JP2001132381A - Replacement control method for tunnel excavator, replacement control device, and tunnel excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the driving efficiency by preventing a roller bit from being abraded and fractured and improving the durability. SOLUTION: This replacement control method for a tunnel excavator uses the tunnel excavator having a divided structure of a middle barrel inner shield 2A and a middle barrel outer shield 2B mutually and axially sliding a middle barrel shield 2 of a shield body 4, and controls the turning after completing the excavation process of holding a rear barrel shield 3 to a natural ground, advancing the front barrel shield 1, and rotating a cutter head 5. This method is provided with a first process retreating the middle barrel inner shield 2A toward the middle barrel outer shield 2B by a prescribed distance and a second process releasing the holding of the rear barrel shield 3 to the natural ground, holding the front barrel shield 1 to the natural ground, and drawing the middle barrel outer shield 2B toward the middle barrel inner shield 2A. This is automatically controlled so that the first process is executed after completing the excavation process and the second process is executed after completing the first process.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tunnel excavator for performing a so-called excavation excavation, and more particularly, to a tunnel excavation capable of improving excavation efficiency by preventing abrasion and breakage of a roller bit and improving durability. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation control method and an excavation control device and a tunnel excavator provided with the same.

[0002]

2. Description of the Related Art Conventionally, there is a shield machine as a tunnel excavator for soft soil layers. The shield excavator includes a shield body, a cutter unit rotatably supported on the forward side of the shield body in the excavation direction and excavating the ground, a cutter unit driving device for rotating and driving the cutter unit, and a cutter unit driving device. A rotation transmitting mechanism for transmitting the rotation of the apparatus to the cutter unit.

[0003] During tunnel excavation, the cutter unit is rotationally driven by the driving force of the cutter unit driving device, and the ground is excavated by a bit provided in the cutter unit. At this time, the segments are sequentially assembled by an erector provided at the rear of the shield body, and the shield jack is used by using the existing segment as a reaction force receiver of a shield jack arranged in a ring at the rear of the shield body. By extending, a propulsive force is applied to the cutter unit when the cutter unit is excavated. In this case, because the soft soil layer is targeted for excavation, the rotational reaction force of the cutter part is small,
The shield jack can be countered only by the frictional force on the end of the segment, and when spring water is generated in the tunnel, the submergence of the excavator is prevented by the watertight structure of the segment.

However, when such a shield excavator is used for excavating hard rock in a so-called mountain tunnel or the like, the rotational reaction force of the cutter portion becomes large, so that the frictional force of the shield jack alone cannot be used. Not applicable for hard rock drilling.

On the other hand, as a tunnel excavator for hard rock,
Conventionally, there is a tunnel boring machine (TBM). The tunnel boring machine includes a cutter unit rotatably supported on the forward side in the excavation direction and excavating the ground, a cutter unit driving device for rotating the cutter unit, and transmitting the rotation of the cutter unit driving unit to the cutter unit. It has a rotation transmission mechanism and a conveyor for sending excavated earth and sand backward.

At the time of tunnel excavation, similarly to the above-mentioned shield excavator, the cutter unit is driven to rotate by the driving force of the cutter unit driving device, and the ground is excavated by a bit (roller bit) provided on the cutter unit. Since the rotary reaction force of the cutter part is large because it is to be excavated, grippers and support legs are provided so as to protrude in the radial direction from the cutter part and the rotation transmission mechanism, etc. I try to oppose my strength. In addition, by operating these grippers and support legs, it is possible to easily change the excavation direction and make a turn.

However, when such a tunnel boring machine is used for soft soil layers, if spring water is generated, the whole machine may be submerged or the gripper and the support leg may be buried in the pit wall. Therefore, it cannot be applied to soft soil layers as it is.

[0008] As described above, the conventional tunnel excavator includes:
It is necessary to use different types of excavator for soft soil layer and hard rock excavation, and the work efficiency in construction will be low, and if the soil layer changes during construction, excavation must be stopped It was not possible.

Therefore, in order to solve this, for example,
As described in Japanese Patent Application Laid-Open No. 9-158681, the shield body has a two-part structure of a front trunk and a rear trunk,
A tunnel excavator has been proposed which has a structure in which they can slide in the axial direction with respect to each other, and makes the shield body expandable and contractable by causing them to reciprocate relative to each other while sliding them.

[0010] In this tunnel excavator, when excavating a soft soil layer, it is used in the same manner as a conventional shield excavator, and the existing segment is used as a reaction force receiver of a shield jack provided on a rear body of the tunnel excavator. Give. This allows
Even when springing in the tunnel, submersion of the entire machine can be prevented by the watertight structure of the segments and the shield body.

When excavating a hard rock layer, it is used in the same manner as a conventional tunnel boring machine. That is, the gripper (main gripper or rear gripper) provided on the rear trunk is extended in the radial direction to grasp the rock and take the rotary reaction force of the cutter part, and the thrust jack connecting the front trunk and the rear trunk is extended in the axial direction to extend the thrust jack. Excavation is carried out by the cutter while propelling forward. At this time, after excavating for one stroke of the thrust jack, the cutter unit is stopped.

When the excavation for one stroke of the thrust jack is completed in this way, the so-called tunnel excavator is replaced. That is, the front gripper of the front trunk is extended in the radial direction to grip the rock, and the extended main gripper is contracted. In this state, the rear trunk is drawn toward the front trunk by contracting the thrust jack.

