JP3876255B2 - Method and apparatus for checking and maintaining chamber of tunnel excavator and tunnel excavator provided with the apparatus - Google Patents

Description

  The present invention relates to a chamber excavator inspection / maintenance method and apparatus for inspecting / maintaining a tunnel excavator and a face via a manipulator inserted into the chamber of the tunnel excavator, and a tunnel excavator provided with the apparatus. .

  FIG. 6 shows an outline of a conventional tunnel excavator.

  As shown in the figure, a bulkhead 101 is fixed to the front portion of a cylindrical excavator main body 100, and a rotary shaft 104 of a cutter head 103 is rotatably supported by the bulkhead 101 via a bearing 102. Has been. The cutter head 103 is provided with a number of cutter bits 105 for excavating the front face on the front surface, and a chamber 106 for collecting excavated earth and sand is formed between the cutter head 103 and the bulkhead 101. Yes. The front end of the screw conveyor 107 enters the chamber 106 so that the excavated earth and sand in the chamber 106 can be discharged to the rear of the excavator body 100. A drive motor 108 is attached to the rear portion of the cutter head 103, and the cutter head 103 is rotated by the drive motor 108.

  Therefore, when the excavator body 100 is advanced by a shield jack or the like (not shown) while the drive motor 108 is driven and the cutter head 103 is rotated, the cutter bit 105 of the cutter head 103 can excavate the front face. . Then, the excavated earth and sand are taken into the chamber 106 through the slits of the cutter head 103 and discharged from the tunnel through the screw conveyor 107 and the earth discharging pipe.

JP-A-4-118499

  By the way, when the adhesion force of earth and sand is high under the operation of the tunnel excavator described above, the excavated earth and sand are adhered and consolidated in the chamber 106, and it becomes extremely difficult to flow into the screw conveyor 107, and the excavation efficiency is lowered. Similarly, even if the cutter bit 105 is worn, the excavation efficiency decreases. Furthermore, if an obstacle present on the face is encountered, it may be impossible to dig.

  When the digging efficiency is reduced or the digging is impossible, the worker has conventionally entered the chamber 106 to remove the compacted sediment, inspect and replace the cutter bit 105, and check the face condition. It was.

  However, in order for the worker to enter the chamber 106 and perform the work safely, it is necessary to improve the ground in advance by a chemical solution injection method, a freezing method, or the like, which requires a long work period and a large ground improvement cost. There was a problem that it was necessary. In addition, there are many cases in which the pneumatic construction method is used together. In this case, there is a problem that the burden on the worker in a harsh environment increases and the work efficiency also decreases.

  In Patent Document 1, as a cutter bit exchanging method and apparatus for a shield machine, a work box equipped with a manipulator is advanced in a chamber, and a manipulator and a cutter bit exchanging jig attached to the tip of the manipulator are installed from the work box. A technique for exchanging a cutter bit in front of a cutter head by remote control is disclosed.

  However, in the technique disclosed in Patent Document 1, the work is specialized only for exchanging the cutter bit, and the removal of the compacted earth and sand as described above, the inspection of the cutter bit, and the face situation Since work such as confirmation cannot be performed, there is a drawback that it is not possible to sufficiently cope with long-distance construction of a tunnel excavator. Further, since each work box equipped with a manipulator is advanced into the chamber, there is a disadvantage that the structure becomes large and the cost is increased.

  The present invention solves such a problem, and inspection and maintenance work for tunnel excavator and face is performed mechanically and efficiently without relying on human work, thereby reducing the work time for inspection and maintenance. It is an object of the present invention to provide a tunnel excavator chamber inspection / maintenance method and apparatus, and a tunnel excavator equipped with the apparatus, which can be greatly shortened.

  A chamber inspection / maintenance apparatus for a tunnel excavator according to the present invention for achieving the above-described object includes a bulkhead fixed to a front portion of a tubular excavator body and preventing intrusion of excavated soil into the inside. A tunnel excavator in which a chamber for accumulating excavated earth and sand is defined between the bulkhead and a cutter head mounted in front of the bulkhead and excavating a front face by rotational driving. The chamber inspection / maintenance device is located on the side, and the chamber inspection / maintenance device has a manipulator in the device body that is opened and closed by a gate provided in the bulkhead. It is possible to store it, and an inspection camera and a high-pressure water nozzle for cleaning are attached to the tip of the manipulator.

