JP2002349197A - Spraying method, spraying device, and determination method of spraying condition - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a spraying method capable of minimizing the fluctuation spraying thickness and providing a smooth finish surface with uniform thickness in a spray using a mechanical spraying robot. SOLUTION: In this spraying method by use of a mechanical spraying device, a spray is performed so that the central track of a spray nozzle projected to a spraying wall surface draws substantially a circular or elliptic spiral route by moving the spray nozzle along the spray advancing direction while rotating. The ratio AB/AC of the distance AB on the spray advancing directional center line from a start point A on the center line of a circular arc drawn therefrom to a point B on the center line CL to the distance AC on the center line from this point of a circular arc drawn therefrom in the opposite direction to the spray advancing direction to a point C on the center line CL satisfies the relation of AB/AC>=2.5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, in a tunnel excavation such as a NATM method or a TBM method, a spraying material such as concrete or mortar is uniformly sprayed on a wall of an excavation using a mechanical spraying device. Spraying method and a method for determining spraying conditions.

[0002]

2. Description of the Related Art For example, in a mountain tunnel, a NATM (New A) having rock bolts inserted into the ground and shotcrete constructed along excavation walls as main support members is used.
ustrian Tunnelling Methed) method is the mainstream.

[0003] A tunnel digging method includes a blasting excavation method of digging with an explosive, such as a bench cut method in which the entire cross section is excavated and the tunnel cross section is divided into upper and lower parts and the excavation is performed in parallel in the order of an upper half section and a lower half section of the tunnel. , TBM (Tunne
l Boring Machine)
There are various methods such as the BM method and the mechanical excavation method using a free-section excavator that excavates a cross section by operating the cutter boom, which has a cutter section at the end of the boom. Uses a rock bolt and shotcrete as support materials instead of the conventional method using steel arch members as the main support material.
The ATM method is actively used. The greatest advantage of using the shotcrete method is that the support can be constructed early after excavation without using a formwork.

[0004] Regarding the above-mentioned spraying operation, in the past, it was common practice that an operator directly holds a nozzle hose in his / her hand and blows it by hand. However, in recent years, under conditions where a certain tunnel space can be secured, A multi-joint arm type in which a boom that holds the spray nozzle in a swingable and rotatable manner is mounted on a movable crawler-type, tire-type or rail-type movable cart, and the spray nozzle is operated by this boom operation. Robots and the like are used.

[0005] The applicant of the present invention has filed Japanese Patent Application No. 10-29.
No. 7414, the articulated arm type robot has a large number of operation points, and in consideration of the problem that it is difficult to operate without considerable skill, etc., the tunnel is placed at a substantially constant distance inside the tunnel circumferential wall. A circumferential rail member having a running rail surface formed along the circumferential direction and movable along the longitudinal direction of the tunnel; and a tunnel rail mounted on the circumferential rail member and extending along the running rail surface. We have proposed a swivel-type spraying robot that can travel freely in any direction.

In the articulated arm type robot and the swing type spraying robot, the spray nozzle is provided with a swinging rotary motion so that a predetermined spraying width can be secured by spraying by traveling one line. I have.

[0007]

However, since the swinging rotation of the spray nozzle is performed simultaneously with the movement of the nozzle itself, the center locus of the spray nozzle projected on the spray wall is shown in FIG. Thus, a substantially circular or substantially elliptical spiral path is drawn so as to continuously overlap. The swing rotation speed of the nozzle has a great effect on the degree of unevenness in the spraying traveling direction, that is, in the longitudinal direction of the spraying line. If the swing rotation speed of the nozzle is lower than the movement speed of the nozzle, as shown in the figure, a problem such as uneven thickness in the longitudinal direction occurs.

On the other hand, this kind of nozzle moving operation has a problem that the portion left to the operator is large and is easily influenced by unstable factors such as skill and experience. In the case of a type robot, a swing robot with a high degree of freedom such as swinging of the nozzle, expansion and contraction of the arm and expansion and contraction of the boom, etc.
It is technically difficult to substitute the movement beyond the operation performed by human beings.Especially, sufficient attention has not been paid to ensuring the quality of the finished surface. No proposals regarding the movement control of the nozzles and a proposal regarding a method for determining a suitable spraying condition are found in past literatures and the like.