In the above-mentioned prior art, as described above, the excavation operation of excavating the front trunk while moving forward, and the rearranging operation of attracting the rear trunk after that are alternately repeated.
Continuation of excavation (so-called excavation excavation).

[0014]

However, the above-mentioned prior art has the following problems.

That is, as described above, in the rebuilding operation of the above-described conventional tunnel excavator, after the excavation for one stroke of the thrust jack is performed to stop the cutter portion, the front body is kept at the same position. Pull the rear trunk forward. At this time, in the forebody, even if the cutter part is stopped, part of the earth and sand of the ground may fall down to the cutter part side, and after the refilling work is completed, the excavation work is restarted in that state. When the portion starts rotating, an excessive load is applied to a part of the roller bit of the cutter portion by the collapsed earth and sand, which may cause wear and partial damage of the roller bit, thereby lowering durability. If the durability of the roller bit is reduced, the roller bit must be replaced frequently during excavation, which causes a reduction in the efficiency of excavation work.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a refill control method and a refill control apparatus for a tunnel excavator capable of improving excavation efficiency by preventing wear and breakage of a roller bit and improving durability, and a refill control apparatus. To provide an excavator.

[0017]

(1) In order to achieve the above-mentioned object, the present invention provides a divided body having a leading cylinder and a trailing cylinder which can slide at least a part of a shield body in the axial direction with respect to each other. Using a tunnel excavator having a structured structure, holding the trailing body side of the shield body on the ground, and rotating the cutter unit to advance the preceding body while completing the excavation step, which is performed by a tunnel excavator. In the replacement control method, a first step of retreating the preceding trunk by a predetermined distance toward the following trunk, and releasing the grip of the trailing trunk side to the ground and the leading trunk side of the shield body And the second step of gripping the trailing cylinder toward the preceding cylinder, and performing the first step after the excavation step is completed. After finishing, the second step Automatically controlled so as to line.

Before the trailing cylinder is drawn toward the preceding cylinder in the second step, the preceding cylinder is retracted by a predetermined distance in the first step, so that the cutter portion provided on the foremost side of the shield main body can be removed. You can retreat a little from the ground. As a result, even if a part of the earth and sand of the ground collapses toward the cutter part, the collapsed earth and sand can be kept in the space in front of the retreated cutter part and can hardly fall on the cutter part. Therefore, even when the cutter portion is rotated to restart the next excavation process after the end of the second process, an excessive load is not applied to the roller bit provided in the cutter portion. The durability can be improved by preventing permanent damage, and the efficiency in excavation work can be improved.

At this time, since the first step is newly added to the conventional step, if the operation is performed manually by an operator, the operation becomes complicated, the burden on the operator increases, and the workability decreases. Although there is a possibility of accidental or erroneous operation, by automatically controlling the flow of excavation process → 1st process → 2nd process, it is possible to prevent the burden on the operator, decrease the workability and the possibility of erroneous operation beforehand can do.

(2) In the above (1), preferably,
After the first step is completed, the cutter unit is automatically controlled so as to stop the cutter unit before performing the second step.

When exchanging the trailing cylinder toward the preceding cylinder, excavation is not performed, so that the cutter unit is usually stopped. In the present invention, before the second step of drawing the following cylinder toward the preceding cylinder, the preceding cylinder is retracted toward the following cylinder in the first step. Here, during the retreat, part of the soil of the ground collapses to the cutter part side, or the amount of the collapsed sediment is relatively large and part of the collapsed sediment falls to the cutter part even after the cutter part retreats The possibilities are not inconceivable. Then, the first step is completed and the second step
Until the start of the process, the cutter part is kept rotating without stopping, so even if the above situation occurs, the rotating cutter part splashes the collapsed soil and until the next excavation process starts The earth and sand on the cutter part can be surely removed. Therefore, the durability of the roller bit can be more reliably improved.

(3) In order to achieve the above object, the present invention also provides a shield body having a divided structure having a leading cylinder and a trailing cylinder slidable at least partially in the axial direction with each other; A cutter provided on the forefront side of the shield body,
Cutter unit driving means for driving the cutter unit, first gripping means capable of gripping the leading trunk side of the shield main body at ground level, and first gripping means capable of gripping the trailing trunk side of the shield main body at ground level. (2) In a tunnel excavator refilling control device provided in a tunnel excavator provided with: 2 gripping means; and telescopic drive means for sliding the preceding body and the following body in the axial direction with respect to each other to move the body forward and backward. (2) Excavation in which the trailing cylinder side is gripped by the ground by the gripping means, and the cutter unit driving means rotates the cutter unit, and the telescopic driving means moves the preceding cylinder away from the trailing cylinder to advance the excavation. After the step is completed, in the first step, the preceding cylinder is moved backward by a predetermined distance toward the succeeding cylinder by the telescopic drive means, and then, in the second step, the second gripping means Release the grip It said preceding cylinder side serial first gripping means to grip the ground mountains, performs control to draw with the trailing body in the telescopic drive means moved closer toward the leading cylinder.

