JP2588077B2 - Automatic control device for pre-lining machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for constructing an arch-shaped concrete wall on a ground in front of a cutting face to reinforce the ground when excavating a tunnel in an unconsolidated ground with a shallow earth covering. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control device for a prelining machine, and more particularly to an automatic control device for a prelining machine that can automatically perform boom setting, drilling, and mortar injection of a prelining machine for a ground in front of a face.

[0002]

2. Description of the Related Art When excavating a tunnel in the ground, an arch shell is formed by a pre-lining machine in front of the face of the tunnel to reinforce the ground in order to suppress settlement of the ground surface and to maintain the stability of the face. A known construction method is known (Japanese Unexamined Patent Publication No. 2-112595).

Conventionally, when an arch-shaped concrete wall (arch shell) is formed along the tunnel cross section in front of the face of the tunnel by using such a prelining machine,
First, the machine body is moved to the construction position. Next, the hydraulic multi-joint mechanism supporting the auger gantry is operated by a manual operation of an operator at the driver's seat to set the auger gantry at the target position. Thereafter, by manually operating the control lever, a hole is drilled in the ground while adjusting the rotation speed of the auger and the feeding speed of the auger. After the hole is drilled to a predetermined length, the auger is injected into the hole through the hollow portion of the auger from the mortar pump by manually operating the control lever while retracting the auger at a constant speed in the pulling direction. The mortar injection amount was adjusted in accordance with the auger withdrawal speed, and the inside of the hole was filled with mortar so that a pre-lining was built in the ground.

[0004]

However, in the conventional construction method as described above, since the setting, drilling, and mortar injection of the auger gantry are performed by the manual operation of the operator, the position and the direction of the auger gantry are required. It takes time to decide and the burden on the operator increases,
There is a problem that it is difficult to determine the exact position and direction, and the displacement is likely to occur. In addition, it is not possible to accurately drill a hole of the specified length, and it is difficult to inject the mortar amount in accordance with the auger withdrawal speed. There was a problem that also hindered stability and stability of the ground surface.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and automates setting of an auger stand, drilling, and mortar injection into a ground in front of a face without relying on an operator, and quickly and accurately reinforces the ground. It is an object of the present invention to provide an automatic control device for a prelining machine capable of performing the following.

[0006]

In order to achieve the above object, the present invention provides a feed means for supporting at least one drilling auger rotated by a driving means so as to be able to advance and retreat, and for moving the drilling auger forward and backward. An auger gantry, a traveling trolley traveling in a tunnel, a multi-joint support supported by the traveling trolley and moving the auger gantry to a position where the auger gantry can be drilled in front of a face of the tunnel, and each of the multi-joint support A pre-lining machine having different actuators for operating joints in respective bending directions, a mortar pump for injecting mortar for ground reinforcement through the auger and into a drill hole, and a tunnel installed on the traveling vehicle A target mirror for measuring the position with respect to the face, and installed on the auger cradle, the position with respect to the drilling position in front of the face and A target mirror for detecting the direction, and installed at a reference point located behind the pre-lining machine in the tunnel, and by irradiating each target mirror with a light beam, a distance and an angle from the reference point are determined. Automatic surveying means for measuring, a sensor for detecting the operation state of the actuator of each joint, a current position and a target of the auger base based on distance and angle data from the automatic surveying means and information from each of the sensors. Control means for calculating the amount of deviation from the position, controlling the actuators based on the calculation results, and setting the auger gantry within the permissible hole drilling range. Further, the present invention, in addition to the above configuration, a sensor for detecting the rotation speed and the feed amount of the drilling auger, respectively, and when pouring the mortar into the drilling hole while pulling out the auger at a constant speed by the feeding means. A mortar injection amount is calculated based on a feed speed from the feed amount sensor, and control means for controlling a rotation speed of the mortar pump based on the calculation result is provided.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. 1 is an overall configuration diagram of an automatic control device for a prelining machine according to the present invention, FIG. 2 is a plan view of the prelining machine, FIG. 3 is a side view thereof, FIG. FIG. 5 is an explanatory view showing a state in which an arch shell for reinforcing the ground is formed in front of the face of the tunnel, FIG.
Is a flowchart showing a construction procedure. First, Figure 2
In FIG. 4, reference numeral 1 denotes a prelining machine for constructing an arch shell in front of a face of a tunnel. The prelining machine 1 includes a crawler 2 that can travel in front and rear and turning directions, and a vehicle body 3 that is installed on the crawler 2 so as to be able to turn in the horizontal direction. An electric motor 5 serving as a driving source of the illustrated hydraulic pump and the like, a control panel 6 for controlling the electric motor 5 and the like are provided. Reference numeral 7 denotes a mortar pump installed on the frame 2a of the crawler 2. The vehicle body 3 is provided with sensors (not shown) for detecting rolling and pitching of the vehicle body 3, and data detected by these sensors is used for roughly positioning the auger portion with respect to the face.