Accordingly, a first object of the present invention is to minimize fluctuations in spray thickness in spraying using a mechanical spraying robot such as an articulated arm type robot and a rotary moving type spraying robot. It is an object of the present invention to provide a spraying method and a spraying device capable of forming a uniform finished surface with a smooth finish.

A second object of the present invention is to provide a method for determining a spraying condition which can spray a smooth finished surface with a uniform thickness.

[0011]

In order to solve the above-mentioned first problem, the present invention is directed to a method of spraying on a spraying wall by moving a spraying nozzle while swinging and rotating the spraying nozzle in the spraying direction. A spraying method in the case of performing spraying by a mechanical spraying device that performs spraying such that a center locus of a spraying nozzle describes a spiral path having a substantially circular or substantially elliptical shape, and the spraying method is performed on a center line in a spraying traveling direction. From the starting point A to the point A on the center line until returning to point B on the center line again
B, and a ratio AB / AC of a distance AB on the center line between the point C, which draws an arc in the direction opposite to the spraying direction and returns to the center line, and the starting point A, AB / AC ≧ 2.5. Is provided.

According to the second aspect of the present invention, the center locus of the spray nozzle projected on the spray wall surface is substantially circular or substantially by moving the spray nozzle along the spraying traveling direction while swinging and rotating. In a mechanical spraying device which performs spraying so as to draw an elliptical spiral path, the spraying nozzle is drawn in a circular arc from a starting point A on the centerline in the spraying traveling direction, and is again drawn to a point on the centerline. The ratio AB / AC of the distance AB on the center line before returning to B and the distance C on the center line between the point C and the starting point A between the point C that returns to the center line by drawing an arc in the direction opposite to the spraying traveling direction is AB. / AC ≧
A spraying device is provided, wherein the operation is controlled so as to satisfy the relationship of 2.5.

According to a third aspect of the present invention to solve the second problem, the spray nozzle is moved in the spraying traveling direction while swinging and rotating.
When using a mechanical spraying device that sprays so that the center trajectory of the spraying nozzle projected on the spraying wall draws a spiral path with a substantially circular or elliptical shape, the spraying when spraying while repeating turning A first procedure for setting a separation distance D between a center line of a blowing line by one running of a spray nozzle and a center line of a blowing line by one running of an adjacent blowing nozzle. And a second procedure for calculating the spraying time from the required spraying amount and the discharge amount, and calculating the turning speed of the spraying nozzle by dividing the total turning movement distance by the spraying time.
Assuming that the cross-sectional shape of the sprayed line by the line running is trapezoidal, a portion parallel to the spraying wall surface is defined as a parallel portion a, a portion whose thickness gradually decreases toward an end portion is defined as an oblique portion b, and with a fluctuation error e of the distance D, as the thickness tolerances ta, the calculating the allowable maximum gradient i _max and the parallel portion a corresponding to that of the oblique portion b, and a third step of calculating the swing angle θ of the nozzle And a distance AB on the center line from the start point A on the center line in the spraying traveling direction to return to point B on the center line again, and then draw an arc in the direction opposite to the spraying traveling direction and re-center the arc. The ratio AB / AC of the distance AC on the center line between the point C returning on the line and the start point A is AB /
A fourth procedure for calculating the swing rotation speed under a condition satisfying a relationship of AC ≧ 2.5, a test spraying is performed, a cross-sectional shape of the spraying locus is measured, and the thickness of the parallel portion a is an allowable thickness. it is within the, spraying, characterized in that comprising a fifth procedure for the swash portion b Shosa whether the gradient i satisfies the allowable maximum slope i _{ma x} less condition of being the A method for determining a condition is provided.

