JP2022180758A - Propulsion system and propulsion method - Google Patents

Abstract

To provide a propulsion system and a propulsion method capable of suppressing meandering during directional control of an excavator in a propulsion construction in which the excavator and a following propulsion box group are propelled in a propulsion direction having at least a curved section.SOLUTION: A propulsion system 100 in which an excavator 10 excavates while performing attitude control, and a propulsion box group 50 composed of a plurality of propulsion boxes 30, 30A, and 30B connected to the rear of the excavator 10 in the excavation direction is propelled, has the excavator 10 with a directional control jack 18, the propulsion box group 50, and a propulsion device 60 with a propulsion jack for propelling the excavator 10 and the propulsion box group 50. Gripper devices 40 for applying a reaction force to the ground G are provided in at least two places in the propulsion box groups 50 in different directions of propulsion.SELECTED DRAWING: Figure 7

Description

The present invention relates to propulsion systems and propulsion methods.

In the jacking method, a plurality of promotion boxes are connected to each other via a ring joint (a form in which the end of one promotion box is inserted into the end of the other promotion box, or a form in which bolts are joined). , Construct the propulsion box group in the ground.
There are various vertical alignments for the propulsion box group, such as straight alignments, circular alignments, curved alignments with multiple curvatures, and alignments that mix straight lines and curves. In propulsion of the propulsion box group with a section (curved line), in the curved section, the copy cutter is placed from the side of the cutter head of the excavator in order to smoothly propel the excavator and the following propulsion box group. A common construction method is to extend the excavation into the ground to perform over-excavation, fill the over-excavation with lubricant, and then excavate the excavator and propel the propulsion box group. At this time, since the excavator exists in the lubricant filled in the overcut portion, there is a possibility that the excavator may meander during the excavation process.
When the curved alignment in the vertical direction is the curved alignment in the vertical plane, the excavator that excavates the curved section while ascending in the lubricant of the overcut part has the following propulsion box group in addition to its own weight. , the meandering of the excavator becomes more conspicuous.
Even if the excavator is equipped with a directional control jack (or a propulsion jack) and is capable of changing the excavation direction by its own directional control jack, the excavation process cannot be performed in the curved section in the vertical plane as described above. It is difficult to suppress meandering of the excavator when the excavator performs direction control. This also applies to excavators that are capable of attitude control while correcting their own pitching and rolling using a movable sled.

For example, when constructing a single-circle circumferential tunnel in a vertical plane using the jacking method, when the excavator reaches the top of the circumferential tunnel and is about to cross the top and transition to the descent curve section, the excavator may The self-weight of itself and the weight of the group of propulsion boxes behind it can act to the maximum extent, and it can be the construction section where it is most difficult to suppress the meandering of the excavator among the lubricants filled in the overcut section. It is specified by the inventors of the present invention.
In view of the above, there is a demand for a propulsion system and a propulsion method capable of suppressing meandering during direction control of the excavator in the propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction having at least a curved section. .

Here, Patent Literature 1 proposes a tunnel excavator capable of switching specifications corresponding to tunnel construction specifications for both soft ground and hard ground. Specifically, the tunnel excavator includes a cylindrical excavator main body, a shield jack that advances the excavator main body by extending toward the rear in the axial direction of the tunnel, and a reaction force receiver that receives the reaction force of the shield jack. Equipped with a structure and a main gripper device that fixes the reaction force receiving structure to the tunnel wall by being pressed against the tunnel wall, the shield jack and the reaction force receiving structure can be connected, and the shield jack By shortening, the reaction force receiving structure and the main gripper device are pulled forward in the axial direction of the tunnel.

JP 2016-6252 A

In the tunnel excavator described in Patent Document 1, the main gripper device includes a pair of gripper jacks above and below the steel shell, and each gripper jack is configured to be expandable and contractable in the tunnel width direction. In other words, in the longitudinal direction of the tunnel (propulsion direction in the jacking method), a pair of gripper jacks protrude vertically in one cross section (one point in the propulsion direction) perpendicular to the longitudinal direction. Therefore, even if this tunnel excavator is applied to a circumferential tunnel in the vertical plane as described above, the gripper jack will receive a reaction force from the ground at one cross section in the longitudinal direction (one point in the driving direction). However, it is difficult to say that meandering, which is a problem during direction control for changing the excavation direction of the excavator, can be sufficiently suppressed.

The present invention provides a propulsion system and a propulsion method capable of suppressing meandering during directional control of the excavator in the propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction having at least a curved section. It is an object.

In order to achieve the above object, one aspect of the propulsion system according to the present invention is
A propulsion system in which an excavator excavates while performing attitude control, and a propulsion box body group composed of a plurality of propulsion boxes connected to the rear of the excavator in the excavation direction is propelled,
the excavator equipped with a directional control jack;
the propulsion box group;
A propulsion device having a propulsion jack for propelling the excavator and the propulsion box group,
It is characterized in that a gripper device for applying a reaction force to the ground is provided in at least two places in the group of propulsion boxes in different directions of propulsion.