  The cleaning high-pressure water nozzle includes a lens cleaning high-pressure water nozzle of the inspection camera and a compacted soil cleaning high-pressure water nozzle for removing and cleaning the consolidated soil.

  A scale for measuring the amount of wear of the cutter attached to the cutter head is attached to the tip of the manipulator.

  Further, the chamber inspection / maintenance method for a tunnel excavator according to the present invention includes a bulkhead that is fixed to a front portion of a tubular excavator body and prevents intrusion of excavated soil into the inside, and a front of the bulkhead. A tunnel excavator in which a chamber for accumulating excavated earth and sand is defined between a cutter head mounted on the cutter head and excavating a front face by rotational driving. The manipulator is advanced into the chamber when the provided gate is opened, and the tip of the manipulator is moved to the target position while checking the target position with the inspection camera attached to the tip of the manipulator. High pressure water is sprayed from the attached high pressure water nozzle for cleaning toward the periphery of the target to wash the periphery of the target.

  After the periphery of the target is cleaned, the target is inspected and maintained by an inspection camera.

  After cleaning the periphery of the target, the lens is cleaned by spraying high-pressure water from a cleaning high-pressure water nozzle toward the lens of the inspection camera.

  The inspection camera attached to the cutter head is moved in parallel with one manipulator to take a plurality of photographs, and a three-dimensional image is formed from the overlap of the images. It is characterized by measuring the amount of wear.

  A tunnel excavator according to the present invention includes a tubular excavator main body, a bulkhead fixed to the front portion of the excavator main body to prevent intrusion of excavated earth and sand, and a front of the bulkhead. And a chamber for excavating the front face by rotational driving, and a chamber defined between the bulk head and the cutter head for accumulating excavated earth and sand, on the rear surface side of the bulk head. A chamber inspection / maintenance device is provided.

  According to the configuration of the present invention, inspection and maintenance work for tunnel excavator and face can be performed mechanically and efficiently without depending on human work, and the work time required for inspection and maintenance can be greatly reduced. . In addition, since only the manipulator advances into the chamber, it is possible to prevent the apparatus from becoming large compared to the case where the apparatus main body also advances.

  Hereinafter, a chamber inspection / maintenance method and apparatus of the present invention and a tunnel excavator equipped with the apparatus will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic view of a tunnel excavator showing Embodiment 1 of the present invention, and FIG. 2 is a detailed view of essential parts of a chamber inspection / maintenance apparatus.

  As shown in FIG. 1, a bulkhead 2 is fixed to a front portion of a cylindrical excavator body 1 of a tunnel excavator (such as a mud pressure shield excavator), and a bearing 3 is attached to the bulkhead 2. The rotary shaft 5 of the cutter head 4 is supported rotatably. The cutter head 4 is provided with a number of cutter bits 6 for excavating the front face on the front surface, and a chamber 7 for accumulating excavated sediment is formed between the cutter head 4 and the bulkhead 2. Yes.

  The front end of the screw conveyor 8 enters the chamber 7 so that excavated earth and sand in the chamber 7 can be discharged to the rear of the excavator body 1. A drive motor 9 is mounted on the rear portion of the cutter head 4, and the cutter head 4 is rotated by the drive motor 9.

  Accordingly, when the excavator body 1 is advanced by a shield jack or the like (not shown) while the drive motor 9 is driven and the cutter head 4 is rotated, the cutter bit 6 of the cutter head 4 can excavate the front face. . And excavated earth and sand are taken in into the chamber 7 from the slit of the cutter head 4, etc., and are discharged | emitted from this to the exterior of a tunnel by the screw conveyor 8 and a soil discharge pipe.

  In this embodiment, one chamber inspection / maintenance device 10 is installed above the bulkhead 2 in the illustrated example. The chamber inspection / maintenance apparatus 10 is not limited to the upper part of the bulkhead 2 and may be installed in a plurality of other parts.