According to a fourth aspect of the present invention for solving the second problem, the spray nozzle is moved along the spraying traveling direction while swinging and rotating.
Using a mechanical spraying device that sprays so that the center trajectory of the spray nozzle projected on the spraying wall draws a spiral path with a substantially circular or elliptical shape, turning in the circumferential direction of the tunnel as the tunnel excavates Is a method of determining spraying conditions when spraying on the tunnel wall surface while repeating the spraying, wherein a spraying line center line by one line running of the spraying nozzle and a one-line running of a blowing nozzle adjacent in the tunnel direction. A first procedure for setting a separation distance D from the spray line center line as a divisor of one cycle excavation length, calculating a spray time from a necessary spray amount and a discharge amount, and calculating the total turning movement distance by the spray A second procedure of calculating the swirling speed of the spray nozzle by dividing by time, and assuming that the cross-sectional shape of the spray by one line traveling by spray is trapezoidal,
A portion parallel to the spraying wall surface is a parallel portion a, a portion whose thickness gradually decreases toward the end portion is an oblique portion b, and a variation error e of the separation distance D is set.
A third procedure of calculating an allowable maximum gradient i _max of the oblique portion b and a parallel portion a corresponding thereto, and calculating a swing angle θ of the nozzle, and a circular arc from a starting point A on a center line in the spraying traveling direction. And the distance AB on the center line between the point C on the center line and the point C on the center line, and the point C on the center line between the point C which returns to the center line again by drawing an arc in the direction opposite to the spraying traveling direction and the starting point A AC ratio AB / AC is AB / AC ≧
A fourth procedure of calculating the swing rotation speed under conditions satisfying the relationship of 2.5, and performing test spraying, measuring the cross-sectional shape of the spray locus, and determining that the thickness of the parallel portion a is within the allowable thickness. it is the gradient i the oblique portion b is spraying conditions characterized by comprising a fifth procedure for Shosa whether to satisfy the condition that the allowable at maximum slope i _{ma x} less A decision method is provided.

The present invention according to claim 3 is a method for determining spraying conditions not only for a tunnel but also for general spraying, and the present invention according to claim 4 is a method for spraying limited to spraying on a tunnel wall surface. This is a method for determining the attaching condition.

The term "spraying" in the present invention includes not only general mortar and concrete spraying but also spraying of various lining materials using these.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings.

[Structure of a swing-moving spray robot]
FIG. 1 is an overall view of the case where the spraying device 1 is applied to a TBM, FIG. 2 is a side view of the spraying device 1, and FIG. 3 is a front view thereof.

As shown in FIG. 1, a spraying device 1 (hereinafter simply referred to as a spraying device) is a TB for excavating a ground.
M2, a trailing truck 5 following the TBM 2, and a connection device for connecting the TBM 2 and the trailing truck 5, specifically, a transport device 11 such as a slip, which will be described later, are provided as supports, and follow the excavation of the TBM 2. The spraying material is sequentially sprayed on the wall surface excavated in a circular shape, for example.

First, the TBM 2 is divided into a front trunk 2A, a middle trunk 2B, and a rear trunk 2C in the longitudinal direction of the tunnel, and the junction is bendable. The middle body 2B is the front body 2A
And a body portion extending from the front end of the rear trunk 2C, and the TBM 2 is stretchable in the longitudinal direction. A plurality of thrust jacks 3 are provided between the rear end of the front trunk 2A and the front end of the rear trunk 2C.
Are provided to extend the main grippers 34, 34 ... of the rear trunk 2C when the front trunk is advanced, and to extend the thrust jacks 36, 36 ... in a state of being fixed to the tunnel well wall. The support of the grippers 34, 34 ... is released, and the front grippers 3 of the front body 2A are released.
By contracting the thrust jacks 36 in a state in which the thrust jacks 36 are fixed to the tunnel pit wall, the front trunk 2A and the rear trunk 2C alternately advance forward alternately. So-called thrust propulsion.

On the other hand, a cutter head 32 having a plurality of cutters is rotatably provided on the front surface of the front body 2A, and a chamber 33 for taking in excavated earth and sand is formed on the rear side of the cutter head 32. A girder 11A having a built-in belt conveyor connected to the earth and sand intake chamber 33 is extended to the rear side of the tunnel so that the excavated earth and sand is carried out of the mine. On the lower surface side of the girder 11A, a dust collecting device 11B is provided integrally with the rear side of the TBM 2 as a suction port. In the present embodiment, the girder 11A and the dust collecting device 11B integrally constitute a transfer equipment 11 such as a shear.

On the other hand, as shown in FIGS. 2 and 3, the spraying device 1 is a dust collecting device
1B, a pair of left and right grooved rails 13A and 13B disposed with the opening facing inward are fixed along the longitudinal direction of the tunnel, and rollers are placed in the grooves of the grooved rails 13A and 13B. A running base 14 which is fitted and is movable along the longitudinal direction of the tunnel is provided, and a circumferential rail member 3 is fixedly supported by a hanging bracket 15 provided on a lower surface side of the running base 14. 3 so that it can run freely.