(4) In order to achieve the above-mentioned object, the present invention further provides a shield body having a divided structure having a leading cylinder and a trailing cylinder slidable at least partially in the axial direction. A cutter portion provided at the forefront side of the shield body, a cutter portion driving means for driving the cutter portion, first gripping means capable of gripping the leading trunk side of the shield body to the ground, and the shield body A second gripping means capable of gripping the trailing body side on the ground, and a telescopic drive means for axially sliding the leading barrel and the trailing barrel relative to each other to extend and retract. In the excavation step, the trailing cylinder side is gripped by the ground by the second gripping means, and the cutter unit is rotated by the cutter unit driving means, while the leading trunk is moved backward by the telescopic driving means. After moving away from the torso and moving forward, In the step, the telescopic driving means moves the preceding cylinder closer to the following cylinder by a predetermined distance and retreats. Then, in the second step, the gripping by the second gripping means is released and the first cylinder is released. Excavation change control means is provided for holding the preceding barrel side to the ground by gripping means, and controlling the retractable driving means to draw and pull the following barrel closer to the preceding barrel.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a side sectional view showing the entire structure of a tunnel excavator according to the present embodiment, and FIG.
FIG. 3 is a cross-sectional view taken along line III-III in FIG. 1, FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 1, and FIG. FIG. 6 is a cross-sectional view taken along the line VV in FIG. 1, and FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG.

In FIGS. 1 to 6, the tunnel excavator is a body of the tunnel excavator, and has a front body shield 1, a middle body shield 1 2, a shield body 4 having a three-node structure in which the rear trunk shield 3 is connected so as to be able to bend (bend), and a ground (not shown) rotatably supported in the front trunk shield 1. A cutter head 5, a sediment hopper 7 provided in an excavation chamber (cutter chamber) 6 immediately behind the cutter head 5 in the front trunk shield 1, and receiving excavated earth and sand by the cutter head 5; The excavated sediment received in the excavation site is transported to the opposite side (the right side in FIG. 1) of the excavation direction together with water (details will be described later), and the drainage pipe 8 discharges the excavated sediment. A partition wall (bulk head) 9 provided behind the front body shield 1 for isolating the rear side portion of the front body shield 1 from the excavated earth and sand in the cutter chamber 6, and a hydraulic motor for rotating and driving the cutter head 5 (see FIG. 7), and a cutter head support mechanism (gear) attached to the partition wall 9 for supporting the cutter head 5 and transmitting the driving force from the cutter drive device 10 to the cutter head 5. Box included)
11 are provided.

The front body shield 1 is provided with a front gripper 12 for suppressing vibration of the cutter head 5 during excavation and for taking a reaction force to draw the rear body shield 3 during excavation, which will be described later. As shown in detail in FIG. 3, the front grippers 12 are provided at a total of four locations, two at the top and two at the top and bottom of the front body shield 1, and a front gripper jack 12a provided with a hydraulic cylinder (see FIG. 7 described later) is provided. The gripper grips the ground by extending the substantially cylindrical gripper shoe 12b in the radial direction of the front body shield 1 to extend the rear body shield 3, suppress the vibration of the cutter head 5, and control the excavation direction. You can do it.

The middle body shield 2 has a double-cylinder structure including an inner shield (inner cylinder) 2A and an outer shield (outer cylinder) 2B slidable in the axial direction with respect to each other. By sliding the outer shield 2B, the middle trunk shield 2 (in other words, the entire shield body 4) can be expanded and contracted in the axial direction. Thus, the middle trunk shield 2 also functions as a guide for the forward movement of the front trunk shield 1 at the time of excavation to be described later.

Between the front body shield 1 and the partition wall 13 provided at the front of the middle body inner shield 2A, there is provided a center bending mechanism 14 for rotatably connecting them to each other. That is, a sliding portion 15 having an outer peripheral surface substantially in a spherical shape is provided at the end of the inner-body shield partition 13 on the side of the front body shield 1, and the sliding portion 15 and the rear end of the front body shield 1 are provided. Between them, there is provided a seal portion 16 provided with a substantially ring-shaped seal member 16a which slides on the sliding portion 15 and seals between them (prevents intrusion of earth and sand, groundwater).

Upper and lower brackets 17 are fixed to the upper and lower two places on the rear side of the front body shield 1, and these upper and lower brackets 17 and the upper and lower brackets 18 fixed to the shield partition 13 in the middle body are vertically connected. The pins 19 are rotatably connected to each other. At this time, between the partition 9 of the front trunk shield 1 and the partition 13 of the middle trunk inner shield 2A, a plurality of (for example, left and right one-to-two) middle folding jacks 20 are provided. The front-body shield 1 and the middle-body shield 2 are bent via the middle-bending mechanism 14 by the expansion and contraction operation of the right middle bending jack 20 (by making a stroke difference between left and right), and the angle between them is changed. The direction of excavation can be changed. Keys 21 (see FIG. 4) are provided on the left and right sides of the inner shield 2A, respectively.
Are provided with guide grooves 22 of the keys 21 (the same),
The inner-body shield 2A is freely slid in the front-rear direction with respect to the outer-body shield 2B by the guide of the key 21 while the movement in the left-right direction and the up-down direction is restricted. Thereby, during the below-mentioned excavating operation, the middle outer shield 2B
Smoothly follow the preceding inner trunk 2A.

Further, the shield partition 13 in the middle trunk,
A plurality (for example, two to four left and right) thrust jacks 24 each having a hydraulic cylinder (refer to FIG. 7 described later) are provided between the rear wall shield 3 and a partition wall 23 provided at a front portion of the rear trunk shield 3.
Is provided. By extending these thrust jacks 24, the reaction force is generated by the shield partition 1 in the middle trunk.
3. The cutter head 5 is applied as a propulsive force via the center-folding jack 20 and the front body shield partition wall 9.