According to this aspect, of the group of propulsion box bodies behind the excavator equipped with the directional control jack, at least two locations with different propulsion directions are provided with gripper devices that take a reaction force on the ground. , In the group of propulsion boxes behind the excavator, the reaction force can be applied to the ground at two points in the propulsion direction (longitudinal direction), and the excavator can apply the reaction force to the group of propulsion boxes that have applied the reaction force to the ground. Since the directional control can be executed while controlling the direction, it is possible to perform the propulsion construction while suppressing meandering of the excavator during the directional control.
Here, "at least two locations with different propulsion directions" means two or more locations with different propulsion directions, and a plurality of locations where the propulsion box group can take a reaction force on the ground. there is For example, in the circumferential tunnel in the vertical plane described above, the shape of the two gripper devices capable of applying a reaction force to the ground differs depending on the position of the excavator.

Specifically, in the vicinity of the top of the circumferential tunnel (position near 12 o'clock of the circumferential tunnel), the gripper of one of the gripper devices located in the vicinity of the rear of the excavator projects radially inward (downward). By projecting the gripper of the gripper device located at the other position radially outward (upward), meandering of the propulsion box group is suppressed by the two gripper devices. That is, in this case, the two points in the direction of propulsion are, more specifically, the front point being the lower position of one propulsion box, and the rear part being the upper position of another propulsion box, for example.
As another example, for example, when the excavator is excavating from the 6 o'clock position to the 3 o'clock position in a circumferential tunnel in a vertical plane, one gripper located near the rear of the excavator is used. By projecting the gripper of the device radially outward and the gripper of the gripper device at the other position behind it projecting radially inward, meandering of the propulsion box group is suppressed in the two gripper devices.
As another example, even in a circumferential tunnel in a horizontal plane, the gripper of one gripper device near the rear of the excavator projects radially outward, and the gripper of the other gripper device behind it extends outward. By protruding radially inward, meandering of the propulsion box group is suppressed by the two gripper devices.
In this way, depending on whether the curved section is in the vertical plane or in the horizontal plane, the position of the excavator in the curved section, etc., each gripper device for the propulsion box group to take an effective reaction force on the ground. The direction in which the grippers protrude from each other is different, and "at least two locations with different driving directions" includes the direction in which the grippers protrude.

In a propulsion box equipped with a gripper device, the gripper may extend vertically or horizontally from the propulsion box, or may protrude vertically or horizontally as necessary. good. In addition, for example, in the case of a configuration that projects vertically, by projecting a plurality of grippers vertically, it is possible to take a reaction force to the ground more effectively. For example, when the front view shape of the propulsion box is a horizontally long rectangle, a plurality of grippers protrude from the horizontally long upper and lower sides of the propulsion box at intervals, respectively, so that the horizontally long upper and lower sides of the propulsion box It becomes possible to take the reaction force from the ground over the entire possible area of the side surface. In addition, by projecting a plurality of grippers, the pressure-receiving area can be increased, and the reaction force can be effectively applied to the ground.

The propulsion device that constitutes the propulsion system includes a main pushing device having a main pushing jack, and a medium pushing device having a medium pushing jack in addition to this main pushing device. Further, when the directional control jack of the excavator also functions as the propulsion jack, the directional control jack is also included in the propulsion device. Further, the excavator may have, for example, a front body and a rear body, and the rear body may be provided with a directional control jack (or a propulsion jack).

Another aspect of the propulsion system according to the present invention is
The foremost propulsion box located at the rear end of the excavator and positioned foremost in the direction of propulsion of the group of propulsion boxes is equipped with the gripper device at least at two different locations in the direction of propulsion. do.

According to this aspect, since one of the propulsion boxes constituting the propulsion box group is provided with gripper devices in at least two locations with different propulsion directions, the gripper devices of a plurality of propulsion boxes can be controlled simultaneously. Control becomes easier. In addition, since the forefront propulsion box located at the rear end of the excavator and positioned at the forefront of the propulsion box group is provided with a gripper device, the reaction force can be most effectively applied to the ground during directional control of the excavator. can be done.

Another aspect of the propulsion system according to the present invention is
The foremost propulsion box positioned at the rear end of the excavator in the forward direction of the propulsion box group, and at least one of the propulsion boxes positioned behind the foremost propulsion box is the gripper. A device is provided.

According to this aspect, for example, two propulsion boxes located apart from each other are provided with gripper devices, so that even if the length of the propulsion boxes in the direction of propulsion is short, a reaction force can be applied to the ground. A plurality of (for example, two) gripper devices can be used to secure the propulsion boxes to the ground with a spacing effective for In addition, since one of the propulsion boxes equipped with the gripper device is the foremost propulsion box positioned at the rear end of the excavator and positioned in the forefront of the group of propulsion boxes, as described above, it is the most suitable for directional control of the excavator. Reactive force can be effectively applied to the ground.

Also, in another aspect of the propulsion system according to the present invention,
The propulsion box group has at least a curved section in the direction of propulsion,
said gripper devices comprising a first gripper device and a second gripper device radially outward and radially inward of said curved section;
It is characterized in that the respective gripper devices at at least two locations with different propulsion directions are controllable independently of each other.