The circumferential rail member 3 causes the spraying device 1 as a running body to travel along the circumferential direction of the tunnel along a circular locus line having a substantially constant separation distance inside the tunnel circumferential wall surface H. In this example, a rail member processed into a ring shape is used. In addition, in this example, since the application example to the TBM 2 whose excavation cross-sectional shape was circular was shown, the circumferential rail member 3 was also circular.
For example, in the case of a tunnel having a compound circular cross section, a circumferential rail member processed into a similar reduced shape according to the compound tunnel cross-sectional shape is used.

The circumferential rail member 3 is movable in the longitudinal direction of the tunnel so that the spraying operation can be performed continuously over a predetermined range in the longitudinal direction of the tunnel. As shown in FIG. 2, the grooved rails 13A, 13B
Sprockets 18 at the front end and the rear end of
A, sprocket bracket 16A supporting 18B,
A chain 1 in which the gears 16B are arranged and fixed, gear fixings 17A and 17B are fixed to the front side and the rear side of the running base 14, respectively, and one end is fixed to the gear fixings 17A.
9 is connected to and fixed to the other gear fixing member 17B by rotating the sprockets 18A and 18B, and the motor support 21 is fixedly supported on the lower surface side of one sprocket bracket 16B, and the longitudinal motor fixed and supported by this The driving chain 22 is wound between the driving sprocket 20a of the motor 20 and the sprocket 18B, and the driving shaft of the traversing motor 20 is rotated in the forward and reverse directions, so that the circumferential rail member 3 and the traveling base 14 are moved in the longitudinal direction of the tunnel. It is possible to move in the direction. In this example, the traveling base 14 is about twice as long as the one-cycle excavation distance (1200 mm) of the TBM 2 along the groove-shaped rails 13A and 13B, specifically 2500.
It can run freely over the range of mm.

As shown in detail in FIGS. 4 and 5, the spraying device 1 mounted on the circumferential rail member 3 is mounted on the running portion of the device main body 23 and on the inner surface side of the circumferential rail member 3. The driving pinion gear 24 includes a driving pinion gear 24 that comes into contact with the driving pinion gear 2, and pressing rollers 25 </ b> A and 25 </ b> B that contact the outer surface of the circumferential rail member 3.
4 and the pressing rollers 25A, 25B, so that the circumferential rail member 3 is supported by being sandwiched between the driving pinion gear 24 and the rack gear 3a formed on the inner surface of the circumferential rail member 3. At the same time, the drive pinion gear 24 is rotated by the turning motor 26 so as to be movable along the circumferential rail member 3.

The rear end of the nozzle holder 28 holding the spray nozzle 40 is supported by a spray angle control cylinder 27 so that the spray angle (swing angle) of the spray nozzle 40 can be adjusted to an arbitrary angle. A swinging rod 29 is provided on the rear upper surface of the nozzle holder 28 so as to protrude upward, and rotates the gear 31 rotated by the motor 30 in the nozzle advancing direction of the swinging rod 29. By converting to a rectilinear reciprocating motion along, the tip of the spray nozzle 40 is rotated along a circular or elliptical trajectory, and the spray material can be sprayed at a predetermined width S by running the spray device 1 on one line. It has become. A hose support frame 37 that supports a blowing material supply hose 39 connected to the spray nozzle 40 is disposed at an upper rear position of the traveling base 14. A substantially cylindrical protective cover 38 is provided inside the rail member 3 in order to prevent the rebound of the blasting material from attaching to the carry-out equipment 11 such as shears.

The spraying device 1 is provided with a laser distance measuring device 6 so that the spraying thickness can be measured in parallel with the spraying operation. [Control Method of Spray Nozzle 40] In the spray apparatus 1, first, the control of the spray thickness is performed by controlling the discharge amount of the spray material per nozzle moving distance. The control method in this case includes a method in which the moving speed of the nozzle is fixed and the discharge amount per unit time is adjusted by the spray pump, a method in which the discharge amount is fixed and the moving speed (rotating speed) of the nozzle is adjusted, and There are three methods of using both of them. However, the method of adjusting the discharge amount by the spray pump requires real-time control such as generation of a movement time lag in the pressure feeding hose, and has many technically difficult problems. Therefore, it is desirable that the discharge amount of the spraying machine itself be fixed and adjusted only by controlling the movement of the nozzle.