  As shown in FIG. 2, the chamber inspection / maintenance device 10 is connected to and disconnected from the chamber 7 by opening and closing the gate 11 connected to the rear of the gate 11 and the gate 11 assembled to the bulkhead 2. A fixed outer cylinder (device main body) 12, a movable inner cylinder 14 with an earth and sand seal 13 slidable in the longitudinal direction (the longitudinal direction of the excavator main body 1), and the movable inner cylinder 14. And a fixed outer cylinder 12 and a jack 15 that slides the movable inner cylinder 14, and a manipulator (or position-controllable multi-axis arm robot) 16 supported on the front surface of the movable inner cylinder 14. Is provided.

  An inspection camera 18 with illumination and zoom, a high-pressure water nozzle 19 for cleaning the lens of the inspection camera 18, and a high-pressure water nozzle 20 for cleaning compacted sediment are attached to the tip of the manipulator 16 through a mounting plate 17. ing. The direction of the nozzle of the high-pressure water nozzle 19 for lens cleaning is bent so that high-pressure water (for example, 1 MPa) can be sprayed toward the lens of the inspection camera 18. The high pressure water nozzle 20 for cleaning the compacted sand is directed straight forward so that high pressure water (for example, 7.5 MPa) can be sprayed onto a required portion (target) to remove and clean the compacted soil.

  The inspection camera 18 is connected to a controller (not shown) mounted on the excavator body 1 via a cable (not shown) together with the manipulator 16, and a monitor device (not shown) is also connected to the controller. The high-pressure water nozzle 19 for cleaning the lens and the high-pressure water nozzle 20 for cleaning the compacted sediment are connected to a cleaning pump unit (not shown) on the subsequent carriage (not shown) connected to the excavator body 1 via a hose (not shown). In addition, the jack 15 is connected to a hydraulic pump unit (not shown) on a subsequent carriage (not shown) connected to the excavator body 1 via a hose (not shown). The cleaning pump unit and the hydraulic pump unit are also connected to the controller.

  Accordingly, the operation of the manipulator 16, the inspection camera 18, the lens cleaning high-pressure water nozzle 19 and the compacted sediment cleaning high-pressure water nozzle 20 is remotely controlled by the controller, and the image of the inspection camera 18 is displayed on the monitor device. It is.

  Because of this configuration, when inspecting / maintaining the tunnel excavator and the face, the gate 11 is opened with the manipulator 16 stored in the fixed outer cylinder 12 in the figure (the gate 11 is opened at the site). When the movable inner cylinder 14 is moved forward by the extension of the jack 15, the manipulator 16 advances into the chamber 7. Even when the gate 11 is opened, the earth and sand seal 13 is mounted on the outer peripheral surface of the movable inner cylinder 14, so that earth and sand and muddy water do not enter the excavator body 1.

  Since the manipulator 16 has, for example, six degrees of freedom, the tip of the manipulator 16 can be moved to an arbitrary position from the back of the excavator body 1 by remote control. At this time, the situation in front of the manipulator 16 can be confirmed from the image projected on the monitor device by the inspection camera 18.

  When removing and washing the consolidated soil in the chamber 7 or around the cutter bit 6, the tip of the manipulator 16 is placed at the target position while confirming the consolidated position from the image projected on the rear monitor device (hereinafter referred to as a monitor image). The high pressure water is jetted from the high pressure water nozzle 20 for washing the compacted earth and sand toward the compacted earth and sand part by remote operation.

  Even when the compacted earth and sand part exists over a wide range, the compacted earth and sand can be easily removed by continuously injecting high-pressure water toward the compacted part while moving the tip of the manipulator 16.

  In addition, if the sand and sand adhered to the periphery of the cutter bit 6 is removed and washed, inspection / maintenance of the cutter bit 6 using the monitor image becomes possible. Similarly, if the area around the obstacle existing on the face is washed, the face obstacle can be confirmed by the monitor image.