Further, a middle folding mechanism 25 similar to the above-described middle folding mechanism 14 is provided between the middle outer shield 2B and the rear body shield 3. That is, the middle outer shield 2
A sliding portion 26 is provided at the end of the rear body shield 3 on the side of B, and a seal portion 27 having a substantially ring-shaped sealing member 27a is provided between the sliding portion 26 and the front end of the rear body shield 3. ing. An upper and lower bracket 28 fixed to the rear trunk shield 3 and a partition wall 29 provided on the middle outer shield 2B.
The upper and lower brackets 30 fixed to each other are rotatably connected to each other by upper and lower pins 31. Similarly to the above-mentioned center bending jack 20, by making a stroke difference between left and right in the left and right thrust jacks 24, the middle torso shield 2 and the rear torso shield 3 are bent, and the excavation direction is changed by changing the angle between them. It is supposed to be. It should be noted that the shield 2 inside the middle trunk is placed almost all around the outer shield 2B (excluding a range of a central angle of 90 degrees around the lowest point).
A substantially thin cylindrical earth and sand cover 2Ba (see FIG. 4) is provided so as to cover the sliding portion between the inner shield 2A and the outer shield 2B. Care is taken so that earth and sand do not fall between 2B and the sliding parts.

The rear trunk shield 3 is provided with a main gripper 32 for taking the rotational reaction of the cutter head 5 during excavation. As shown in detail in FIG. 6, the main grippers 32 are provided at two positions on the left and right sides of the rear trunk shield 3, and extend a main gripper jack 32a provided with a hydraulic cylinder (see FIG. 7 described later) to form a substantially rectangular shape. (Side bow) gripper shoe 32b is attached to rear trunk shield 3
By projecting in the radial direction, the ground reaction (reaction force) is obtained by holding the ground (rock) while suppressing the ground pressure so as not to damage the ground. In the case where the rock properties are poor, the rear fuselage shield 3 is assembled with the segments 33 in the same manner as a normal shield machine, and the propulsion reaction force is taken (described later).
, A shield jack 34 is provided. Correspondingly, a space for assembling the segments 33 is provided in the rear trunk shield 3 in advance. Further, a rolling jack 35 for performing a rolling correction by expansion and contraction is provided in the rear trunk shield 3.

The front body shield 1, the middle body shield 2,
In addition, fixed sleds 36a, 36b,
36c is provided.

As shown in FIG. 2, the cutter head 5 is of a so-called face plate type having no gap except for a sediment intake port which will be described later when viewed from the front.
(11 in this example), a roller bit device 37, a face scraper 38 and a side scraper 39 for taking in crushed pieces, and a regulating plate 40 for limiting the size of the taken-in pieces when taking in crushed pieces. . The cutter head 5 is of a so-called peripheral support type (drum type) that is supported by the cutter head support mechanism 11 at an intermediate portion between the radial center portion and the outer peripheral portion. The rock is crushed by the roller bit 37a of each roller bit device 37 by rotating the cutter head 5 while the front body shield 1 is propelled by the thrust jack 24, and the crushed rock (slip) is scraped by the scraper 38, It is scraped and collected by 39 and is taken into the cutter chamber 6 behind the cutter head 5 through a sediment intake port (slit) 41,
The earth and sand hopper 7 is charged.

The above-mentioned flow-in facility includes the above-mentioned drainage pipe 8, water supply pipe 41, and return pipe 42 extending below the front body shield 1, the middle body inner shield 2A, and the rear body shield 3. ing. That is, the water sent from the water supply equipment on the ground side is supplied into the earth and sand hopper 7 through the water supply pipe 41. The inside of the earth and sand hopper 7 contains water and a return pipe 42 through the water pipe 41.
The work (see below) returned from the water is almost always full during the work, and the excavated earth and sand taken in as described above is sequentially put into the water. The injected excavated earth and sand is sent backward in the mud drain pipe 8 together with water, and is crushed to a predetermined size by a crusher (not shown) provided in the middle of the mud pipe 8. Thereafter, a part of a water component of the mixture of excavated earth and sand and water sent up to that point is separated by a flow divider (not shown) provided further behind the sludge pipe 8, and the return pipe 42 Is returned to the earth and sand hopper 7 again. The mixture of excavated earth and sand and water in which a part of the water component is diverted by the recirculation pipe 42 is guided further back (to the ground side) through the small-diameter drainage pipe 8 with the diverter as a boundary, and is discharged. You.

Reference numeral 43 denotes a walkway arranged above the drainage pipe 8 and the return pipe 42 for cutter bit replacement and equipment maintenance.

In the above, the main part of this embodiment is that the hydraulic motor of the cutter driving device 10 and the front gripper jack 1 are used in the excavation process and the subsequent refilling process.
The procedure is to control the operations of the hydraulic cylinder 2a, the hydraulic cylinder of the thrust jack 24, and the hydraulic cylinder of the main gripper jack 32a. FIG. 7 shows a hydraulic circuit diagram of a hydraulic drive device including these hydraulic actuators provided in the tunnel excavator.

In FIG. 7, the hydraulic drive system comprises an engine 44, two hydraulic pumps 45a and 45b driven by the engine 44,
a and 45b, respectively, and a control valve 50 for controlling the direction and flow rate of the hydraulic oil supplied from the hydraulic pump 45a to the hydraulic motor 46. Control valves 51, 52, and 53 for controlling the direction and flow rate of hydraulic oil supplied from the hydraulic pump 45b to the hydraulic cylinders 47, 48, and 49, respectively;
Relief valves 54a, 54b provided in pipes branched from the discharge pipe 45b and defining the maximum value of each pump discharge pressure.
And a controller 55.

