JP2670207B2 - Tunnel excavator gripper equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripper device of a tunnel excavator for holding a reaction force required for excavation.

[0002]

2. Description of the Related Art A conventional tunnel excavator will be described with reference to FIGS. 8 and 9. 1 is a rear body of the excavator body, 2 is a front body, and a cylindrical body is integrally attached to a front end portion of the rear body 1. Being
The rear end portion of the front body 2 is inserted into this. Further, 3 is a plurality of thrust jacks in the circumferential direction connecting the rear body 1 and the front body 2 flexibly, and 4 are provided on the front-rear intermediate peripheral wall of the front body 2 at intervals in the circumferential direction. The front body gripper 5, which is fitted in the concave portion so as to be movable in the radial direction, is allowed to move in the radial direction in the concave portions provided at circumferentially spaced intervals on the front and rear intermediate peripheral walls of the rear body 1. After inserting the body gripper,
Reference numerals 6 and 7 denote telescopic jacks for moving the grippers 4 and 5 in the radial direction, and the telescopic jacks 6 and 7 are installed in the recessed portions behind the grippers 4 and 5. 8 is a sealing member for sealing between the rear body 1 and the front body 2; 9 is a sealing material for the grippers 4 and 5; and 10 is a cutter head rotatably attached to the front end of the front body 2; 1
Reference numeral 0a is a large number of earth and sand cutting bits mounted on the front surface of the cutter head 10, and the cutter head 10 is driven by a drive source (not shown) installed in the front body 2. 11 is the ground, 12 is the existing segment,
Reference numeral 13 denotes a plurality of shield jacks mounted on the rear body 1 in the circumferential direction.

In this tunnel excavator, when the ground 11 is excavated in a tunnel shape using the front body gripper 4 and the rear body gripper 5, the telescopic jack 6 of the front body 2 is operated in the extension direction to operate the front body gripper. 4 is projected from the inside of the recess,
This is pressed against the ground 11 to fix the front body 2 to the ground 11, while the telescopic jack 7 of the rear body 1 is operated in the contracting direction,
The rear body gripper 5 is retracted into the recessed portion to allow the rear body 1 to advance, and then the thrust jack 3 is operated in the contracting direction to draw the rear body 1 in the direction of the front body 2 and then expand and contract the front body 2. The jack 6 is operated in the contracting direction, the front body gripper 4 is retracted into the recessed portion to allow the front body 2 to move forward, and the telescopic jack 7 of the rear body 1 is operated in the extending direction to move the rear body gripper 5 Is pushed from the inside of the recessed portion and pressed against the ground 11, the rear body 1 is fixed to the ground 11 so that the excavating steel reaction force of the tunnel excavator can be retained, and then the cutter head 10 attached to the front face of the front body 2 is attached. While rotating, the thrust jack 3 is operated in the extension direction, the front body 2 is advanced, and the ground 11 is excavated in a tunnel shape. The excavation reaction force at this time is pressed against the ground 11 and then held by the body gripper 5. .
When the thrust jack 3 has been extended to the stroke end, the telescopic jack 6 of the front body 2 is operated in the extension direction to cause the front body gripper 4 to protrude from the recessed portion, and the ground 1
Telescopic jack 7 on the rear torso 1
Is operated in the retracting direction to retract the rear trunk gripper 5 into the recessed portion, and then the thrust jack 3 is activated in the retracting direction to pull the rear trunk 1 toward the front trunk 2. Thereafter, the ground 11 is dug in a tunnel shape in the same manner.

When the ground 11 is dug into the tunnel using the shield jack 13, the cutter head 10 mounted on the front surface of the front body 2 is rotated while the shield jack 13 is operated in the extending direction to move the rear body. 1 and the front torso 2 are advanced to excavate the ground 11 in a tunnel shape, and the shield jack 13 is operated in the contracting direction.
New segment 12 between 3 and existing segment 12
Then, the shield jack 13 is actuated in the extension direction, the rear case 1 and the front case 2 are advanced, and the ground 11 is dug in a tunnel shape. Then, the ground 11 is excavated in the same manner as the tunnel.

[0005]

The conventional tunnel excavator shown in FIGS. 8 and 9 has the following problems.

(1) When the tunnel excavator excavates, the rear fuselage gripper 5 is pressed against the ground 11 to maintain the excavation reaction force of the tunnel excavator, so that the geology of the ground 11 is soft rock composed of a semi-solid sedimentary layer. In the case of soft rock, which has a low degree of consolidation and low density and is brittle and easily collapses, it is difficult to maintain the excavation reaction force and the tunnel excavator retreats, causing rolling and segment 1
In addition to the destruction of the two, the safety of the mine is threatened.

