JP3456700B2 - Sliding material injection control method for leading pipe and method for controlling slip material injection amount - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to water and sewer pipes, gas pipes,
The present invention relates to tunnel excavation equipment for burying power line pipes, etc. by non-excavation, and particularly for tunnel excavation equipment used in the so-called pipe propulsion method in which pipes are sequentially added and propelled by a pushing device (propulsion jack) installed in the starting shaft. The present invention relates to a lubricant injection control method for a front conduit and a lubricant injection amount control method.

[0002]

2. Description of the Related Art In the pipe propulsion method, generally, an original pushing device (propulsion jack) installed in a starting shaft propels a leading conduit having a cutter head while adding pipes forming a tunnel. When propelling the front conduit, a lubricant is injected from the front conduit into the surrounding ground to reduce the resistance received from the ground to facilitate the propulsion and prevent breakage of the pipe. In the injection of the lubricant, the operator conventionally reads the propulsion resistance displayed on the control device and adjusts the injection amount of the lubricant based on the experience and intuition of the operator. In addition, the adjustment of the propulsion force by the propulsion jack is performed by the operator checking the propulsion resistance displayed on the control device, similar to the injection of the lubricant, and based on experience and intuition, the relief of the hydraulic system that drives the propulsion jack. The valve was adjusted and the output of the propulsion jack was controlled so that the load capacity of the pipe used (the load that the pipe can withstand without being damaged) is not exceeded.

[0003]

However, when the injection amount of the lubricant is obtained based on the experience and intuition of the operator as described above, not only is the experience and skill of the operator affected, but a constant result is always obtained. Cannot be achieved, and the loss of lubricant due to excessive injection of lubricant and construction accuracy are affected. Also, when adjusting the propulsion force based on the experience and intuition of the operator,
(1) Since the propulsion work is performed while paying attention to the pipe load bearing capacity, the operator's burden is large. (2) Due to human error,
Propulsion pressure exceeding the pipe load bearing capacity is applied to the propulsion pipe, and there is a risk that the propulsion pipe may burst.

The present invention has been made to solve the above-mentioned drawbacks of the prior art, and an object thereof is to make it possible to appropriately control the injection of the lubricant.

[0005]

In order to achieve the above object, the lubricant injection control method for a front conduit according to the present invention is driven by a rear propulsion force generating means to give a propulsion force. A method of controlling the injection of lubricant from the lubricant outlet of the previous conduit into the surrounding ground, which is the pipe type, pipe diameter, soil quality, total propulsion length, etc. that were input in advance prior to the propulsion work. The pipe load-bearing capacity is obtained from the construction conditions of, the propulsion force generated by the propulsion force generation means and the propulsion distance are measured during the propulsion work, and the reaching shaft is reached by the measured propulsion distance and the respective enforcement conditions. Predicted propulsive resistance of, the predicted final propulsive force when reaching the reaching shaft from the measured propulsive force and the predicted propulsive resistance is obtained, and the predicted final propulsive force is compared with the pipe load capacity previously obtained, and the predicted final When the propulsion force exceeds the pipe load capacity,
The feature is that the lubricant is discharged from the lubricant discharge port of the leading conduit.

According to the above-described lubricant injection control method, when the predicted final propulsive force at the arrival at the reaching shaft exceeds the pipe load bearing capacity, the lubricant is discharged from the lubricant discharge port of the leading conduit. It will be possible to propel the front conduit with proper propulsive force. In other words, it is possible to avoid wasteful injection of the lubricant, which enables cost reduction. Moreover, since it is possible to secure an appropriate propulsion force, it is possible to prevent an unnecessary load from being applied to the cutter portion and the propulsion force generation means provided in the leading conduit, reducing the occurrence of various machine failures and shortening the life of the device. It can be extended. Further, it is possible to prevent excessive operation of the hydraulic pressure relief valve of the propulsive force generating means, to perform safe construction, to prevent damage to the pipe, and to improve construction efficiency.

Further, the method for controlling the amount of lubricant injected into the front conduit is such that the lubricant from the lubricant discharge port to the surrounding ground in the front conduit, which is propelled by the rearward propulsive force generating means, propels the lubricant. A method of controlling the injection amount, during the propulsion work, measuring the propulsion force and the propulsion distance generated by the propulsion force generation means, and given in advance, the pipe type, pipe diameter, soil conditions, etc. , The theoretical propulsion resistance at the time of measurement is calculated based on the measured propulsion distance, and when a value ΔF obtained by subtracting the theoretical propulsion resistance from the measured propulsion force is larger than a preset allowable deviation ΔFo, a predetermined slippage is determined. The feature is that the lubricant is injected in an amount obtained by multiplying the reference injection amount Qo of the material by the ratio of ΔF to ΔFo.