The hydraulic motor 46 is a cutter driving hydraulic motor provided in the cutter driving device 10 for driving the cutter head 5 to rotate. The hydraulic cylinders 47 to 49 are provided with a front gripper hydraulic cylinder 4 for expanding and contracting the front gripper jack 12a.
7, a thrust jack hydraulic cylinder 48 for expanding and contracting the thrust jack 24, and a main gripper hydraulic cylinder 49 for expanding and contracting the main gripper jack 32a.

The control valves 50 to 53 are a cutter control valve 50 connected to a cutter driving hydraulic motor 46, a front gripper control valve 51 connected to a front gripper hydraulic cylinder 47, and a thrust jack hydraulic valve. A thrust jack control valve 52 connected to the cylinder 48;
And a control valve 53 for the main gripper connected to the hydraulic cylinder 49 for the main gripper. The control valves 51 to 53 for guiding the pressure oil discharged from the hydraulic pump 45b are connected in parallel with each other.

The control valves 50 to 5
3 is a solenoid valve provided with a solenoid 50a, 50b, a solenoid valve 51a, 51b, a solenoid valve 52a, 52b, a solenoid valve 53
a and 53b. When a control signal (drive current) from the controller 55 is input to each solenoid valve, the corresponding solenoid is excited and the spool is switched.

That is, the control valve 5 for the cutter
When the control signal Sca (or Scb) is input to the solenoid of the solenoid valve 50a (or the solenoid valve 50b, hereinafter the same relationship in parentheses), 0 indicates the right position (or left position) in FIG.
The hydraulic oil supply pipe 55a (or 55b) is communicated with the pump discharge pipe to guide the pressure oil from the hydraulic pump 45a to the cutter driving hydraulic motor 46, and the cutter driving hydraulic motor 46 is moved forward ( Or in the opposite direction). When the drive current value of the control signal Sca (or Scb) becomes 0, the spring returns to the neutral position shown in FIG. 7 by the restoring force of the springs 50c and 50d. The drive hydraulic motor 46 is stopped.

On the other hand, when the control signal Sfa (or Sfb) is input to the solenoid of the solenoid valve 51a (or the solenoid valve 51b), the control valve 51 for the front gripper will be described with reference to FIG.
The position is switched to the middle right position (or the left position), and the pressure oil supply pipe 56a (or 56b) communicates with the pump discharge pipe so that the pressure oil from the hydraulic pump 45b is moved to the bottom side oil chamber of the front gripper hydraulic cylinder 47. 47a (or the rod-side oil chamber 47b) to extend (or contract) the front gripper hydraulic cylinder 47. And the control signal S
When the drive current value of fa (or Sfb) becomes zero, the spring 51
With the restoring force of c and 51d, it returns to the neutral position shown in FIG. 7, and the pressure oil supply pipes 56a and 56b are set to the tank pressure.

As described above, the control valve 52 for the thrust jack is connected to the solenoid valve 52a (or the solenoid valve 52).
When the control signal Ssa (or Ssb) is input to (b), the position is switched to the right position (or left position) in FIG. 7, and the pressure oil is supplied to the bottom oil chamber 48a of the thrust jack hydraulic cylinder 48.
(Or rod-side oil chamber 48b) to extend (or contract)
Let it. When the drive current value of the control signal Ssa (or Ssb) becomes zero, the spring 52c, 52d returns to the neutral position by the restoring force, and the pressure oil supply pipes 57a, 57b are set to the tank pressure.

Further, the control valve 53 for the main gripper is connected to the solenoid valve 53a (or the solenoid valve 53) as described above.
When the control signal Sma (or Smb) is input to b), the position is switched to the right position (or the left position) in FIG. 7, and the pressure oil is supplied to the hydraulic cylinder bottom oil chamber 49a (or the rod oil chamber 49b) for the main gripper hydraulic cylinder. To extend (or shrink).
When the drive current value of the control signal Sma (or Smb) becomes 0,
The springs 53c, 53d return to the neutral position by the restoring force, and the pressure oil supply pipes 58a, 58b are set to the tank pressure.

In the above construction, the inner-body shield 2A constitutes the preceding cylinder described in the claims, the outer-body shield 2B constitutes the following body, and the inner-body shield 2 has a split structure. At least a part of the shield body. Further, the rear trunk shield 3 constitutes a trailing trunk side of the shield body gripped by the ground, the front trunk shield 1 constitutes a leading trunk side of the shield main body, and the cutter head 5 constitutes a cutter part.

Further, the cutter driving device 10 constitutes a cutter driving means, and the front gripper 12 constitutes a first gripping means capable of gripping the leading trunk side of the shield body on the ground.
The main gripper 32 constitutes a second gripping means capable of gripping the trailing cylinder side of the shield body on the ground, and the thrust jack 24 slides the leading cylinder and the trailing cylinder in the axial direction to move them closer and farther. The telescopic drive means is constituted.

Next, the operation of the tunnel excavator configured as described above will be described with reference to FIG.

In the tunnel excavator having the above structure, when excavating relatively hard geology (hard rock layer), so-called excavation is performed. FIGS. 8A and 8B are diagrams for explaining the excavating operation of the tunnel excavator. FIG. 8A shows an excavation process, and FIGS. 8B to 8D show a refilling process.