(2) In the case of a sharp excavation with a small radius of curvature, it is necessary to increase the excess excavation, and the body of the tunnel excavator receives an excessively large load in the lateral direction. At that time, as described above, it is difficult to maintain the excavation reaction force, and the excavation speed decreases.

The present invention is proposed in view of the above-mentioned problems, and its purpose is to prevent rolling and breakage of segments and to ensure safety in the mine, and to improve the excavation speed during a sharp excavation. There is a need to provide a gripper device for a tunnel excavator that does not degrade.

[0009]

In order to achieve the above-mentioned object, the structure of the present invention is such that a gripper device for gripping a tunnel ground is provided on the outer periphery of the front body and the rear body of the excavator main body, and the gripper device is provided in the gripper device. Displacement control mode that controls the amount of protrusion of the gripper device while providing a spike device that can appear and disappear,
It has a load control mode for controlling the contact pressure between the gripper device and the tunnel ground.

In the displacement control mode, the displacement of the telescopic jack is detected in order to control the overhang amount of the gripper device, and the positioning control is performed so as to match the set input displacement amount and the output displacement amount. In the load control mode, In order to control the ground pressure between the gripper device and the tunnel ground, the effective load pressure is detected from the pressure difference between the pushing pressure and the pulling pressure of the telescopic jack, and the pressure is controlled to match the set input pressure and the load pressure. .

[0011]

The gripper device of the tunnel excavator of the present invention is constructed as described above, and when the gripper device and the spike device of the front case are operated in the extension direction to fix the front case to the ground, The gripper device and the spike device of the case are operated in the contracting direction to separate the devices on the rear case side from the ground, while the thrust jacks are operated in the contracting direction to draw the rear case toward the front case. When the rear torso gripper device and the spike device are operated in the extension direction to fix the rear torso to the ground, the front torso gripper device and the spike device are operated in the contraction direction to remove the devices on the front torso side. While moving away from the ground, the thrust jack operates in the extension direction to advance the front body and excavate.

At this time, the gripper device for the rear body must hold the rear body at the center of the excavated tunnel and also the reaction force required for the front body to advance and excavate. Has a displacement control function, and the latter has a load control function.

[0013]

An embodiment of the present invention will be described below with reference to the accompanying drawings. First, the basic structure of the gripper device of the tunnel excavator according to the present invention will be described with reference to FIGS.

In the drawing, reference numeral 15 denotes a front body of the excavator body, 1
6 is also a rear body, 24 is a flexible tube that closes the space between the front body 15 and the rear body 16 to prevent intrusion of earth and sand, groundwater, etc. into the tunnel excavator, and 25 is the rear body 16 and the segment 23. A flexible pipe that closes the space between the front and rear bodies 16 and 16 to flexibly connect the front body 15 and the rear body 16 to each other in a circumferential direction by a flexible tube that prevents soil, groundwater, and the like from entering the inside of the tunnel excavator. Jack, 18 is a drive source installed in the front body 15, 19 is a cutter head rotatably mounted on the front surface of the front body 15 via a spherical portion 20, and 19a is a large number mounted on the front surface of the cutter head 19. Bit 21 is a sealing material interposed between the front end portion of the front body 15 and the spherical surface portion 20. The rotation of the drive source 18 is transmitted to the cutter head 19 so that the cutter head 19 can be rotated. To rotate around the central axis of Going on. 22 is the rear body 1
With multiple shield jacks attached to 6 in the circumferential direction,
The rear end of the shield jack 22 has an existing segment 23.
It comes into contact with.

Reference numeral 26 denotes the front body 15 and the rear body 16 described above.
The gripper device 26 is installed at a plurality of circumferential positions on the outer periphery of the case 27. The gripper device 26 includes a case 27 fixed to the front case 15 and the rear case 16 and a bolt 29 at the center of the bottom of the case 27. The fixed gripper jack 28, the guide member 30 fitted in the case 27 to be movable in the radial direction, the spherical joint 31 fixed to the central portion of the outer surface of the guide member 30, and the spherical joint 31. It is composed of a gripper 32 combined with the gripper 32. Reference numeral 33 denotes a spike device provided with a plurality of the gripper devices 26. The spike device 33 includes a spike jack 34 attached to the gripper 32 via a bolt 36, and an outer end of a piston rod of the spike jack 34. And a spike 35 attached to the part. In addition, 3 in the figure
Reference numerals 7 and 38 denote sealing materials, and 39 denotes a displacement detector installed in the guide member 30 and the case 27.