According to this aspect, the gripper device includes a first gripper device and a second gripper device that move the grippers radially outward and radially inward of the curved section, respectively, so that the position of the gripper device in the curved section , it is possible to selectively overhang the gripper in a position suitable for taking an effective reaction force against the ground. In addition, by independently controlling the gripper devices located at least two locations with different propelling directions, the extension direction and extension amount of the gripper of each gripper device can be adjusted as desired. Here, although each gripper device is independently controlled, the extension direction, extension amount, and extension timing of each gripper device are controlled in relation to each other in order to obtain an effective reaction force against the ground. .

Another aspect of the propulsion system according to the present invention is
The excavator is characterized by having a movable sled.

According to this aspect, since the excavator is provided with the movable sled in addition to the directional control jack, the excavator has even better directional control performance and can correct its own pitching and rolling as the occasion demands. In the curved section, the excavator operates either the directional control jack or the movable sled, or both, while applying a reaction force to the ground with a plurality of gripper devices provided in the rear propulsion box group. , direction control can be performed.

Also, in another aspect of the propulsion system according to the present invention,
The gripper device is characterized by having a cylinder, a rod protruding from the cylinder, and a pressure receiving plate attached to the tip of the rod.

According to this aspect, the gripper device protrudes the rod (gripper) from the cylinder and has the pressure receiving plate at the tip of the rod, so that the pressure receiving area can be increased, thereby effectively taking the reaction force from the ground. can be done. In addition, by adjusting the flat area of the pressure plate, it is possible to obtain the desired reaction force even from the ground with low soil bearing capacity, so it is particularly effective when the ground to be constructed is soft ground, for example. .

In addition, one aspect of the propulsion method according to the present invention is
A propulsion method in which an excavator excavates while performing attitude control, and a propulsion box body group composed of a plurality of propulsion boxes connected to the rear of the excavator in the excavation direction is propelled in a propulsion direction having at least a curved section. hand,
The excavator includes a directional control jack, the group of propulsion boxes is located behind the excavator in the excavation direction, and a propulsion device having the propulsion jack for propelling the excavator and the group of propulsion boxes, Among the group of propulsion boxes, at least two locations with different propulsion directions are provided with gripper devices that take a reaction force on the ground,
Propulsion of the propulsion box group into the ground by excavation by the excavator and jack thrust by the propulsion jack,
At the time of directional control of the excavator in the curved section, the directional control and propulsion of the excavator are performed while applying reaction force to the ground by the gripper devices provided in at least two different locations. Fixing to the ground by the gripper device is released, and the propulsion box group is propelled by the jack thrust of the propulsion jack.

According to this aspect, when the direction of the excavator is controlled in the curved section, the gripper devices provided in at least two locations with different propulsion directions in the propulsion box group exert a reaction force on the ground while the direction of the excavator is controlled. By performing control and propulsion, and then releasing the gripper device from fixing to the ground, the propulsion box group including the rear gripper device is propelled by the jack thrust of the propulsion jacks such as the main pushing device and the intermediate pushing device. , it is possible to perform the propulsion construction while suppressing meandering of the excavator during direction control. At this time, by keeping the movable sled of the excavator projecting, the meandering of the excavator can be further suppressed. As described above, the propulsion method of this embodiment is one of the most difficult cases to suppress meandering that may occur during directional control of the excavator inside the lubricant in the overcut portion. Suitable for propulsion construction of circumferential tunnels.

According to the propulsion system and propulsion method of the present invention, it is possible to suppress meandering during direction control of the excavator in the propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction having at least a curved section.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the whole propulsion system structure which concerns on embodiment, Comprising: It is a figure which also showed the circumferential tunnel in the vertical plane of construction object. 1 is a perspective view showing an example of a propulsion box with a gripper device; FIG. It is a figure which shows the internal structure of a gripper apparatus. FIG. 2 is an enlarged view of part IV of FIG. 1; It is a figure which shows an example of the hardware constitutions of a control apparatus. It is a figure which shows an example of the functional structure of a control apparatus. It is process drawing which shows an example of the propulsion method which concerns on embodiment. FIG. 8 is a process diagram following FIG. 7 showing an example of the propulsion method according to the embodiment; FIG. 9 is a process chart showing an example of the propulsion method according to the embodiment following FIG. 8 ; FIG. 10 is a process chart showing an example of the propulsion method according to the embodiment subsequent to FIG. 9 ;

Hereinafter, a propulsion system and a propulsion method according to embodiments will be described with reference to the accompanying drawings. In addition, in the present specification and drawings, substantially the same components may be denoted by the same reference numerals, thereby omitting duplicate descriptions.

[Propulsion system according to the embodiment]
First, an example of a propulsion system according to an embodiment will be described with reference to FIGS. 1 to 6. FIG. Here, FIG. 1 is a diagram for explaining the overall configuration of the propulsion system according to the embodiment, and is a diagram showing a circumferential tunnel in a vertical plane to be constructed. 2 is a perspective view showing an example of a propulsion box provided with a gripper device, FIG. 3 is a diagram showing the internal configuration of the gripper device, and FIG. 4 is an enlarged view of part IV in FIG. is.