According to the above-described lubricant injection amount control method, since the lubricant is injected in an amount obtained by multiplying the predetermined reference injection amount Qo of the lubricant by the ratio of ΔF to ΔFo, the injection of the lubricant suitable for propulsion is performed. In addition to being able to save the amount of lubricants and reduce the cost of tunnel construction, it is possible to prevent overloading of the tunnel excavation equipment, reduce the breakdown of various machines, and extend the service life. Can be planned. Further, since the pipe is not damaged, the construction efficiency can be improved.
Further, since it is possible to prevent an excessive load from being applied, it is possible to prevent the hydraulic relief valve from overoperating, and it is possible to perform a safe construction by automatically setting the relief pressure. That is, even if not a skilled operator, the occurrence of breakage of the pipe can be eliminated, and energy saving and efficient and safe construction can be performed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a tunnel excavating device according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows a schematic configuration of a tunnel excavation device according to an embodiment of the present invention.

In FIG. 1, a cutter head 12 is provided at the tip of the leading conduit 10. A screw 14 for discharging soil for transporting the soil excavated by the cutter head 12 is provided along the axial direction at the center of the leading conduit 10. A lubricant discharge port 16 for discharging lubricant is formed on the peripheral surface of the leading conduit 10. This discharge port 16 is provided in the conduit 1
It is connected via 8 to an injection pump 20 which is a lubricant injection means. Then, the injection pump 20 sucks the lubricant in the lubricant tank 22 and pressure-feeds it to the discharge port 16, and injects the lubricant from the discharge port 16 into the ground around the leading conduit 10.

Behind the front conduit 10, a propulsion jack 24 is provided.
Has been placed. The propulsion jack 24 is installed in a start shaft (not shown), is supplied with pressure oil from a hydraulic pump 26, and serves as a propulsion force generation unit that gives a propulsion force to the forward conduit 10. The hydraulic pump 26 and the infusion pump 20 are controlled by the controller 30 whose details will be described later.

As shown in FIG. 2, the controller 30 includes a hydraulic pressure sensor 34 as a propulsive force detecting means provided in a hydraulic circuit of the propulsion jack 24 via an input / output interface (I / O) 32, and a controller 30. A keyboard 36 for inputting various kinds of data and commands is connected to a proximity switch (proximity SW) 38 that outputs a signal each time the propulsion jack 24 has completed propelling a single pipe. Based on the information input from these, the injection amount of the lubricant is obtained as described later. A pump controller 42 for directly controlling the lubricant injection pump 20 is connected to the controller 30 via the I / O 40.

The controller 30, as shown in FIG.
A lubricant injection start determination unit 50, a lubricant injection amount calculation unit 60,
The propulsion state determination unit 70 is included. Further, the controller 30 receives the output of the proximity switch 38, and a propulsion distance calculation unit 80 that obtains a distance for propelling the front conduit 10 from the given length of the pipe, and a pipe type or excavation input from the keyboard 36. The output of the memory 82 for storing the arithmetic expression for obtaining the soil quality, the target propulsion length, the propulsion resistance and the coefficient thereof, and the output of the lubricant injection start determination unit 50, the lubricant injection amount calculation unit 60, and the propulsion state determination unit 70. And an injection amount control unit 84 that receives and outputs a control signal to the pump controller 42. The calculation of the propulsion distance is not limited to this, and the actual length may be measured using a cable length sensor or the like.

The lubricant injection start judgment unit 50 calculates a predicted propulsion resistance for predicting the final propulsion resistance when the reaching shaft is reached from the data in the memory 82 and the propulsion distance calculated by the propulsion distance calculation unit 80. A circuit 52 and a final propulsion force calculation circuit 54 that calculates a final propulsion force based on the hydraulic pressure of the propulsion jack 24 detected by the hydraulic pressure sensor 34, that is, the propulsion force and the output of the predicted propulsion resistance calculation circuit 52, The pipe load bearing capacity stored in the memory 82 is compared with the value obtained by the final propulsion force calculation circuit 54 to determine whether or not the pipe will be damaged by the final propulsion force. It is composed of a pipe damage judging circuit 56 for inputting an injection start signal.