Next, the operation of the gripper device of the tunnel excavator shown in FIGS. 4 to 7 will be specifically described. When excavating the unstable ground 11 in a tunnel shape using the gripper device 26, the gripper jack 28 of the gripper device 26 of the above-mentioned 15 is operated in the extension direction to move the guide member 30 and the gripper 32 to the outside in the radial direction. To the same gripper 32
Is projected from the inside of the case 27 and pressed against the ground 11.
At the same time, the spike jack 34 is actuated in the extension direction to cause the spike 35 to bite into the ground 11 to move the front body 15 to the ground 1.
Fixed to 1. On the other hand, the gripper jack 28 of the jack device 26 of the rear body 16 is actuated in the contracting direction to move the guide member 3
0 and the gripper 32 are moved inward in the radial direction, the gripper 32 is separated from the ground 11 to allow the rear trunk 16 to move forward, and then the thrust jack 17 is operated in the contracting direction to move the rear trunk 16 to the front trunk 15 In the direction of.

Next, the gripper jack 28 of the gripper device of the front barrel 15 is operated in the contracting direction to move the guide member 30 and the gripper 32 inward in the radial direction.
Is separated from the ground 11 to allow the front body 15 to advance, and the gripper jack 28 of the gripper device 26 of the rear body 16 is operated in the extending direction to guide the guide member 30 and the gripper 3.
2 and 2 are moved outward in the radial direction, and the gripper 32 is projected from the inside of the case 27 and pressed against the ground 11. At the same time, the spike jack 34 is actuated in the extension direction so that the spike 35 bites into the ground 11, and the rear case 16 is fixed to the ground 11 so that the excavation reaction force of the tunnel excavator can be retained.

Next, the cutter head 10 attached to the front surface of the front case 15 is rotated and the thrust jack 17 is operated in the extending direction to advance the front case 15 to excavate the ground 11 in a tunnel shape. Force above ground 11
After the pressing, the body 16 is held by the gripper device 26 and the spike device 33. And thrust jack 1
7 is extended to the stroke end, the gripper device 26 of the front body 15 is operated in the extending direction to press the gripper 32 against the ground 11 and fixed, while the gripper device 26 of the rear body 16 is operated in the contracted direction to operate the gripper 32. Is separated from the ground 11, and then the thrust jack 17 is operated in the contracting direction to draw the rear body 16 toward the front body 15. Then, the ground 11 is excavated in the same manner as the tunnel.

By the way, depending on the conditions of the ground 11, the excavation construction method, etc., it is necessary to hold the front trunk 15, the cutter head 19 and the rear trunk 16 at the center of the tunnel. In this case, the holding force can be confirmed by controlling the amount of displacement of the gripper device 26 in the extension direction and the contact pressure with the ground 11 generated with the displacement.

Therefore, in this embodiment, the gripper jack 28 of the gripper device 26 employs the control system shown in FIGS. That is, FIG. 1 is a control block diagram of the gripper jack 28, FIG. 2 is a hydraulic circuit diagram, and FIG. 3 is a control flowchart.

To explain this, first, in FIG.
Reference numeral 1 is a switching device for switching the input signal to the servo amplifier 59, which inputs the signal of the position setting device 52 or the load setting device 5
The switch 58 selects whether the signal No. 3 is input.
Numeral 54 is a center monitor for detecting a deviation between the center of the front trunk 15 or the rear trunk 16 and the center of the tunnel. introduce.

The signal from the servo amplifier 59 activates the electrohydraulic servo valve 60 to supply and discharge the oil from the hydraulic pump 64 (see FIG. 2) to the gripper jack 28. The operation amount (displacement amount) of the gripper jack 28 is detected by the above-described displacement detector 59, and the operation force (load load) is detected by the pressure detector 62 and fed back to the respective adders 55 and 57. It is like this.

FIG. 2 shows an example of the hydraulic circuit, in which a hydraulic pump 64 is driven by a motor 63 to send pressure oil to the circuit, and the maximum discharge pressure is set by a relief valve 65. In addition,
Although four systems of the electrohydraulic servo valve 60 and the gripper jack 28 are shown, they correspond to the four gripper devices 26 arranged at equal circumferences shown in FIG. Also, since each system is basically the same, only the leftmost system is numbered.

