the dismantling direction at the rear of the cutting wheel 103 and the drive unit 106, the exemplary embodiment is shown in FIG Fig. 1 in the area of a center shield 118, which is not necessarily radially braced for the invention, is equipped with a press bearing designed as a press bearing ring 121, against which the cutting wheel 103 in supported in the axial direction and in which a number of presses 124 operating hydraulically in an axial direction are held. In this exemplary embodiment, two presses 124 are coupled to form press pairs 127 and are connected in pairs to a pressure plate 130 arranged on the rear of the press bearing ring 121 in the dismantling direction.

In the dismantling direction, on the back of the center shield 118, there are segments 133 for a tunnel expansion, which are usually built in succession to the tunnel lining ring segments 139 in the area of a shield tail 136 when the tunnel is driven continuously by means of the tunnel boring machine.

Fig. 2 shows in a perspective view the press bearing ring 121 of the embodiment according to Fig. 1 with the presses 124 coupled to press pairs 127. The distances between the presses 124 forming a press pair 127 are the same for all press pairs 127, while the press pairs 127 are arranged equally spaced in the circumferential direction of the press bearing ring 121. The pressure plates 130 thus also have a uniform spacing from one another in the circumferential direction of the press bearing ring 121. The presses 124 are, as in FIG Fig. 2 shown, stored in press holders 203 firmly connected to the press bearing ring 121 and thus held firmly in the press bearing ring 121.

Fig. 3 shows a side view of a press pair 127 formed by two presses 124 coupled to one another via a pressure plate 130. The presses 124 are equipped with a hydraulic connection 303 and with a displacement sensor 306. Via the hydraulic connection 303, controlled by a converter module 309, the pressing forces exerted by a press 124 via the press plate 130 on a segment 133, as explained in more detail below, can be Set specifically using adjustable pressure values. The transducer modules 309 of a pair of presses 127 are also connected to the relevant displacement sensors 306, so that the position of the presses 124 can also be detected via displacement values with the transducer modules 309 and, as explained in more detail below, can be further processed.

Fig. 3a shows in a side view accordingly Fig. 3 a single press 124 with a pressure plate 130 which, with appropriate hydraulic dimensions, can be used as a replacement for at least one press pair 127 and, as will not be explained in any further detail, how a press 124 of a press pair 127 can be controlled.

Fig. 4 shows in a side view accordingly Fig. 1 the illustrated embodiment. In Fig. 4 a force profile 403 with compensation forces increasing in the direction of gravity from the top to the bottom to compensate for the earth pressure in the area of the face 109 is shown symbolically in a vertical longitudinal plane. The resulting in the axial direction, in Fig. 4 Actual center of gravity 406, shown by an arrow, lies somewhat below the central longitudinal axis of the tunnel boring machine in the direction of gravity. According to the invention, the compensation forces are applied exclusively or essentially exclusively by the contact pressure of the presses 124 in order to maintain a predetermined target trajectory when driving the cutting wheel 103 in the axial direction between the presses 124 and the cutting wheel 103 via a power flow chain integrating the press bearing ring 121 Position the tunnel at right angles to the target trajectory.

Fig. 5 shows in an end view the tunnel boring machine according to the explained embodiment with a view of a pressure wall 503 arranged on the rear of the cutting wheel 103, which delimits the excavation space 112 on the rear in the excavation direction. the end Fig. 5 is clear, that in order to adhere to the specified target trajectory the in Fig. 5 actual force center of gravity 406, symbolically represented by a circle with an internal cross, lies on the central vertical axis.

Fig. 6 shows in one of the representation according to Fig. 5 Corresponding front view of the tunnel boring machine with pressure plates 130 symbolically identified by three "X" as removed from a tubbing 133, in order to release a shoring space for a new tubbing 133 to be shored. In the case of the remaining pressure plates 130 otherwise unchanged pressure forces, the actual force center of gravity 406 is shifted with respect to the position according to FIG Fig. 5 in such a way that, with a continuous advance, the specified target trajectory would be left without further measures.