From the data in the memory 82 and the propulsion distance obtained by the propulsion distance calculation unit 80, the lubricant injection amount calculation unit 60
A propulsion resistance calculation circuit 62 for obtaining a theoretical propulsion resistance at the propulsion distance, a deviation calculation circuit 64 for obtaining a deviation between the propulsion force detected by the hydraulic pressure sensor 34 and the propulsion resistance calculated by the propulsion resistance calculation circuit 62, and a deviation calculation It comprises an injection amount calculation circuit 66 which calculates the injection amount of the lubricant according to the deviation calculated by the circuit 64 and inputs it to the injection amount control unit 84.

The propulsion state determination unit 70 reads the propulsion force memory 72 that stores the propulsion force detected by the hydraulic pressure sensor 34 and the value stored in the propulsion force memory 72, and averages the values obtained when the propulsion is performed a plurality of times in the past. Value calculation circuit 74 for obtaining a dynamic propulsive force and the average propulsion force calculated by the average value calculation circuit 74 and the propulsion force detected by the hydraulic pressure sensor 34 are compared, and the injection amount control unit 84 stops the injection of the lubricant. It comprises an injection stop judgment circuit 76 for inputting a signal.

In the embodiment constructed as described above, prior to propulsion, the type of the pipe, the diameter of the pipe, the length Lb of one pipe to be buried, the final length from the reaching vertical shaft to the final vertical shaft, from the keyboard 36 and the external storage device. The controller 30 has calculation formulas and coefficients for obtaining the effective propulsion distance L0, soil quality, pipe load bearing capacity, and propulsion resistance.
And stored in the memory 82 (step 1 in FIG. 4).
00). Then, when the basic data is input and the propulsion is started in this way, the predicted thrust resistance calculation circuit 52 of the lubricant injection start determination unit 50 reads the coefficient of the formula for calculating the predicted thrust resistance from the memory 82. (Step 101). In addition, the propulsion distance calculation unit 80 counts the number of times of propulsion (the number of added pipes) N by a signal from the proximity switch 38, calculates the current propulsion distance L1 = Ls + N × Lb, and determines the injection of lubricant. It is input to the predicted thrust resistance calculation circuit 52 of the unit 50 and the thrust resistance calculation circuit 62 of the lubricant injection amount calculation unit 60. Here, Ls is the length of the leading conduit 10.

The predicted propulsion resistance calculation circuit 52 reads the current propulsion distance L1 obtained by the propulsion distance calculation unit 80 and calculates the remaining propulsion distance L2 = L0-L1 (step 10).
2, 103). Then, the prediction thrust resistance calculation circuit 52
The final predicted propulsion resistance F2 when the remaining propulsion distance L2 is promoted is calculated by the following equation (step 104) and input to the final propulsion force calculation circuit 54.

[Equation 1] However, R is a resistance force generated in a unit area of the outer peripheral surface of the pipe,
S is the outer peripheral length of the tube.

When the final propulsive force calculating circuit 54 receives the final predicted propulsive resistance F2 when reaching the reaching shaft from the predictive propulsive resistance calculating circuit 52, it reads the current propulsive force F1 detected by the hydraulic pressure sensor 34 ( In step 105, the final propulsion force Fa when reaching the target reaching shaft is obtained by the following equation and sent to the pipe breakage judging circuit 56 (step 10).
6).

[Equation 2]

The pipe damage determination circuit 56 stores the final propulsion force Fa input from the final propulsion force calculation circuit 54 in the memory 82.
Compare with the pipe load capacity FMAX stored in (Step 1
07). Then, when the pipe breakage judging circuit 56 judges that Fa <FMAX, the lubricant injection start judging unit 50 determines that the step 10
Returning to step 2, the above processing is repeated. However, as shown by the chain double-dashed line in FIG. 5, when Fa at the final propulsion distance L0 is expected to exceed FMAX and the pipe breakage judgment circuit 56 judges that Fa ≧ FMAX, the pipe breakage judgment circuit 5
Reference numeral 6 gives an injection start command of the lubricant to the injection amount control section 84 to end this processing. As a result, the controller 30
The injection pump 20 is driven to start the injection of the lubricant. Therefore, the propulsion resistivity (propulsion resistance per unit length) becomes small at the injection start point a, and the propulsion force as shown by the alternate long and short dash line in FIG. be able to.