One end of a main boom 9 constituting an articulated support is pivotally connected to a turning center on the vehicle body 3 via a supporting member 8 so as to be vertically rotatable. The main boom 9 is a hydraulic cylinder for lifting. A lift encoder 11 for detecting the angle of the main boom 9 is attached to the pivotal portion of the main boom 9. At the swinging end of the main boom 9, a boom extension mechanism 50 is provided. The boom extension mechanism 50 is provided with a slide mechanism installed on the auger base in the longitudinal direction when drilling with an auger described later. The hole is drilled while sliding forward, but the distance to the face is adjusted when the distance to the face becomes long and the auger tip cannot reach a predetermined position. Reference numeral 51 denotes a sensor that detects the amount of expansion and contraction of the main boom 9. A sub-boom connecting member 12 is connected to the tip of the boom extending / contracting mechanism 50 so as to be rotatable in a vertical direction (pitching direction). The connecting member 12 can be tilted in the pitching direction by a tilt hydraulic cylinder 12a. And a tilt encoder 13 for detecting the tilt angle. One end of a sub-boom 14 is pivotally attached to the connecting member 12 so as to be swingable in the horizontal direction. The sub-boom 14 is configured to be horizontally rotatable by a swing hydraulic cylinder 15 and has a swing angle. Encoder 16 for detecting
Is provided. An auger base 17 is supported by the sub-boom 14 so as to be swingable in the left-right direction (rolling direction).
The auger base 17 is configured to be rotatable in a rolling direction by a hydraulic actuator 17a provided on a pivot portion, and includes a rolling encoder 18 for detecting a rolling angle thereof.

An auger base 19 is mounted on the auger base 17 so as to be slidable in the front-rear direction.
Reference numeral 9 denotes a hydraulic cylinder 20 which can be moved in the front-rear direction, and has a slide sensor 21 for detecting the amount of movement. A digging mechanism 22 having an auger rotation hydraulic motor 22a is installed on the auger gantry 19 so as to be slidable in the longitudinal direction of the auger gantry 19. The digging mechanism 22 includes a plurality of digging mechanisms 22 extending in the longitudinal direction of the auger gantry 19. One end of the drilling auger 23 is connected, each is rotated by a hydraulic motor 22a of the excavating mechanism 22, and the other end is supported by a steady rest member 24 attached to the auger base 19. I have. 25
Is an auger feed hydraulic motor installed at the rear end of the auger gantry 19. An endless chain 28 is provided between a sprocket 26 provided on the rotation shaft of the hydraulic motor 25 and a sprocket 27 provided at the tip of the auger gantry 19. The endless chain 28 is wound around the excavating mechanism 22.
It is connected to. 29 is an encoder for detecting the rotation speed of the auger 23, and 30 is an encoder for detecting the excavation amount of the auger 23.

Reference numeral 31 denotes a front target mirror installed at the center of turning of the vehicle body 3, and 32 denotes a rear target mirror installed on a frame 2a located at the rear of the crawler 2, and these target mirrors 31 and 32 are used for the face of the tunnel. This is for measuring the moving position of the prelining machine 1 with respect to. Reference numeral 33 denotes a plurality of target mirrors located on the left and right sides of the tip of the auger base 19,
Reference numeral 34 denotes a target mirror provided on the rear end side of the auger gantry 19, and front left and right target mirrors 33 are for measuring the inclination (rolling angle) of the auger gantry 19 in the horizontal direction. The rear and target mirrors 34 are for measuring the inclination (pitching angle) of the auger mount 19 in the front-rear direction.