As shown in FIG. 1, when the main tunnel HT (for example, the main shield tunnel) that has already been constructed in the underground G and the ramp tunnel RT (for example, the ramp shield tunnel) on the side thereof are connected underground and widened. , using the ramp tunnel RT, construct a shaft T extending vertically below it. Note that the vertical shaft may extend obliquely downward instead of vertically.

The vertical shaft T is constructed to a predetermined depth by struts K arranged at predetermined intervals in the vertical direction while supporting the earth pressure and water pressure. A base pushing device 60 having a base pushing jack is installed for S.

Propulsion boxes 30 are sequentially suspended from the ramp tunnel RT through the pit T in front of the base pushing device 60, and a plurality of promotion boxes 30 are connected behind the excavator 10 located forward in the direction of promotion. The promotion box group 50 formed by the promotion boxes 30 is pushed through the underground G in the X1 direction, thereby constructing the circumferential tunnel CT in the vertical plane.

The illustrated example of the circumferential tunnel CT is a single circle surrounding the main tunnel HT and the ramp tunnel RT, but it may be a tunnel with various vertical shapes such as an elliptical shape and a track shape, and has at least a curved section. All you have to do is Starting from the constructed circumferential tunnel CT, a plurality of tunneling machines (not shown) construct a plurality of shield tunnels in a daisy chain over the widening section. For example, after multiple leading shield tunnels are constructed at intervals, a trailing shield tunnel is constructed between them while cutting a part of the adjacent leading shield tunnel, and the adjacent leading shield tunnel and trailing shield tunnel are constructed. By constructing a large-section circular body made of reinforced concrete inside the tunnel, the inside of the large-section tunnel is excavated while applying this large-section ring body (large-section tunnel) for earth retaining, creating the main tunnel HT and the ramp tunnel RT. The widenings are constructed by mutual communication.

The propulsion system 100 includes an excavator 10, a propulsion box group 50, and a main pushing device 60 (an example of a propulsion device). The propulsion box group 50 is located at the rear end of the excavator 10, and the foremost propulsion box 30A positioned at the forefront in the direction of propulsion of the propulsion box group 50 is provided with the gripper device 40. A rearward (sixth rear in the illustrated example) propulsion box 30B is provided with a gripper device 40 . That is, the propulsion box group 50 is provided with gripper devices 40 that allow the grippers 44 (see FIG. 3) that take reaction force on the ground G to move freely in and out at least at two different propulsion directions.

Three or more of the propulsion boxes 30A and 30B provided with the gripper device 40 included in the propulsion box group may be provided at arbitrary positions, but at least the propulsion boxes 30A and 30B at the forefront of the propulsion box group 50 30A is provided with the gripper device 40, it is possible to effectively take the reaction force from the ground G at the time of direction control of the excavator 10, and the excavator 10 moves to the propulsion box group 50 at the time of direction control. It becomes easier to take a reaction force against it. Further, for example, the propulsion box positioned at the forefront of the propulsion box group 50 may be provided with the gripper devices 40 at two locations in different directions of propelling. In order to take the reaction force, it is preferable to arrange each gripper device 40 with a certain distance in the direction of propulsion in the foremost propulsion box. It preferably has a length.

In the illustrated example, the main pushing device 60 is the propulsion device. Configure the propulsion system.

As shown in FIG. 2, the propulsion box 30A having the gripper device 40 extends from the radially outer surface 32 of the steel shell 31 to the radially outer side of the circumferential tunnel CT inside the steel shell 31 that is rectangular in front view and is horizontally long. A plurality of (four in the illustrated example) first gripper devices 40A which can move the grippers 44 freely in the X2 direction, and the grippers 44 in the X3 direction from the radial inner surface 33 of the steel shell 31 to the radial inner side of the circumferential tunnel CT. It has a plurality of (four in the illustrated example) second gripper devices 40B that can freely appear and retreat.

Here, the number and layout of the first gripper device 40A and the second gripper device 40B provided in the propulsion box 30A are not limited to the illustrated example. Further, although illustration is omitted, the general propulsion box 30 which does not include the gripper device 40 includes a steel shell 31 shown in FIG. 33 are provided.

As shown in the figure, the grippers 44 are protruded from the plurality of first gripper devices 40A and second gripper devices 40B on the radially outer surface 32 and the radially inner surface 33 of the steel shell 31 which is rectangular in front view and horizontally long. , the reaction force can be effectively taken from the ground G.

As shown in FIG. 3, the gripper device 40 has a cylinder 41, a rod 42 protruding from the cylinder 41, and a pressure plate 43 attached to the tip of the rod 42. The rod 42 and the pressure plate 43 A gripper 44 is constructed. A rod 42 that constitutes the gripper is a hydraulic jack contained in the cylinder 41 .

The plane area of the pressure plate 43 is preferably set based on the relationship between the bearing force of the ground G to be constructed and the reaction force applied from the ground G. By applying a reaction force to the ground G through the pressure receiving plate 43, which has a larger flat area than the rod 42, as shown in the figure, the desired reaction force can be obtained by adjusting the pressure receiving area of the pressure receiving plate 43 even when the bearing capacity of the ground is small. Since the force can be obtained, for example, even if the ground to be constructed is soft ground, it is possible to control the direction of the excavator 10 by applying reaction force to the ground without performing ground improvement.