On the other hand, when the initial value is set as in step 100, the lubricant injection amount calculation unit 60 reads the current thrust distance L1 obtained by the thrust distance calculation unit 80 by the thrust resistance calculation circuit 62. (Step 110 in FIG. 6), the theoretical propulsion resistance fS at L1 is calculated based on the following equation given in advance and sent to the deviation calculation circuit 64 (step 111).

[Equation 3] However, R and S are the same as the contents described in the above equation 1.

The deviation calculation circuit 64 is the propulsion resistance calculation circuit 6
When the propulsion resistance fS at the propulsion distance L1 obtained by 2 is input, the current propulsion force F1 detected by the hydraulic pressure sensor 34 is input.
Is read and the deviation ΔF = F1 -fs of the two is calculated and sent to the injection amount calculation circuit 66 (steps 112, 113).
Then, as in step 114, the injection amount calculation circuit 66 determines whether the deviation ΔF obtained by the deviation calculation circuit 64 is within the allowable deviation ΔFo with respect to the propulsion resistance fS obtained by the calculation (see FIG. 7). ). If ΔF ≦ ΔFo, the processing of the lubricant injection amount calculation unit 60 returns to step 110. However, as shown in FIG. 7, when ΔF> ΔFo, the injection amount calculation circuit 66 calculates the injection amount of the lubricant such that ΔF ≦ ΔFo according to the following equation and sends it to the injection amount control unit 84 ( Step 115).

[Equation 4] Here, Qo is a reference value for the amount of injected lubricant, which is determined by soil conditions, type of lubricant, etc., and Q is the injected amount of lubricant. When the injection amount control unit 84 gives a control signal according to the injection amount of the lubricant to the pump controller 42, the process of the lubricant injection amount calculation unit 60 returns to step 110.

As a result, not only is the injection amount of the lubricant suitable for propulsion obtained, the lubricant can be saved and the tunnel construction cost can be reduced, and also the tunnel excavation equipment can be prevented from being overloaded. Therefore, it is possible to reduce breakdowns of various machines and prolong the service life. Further, since the pipe is not damaged, the construction efficiency can be improved. And
Since it is possible to prevent an excessive load from acting, it is possible to prevent the hydraulic relief valve from overoperating, and it is possible to perform safe construction by automatically setting the relief pressure. That is, even if not a skilled operator, the occurrence of breakage of the pipe can be eliminated, and energy saving and efficient and safe construction can be performed.

On the other hand, the propulsion state determination unit 70 first reads the current propulsive force F1 detected by the hydraulic pressure sensor 34, stores it in the propulsive force memory 72, and the injection stop determination circuit 76, as in step 120 of FIG. To enter. Then, the average value calculation circuit 74 reads the propulsive force of the past several times (for example, ten times) immediately before the detected propulsive force F1 stored in the propulsive force memory 72, calculates the average value, and stops injection. Output to the judgment circuit 76 (step 12)
1). The injection stop determination circuit 76 determines whether or not the propulsive force F1 read this time is at least twice the average propulsive force determined by the average value calculation circuit 74 (step 122). Then, if the injection stop determination circuit 76 determines that the current propulsion force is smaller than twice the average propulsion force, the propulsion state determination unit 70 returns to step 120 and further reads the propulsion force F1 to perform the above processing, If it is more than double, step 1
23, the signal for stopping the injection of the lubricant is output, and the propulsion speed of the propulsion jack 24 is reduced.

This means that the detected propulsion force is more than twice the average propulsion force, which means that the propulsion resistance has changed abruptly. In such a case, it is generally not the normal propulsion resistance. , The state of the front of the cutter changes. And, in general, such a phenomenon is
Incorporation of soil from the cutter is improved to reduce the frontal resistance, and the frictional resistance (propulsion resistance) of the pipe, which is considered to be viscous resistance to soil, is decreased. Therefore, slowing down the propulsion speed can often solve the problem. Therefore, if the propulsion force (propulsion resistance) rises abnormally, the injection stop determination circuit 76 stops the injection of the lubricant and reduces the propulsion speed to determine whether the propulsion force (propulsion resistance) has returned to the normal state. Is determined (step 124). Then, the injection stop determination circuit 76
When the propulsion force returns to normal, a command to restart injection of the lubricant is given to the injection amount control unit 84 (step 125), and the process by the propulsion state determination unit 70 returns to step 120. The number of times the average value is calculated does not have to be 10, and the threshold value for detecting an abnormality is not limited to twice the average value.