(1) Excavation Step First, the controller 55 outputs a control signal Sma (see FIG. 7) of a predetermined drive current value to the solenoid valve 53a of the control valve 53 for the main gripper, and the hydraulic cylinder 49 for the main gripper. To extend the main gripper 3
2 is extended in the radial direction, the rock is gripped, and a cutter rotational reaction force is obtained (see FIG. 8A). At this time, the controller 55 also outputs a control signal Ssa (see FIG. 7) having a predetermined drive current value to the solenoid valve 52a of the thrust jack control valve 52, extends the thrust jack hydraulic cylinder 48, and controls the thrust jack 24. Extending in the axial direction, the front body shield 1 and the middle body shield inner cylinder 2A are propelled forward (see FIG. 8A). In this state, the controller 55 further controls the cutter drive control valve 50.
A control signal Sca (see FIG. 7) of a predetermined drive current value is output to the solenoid valve 50a of the above, the cutter driving hydraulic motor 46 is driven in the forward direction to rotate the cutter head 5, and the roller bit device of the cutter head 5 Excavation is performed at 37 (see FIG. 8A). At this time, the controller 55 also outputs a control signal Sfa (see FIG. 7) having a relatively small drive current value to the solenoid valve 51a of the front gripper control valve 51 to slightly extend the front gripper hydraulic cylinder 47. The front gripper 12 is brought into contact with the bedrock, thereby suppressing the vibration of the cutter head 5.

The excavated earth and sand is scraped by the scrapers 38 and 39 of the cutter head 5 and then taken into the cutter chamber 6 from the earth and sand intake port 41, further injected into the earth and sand hopper 7 and discharged by the mud pipe 8. Is done.

(2) Replacing Step After excavating a predetermined distance (normally, a distance corresponding to one stroke of the thrust jack 24) as described above, a so-called tunnel excavator is replaced.

FIG. 9 shows a control flow of the rearrangement process executed by the controller 55. In FIG. 9, first steps 100, 110, and 1
Reference numeral 20 denotes a procedure for confirming that the (1) excavation step before the refilling step has been completed. That is, step 10
0, it is determined whether or not the cutter head 5 is still rotating, and in step 110, it is determined whether or not the main gripper 32 is in an extended state. In step 120, the extension of the thrust jack 24 is determined. It is determined whether or not the operation (push operation) has been completed.

More specifically, in step 100, it is checked whether the control signal Sca has been output to the solenoid valve 50a of the cutter driving control valve 50. In step 110, the control valve 53 for the main gripper is controlled. A self-check is made as to whether the control signal Sma is output to the solenoid valve 53a. In step 120, for example, the self-check may be performed to determine whether or not a predetermined time has elapsed after outputting the control signal Ssa to the solenoid valve 52a of the control valve 52 for the thrust jack. May be provided to check whether the detected pressure is equal to or higher than a predetermined value, or a known stroke sensor may be provided to check whether the stroke value does not further increase. .

If at least one of the above steps 100 to 120 is not satisfied, the process returns to step 100 and repeats these steps. If all of steps 100 to 120 are satisfied, it is confirmed that the excavation process has been completed, and the process proceeds to step 130. At this time, the stroke value of the thrust jack 24 is the maximum value.

In step 130, the controller 55 sets the drive current value of the control signal Sfa to the solenoid valve 51a of the front gripper control valve 51 to 0, and sets the control signal Sfb of a predetermined drive current value to the solenoid valve 51b. (See FIG. 7), the front gripper hydraulic cylinder 47 is completely contracted, and the front gripper 12
In the fully contracted state (see FIG. 8B). Then, in step 140, the controller 55 sets the drive current value of the control signal Ssa to the solenoid valve 52a of the thrust jack control valve 52 to 0, and sets the solenoid valve 52b
, A control signal Ssb (see FIG. 7) having a relatively small current value is output, the thrust jack hydraulic cylinder 48 is slightly contracted to contract the thrust jack 24 in the axial direction, and the front body shield 1 and the middle body shield inner cylinder 2A Slightly backward (see FIG. 8B). At this time, the retreat amount α
[Mm] is appropriately set in advance. Step 1
At 50, the controller 55 sends a control signal Sca to the solenoid valve 50a of the cutter drive control valve 50.
The drive current value of the cutter head 5 (see FIG. 7) is set to 0, the drive of the cutter drive hydraulic motor 46 in the forward direction is stopped, and the cutter head 5 is stopped.
Is stopped, and excavation of the cutter head 5 by the roller bit device 37 is stopped (see FIG. 8B).

The above steps 130 to 150 are the most characteristic part of the present invention, and are a novel procedure which has not been provided in the past. When these steps 130 to 150 are completed, the process proceeds to step 160.