As shown in FIG. 1, when the excavator 10 reaches the top (12 o'clock) of the circumferential tunnel CT in the vertical plane and is about to cross the top and shift to the descent curve section, the excavator 10 has its own The weight of itself and the weight of the rear propulsion box group 50 can act to the maximum, and meandering can occur during directional control. This will be explained with reference to FIG. 4, which is an enlarged view of part IV of FIG.

As shown in FIG. 4, at the rear end of the excavator 10, the foremost propulsion box 30A positioned at the forefront in the direction of propulsion of the propulsion box group 50, and the sixth rearward of the foremost propulsion box 30A. A propulsion box 30B is provided with a gripper device 40 .

The illustrated excavator 10 has a front barrel 11 and a rear barrel 12. The front barrel 11 has a cutter head 15 on its front surface, and the rear barrel 12 has a directional control jack 18. As shown in FIG. Further, a copy cutter (not shown) is built in the inside of the cutter head 15 so that it can be freely moved in and out from the side thereof. By filling the portion E with the lubricant U, smooth propulsion of the excavator 10 and the following propulsion box group 50 in the curved section can be achieved. Although not shown, the excavator 10 may be provided with a plurality of movable sleds that can be protruded into the ground when correcting pitching and rolling of the excavator 10 itself.

In order to enable smooth propulsion in the curved section, the overdug portion E is created and filled with the lubricant U, while the curved section is moved vertically and diagonally upward in the lubricant U as shown in the figure. The weight W2 of the following propulsion box group 50, in addition to its own weight W1, can act on the excavating machine 10 to the maximum. These loads act on the excavator 10, which performs directional control as needed in the driving direction of the curved section, with a rotational moment M acting in a direction to cause the cutter head 15 to drop downward. The excavator 10 often meanders. Also, although illustration is omitted, even when the excavator 10 is at a position other than that shown in FIGS. Although it differs depending on the position of the excavator 10, there is no change in the fact that the excavator 10 tends to meander due to the rotational moment caused by its own weight and the weight of the following propulsion box group 50.

Therefore, at the top of the circumferential tunnel CT in the illustrated example, the gripper 44 is protruded radially inward (downward) of the circumferential tunnel CT from the second gripper device 40B of the forward propulsion box 30A to exceed the lubricant U. to apply a reaction force R1 to the ground G, and from the first gripper device 40A of the rear propulsion box 30B, the gripper 44 is projected radially outward (upward) of the circumferential tunnel CT, exceeding the lubricant U and the ground Control is executed to apply a reaction force R2 to G.

In this way, in the vicinity of the excavator 10, the propulsion box group 50 protrudes the grippers 44 radially outward and radially inward of the circumferential tunnel CT at two locations in the propulsion direction, and exerts reaction forces R1 and R1 on the ground G. By taking R2, the propulsion box group 50 can be fixed to the ground G first. By operating the direction control jack 18 while the excavator 10 receives reaction force from the group of propulsion box bodies 50 fixed to the ground G, the excavator 10 exists in the lubricant U of the overcut portion E. However, it is possible to excavate while performing directional control in a desired propulsion direction while resisting the acting rotational moment M. In addition, as described above, since the forefront propulsion box 30A at the rear end of the excavator 10 takes reaction force from the ground G, the propulsion box group 50 can effectively take reaction force from the ground G. , the excavator 10 is likely to take a reaction force against the propulsion box group 50 during direction control.

When the excavator 10 is in a position different from the illustrated example, the gripper 44 projects radially outward from the first gripper device 40A of the forward propulsion box 30A in order to obtain an effective reaction force from the ground G, In some cases, the gripper 44 protrudes radially inward from the second gripper device 40B of the propulsion box 30B. Further, in order to fix the promotion box group 50 to the ground G more stably, the promotion box group may include a promotion box having three or more gripper devices 40 in the direction of promotion.

As shown in FIG. 2, the propulsion box body 30A (30B) is provided with a first gripper device 40A and a second gripper device 40B that can protrude the grippers 44 both radially outward and radially inward. Depending on the location of the circumferential tunnel CT, it becomes possible to overhang the gripper 44 from either the first gripper device 40A or the second gripper device 40B, which is suitable for taking a reaction force on the ground G.

In the propulsion system 100, the propulsion device 60, which is a component thereof, has already been described as a main pushing device in the pit T. The propulsion device 60 may be configured together with the jack.

The excavator 10 includes a control device 20 that simultaneously controls the gripper devices 40 of the two rear propulsion boxes 30A and 30B in addition to controlling the directional control jacks 18 . The excavator 10 is provided with a control device for controlling the directional control jack 18, and another control device for simultaneously controlling each gripper device 40 of the propulsion box 30A is provided in the shaft T, the management building on the ground (not shown), and the like. may be provided.