In FIG. 4, reference numeral 35 denotes an automatic surveying device installed at a reference position in a pre-lined tunnel 36. This surveying device 35 is a pre-lining machine 1
Of the auger gantry 19 and the pitching angle of the auger gantry 19 (forward and backward inclination). The automatic surveying device 35 includes a laser source 35a, a lightwave distance meter 35b that measures the distance from the laser beam emitted from the laser source 35a to each target mirror and reflected from the target mirror by triangulation or the like, A horizontal tilt angle measuring device 35c composed of an encoder or the like for turning the laser source 35a in the horizontal direction and measuring the horizontal tilt angle;
And a vertical tilt angle measuring device 35d composed of an encoder or the like for measuring the vertical tilt angle by turning the laser source 35a in the vertical direction. Further, a control unit 37 is connected to the automatic surveying device 35. The control unit 37 includes a lightwave distance meter 35b and a horizontal tilt angle measuring device 35.
The coordinate values of the target mirrors 31 to 34 are calculated based on the distance c and the distance and angle measured by the vertical tilt angle measuring device 35d. The coordinate value data is wirelessly transmitted to the prelining machine 1, and the prelining machine 1 Side calculates the absolute coordinates of the auger mount 19 and the auger mount 1
9 to calculate the deviation between the current position and the target position. In FIG. 4, reference numeral 38 denotes a face of the tunnel 36, and 39 denotes a prelining arch shell constructed on the ground by the prelining machine 1.

Next, the configuration of FIG. 1 will be described. In FIG. 1, reference numeral 40 denotes a control device mounted on the prelining machine 1. The control device 40 includes a CPU 401 that controls and manages the entire prelining machine, various programs such as a control program and calculation results of the CPU 401. A memory 402 for storing data and an input / output interface 403 are provided. The input / output interface 403 is connected to a keyboard 41 for giving various data and commands, a monitor display device 42 including a CRT and the like, and a control unit 37 of the automatic surveying device 35 and a transceiver 43 for transmitting and receiving data. Further, the input / output interface 40
To 3, various encoders and sensors 44 of the prelining machine 1 are connected, and a drive circuit 45 that supplies control commands to various hydraulic cylinders and hydraulic motors of the prelining machine 1 is connected.

The control unit 37 of the automatic surveying device 35
A CPU 371 for controlling and managing the whole; a processing program; a calculation result of the CPU 371;
And a memory 372 for storing measurement data from the PC and an input / output interface 373. The input / output interface 373 includes a transceiver 46 for transmitting and receiving data to and from the automatic surveying device 35 and the transceiver 43 on the prelining machine 1 side.
Are connected respectively.

Next, the construction operation of the embodiment constructed as described above will be described with reference to the flowchart of FIG.
First, the engine 5 is started, and the main body, that is, the prelining machine 1 is moved to a construction position facing the tunnel face 38 by manual operation (step S1). Next step S2
Then, the surveying device 35 is operated and the pre-lining machine 1
Laser source 35 toward the target mirrors 31 and 32
a, the target mirrors 31, 32
The laser beam reflected from the device is received by the lightwave distance meter 35b to measure the distance to the prelining machine 1, and the horizontal tilt angle and the vertical tilt angle at this time are measured by the respective measuring devices 35c and 35d. By sending these measurement data to the control unit 37, the position coordinates of the prelining machine 1 are obtained. Then, in the next step S3, the position data of the main body is transmitted to the prelining machine 1 through the transceiver 46.