  Moreover, if high pressure water is jetted from the high pressure water nozzle 20 for washing the compacted sediment, the splashed water droplets and dirt may adhere to the lens of the inspection camera 18 and the monitor image may become unclear. In that case, the lens may be cleaned by spraying high-pressure water from the high-pressure water nozzle 19 for lens cleaning toward the lens every time it adheres.

  When the inspection / maintenance work is completed, the manipulator 16 is returned to the storage position, and when the gate 11 is closed, the shield can be dug again.

  In addition, the inspection / maintenance object is not only an obstacle existing on the cutter bit 6 and the face, but can also be a monitor image (for example, gravel, foreign matter, face soil condition, etc. existing in the chamber 7). . Further, at the time of each inspection / maintenance operation described above, the work may be performed in a state in which the face side from the bulkhead 2 is pressurized by the partial pressure construction method in order to prevent the earth and sand from collapsing into the chamber 7.

  In this way, in this embodiment, it is possible to remove the compacted soil and check the inside of the chamber 7 and the face safely without an operator entering the chamber 7 and easily without opening the face. . Moreover, since only the manipulator 16 advances into the chamber 7, it is avoided that the apparatus becomes large compared with the case where the movable inner cylinder 14 also advances.

  FIG. 3 is a detailed view of the essential parts of a chamber inspection / maintenance apparatus showing Embodiment 2 of the present invention.

  This is because the L-shaped cutter bit scale 21 is attached to the mounting plate 17 of the manipulator 16 in the first embodiment, and the sediment adhering to the cutter bit 6 is removed with the high-pressure water from the high-pressure water nozzle 20 for compacted sediment washing. In this example, the scale 21 is moved along the worn part of the cutter bit 6 after cleaning, and the height of the cutter bit 6 (strictly, the chip 6a) can be measured through the monitor image with the scale displayed on the scale 21. is there.

  According to this, in addition to the same operation and effect as in the first embodiment, there is an advantage that the inspection and maintenance of the cutter bit 6 can be easily performed.

  FIG. 4 is a detailed view of the essential parts of a chamber inspection / maintenance apparatus showing Embodiment 3 of the present invention.

  As in the second embodiment, a roller cutter scale 22 having a V-groove measuring unit is attached to the mounting plate 17 of the manipulator 16 in the first embodiment, and the roller cutter 6A mounted on the cutter head 4 is attached to the roller cutter 6A. After the adhering earth and sand are removed and washed with high-pressure water from the high-pressure water washing nozzle 20 for compacting earth and sand, the V-groove measuring part of the scale 22 is inserted into the outer peripheral wear part of the roller cutter 6A from the rear, and the roller cutter 6A. This is an example in which the amount of wear can be measured by reading a gap a generated between the scale 22 and the scale 22 through a monitor image. Since the roller cutter 6A itself rotates with the rotation of the cutter head 4 during digging, wear occurs uniformly on the outer periphery of the roller cutter 6A. Therefore, the measurement position may be behind the roller cutter 6A.

  According to this, in addition to the same operation and effect as the first embodiment, there is an advantage that the roller cutter 6A can be easily inspected and maintained.

  FIG. 5 is a detailed view of the essential parts of a chamber inspection / maintenance apparatus showing Embodiment 4 of the present invention.

  The chamber inspection / maintenance apparatus in the first embodiment is used to take a plurality of photographs translated with respect to the cutter bit 6 at one measurement position by the inspection camera 18, and each image is processed by the image processing unit of the controller. This is an example in which a three-dimensional image is formed from the overlapping of the three, and the height of the cutter bit 6 (strictly, the chip 6a) can be measured from the three-dimensional image.

  According to this, in addition to the same operation and effect as in the first embodiment, there is an advantage that the inspection and maintenance of the cutter bit 6 or the roller cutter 6A can be easily performed without using a scale.

  The tunnel excavator according to the present invention can be applied not only to a mud pressure shield excavator but also to an earth pressure shield excavator, a mud shield excavator, a mechanical shield excavator, a tunnel boring machine (TBM), and the like. .