The respective gripper devices 40 (first gripper device 40A, second gripper device 40B) of the two propulsion boxes 30A, 30B are independently controlled by the control device 20, but each is effective for the ground G. In order to obtain the reaction forces R1 and R2, the extension direction, extension amount, and extension timing of each gripper device 40 are controlled by the control device 20 in a mutually related manner.

Here, the control device 20 provided inside the excavator 10 will be described with reference to FIGS. 5 and 6. FIG. FIG. 5 is a diagram showing an example of the hardware configuration of the control device, and FIG. 6 is a diagram showing an example of the functional configuration of the control device.

As shown in FIG. 5, the control device 20 is configured by an information processing device (computer) such as a personal computer (PC). A computer constituting the control device 20 includes a CPU (Central Processing Unit) 21, a main memory device 22, an auxiliary memory device 23, an input/output IF (interface) 24, and a communication IF 25, which are interconnected by a connection bus 26. ing. The main storage device 22 and the auxiliary storage device 23 are computer-readable recording media. In addition, the above components may be provided individually, or some components may not be provided.

The CPU 21 is also called MPU (Microprocessor) or processor, and the CPU 21 may be a single processor or a multiprocessor. The CPU 21 is a central processing unit that controls the entire control device 20 made up of a computer. The CPU 21 develops, for example, a program stored in the auxiliary storage device 23 so that it can be executed in the work area of the main storage device 22, and controls peripheral devices through the execution of the program, thereby performing a function that meets a predetermined purpose. I will provide a.

The main storage device 22 stores computer programs executed by the CPU 21, data processed by the CPU 21, and the like. The main storage device 22 includes, for example, flash memory, RAM (Random Access Memory), and ROM (Read Only Memory). The auxiliary storage device 23 stores various programs and various data in a readable and writable recording medium, and is also called an external storage device. The auxiliary storage device 23 stores, for example, an OS (Operating System), various programs, various tables, and the like. The OS includes, for example, a communication interface program for exchanging data with an external device or the like connected via the communication IF 25 . The external devices include, for example, a main pushing jack provided in the main pushing device 60, a gripper device 40 provided in the propulsion boxes 30A and 30B, and a personal computer (Fig. not shown).

The auxiliary storage device 23 is used, for example, as a storage area that assists the main storage device 22, and stores computer programs executed by the CPU 21, data processed by the CPU 21, and the like. The auxiliary storage device 23 is a silicon disk including a nonvolatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a hard disk drive (HDD) device, a solid state drive device, or the like. Examples of the auxiliary storage device 23 include drive devices for removable recording media such as a CD drive device, a DVD drive device, and a BD drive device. ) memory, SD (Secure Digital) memory card, and the like.

The input/output IF 24 is an interface for inputting/outputting data with devices connected to the control device 20 . The input/output IF 24 is connected to, for example, a keyboard, a pointing device such as a touch panel or a mouse, and an input device such as a microphone. The control device 20 receives operation instructions and the like from an operator who operates the input device via the input/output IF 24 .

Further, the input/output IF 24 is connected to, for example, a display device such as a liquid crystal display (LCD) or an organic EL panel (EL: electroluminescence), an output device such as a printer, and a speaker. For example, the excavator 10 includes a pressure gauge for measuring the face pressure in the cutter head 15, and also includes pressure gauges around the steel shells of the front body 11 and the rear body 12. Measured data relating to the face pressure, which is transmitted from the gauge at any time, and measured data relating to the earth pressure acting on the peripheral surfaces of the front body 11 and the rear body 12 are transmitted and displayed. Further, the current position of the excavator 10 is transmitted from time to time to the control device 20 from a position sensor such as a gyro provided inside the excavator 10, and the planned propulsion alignment and the actual propulsion alignment of the excavator 10 are displayed on the same screen. A three-dimensional deviation is displayed at any time.

Communication IF 25 is an interface with a network to which control device 20 is connected. The communication IF 25 communicates with the driving device 60 and the propulsion device 60 via various networks such as a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as a VPN (Virtual Private Network), and a LAN (Local Area Network). A control signal is transmitted to the gripper device 40 provided in the boxes 30A and 30B, and the measurement data measured by various sensors and the control contents of each device by the control device 20 (control The stroke amount of the target primary pushing jack 60, the extension amount of the gripper 44 of the gripper device 40 provided in the control target propulsion boxes 30A and 30B, the timing of both extensions, and the reaction force from the ground G obtained by the extension of the gripper 44 etc.).

As shown in FIG. 6 , the control device 20 provides various functions of at least an input section 202 , a calculation section 204 , a drive control section 206 and a storage section 208 by executing a program by the CPU 21 . Here, at least part of the processing functions may be provided by a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), or the like. gate array), a numerical processor, a dedicated LSI (large scale integration) such as an image processor, or other digital circuits.

The input unit 202 stores data on the jack thrust force by the main pushing jack 60 measured by the pressure gauge, measurement data on the face pressure acting on the cutter head 15, and earth pressure acting on the peripheral surfaces of the front and rear cylinders 11 and 12. Measurement data, current position data of the excavator 10 measured by the position sensor, and the like are input as needed and stored in the storage unit 208 via the input unit 202 as needed.