[0026]

As described above, according to the present invention, the propulsive force generated by the propulsive force generating means is detected, and when the detected propulsive force is larger than the theoretical theoretically obtained propulsive resistance, By calculating the injection amount of lubricant according to the size and enabling injection of the appropriate lubricant to propel the front conduit with an appropriate propulsion force, it is possible to reduce costs by saving lubricant. Further, it is possible to prevent an unnecessary load from being applied to the cutter portion and the propulsive force generating means provided in the leading conduit, and it is possible to reduce the occurrence of failures and extend the life of the device.

Further, the propulsive force generated by the propulsive force generating means is detected, and when the detected propulsive force is larger than the allowable limit propulsive force determined according to the load bearing capacity of the pipe, the operation of the propulsive force generating means is stopped. Therefore, it is possible to avoid an artificial construction error such as breakage of the pipe, and it is possible to perform a safe construction.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a tunnel excavating device according to an embodiment.

FIG. 2 is a schematic configuration block diagram of an embodiment.

FIG. 3 is a block diagram of a controller of the tunnel excavating device according to the embodiment.

FIG. 4 is a flowchart illustrating an operation of a lubricant injection start determination unit of the controller according to the embodiment.

FIG. 5 is a diagram for explaining the injection start timing of the lubricant according to the embodiment.

FIG. 6 is a flowchart illustrating an operation of a lubricant injection amount calculation unit of the controller according to the embodiment.

FIG. 7 is a diagram showing how to determine the injection amount of the lubricant according to the embodiment.

FIG. 8 is a flowchart illustrating an operation of a propulsion state determination unit of the controller according to the example.

[Explanation of symbols]

10: Front conduit, 12: Cutter head, 16: Lubricant discharge port, 20: Lubricant injection means (injection pump), 24: Propulsion force generation means (propulsion jack), 30: Controller, 3
4: Propulsion force detection means (hydraulic pressure sensor), 50: Lubricant injection start determination unit, 60: Lubricant injection amount calculation unit, 70: Propulsion state determination unit, 80: Propulsion distance calculation unit, 84: Injection amount control unit, f
s: theoretical thrust, F1: thrust, F2: predicted thrust, F
a: predicted final propulsion force, FMAX: pipe load bearing capacity, ΔF: deviation, Δ
Fo: Allowable deviation, Q: Lubricant injection amount, Qo: Lubricant reference injection amount (lubricant injection amount reference value), L0: Total propulsion length (propulsion distance to the reaching shaft), L1: Propulsion distance.

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-59889 (JP, A) JP-A-5-141185 (JP, A) JP-A-57-77794 (JP, A) Actual Kaihei 2- 125096 (JP, U) Actual development Sho 64-19693 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 9/06

Claims (2)

(57) [Claims] 1. A method for controlling injection of a lubricant from a lubricant discharge port into a surrounding ground in a leading conduit which is propelled by a propulsive force generated by a rear propulsive force generating means. The pipe load capacity is calculated from the construction conditions such as the pipe type, pipe diameter, soil quality, and total propulsion length that are input in advance, and the propulsion force and the propulsion distance generated by the propulsion force generation means are calculated during the propulsion work. Measure, obtain the predicted propulsion resistance when reaching the reaching shaft by the measured propulsion distance and each of the enforcement conditions, and obtain the predicted final propulsion force when reaching the reaching shaft from the measured propulsion force and the predicted propulsion resistance. Comparing the predicted final propulsive force with a previously determined pipe load bearing capacity, when the predicted final propulsive force exceeds the pipe load bearing capacity, the lubricant is discharged from the lubricant discharge port of the lead conduit. Control method for injection of lubricant. 2. A method of controlling an injection amount of a lubricant from a lubricant discharge port of the leading conduit, which is propelled by a rearward thrust generating means to propel the surrounding lubricant,
During the propulsion work, the propulsive force generated by the propulsive force generating means and the propulsive distance are measured, and the predetermined working conditions such as pipe type, pipe diameter, and soil quality, and the measurement time point based on the measured propulsive distance. If the value ΔF obtained by subtracting the theoretical propulsion resistance from the measured propulsion force is larger than a preset allowable deviation ΔFo, the predetermined reference injection amount Qo of the lubricant is ΔF with respect to ΔFo. A method for controlling the injection amount of lubricant in the leading conduit, which comprises injecting an amount of lubricant that is multiplied by the ratio.