Fig. 7 shows, in a block diagram, the structure of a control system for the exemplary embodiment explained for continuously driving a tunnel along a predetermined target trajectory. The in connection with Fig. 3 Converter modules 309 already explained are connected with their outputs for the pressure values to a pressure processing module 703, while the outputs for the travel values can be fed into a travel processing module 706. The print processing module 703 and the route processing module 706 transfer their output data to a central control module 709 as an element of a central unit, to which a navigation measurement module 712 is also connected on the input side as a further element of the central unit.

The navigation measurement module 712 feeds, among other things, the central control module 709 with a predetermined target trajectory to be observed for the continuous advancement of a tunnel and at certain times, for example only after a segment ring 139 has been closed or alternatively at least once during the shoring von Tübbingen 133, current navigation data assigned to the actual positioning of the tunnel boring machine.

On the output side, a pressing force correction module 715 and a display module 718 are connected to the central control module 709 as further elements of the central unit. With the display module 718, as in Fig. 7 symbolically represented the current situation of the in connection with FIGS. 4 to 6 Explained actual force focus 406, advantageously in relation to a clear reference system 721, can be displayed.

The pressing force correction module 715 in turn is connected on the output side to a navigation forecast module 724 as a further element of the central unit, with which, given the distribution of the pressing forces exerted by the presses 124 or the press pairs 127, a trajectory forecast over a future trajectory for a certain period of time, for example until one closes next tubbing ring 139 after the last determination of the current actual positioning of the tunnel boring machine, can be determined. The forecast data assigned to the trajectory forecast can be traced back from the navigation forecast module 724 to the central control module 709.

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

The modules of the arrangement explained above interact in the manner of a control loop as explained below.

For the installation of a new segment 133, as explained above, it is necessary to use certain presses 124 to free up a shoring space retract for the tubbing to be built 133 so that their contact pressure is zero. To the how in connection with Fig. 6 explained, to compensate for the actually undesired shift of the actual force center of gravity 406 caused by this, new contact forces are calculated with the pressing force correction module 715 and fed into the navigation forecast module 724 in order to determine a trajectory forecast for a future trajectory. The calculation of the new contact pressure takes place for an efficient advance, for example, in advance for a period from the start of the shoring of a segment 133 until the completion of the shoring of this segment 133 and thus until the start of the shoring of the next segment 133, but can be especially useful for a high-precision drive or in the case of strongly changing geologies over a small area, also for shorter consecutive periods of time. Due to the expected deviation of the future trajectory from the predefined target trajectory due to the displacement of the actual force center of gravity 406, the pressing force correction module 715 determines new contact forces in such a way that the trajectory forecast determined by the navigation forecast module 724 by stabilizing the actual force center of gravity 406 is at least an approximation of the actual trajectory. expediently within the framework of tolerable smaller deviations from a coincidence of the future trajectory with which the target trajectory takes place for the period of the shoring of new segments 133.

If a predetermined limit value for a maximum deviation is not reached, the presses 124 or press pairs 127, which are still in contact with tubbing segments 133, are acted upon with the newly calculated pressure values to provide correspondingly assigned contact forces, so that with a continuous advance via the regulation of the position of the actual force center of gravity 406, for example to maintain a position according to Fig. 5 even if you emigrate to an inherently undesirable situation according to Fig. 6 , compared to a position of a target force center of gravity, the predetermined target trajectory is adhered to even during the successive shoring of tubbings 133 without the need for regular interrogation of the actual positioning of the tunnel boring machine, for example during the expansion of a tubbing ring 139.

These adjustment steps for the pressing forces during a continuous advance are expediently carried out relatively briefly in relation to the advance rate for a high-precision advance, so that the predetermined target trajectory is maintained very precisely or essentially maintained at all times.