On the prelining machine 1 side, the transmitted position data of the main body is received by the transceiver 34 and taken into the CPU 401 of the control device 40, and the movement position of the prelining machine 1 is determined by the permissible drilling hole of the auger stand 19. Is set (step S4). Here, when it is determined that the hole is not in the permissible range, the process returns to step S1, and
By moving the prelining machine 1 again, the prelining machine 1 is set within the permissible range. On the other hand, when it is determined that the prelining machine 1 is set within the permissible hole range of the auger gantry 19, the process proceeds to the next step S5, where the main boom 9 for determining the attitude of the auger gantry 19 with respect to the piercing position. , The vertical direction of the sub boom 14 and the auger stand 19, the horizontal direction,
The control device 40 detects operating conditions in the pitching and rolling directions by respective encoders and sensors.
And calculates the amount of deviation between each of the detected data and the target position data. Then, in the next step S6, based on the calculation result, each hydraulic cylinder such as the main boom 9, the sub boom 14, and the auger gantry 19 is controlled, and the boom is moved to change the position and direction (posture) of the auger gantry 19. to correct. At this time, the position corrected by the primary movement of the boom is due to backlash or deflection of the boom or the like. Then, in step S7, the automatic surveying device 3
5 is irradiated to the target mirrors 33 and 34 on the auger gantry 19 side, and the reflected light is received by the surveying device 35, so that the distance from the reference point and the horizontal direction of the auger gantry 19 ( The inclination in the rolling direction) and the front-back direction (pitching direction), that is, the position and direction of the auger stand are measured. Each data of the measurement result is processed by the control unit 37 and then transmitted by the transceiver 46 to the prelining machine 1 side. (Step S8).

On the prelining machine 1 side, the transmission data is received by the transceiver 43 and sent to the CPU 401, and the measurement result is compared with the current direction and position of the auger stand 19 based on the information taken from each encoder and sensor. Then, the amount of deviation between them is calculated (step S9). Then, in the next step S10, it is determined whether the deviation amount is within the permissible range of the drilling. Here, when it is determined that it is outside the perforation allowable range, the process proceeds to step S11, and step S6 is performed.
In the same manner as described above, the boom is secondarily moved, the position of the auger gantry is measured again, and the measurement and the movement are repeated until the displacement amount falls within the allowable range.

If it is determined in step S10 that the auger is within the allowable range, the process proceeds to step S12, in which the auger 23 is rotated by activating the excavating hydraulic motor 22a and the auger feed motor 25,
In addition, it is propelled to cut the ground in front of the face 38. At this time, the propulsion amount of the auger 23 is detected by the encoder 30 and the detection signal is taken into the CPU 401 to determine whether the drilling length has reached a predetermined length (step S13). If it is determined that the operation has been performed, the auger 23 stops. (Step S14). Thereafter, the process proceeds to the mortar injection operation shown in step S15.

In this injection operation, the auger feed hydraulic motor 25 is started in the backward direction, and the mortar pump 7 is started. As a result, the auger 23 is withdrawn at a constant speed, and at the same time, the mortar injection amount calculated in accordance with the withdrawal speed is reduced.
Through the auger and into the drilling. And
In the next step S16, it is determined in advance whether mortar injection according to the known drilling length has been completed. If it is determined that the mortar injection into the hole has been completed, the process proceeds to the next step S17, and it is determined whether all the holes and the mortar injection into the ground in front of the face 37 have been completed. If not terminated, the process returns to step S5, and the processing from step S5 is repeated.

FIG. 5 shows a prelining machine, that is, an arch shell 3 applied to a ground in front of a cutting face five times by a prelining machine 1 having a 5-axis auger along the cross-sectional direction thereof.
9 is constructed. In FIG. 5, reference numeral 50 denotes shotcrete.

As described above, in this embodiment, the position of the prelining machine and the position and direction of the auger gantry are measured by the automatic surveying device installed at the reference point, and the deviation from the survey result and the sensor information of the boom part is calculated. By controlling each hydraulic cylinder in accordance with this deviation amount, the auger gantry can be automatically set within the permissible range of drilling, so that the position of the auger gantry with respect to the tunnel face can be shortened in a short time. It can be set accurately, requires no human labor, improves the efficiency of reinforcement work on the ground in front of the face, and can easily realize labor saving. In addition, the auger unit is provided with an encoder for detecting the propulsion position and an encoder for detecting the rotation speed of the auger, so that the drilling length can be controlled, so that the determined drilling length can be accurately excavated. In addition, since the rotation speed of the mortar pump can be controlled according to the auger withdrawal speed, it is possible to inject the correct amount of mortar into the drilled hole, stabilize the construction of the arch shell, and stabilize the face Characteristics and stability of the ground surface.