At step 160, the controller 55
Sets the drive current value of the control signal Sfb to the solenoid valve 51b of the front gripper control valve 51 to 0, and outputs a control signal Sfa (see FIG. 7) of a predetermined drive current value to the solenoid valve 51a. The front gripper hydraulic cylinder 47 is extended so that the front gripper 12 is extended to hold the rock (see FIG. 8C). Then, in step 170, the controller 55 sets the drive current value of the control signal Sma to the solenoid valve 53a of the main gripper control valve 53 to 0, and sends the control signal Smb of a predetermined drive current value to the solenoid valve 53b. The main gripper 32 is fully contracted by contracting the main gripper hydraulic cylinder 49 (FIG. 8).
(C)). As a result, the tunnel excavator is fixed to the bedrock via the front gripper 12. Further, in step S180, the controller 55
Increases the drive current value of the control signal Ssb to the solenoid valve 52b of the control valve 52 for the thrust jack to a predetermined value, greatly contracts the hydraulic cylinder 48 for the thrust jack, and completely contracts the thrust jack 24 (stroke value). 0) (see FIG. 8C). This allows
The rear body shield 3 and the middle body shield outer cylinder 2B are shown in FIG.
As shown in (d), the front body shield 1 and the middle body shield inner cylinder 2 </ b> A, which are leading, are drawn.
Thereby, the flow shown in FIG. 9 is ended, and the rearrangement process is ended.

Thereafter, the operations of (1) the excavation step and (2) the refilling step are alternately repeated to perform excavation. At this time, by operating the main gripper 32 and the front gripper 12 and appropriately taking a reaction force, the angle formed between the front body shield 1 and the middle body shield 2 or the middle body shield 2 and the rear body shield 3 is changed. The direction of excavation can be easily changed to turn.

Although the above description has been made taking the case of excavating a relatively hard geological material as an example, when excavating a soft soil layer, it is used in the same manner as a normal shield machine. That is, although the detailed description is omitted, the existing segments 33 sequentially assembled in the rear trunk shield 3 are used as reaction force receivers of the shield jack 34 to apply a propulsive force to the cutter head 5 and to apply the propulsion force to the cutter head 5. Rotate 5 to excavate. As a result, even when the spring in the tunnel,
The submersion of the entire machine can be prevented by the watertight structure of the shield 3 and the shield body 4.

In the above operation, steps 130 and 140 constitute a first step of retreating the preceding cylinder by a predetermined distance toward the succeeding cylinder, and steps 160 to 1
80 constitutes a second step of releasing the grip on the ground on the trailing trunk side, holding the leading trunk side of the shield body on the ground, and controlling the trailing trunk toward the preceding trunk.

Further, according to the above, the controller 55
In the first step, the leading cylinder is approached to the succeeding cylinder by a predetermined distance by the telescopic drive means and retreated, and then, in the second step, the gripping by the second gripping means is released and the first gripping means is used. A repositioning control device of a tunnel excavator that grips the leading trunk side in the ground and controls the approaching and pulling of the trailing trunk toward the leading trunk by telescopic drive means, and in the excavation step, (2) While the trailing cylinder side is gripped by the ground with the gripping means and the cutter part is rotated by the cutter part driving means, the leading cylinder is separated from the trailing cylinder by the telescopic driving means and advanced. Thereafter, in a first step, the preceding cylinder is moved backward by a predetermined distance toward the following cylinder by the telescopic drive means, and then, in the second step, the gripping by the second gripping means is released and the first gripping is performed. Hold the leading trunk side to the ground by means, And thus also constitute the excavation Morikawa control means for performing control to draw is brought closer toward the trailing cylinders in the preceding cylinder by contraction drive means.

As described above, in the present embodiment, in the rearrangement process, steps 160 to 160 shown in FIG.
Before drawing the middle and outer shields 2B and 3 toward the preceding inner and lower body shields 2A and 1 at 180, steps 130 and 14 are performed in advance.
By slightly retracting the inner-body shield 2A and the front-body shield 1 that precede by 0, the cutter head 5 provided on the forefront side of the shield body 4 can be slightly retracted from the ground. As a result, even if part of the earth and sand of the ground collapses toward the cutter head 5, the collapsed earth and sand can be kept in the space in front of the retreated cutter head 5, and can hardly fall on the cutter head 5. Therefore, even when the cutter head 5 is started to rotate to restart the next excavation process after the end of step 180, no excessive load is applied to the roller bit device 37 provided in the cutter head 5, so that the bit 37 is not applied.
a can prevent abrasion and partial damage to improve durability.
The efficiency in excavation work can be improved.

At this time, steps 130 to 150 are newly added to the conventional process. Therefore, when the operation is performed manually by an operator, the operation becomes complicated, the burden on the operator increases, and the workability is increased. Although it may be reduced, as described above, steps 100 to 18 of the excavation process → replacement process
By automatically controlling the flow of 0 by the controller 55, it is possible to prevent an increase in the burden on the operator and a decrease in workability.

In this embodiment, the cutter head 5 is stopped in step 150 after steps 130 and 140 described above. That is, steps 130 and 140
The cutter head 5 is rotated without stopping until the retreat of the inner-body shield 2A and the front-body shield 1 (in other words, the retreat of the cutter head 5) ends and the attraction of the outer-body shield 2B and the rear-body shield 3 starts. By leaving the cutter head 5, a part of the earth and sand of the ground collapses toward the cutter head 5 during the retreat of the cutter head 5,
Alternatively, even if a relatively large amount of collapsing sediment occurs such that a part of the collapsing sediment falls on the cutter head 5 even after the cutter head 5 retreats, the cutter head 5 rotates to splash the collapsing sediment, and The earth and sand on the cutter head 5 can be surely removed before the start of the excavation step. Therefore, the durability of the roller bit can be more reliably improved.

The step 150 for stopping the cutter head 5 is not necessarily performed after the steps 130 and 140 as described above, as long as the effect of preventing wear and breakage of the roller bit and improving the durability is obtained. Or before step 130.