It is the schematic of the tunnel excavator which shows Example 1 of this invention. It is a principal part detail drawing of a chamber inspection and maintenance apparatus similarly. It is a principal part detail drawing of the chamber inspection and maintenance apparatus which shows Example 2 of this invention. It is a principal part detail drawing of the chamber inspection / maintenance apparatus which shows Example 3 of this invention. It is a principal part detail drawing of the chamber inspection and maintenance apparatus which shows Example 4 of this invention. It is the schematic of the conventional tunnel excavator.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Excavator body, 2 Bulk head, 3 Bearing, 4 Cutter head, 5 Rotating shaft, 6 Cutter bit, 6A Roller cutter, 7 Chamber, 8 Screw conveyor, 9 Drive motor, 10 Chamber inspection / maintenance device, 11 Gate, 12 Fixed outer cylinder, 13 earth and sand seal, 14 movable inner cylinder, 15 jack, 16 manipulator, 17 mounting plate, 18 inspection camera with illumination and zoom, 19 high pressure water nozzle for lens cleaning, 20 high pressure water nozzle for compacted sediment cleaning, 21 Cutter bit scale, 22 Roller cutter scale.

Claims (8)

  A bulkhead fixed to the front of the tubular excavator main body to prevent the intrusion of excavated sediment into the interior, and a cutter head mounted in front of the bulkhead and excavating the front face by rotational drive In the tunnel excavator formed with a chamber for accumulating excavated sediment, a chamber inspection / maintenance device is provided on the rear surface side of the bulkhead, and the chamber inspection / maintenance device is A manipulator is stored in an apparatus main body that is opened and closed by a gate provided in the head, and when the gate is opened, an advancement into the chamber is possible, and an inspection camera and a cleaning high-pressure water nozzle are provided at the tip of the manipulator. A chamber inspection / maintenance device for a tunnel excavator characterized by being attached.   2. The tunnel according to claim 1, wherein the high-pressure water nozzle for cleaning includes a high-pressure water nozzle for lens cleaning of the inspection camera and a high-pressure water nozzle for cleaning consolidated sand for removing and cleaning the consolidated soil. Excavator chamber inspection and maintenance equipment.   The chamber inspection / maintenance device for a tunnel excavator according to claim 1 or 2, wherein a scale for measuring a wear amount of a cutter attached to a cutter head is attached to a tip portion of the manipulator.   A bulkhead fixed to the front of the tubular excavator main body to prevent the intrusion of excavated sediment into the interior, and a cutter head mounted in front of the bulkhead and excavating the front face by rotational drive In the tunnel excavator having a chamber for accumulating excavated earth and sand, the manipulator is advanced into the chamber when the gate provided on the bulkhead is opened from the rear side of the bulkhead, and the manipulator While checking the target position with the inspection camera attached to the tip, move the tip of the manipulator to the target position, and then inject high-pressure water around the target from the high-pressure water nozzle for cleaning attached to the tip of the manipulator A method for inspecting and maintaining a chamber of a tunnel excavator characterized by cleaning the periphery of the target.   5. The chamber inspection / maintenance method for a tunnel excavator according to claim 4, wherein the inspection / maintenance of the target is performed with an inspection camera after the periphery of the target is cleaned.   6. The chamber of a tunnel excavator according to claim 4 or 5, wherein after cleaning around the target, the lens is cleaned by spraying high-pressure water from a high-pressure water nozzle for cleaning toward the lens of the inspection camera. Inspection and maintenance methods.   The inspection camera attached to the cutter head is moved in parallel with one manipulator to take a plurality of photographs, and a three-dimensional image is formed from the overlap of the images. 7. A method for checking and maintaining a chamber of a tunnel excavator according to claim 4, wherein the amount of wear of the tunnel excavator is measured.   A tunnel excavator provided with the chamber inspection / maintenance device according to any one of claims 1 to 3, wherein the excavator main body has a tubular shape, and is fixed to the front portion of the excavator main body. A bulkhead that prevents intrusion of excavated earth and sand, a cutter head that is mounted in front of the bulkhead and that excavates the front face by rotational driving, and is defined between the bulkhead and the cutterhead to remove excavated earth and sand A tunnel excavator comprising: a chamber for accumulation; and the chamber inspection / maintenance device on a rear surface side of the bulkhead.

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