On the other hand, in order to secure a target spray thickness, it is necessary to consider the effect of material loss caused by rebound or the like that varies depending on the spray angle. For that purpose, it is necessary to conduct a test in advance and grasp the relationship between the spray angle and the rebound rate. According to the confirmed rebound rate, the amount of material loss that varies according to the spray angle is assumed, and the nozzle is controlled at a moving speed that is inversely proportional to the material loss so that the target spray thickness can be obtained.

On the other hand, in the case of blowing a line adjacent to a spray locus obtained by running one line of the spray nozzle, the relative positional relationship between the two lines depends on the spray quality of the surface, in particular, the spray thickness and finish. It greatly affects the workmanship of the surface. As a result of observing the shape of the cross section of the spray trajectory obtained by one-line running, as a result of the inventors, as shown in FIG. Assuming that this shape is a trapezoid, a portion parallel to the spraying wall surface is referred to as a (hereinafter referred to as a parallel portion a), and an inclined portion whose thickness gradually decreases toward an end portion is referred to as b (hereinafter referred to as an inclined portion b). Then, while the parallel portion a is set to the target thickness and the oblique portion b is overlapped and blown, the insufficient thickness portions are compensated for each other, so that a uniform finished surface can be obtained. The conceptual diagram is shown in FIG. If the slope i of the inclined portion b is a straight line, the same thickness as the parallel portion a can be obtained when the centers of the inclined portions b are overlapped.

However, as shown in FIGS. 8 (A) and 8 (B), when the separation distance D (hereinafter, also referred to as dribble width) approaches or separates due to factors such as a mechanical error in traveling, the overlap is caused. There is a portion where the thickness is not uniform in the joined portion. Therefore, assuming that the gradient of the inclined portion b is i, the gradient i _max (hereinafter, allowable gradient) is such that even if the dribble width D of the spray line fluctuates due to a mechanical error, the spray thickness falls within the allowable error. It must be less than or equal to the maximum gradient i _max .)

As can be seen from FIG. 8, the slope i of the oblique portion b is, assuming that the allowable error of the dribble width D and the spray thickness is ± ta and the error generated in the dribble width D is ± e%, the following equation 1 Given by Note that the allowable maximum gradient i _max is a maximum value that the gradient i can take.

[0032]

(Equation 1)

On the other hand, as shown in FIG. 9, when the tilt angle of the spray nozzle with respect to the wall surface is defined as the swing angle θ, the swing angle θ projects the center line of the spray nozzle onto the wall surface. Is set so that the diameter of the projection circle obtained as a result is equal to the parallel portion a of the cross section of the target blowing trajectory. Assuming that the distance from the nozzle tip to the spraying surface is 1 and the distance from the swing rotation start point to the nozzle tip is x, the swing angle θ is given by the following equation 2.

[0034]

(Equation 2)

The rotational movement of the spray nozzle in the spray robot is given by swinging the nozzle while giving an angle to the moving direction (hereinafter referred to as "oscillating rotation").
That. ), The blowing width of the cross-sectional shape of the blowing trajectory can be controlled by setting the swing angle θ. Also, by swinging the nozzle greatly and spraying it over a wide area,
By controlling the gradient i of the above-mentioned oblique portion b, the portion where the spray lines are overlapped can be made uniform and the longitudinal direction of the spray line can also be made uniform.

Since the oscillating rotation of the spray nozzle is performed simultaneously with the movement (swirl) of the nozzle itself, the center locus of the spray nozzle projected on the spray wall has a substantially circular or substantially elliptical spiral. The movement path is drawn such that the shape paths continuously overlap. FIG. 13 shows an example in which the swing rotation speed of the nozzle is made smaller than the movement speed of the nozzle, and the thickness in the longitudinal direction becomes non-uniform because the locus is coarse.
Therefore, it is understood that it is necessary to provide a rotation speed equal to or more than the necessary minimum value.