Further, the input unit 202 receives the physical property value of each soil layer through which the circumferential tunnel passes, and the storage unit 208 stores the coefficient of friction μ of each soil layer. This friction coefficient μ is used when calculating the circumferential friction force of the propulsion box group 50 when calculating the jack thrust of the propulsion device 60 in the calculation unit 204 .

For example, when the excavator 10 performs direction control in a curved section, the calculation unit 204 calculates the rotational moment and the like acting on the excavator 10 based on the data measured by each pressure gauge. For example, when the excavator 10 is in the position shown in FIG. The amount of protrusion of each gripper 44 of the first gripper device 40A of the propulsion box 30A and the second gripper device 40B of the propulsion box 30B for fixing to the ground G by reaction forces R1 and R2 at two points in the propulsion direction, etc. calculate.

Further, in the calculation unit 204, the extension (entire peripheral area) of the promotion box group 50, the friction coefficient μ of each soil layer through which the promotion box group 50 stored in the storage unit 208 passes, and the promotion box group The peripheral frictional force is calculated each time based on the measured value by the pressure gauge attached to 50, and the required jack thrust is calculated based on the calculated peripheral frictional force.

In the drive control unit 206, based on the calculation result of the calculation unit 204, the gripper devices 40 provided in the propulsion boxes 30A and 30B are moved by a predetermined amount at a predetermined timing when the direction control of the excavator 10 is performed. Send a control signal to overhang. On the other hand, when the excavator 10 and the propulsion box group 50 are propelled by the jack thrust of the propulsion device 60, a control signal is sent to the propulsion device 60 to generate a jack thrust greater than or equal to the required jack thrust calculated by the calculation unit 204. do.

Regarding the directional control of the excavator 10, for example, when the excavator 10 is at the position shown in FIG. First, the gripper 44 of the first gripper device 40A of the propulsion box 30A located in front is protruded radially inward (downward) to take a reaction force on the ground G and suppress the downward fall of the excavator 10. to perform control. Next, the control device 20 causes the gripper 44 of the second gripper device 40B of the rear promotion box 30B to project radially outward (upward) to apply a reaction force to the ground G, thereby A control for fixing the front area of 50 to the ground G is executed. At this time, the amount of protrusion and the timing of protrusion of each gripper 44 are controlled by the control device 20 in a mutually related manner so that both grippers 44 receive the reaction forces R1 and R2 from the ground G. FIG.

[Propulsion method according to the embodiment]
Next, an example of the propulsion method according to the embodiment will be described with reference to FIGS. 7 to 10. FIG. Here, FIGS. 7 to 10 are process diagrams sequentially showing an example of the propulsion method according to the embodiment.

The illustrated example deals with the case where the excavator 10 constituting the propulsion system 100 is at or near the top of the circumferential tunnel CT as shown in FIG. As already explained with reference to FIG. 4 , the excavator 10 exerts a rotational moment M in a direction to cause the cutter head 15 to drop downward due to its own weight W1 and the weight W2 of the propulsion box group 50 . Due to this rotational moment M, the excavator 10 may meander when the excavator 10 inside the lubricant S in the overcut portion E is controlled in direction.

Therefore, in order for the excavator 10 to propel the curved section along the planned vertical alignment while suppressing meandering while controlling the direction at any time, first, the second propulsion box 30A provided at the front of the propulsion box group 50 has a second The gripper 44 projects radially inward (downward) in the Y1 direction from the gripper device 40B. Simultaneously with this extension of the gripper 44, or after a predetermined period of time has passed, the gripper 44 is projected radially outward (upward) in the Y2 direction from the first gripper device 40A provided in the rear promotion box 30B, thereby A front region (a region on the side of the excavator 10) of the propulsion box group 50 is fixed to the ground G by applying reaction force to two points on the ground G located diagonally across the group 50.例文帳に追加

After fixing the front region of the propulsion box group 50 to the ground G, as shown in FIG. By sliding and extending in the Y4 direction, the excavator 10 is pulled up in the Y5 direction, which is the clockwise direction opposite to the rotational moment M, and the meandering of the excavator 10 caused by the rotational moment M is corrected or suppressed.

After correcting or suppressing the meandering of the excavator 10, the direction of the excavator 10 is controlled along the vertical alignment of the curved section by again controlling the upper and lower direction control jacks 18 (18A, 18B) as desired. . In the illustrated example, the radially outer directional control jack 18A is relatively extended relative to the radially inner directional control jack 18B so as to follow the vertical line of the curved section, or the radially inner directional control is performed. A control or the like for retracting only the jack 18B is executed.

Following the direction control of the excavator 10, as shown in FIG. , the gripper 44 of the first gripper device 40A of the rear propulsion box 30B is returned (pulled in) in the Y7 direction to release the fixation of the propulsion box group 50 to the ground G.

After releasing the fixation of the propulsion box group 50 to the ground G, as shown in FIG. 10, part or all of the directional control jacks 18 are slid (in FIG. Y8 direction), while controlling the direction of the excavator 10, the cutter head 15 of the excavator 10 is actuated to excavate the excavator 10, and the propulsion device 60 is actuated, whereby the excavator 10 is driven by the jack thrust. and propel the propulsion box group 50 in the X1 direction.