Further, in one embodiment of the present invention, the present invention provides a shield body 4 having a three-bar structure of a front body shield 1, a middle body shield 2, and a rear body shield 3. Has been described as an example in which the present invention is applied to a tunnel excavator having a double cylindrical structure of an inner shield 2A and an outer shield 2B, but the present invention is not limited to this. That is, a shield body having a two-bar structure of a front trunk and a rear trunk that can be folded in each other,
Even if the shield body has a single knot structure that does not have a center-bend structure, a part of the body or a part of the body can be slid to and from the leading body and the trailing body. It is needless to say that the present invention can be applied as long as the above is performed.

[0069]

According to the present invention, before the subsequent cylinder is drawn toward the preceding cylinder in the second step, the preceding cylinder is retracted by a predetermined distance in the first step, so that the second step is completed. Even when the cutter part is rotated later to restart the next excavation process, since an excessive load is not applied to the roller bit provided in the cutter part, wear and partial damage of the roller bit are prevented. Durability can be improved, and efficiency in excavation work can be improved.

[Brief description of the drawings]

FIG. 1 is a side sectional view showing an entire structure of a tunnel excavator according to an embodiment of the present invention.

FIG. 2 is a view as viewed from an arrow A in FIG.

FIG. 3 is a cross-sectional view taken along the line III-III in FIG.

FIG. 4 is a cross-sectional view taken along the line IV-IV in FIG.

FIG. 5 is a cross-sectional view taken along the line VV in FIG. 1;

FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG.

7 is a hydraulic circuit diagram of a hydraulic drive device including a hydraulic actuator provided in the tunnel excavator shown in FIG.

FIG. 8 is a diagram for explaining a lengthening excavation operation of the tunnel excavator shown in FIG. 1;

FIG. 9 is a control flow of a rearrangement process performed by the controller shown in FIG. 7;

[Explanation of symbols]

Reference Signs List 1 front torso shield (preceding trunk side) 2 middle torso shield (at least part of shield body) 2A inner torso shield (leading trunk) 2B middle torso outer shield (later trunk) 3 rear torso shield (later trunk side) Reference Signs List 4 shield body 5 cutter head (cutter portion) 10 cutter driving device (cutter portion driving means) 12 front gripper (first gripping means) 24 thrust jack (extendable driving means) 32 main gripper (second gripping means) 37a roller bit 55 Controller (replacement control device, excavation refill control means)

Claims (4)

[Claims] 1. A tunnel excavator having at least a part of a shield body having a divided structure including a leading body and a trailing body slidable in the axial direction with respect to each other, and using the tunnel body on the trailing body side of the shield body. After the excavation step of advancing the preceding drum while rotating the cutter unit while holding the ground is completed, in the tunnel excavator refill control method, the preceding drum is moved by a predetermined distance toward the following drum. A first step of retreating, releasing the grip of the trailing cylinder side to the ground, holding the leading trunk side of the shield body to the ground, and moving the trailing cylinder toward the leading trunk. A second step of drawing, and automatically executing the first step after the excavation step is completed, and automatically executing the second step after the first step is completed. Tunnel excavator Morikawa control method. 2. The method according to claim 1, wherein the cutter unit is automatically controlled to stop the cutter unit after the first step is completed and before the second step is performed. Control method of tunnel excavator. 3. A shield body having a divided structure having a leading body and a trailing body slidable at least partially in the axial direction with each other, a cutter portion provided at the foremost side of the shield body, Cutter unit driving means for driving the cutter unit, first gripping means capable of gripping the leading trunk side of the shield main body at ground level, and first gripping means capable of gripping the trailing trunk side of the shield main body at ground level. (2) In a tunnel excavator refill control device provided in a tunnel excavator provided with: 2 gripping means; and a telescopic driving means for sliding the preceding body and the following body axially relative to each other so as to make them closer and farther apart. (2) Excavation in which the trailing cylinder side is gripped by the ground by the gripping means, and the cutter unit driving means rotates the cutter unit, and the telescopic driving means moves the preceding cylinder away from the trailing cylinder to advance the excavation. After the process is completed, The retractable driving means moves the preceding cylinder closer to the trailing cylinder by a predetermined distance and retreats. Then, in a second step, the gripping by the second gripping means is released and the first cylinder is released. A refilling control of a tunnel excavator, wherein a gripping means grips the leading trunk side to the ground and controls the retractable driving means to draw the trailing trunk closer to the leading trunk. apparatus. 4. A shield body having a divided structure having a leading body and a trailing body slidable at least partially in the axial direction with each other, a cutter portion provided at the forefront side of the shield body, Cutter unit driving means for driving the cutter unit, first gripping means capable of gripping the leading trunk side of the shield main body at ground level, and first gripping means capable of gripping the trailing trunk side of the shield main body at ground level. (2) a tunnel excavator comprising: gripping means; and a telescopic drive means for sliding the leading cylinder and the trailing cylinder axially relative to each other so as to make them closer to each other. While holding the row cylinder side in the ground and rotating the cutter section with the cutter section driving means, the telescopic driving means moves the preceding cylinder away from the following cylinder and advances it, and then proceeds to the first step. hand,
The telescopic drive unit moves the preceding cylinder closer to the trailing cylinder by a predetermined distance and retreats.After that, in a second step, the gripping by the second gripping means is cancelled, and the first gripping means removes the gripping by the first gripping means. A tunnel excavating machine provided with excavation refill control means for holding a leading body side in the ground and controlling the retractable driving means to approach and pull the following body toward the leading body. .