Regarding the determination of the rotation speed of the spray nozzle, the present inventors conducted a test in which the swing angle and the swing rotation speed were variously changed. The test method was to set the mortar discharge rate to 2 m ³ / h
r, with the swirling speed (nozzle moving speed) constant at 200 mm / sec, spraying is performed by changing the swing angle θ and the swing rotation speed f in various ways, and along the vertical center line of the spray line. The spray width was measured. The measurement was performed at 30 points at intervals of 50 mm using a laser displacement meter.

FIG. 11 shows the coefficient of variation (%) (standard deviation / average value × 100) in the thickness of 30 measurement points in each case,
A distance A on the center line from the start point A on the center line CL in the spraying traveling direction to returning to point B on the center line CL after drawing an arc.
The relationship between B and the ratio AB / AC of the distance AC on the center line between the point C which returns to the center line CL after drawing an arc in the direction opposite to the traveling direction and the starting point A is shown.

Thus, in the case of the spraying robot, when the ratio of the distance AB to the distance AC is 2.5 or more, preferably 3 or more, the coefficient of variation of the thickness in the longitudinal direction becomes the smallest, about 20%. It was found that the variation in spray thickness was minimized. Therefore, the swing rotation speed is set so that the ratio between the distance AB and the distance AC in the locus of the center of the spray nozzle satisfies the relationship of the following expression (3).

[0040]

(Equation 3)

[Method of Determining Spraying Conditions] Next, a method of determining spraying conditions will be described in detail with reference to FIG.

To determine the spraying conditions, first, the basic conditions of the spraying machine are set. That is, items such as a discharge amount, a pumping pressure, a blowing air pressure, a supply water amount, a quick-setting agent addition rate, and a blowing distance are set. In addition, the necessary spray amount is set from the target spray thickness in consideration of the mechanical factors of the spray machine, material loss due to rebound, and the like, and one cycle length (one excavation length) of the tunnel excavator is set. .

After the above conditions are set, the dribble width D is set, the swing speed is calculated, the swing angle and the swing rotation speed are set, the cross-sectional shape of the spray locus is measured, and the spray locus is traversed. The spraying condition is determined by the procedure of checking whether or not the surface shape satisfies the predetermined condition.

(1) Setting of Dribble Width D First, in setting of the dribble width D, the digging length of one cycle is set in consideration of the connection between adjacent cycles. As will be described later, one cycle of TBM excavation length
When 1200 mm is set, five patterns of 150, 200, 240, 300, and 400 mm can be selected as candidates for the set value of the dribble width D.

(2) Calculation of Swinging Speed Next, the spraying time is calculated by dividing the swinging speed of the spraying robot by the discharge amount obtained by subtracting the required spraying volume calculated from the spraying thickness and the loss due to rebound. At the same time, it is calculated by dividing the total turning movement distance by the blowing time.

(3) Setting of Swing Angle and Swing Revolution Regarding the setting of the swing angle and the swivel speed, the mechanical error of the motor that drives the spraying robot is 5%.
Therefore, it is assumed that the variation of the traveling speed caused by the variation is reflected in the variation error of the separation distance (dribble width D), and the error e of the separation distance D in the equation (1) is ± 5%, and The gradient i and the parallel portion a corresponding to the gradient i were calculated, and the swing angle θ was determined from Expression (2). Furthermore, equation (3)
The minimum value of the oscillating rotation speed was determined according to the condition (1).

Table 1 below shows initial setting conditions and set values calculated for each dribble width.

[0048]

[Table 1]

(4) Checking (Determination of Optimal Dribble Width, etc.) The dribble width set by a divisor of the excavation length in one cycle is as follows:
Several patterns (in this example, the above five patterns)
Can be selected. To determine the optimum dribble width from these, test spraying is performed, the cross-sectional shape of the spray locus is observed, and whether or not the following conditions are satisfied is checked.

The thickness of the parallel portion a is within the allowable thickness.

The gradient i of the inclined portion b is the maximum allowable gradient i.
_{It must be} less than _max .

Table 2 below shows the observation results of the cross-sectional shape of the spray trajectory in the test spraying performed with each setting.

[0053]

[Table 2]

The thickness of the parallel portion "a" is determined by the setting of the turning speed and the spray angle, and the dribble width is set to 40.
With a pattern other than 0 mm, the predetermined spray thickness was satisfied. On the other hand, as for the gradient i of the inclined portion b, the gradient i tends to decrease as the swing rotation speed increases, and the No. 1 case with a dribble width of 150 mm and the dribble width of 200 mm
The No. 2 case satisfied the target conditions.