The electro-hydraulic servo valve 60, which receives the signal from the servo amplifier 59, switches between three positions A, B and C depending on whether the signal is positive, negative, or magnitude, and supplies pressure oil to the gripper jack 28. Eject and activate this. The displacement of the gripper jack 28 is detected by the displacement detector 39, and the output load is measured by the pressure detected by the pressure detector 62 and the pressure receiving area of the jack. In addition, 66 in FIG. 2 shows an oil tank.

FIG. 3 is a flow chart showing the control operation of the control device shown in FIGS.
The gripper device 26 _1, the thrust jack 17, after setting the initial conditions, such as shield jacks 22, Step P
_{At 2} , the gripper device 26 extends and the gripper jack stroke is set so that the gripper 32 substantially contacts the ground 11 in the tunnel.

Next, in step P ₃ , a displacement control mode for positioning the gripper jack 28 is entered, and when the deviation is minimized in step P ₄ , step P ₅
Gives a subtle extension signal to the gripper jack 28 to bring the gripper 32 into contact with the ground 11.

Next, when a pressure difference occurs between the pressure on the extension side and the pressure on the pullback side of the gripper jack 28 in step P ₆ , the load control mode is entered in step P ₇ . In the load control mode, (see step P ₈₎ and to maintain the contact pressure between the gripper 32 and the ground 11, the front torso 15 or rear body 16 is the ability to modify the eccentricity to match the center of the tunnel (step Referring P ₉ and step P _10). That is, the gripper jack 28 on the side leaning toward the ground 11
By increasing the pressure of, the tunnel center deviation is minimized.

When the tunnel center deviation is minimized in step P ₁₀ , excavation work is started in step P ₁₁ . At this time, the gripper device 26 of the front torso 15 needs to move forward with the extension of the thrust jack 17 in the displacement control mode, and the gripper device 26 of the rear torso 16 of the spike device 33 described with reference to FIGS. Together with the effect, it is firmly held on the ground 11 in the load control mode.

The present invention is not limited to the above embodiment,
It goes without saying that various changes can be made without departing from the spirit of the present invention.

[0030]

As described above, the gripper device for a tunnel excavator according to the present invention operates the gripper device and the spike device of the front body in the extending direction, and further controls the displacement or load of the gripper jack to ground the front body. While it is fixed to the rear torso, the gripper device and the spike device of the rear torso are operated in the contracting direction to separate the devices on the rear torso side from the ground, while the thrust jacks are operated in the contracting direction to move the rear torso of the front torso. Pull in the direction. When the rear body is fixed to the ground by operating the rear body gripper device and the spike device in the extension direction and further controlling the displacement of the gripper jack or controlling the load, the front body gripper device and the spike device are moved in the contraction direction. Actuated to separate these front torso side devices from the ground,
The thrust jack can be actuated in the extension direction to advance the front body to perform excavation. Therefore, even when the ground is soft rock consisting of semi-solid sedimentary layers (soft rock with low consolidation and density, brittle and fragile soft rock), the excavation reaction force can be sufficiently maintained and the tunnel excavator is retracted. It is possible to prevent rolling and breakage of the segment without having to do so, and to secure the safety inside the mine.

Further, in the case of steep digging with a small radius of curvature, it is necessary to increase the amount of excess digging and the body of the tunnel excavator is subjected to an excessive load in the lateral direction. Since the reaction force is held by the gripper device and the spike device, there is an effect that the excavation speed is not reduced.

[Brief description of the drawings]

FIG. 1 is a control block diagram according to a first embodiment of the present invention.

FIG. 2 is a hydraulic circuit diagram according to the first embodiment of the present invention.

FIG. 3 is a control flowchart for each of the left, right, upper and lower gripper devices;

FIG. 4 is a vertical sectional side view showing an embodiment of the gripper device of the tunnel excavator.

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is an explanatory diagram of the operation.

FIG. 7 is an operation explanatory view of the same.

FIG. 8 is a vertical sectional side view showing a gripper device of a conventional tunnel excavator.

9 is a sectional view taken along line VIII-VIII of FIG.

[Explanation of symbols]

 15 front body 16 rear body 26 gripper device 33 spike device 39 displacement detector 51 switcher 52 position setter 53 load setter 54 center monitor 55, 56, 57 adder 59 servo amplifier 60 electro-hydraulic servo valve 62 pressure detector

Claims (1)

(57) [Claims] A gripper device for gripping a tunnel ground is provided on an outer peripheral portion of a front trunk and a rear trunk of an excavator body, a spike device is provided in the gripper device so as to be able to protrude and retract, and a displacement for controlling the amount of protrusion of the gripper device is provided. A gripper device for a tunnel excavator, which has a control mode and a load control mode for controlling a ground pressure between the gripper device and the tunnel ground.