Claims (7)

1. Device for boring and extending a tunnel along a specified target trajectory, comprising a cutting wheel (103) for excavating a heading face (109), comprising a number of presses (124) that are arranged on the side of the cutting wheel (103) that faces away from a heading face (109), that operate in an axial direction, that are held by a press bearing (121) against which the cutting wheel (103) is supported in the axial direction, and that are designed to press against lining segments (133) with pressing forces on the side of the press bearing (121) that faces away from the cutting wheel (103), wherein at least some presses (124) are connected to a converter module (309) for measuring a pressure value assigned to a pressing force exerted on a lining segment (133), wherein a central unit is provided and has a central control module (709) to which the converter modules (309) are connected for transmitting the pressure values, wherein the central unit (709) further comprises a navigation measurement module (712) as well as a pressing force correction module (715) and wherein, in the event of a deviation of the future trajectory or an actual trajectory from the target trajectory specified by the navigation measurement module (712), the pressing forces exerted by the presses (124) can be adjusted by means of the pressing force correction module (715) in order to stabilise an actual force focal point (406) resulting from the exerted pressing forces such that the deviation of the future trajectory from the target trajectory decreases with respect to the initial trajectory prediction, characterised in that a navigation prediction module (724) is provided, by means of which an initial trajectory prediction relating to a future trajectory can be determined at at least one determined distribution of the pressing forces exerted by the presses (124) during installation of lining segments that adjoin in the circumferential direction for the purpose of continuously boring and extending until a ring of lining segments (139) is formed, in that the deviation of the actual force focal point (406) of all pressing forces from a target force focal point can be determined in order to determine the trajectory prediction by means of the navigation prediction module (724), and in that the deviation of the actual force focal point from the target force focal point is a controlled variable of a control loop comprising the pressing force correction module (715), the navigation prediction module (724) and the central control module (709), wherein the new pressing forces are calculated in advance for a period from the beginning of installation of a lining segment (133) to the completion of installation of said lining segment (133) and thus to the beginning of installation of the next lining segment (133), such that the trajectory prediction determined by the navigation prediction module (724) takes place for the period in which new lining segments (133) are installed at least when the actual trajectory is approaching the target trajectory on account of stabilisation of the actual force focal point (406) .
2. Device according to claim 1, characterised in that converter modules (309) that process pressure values and travel values of the presses (124) are connected to the central control module (709) via a pressure processing module (703).
3. Device according to claim 1 or claim 2, characterised in that the presses (124) are held in a press bearing ring (121) that is arranged in the region of a central shield (118).
4. Device according to any of claims 1 to 3, characterised in that the presses (124) are equally spaced apart from one another in the circumferential direction.
5. Device according to any of claims 1 to 4, characterised in that the presses (124) cooperate pairwise in press pairs (127).
6. Method for continuously boring and extending a tunnel along a specified target trajectory using a device according to any of claims 1 to 5 and including extending a tunnel using lining segments (133), wherein, in a pressing force modification step, the pressing force correction module (715) determines new pressing forces for presses (124) still pressing against lining segments (133) such that the deviation of the future trajectory determined by means of the trajectory prediction from the target trajectory is reduced with respect to the initial trajectory prediction after the presses (124) are retracted without exerting pressing forces by means of said presses (124), in a lining segment setting step, firstly the or each press (124) pressed against an installed lining segment (133) is retracted from the installed lining segment (133) in order to free up an installation space for a lining segment (133) to be installed and subsequently the boring is continued with the new pressing forces and the lining segment (133) to be installed is installed until the retracted presses (124) are again pressed against the newly installed lining segment (133) and new pressing forces are determined for the presses (124) by means of the pressing force correction module (715) and applied in order to keep to the target trajectory during installation of the next lining segment (133), wherein the lining segment setting steps are carried out successively on lining segments (133) that adjoin in the circumferential direction.
7. Method according to claim 6, characterised in that the determination of new pressing forces during installation of lining segments (133) takes place for the duration of installation of a lining segment (133) by means of regulation of the position of an actual force focal point (406) of the applied pressing forces relative to a target force focal point.

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