Finally, a verification test was performed for the case where the spraying was performed by the spraying robot under the above-mentioned spraying conditions and the case where the spraying was performed by hand blowing. Table 3 shows the results.

[0056]

[Table 3]

It was confirmed that the spraying thickness by the spraying robot had a small variation of 20 mm to 27 mm. On the other hand, in the case of manual blowing, the spraying thickness varied in the range of 15 mm to 40 mm. From these results, it was confirmed that in the case of the present invention, the spraying accuracy was remarkably better than that of the conventional manual blowing.

By the way, in this embodiment, the spraying device is T
Although a detailed description has been given of an example of tunnel excavation installed under the condition of moving in accordance with BM excavation, a spraying device that can be independently driven and independently driven from the TBM may be used. In addition to the above-described spraying device, a multi-joint arm type spraying robot holding a spray nozzle at the tip of an arm capable of position control in the tunnel longitudinal direction and the tunnel circumferential direction may be used as the spraying device. . Furthermore, although the present invention has been described with respect to a tunnel wall surface, the present invention can be similarly applied to other than a tunnel, for example, an underground space, a spray slope, and the like.

[0059]

As described in detail above, according to the present spraying method, a mechanical spraying robot can spray a uniform thickness and a smooth finished surface with a minimum variation in the sprayed thickness.

Further, the spraying conditions such as the dribble width, the moving speed of the spray nozzle, the swing angle and the swing rotational speed are set so that the spraying can be performed evenly and smoothly on the finished surface. The condition can be easily determined.

[Brief description of the drawings]

FIG. 1 is an overall view of a case where the spraying apparatus 1 is applied to a TBM.

FIG. 2 is an overall side view of the spraying apparatus 1. FIG.

FIG. 3 is a front view thereof.

FIG. 4 is an enlarged side view of the spraying device 1.

FIG. 5 is an enlarged rear view of the spraying device 1.

FIG. 6 is a perspective view showing a sprayed cross-sectional shape obtained by one-line running.

FIG. 7 is a schematic conceptual diagram when a uniform finished surface is obtained.

FIG. 8 is a schematic conceptual diagram in a case where the sprayed thickness is not uniform.

FIG. 9 is an explanatory diagram of a swing angle calculation formula.

FIG. 10 is a schematic diagram showing a center locus of a spray nozzle projected on a spray wall surface.

FIG. 11 is a graph showing the relationship between the spray thickness variation coefficient and the ratio AB / AC.

FIG. 12 is a flowchart showing a method for determining spraying conditions.

FIG. 13 is a schematic diagram showing a center locus of a blowing nozzle projected on a blowing wall surface when the swing rotation speed of the nozzle is smaller than the moving speed of the nozzle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Spraying device, 2 ... TBM, 2A ... Front trunk, 2B ... Middle trunk, 2C ... Rear trunk, 3 ... Peripheral rail member, 5 ... Subsequent bogie, 6 ... Laser distance measuring device, 11 ... Conveyance equipment such as shearing (Connection equipment), 32: Cutter head, 33: Chamber for taking in earth and sand, 34: Main gripper, 35: Front gripper, 36: Thrust jack

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Hitoshi Namura 1-11 Sakuragicho, Toyama-shi, Toyama F-term in Hokuriku Branch of Sato Industrial Co., Ltd. 2D055 BA06 DB02 DB04 DB06

Claims (4)