In the present invention, the mechanism for setting the posture of the auger gantry to the target position is not limited to the structure shown in the above-described embodiment, and may be another articulated mechanism. Various modifications can be made without departing from the range described in.

As described above, according to the present invention, the position of the prelining machine with respect to the tunnel face and the position and direction of the auger gantry are measured by an automatic surveying device installed at a reference point, and the survey result and the multi-joint are measured. Calculate the amount of deviation from the sensor information that detects the operation status of each joint of the mechanism,
The auger gantry is automatically controlled within the permissible range of drilling according to the amount of deviation, so the position of the auger gantry with respect to the tunnel face can be set quickly and accurately, and manpower can be saved. Become. In addition, when pouring mortar into the drill hole, the rotation speed of the mortar pump can be controlled in accordance with the auger withdrawal speed, so that the mortar can be accurately injected into the drill hole, and auger mounting and drilling can be performed. , And a series of operations of mortar injection can be automated.

[Brief description of the drawings]

FIG. 1 is an overall block diagram of an automatic control device according to an embodiment of the present invention.

FIG. 2 is a plan view of a prelining machine used in the present embodiment.

FIG. 3 is a side view of FIG. 2;

FIG. 4 is a construction status diagram showing a ground reinforcement state in the present embodiment.

FIG. 5 is an explanatory view showing a state in which an arch shell for reinforcing ground is formed in front of a face of a tunnel.

FIG. 6 is a flowchart showing a construction procedure in the present embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Pre-lining machine 2 Crawler 3 Body 7 Mortar pump 9 Main boom 10 Hydraulic cylinder 11 Encoder 12 Connecting member 12a Hydraulic cylinder 13 Encoder 14 Secondary boom 15 Hydraulic cylinder 16 Encoder 17a Actuator 18 Encoder 19 Auger stand 20 Hydraulic cylinder 21 Sensor 22 Dig mechanism 22a Hydraulic motor 23 Auger 25 Auger feed hydraulic motor 29,30 Encoder 31,32,33,34 Target mirror 35 Automatic surveying device 36 Tunnel 39 Control unit 38 Face 39 Arch shell 40 Control device 43,46

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Yoichi Mimura 4-6-115 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Corporation (72) Inventor Tsuyoshi Kanda 4-6-115 Sendagaya, Shibuya-ku, Tokyo Fujita Corporation (56) References JP-A-54-15401 (JP, A) JP-A-59-145895 (JP, A) JP-A-61-117395 (JP, A) JP-A-62-220696 (JP, A) JP-A-2-190595 (JP, A) JP-A-2-2522891 (JP, A) JP-A-2-112595 (JP, A)

Claims (2)

(57) [Claims] At least one of the first and second rotating means is rotated by a driving means.
An auger gantry having feed means for supporting the drilling auger so as to be able to advance and retreat and for advancing and retreating the drilling auger, a traveling trolley traveling in a tunnel, supported by the traveling trolley and connecting the auger gantry to a face of the tunnel A multi-joint support that moves to a position where drilling can be performed forward, and separate actuators that operate each joint of the multi-joint support in the respective bending direction. A pre-lining machine having a mortar pump for injecting mortar, a target mirror installed on the traveling vehicle to measure a position with respect to a tunnel face, installed on the auger mount, and a position with respect to a drilling position in front of the face and A target mirror for detecting a direction, and a base located behind the pre-lining machine in the tunnel. Automatic surveying means installed at a point and measuring a distance and an angle from a reference point by irradiating each target mirror with a light beam; a sensor for detecting an operation state of an actuator of each joint; and The shift amount between the current position and the target position of the auger gantry is calculated based on the distance and angle data from the surveying means and the information from each of the sensors, and the respective actuators are controlled based on the calculation results to control the auger gantry. And a control means for setting a value within an allowable range of drilling. 2. A mortar according to claim 1, wherein said mortar is injected into a drilled hole while extracting said auger at a constant speed by a feeder, wherein said sensor detects a rotation speed and a feed amount of said drilling auger. An automatic control device for a pre-lining machine, characterized by comprising a control means for calculating a mortar injection amount based on a feed speed from a feed amount sensor and controlling a rotation speed of the mortar pump based on the calculation result.