After that, at each position of the longitudinal alignment of the circumferential tunnel CT, the driving box group 50 is fixed to the ground G, and the directional control jack is installed so as to eliminate the external force (rotational moment, etc.) acting on the excavator 10 at that position. 18 is driven to suppress meandering of the excavator 10, and after the direction control jack 18 controls the direction of the excavator 10 along the planned vertical alignment, the anchoring of the propulsion box body group 50 to the ground G is released. , the cycle of propelling the excavator 10 and the propulsion box group 50 by the jack thrust of the propulsion device 60 is repeatedly executed. Directional control of the excavator 10 by the directional control jack 18 is executed as needed during the process in which the excavator 10 is propelled by the jack thrust. In the propulsion construction of the circumferential tunnel CT shown in FIG. 1, the excavator 10 reaches the vertical shaft T, so that the circumferential tunnel CT is propelled.

The above propulsion method is the content of control of each device (the direction control jack 18, the gripper device 40, the original pushing jack 60, etc.) by the control device 20 provided in the excavator 10. FIG.

According to the illustrated example of the propulsion method, by applying the propulsion system 100, the excavator 10 and the propulsion box body group 50 in the lubricant U of the overcut portion E are propelled in the propulsion direction including at least the curved section. In doing so, the excavator 10 can be excavated along the planned vertical alignment while suppressing meandering of the excavator 10, and the propulsion box body group 50 can be propelled.

It should be noted that other embodiments may be possible in which other components are combined with the configurations described in the above embodiments, and the present invention is not limited to the configurations shown here. Regarding this point, it is possible to change without departing from the gist of the present invention, and it can be determined appropriately according to the application form.

10: Excavator 11: Front body 12: Rear body 15: Cutter head 18: Directional control jack (propulsion jack)
18A: Radial outer direction control jack 18B: Radial inner direction control jack 20: Control device 30: Propulsion box 30A: Foremost propulsion box (propulsion box)
30B: Propulsion box 31: Steel shell 32: Radial outer surface 33: Radial inner surface 40: Gripper device 41: Cylinder 42: Rod (jack)
43: pressure receiving plate 44: gripper 40A: first gripper device 40B: second gripper device 50: propulsion box group 60: primary pushing device (primary pushing jack, propulsion device)
100: Propulsion system G: Ground (underground)
CT: Circumference Tunnel HT: Main Tunnel RT: Ramp Tunnel T: Vertical Shaft K: Strut S: Reaction Mount E: Overcut Section U: Lubricant R1, R2: Reaction M: Rotational Moment

Claims (7)

A propulsion system in which an excavator excavates while performing attitude control, and a propulsion box body group composed of a plurality of propulsion boxes connected to the rear of the excavator in the excavation direction is propelled,
the excavator equipped with a directional control jack;
the propulsion box group;
A propulsion device having a propulsion jack for propelling the excavator and the propulsion box group,
A propulsion system, wherein a gripper device that applies a reaction force to the ground is provided in at least two locations of the propulsion box group that are different in the direction of propulsion. The foremost propulsion box located at the rear end of the excavator and positioned foremost in the direction of propulsion of the group of propulsion boxes is equipped with the gripper device at least at two different locations in the direction of propulsion. The propulsion system of claim 1, wherein: The foremost propulsion box positioned at the rear end of the excavator in the forward direction of the propulsion box group, and at least one of the propulsion boxes positioned behind the foremost propulsion box is the gripper. 2. A propulsion system according to claim 1, characterized in that it comprises a device. The propulsion box group has at least a curved section in the direction of propulsion,
said gripper devices comprising a first gripper device and a second gripper device radially outward and radially inward of said curved section;
4. A propulsion system according to any one of the preceding claims, characterized in that the respective gripper devices at at least two different directions of propulsion are controllable independently of each other. 5. A propulsion system as claimed in any one of claims 1 to 4, characterized in that the excavator comprises a movable sled. 6. The gripper device according to any one of claims 1 to 5, wherein the gripper device has a cylinder, a rod projectable from the cylinder, and a pressure receiving plate attached to the tip of the rod. propulsion system. A propulsion method in which an excavator excavates while performing attitude control, and a propulsion box body group composed of a plurality of propulsion boxes connected to the rear of the excavator in the excavation direction is propelled in a propulsion direction having at least a curved section. hand,
The excavator includes a directional control jack, the group of propulsion boxes is located behind the excavator in the excavation direction, and a propulsion device having the propulsion jack for propelling the excavator and the group of propulsion boxes, Among the group of propulsion boxes, at least two locations with different propulsion directions are provided with gripper devices that take a reaction force on the ground,
Propulsion of the propulsion box group into the ground by excavation by the excavator and jack thrust by the propulsion jack,
At the time of directional control of the excavator in the curved section, the directional control and propulsion of the excavator are performed while applying reaction force to the ground by the gripper devices provided in at least two different locations. A propulsion method, characterized in that the propulsion box group is propelled by the jack thrust of the propulsion jack after releasing the gripper device from fixing it to the ground.

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