[Claims] 1. A helical path having a substantially circular or substantially elliptical center locus of a blowing nozzle projected on a blowing wall surface by moving the blowing nozzle in the direction of spraying while swinging and rotating. This is a spraying method when spraying is performed by a mechanical spraying device that performs spraying in a drawing manner, wherein an arc is drawn from a starting point A on the center line in the spraying direction and returns to point B on the center line again. And the ratio AB / AC of the center line distance AC between the starting point A and the point C that returns to the center line by drawing an arc in the direction opposite to the spraying direction from the center line distance AB / AC is AB / AC ≧ 2. A spraying method characterized by satisfying the relationship of (5). 2. A helical path having a substantially circular or substantially elliptical center locus of the blowing nozzle projected on the blowing wall surface by moving the blowing nozzle in the spraying traveling direction while swinging and rotating. In a mechanical spraying apparatus that performs spraying in a drawing manner, the spraying nozzle is drawn on a center line from an initial point A on the center line in the spraying direction to an arc and returns to a point B on the center line again. The ratio AB / AC of the distance AB and the distance AC on the center line between the starting point A and the point C that returns to the center line by drawing an arc in the direction opposite to the spraying traveling direction is AB / AC ≧ 2.
A spraying apparatus characterized in that the operation is controlled so as to satisfy the relationship of (5). 3. A spiral path having a substantially circular or substantially elliptical center locus of the blowing nozzle projected on the blowing wall surface by moving the blowing nozzle in the spraying traveling direction while swinging and rotating. A method for determining spraying conditions in a case of performing spraying while repeating turning using a mechanical spraying device that performs spraying in a drawing manner, comprising: a spraying line center line by one line running of a spraying nozzle; A first procedure for setting a separation distance D from the center line of the spraying line by one line running of the adjacent spraying nozzles; calculating a spraying time from a necessary spraying amount and a discharge amount; A second procedure of calculating the swirling speed of the spray nozzle by dividing by the spray time, and a section parallel to the spray wall surface, assuming that the spray cross-sectional shape by one line traveling by spray is trapezoidal. Is a parallel portion a, a portion where the thickness gradually decreases toward the end portion is a slant portion b, and a variation error e of the separation distance D is defined as a thickness tolerance error ta. i _max and the corresponding parallel part a are calculated,
And a third procedure for calculating the swing angle θ of the spray nozzle, and a distance AB on the center line from the start point A on the center line in the spraying traveling direction to returning to a point B on the center line after drawing an arc, and The ratio AB / AC of the distance AC on the center line between the point C which returns to the center line and draws an arc in the direction opposite to the spraying advance direction and the starting point A satisfies the condition AB / AC ≧ 2.5. The fourth step of calculating the dynamic rotation speed and the test spraying are performed, the cross-sectional shape of the spraying locus is measured,
That the thickness of the parallel portion a is within the allowable thickness,
Spraying condition determination method of which is characterized by comprising a fifth procedure for the whether the gradient i the oblique portion b satisfies the condition that is the maximum allowable slope i _{ma x} less Shosa. 4. A spiral path in which the center locus of the blowing nozzle projected on the blowing wall surface has a substantially circular or substantially elliptical shape by moving the blowing nozzle in a swinging direction while swinging and rotating. A method for determining spraying conditions when spraying on a tunnel wall surface while repeatedly turning in the circumferential direction of the tunnel in accordance with tunnel excavation, using a mechanical spraying device that sprays as if drawing. A first procedure for setting a separation distance D between a spray line center line by one-line running of the nozzle and a spray line center line by one-line running of a blowing nozzle adjacent in the tunnel direction as a divisor of one cycle excavation length. A second procedure of calculating the spraying time from the necessary spraying amount and the discharge amount, and calculating the turning speed of the spraying nozzle by dividing the total turning movement distance by the spraying time. Assuming that the cross-sectional shape of the sprayed one-line running is trapezoidal, the part parallel to the spraying wall is a parallel part a, and the part whose thickness gradually decreases toward the end is an oblique part b. And the variation error e of the separation distance D, and as the thickness tolerance ta, calculate the allowable maximum gradient i _max of the inclined portion b and the parallel portion a corresponding thereto,
And a third procedure for calculating the swing angle θ of the nozzle, a distance AB on the center line from the start point A on the center line in the spraying traveling direction to returning to a point B on the center line after drawing an arc, and spraying therefrom. Oscillating rotation based on the condition that the ratio AB / AC of the distance AC on the center line between the point C and the starting point A, which draws an arc in the direction opposite to the traveling direction and returns to the center line, satisfies the relationship AB / AC ≧ 2.5. A fourth procedure for calculating the number, performing test spraying, measuring the cross-sectional shape of the spray locus,
That the thickness of the parallel portion a is within the allowable thickness,
Spraying condition determination method of which is characterized by comprising a fifth procedure for the whether the gradient i the oblique portion b satisfies the condition that is the maximum allowable slope i _{ma x} less Shosa.