JP6573142B2 - Control method of half-folded tunnel excavator - Google Patents

Description

    The present invention relates to a method for controlling a middle-fold type tunnel excavator (shield excavator), and in particular, controls a directional control jack provided in a middle-folded portion during excavation and controls a propulsion jack of a rear trunk portion, The present invention relates to a method for controlling the position.

    Conventionally, tunnel boring machines (TBM) and shield methods are often used as methods for constructing tunnels. In shield methods, natural ground is excavated on the front side (front trunk) of a cylindrical skin plate. For this purpose, a shield machine equipped with a propulsion jack, an erector device, and the like is used inside the rear side (rear trunk) of the cutter head and the skin plate.

    Moreover, when curve construction is required, a middle-fold shield machine A is used, and this middle-fold shield machine has a plurality of front body parts 1 and rear body parts 2 as shown in FIG. The directional control jacks (intermediate bending jacks) are connected to each other, and the directional control jacks are extended and retracted so that they can be bent halfway to smoothly perform the curve construction.

    Patent Document 1 discloses a control method for a center type tunnel excavator. In this patent document 1, when bending and excavating while correcting the direction of the tunnel excavator, the front end surface of the front trunk portion always faces the target posture of the vertical plane set in the direction for correcting the trajectory of the tunnel excavator. In addition, the stroke of the direction control jack is controlled.

    Or, from the position / posture of the front torso during tunnel excavation and the target point provided on the planned line, set the target posture, which is the vertical plane during the excavation of the front torso, and The stroke of the direction control jack is controlled so that the tip surface faces the target posture.

    Or, from the position / posture of the front trunk of the tunnel excavator at the start of excavation to the target position / posture at the end of excavation, the arc with the minimum radius of curvature determined from the maximum bending angle of the front trunk and rear trunk Connect smoothly with virtual lines made of straight lines. Then, a plurality of vertical surfaces provided on the imaginary line are set as the target posture of the front trunk portion of the tunnel excavator being excavated, and the direction control jack is set so that the front end portion of the front trunk portion faces the target posture during excavation. To control.

    Or, the position / posture of the tip of the rear trunk of the tunnel excavator or the position / posture of the tip of the virtual front trunk obtained by extending the rear trunk in the direction of the front trunk, and the target point provided on the plan line Set the target control angle of the tunnel excavator. Then, the target force point position of the propulsion jack provided in the rear trunk is set from the function of the target force point position with respect to the target control angle, and the force point position assumed that all the thrust of the propulsion jack is applied matches the target force point position. The thrust of the propulsion jack is controlled.

Japanese Patent No. 2941671

    However, in the control method of Patent Document 1 described above, a jack pattern serving as a basis for performing jack pressure control calculation is set, and jack pressure distribution for obtaining a necessary thrust action point position is set to the jack pattern. It is obtained by the calculation used. And while this method can cover all points of action, it requires extremely complex calculations and requires a great deal of effort to enable accurate direction control. .

    Furthermore, the conventional folding tunnel excavator A as described above is mainly applied to small and medium calibers, and has little (not) a record of application to curved construction of large caliber tunnels. Theoretically, as shown in FIG. 1, the larger the aperture, the smaller the eccentricity e that produces the necessary rotational moment even at the same bending angle θ, so that the front body portion is bent. In addition to this, it is considered that it is necessary to control the propelling action point to generate an eccentric moment. For this reason, there is a strong demand for the development of a control method for a middle-folded tunnel excavator that allows the curved portion to be smoothly and accurately constructed even when the diameter increases.

    In view of the above circumstances, the present invention makes it possible to easily set the jack pressure distribution so that the curve construction can be smoothly and accurately controlled in direction, and can be reliably and suitably applied to a large-diameter curve construction. An object of the present invention is to provide a control method for a tunnel excavator.

    In order to achieve the above object, the present invention provides the following means.

    In the control method of the middle folding tunnel excavator of the present invention, the front trunk portion and the rear trunk portion are connected by a plurality of directional control jacks which are middle folding jacks, and the plurality of directional control jacks are driven to extend and retract. Controlling a middle-folded tunnel excavator configured to bend and bend the front trunk with respect to the trunk and to drive the ground by excavating and driving a plurality of propulsion jacks. A method of estimating a propulsion action point which is a power point of a propulsion resultant force by the propulsion jack by analyzing construction history data of the folding tunnel excavator, and a plan line of the tunnel Based on the propulsion action point range setting step for setting the necessary range of the propulsion action point that generates the necessary eccentric moment, and the split grid setting for dividing the necessary range of the propulsion action point into grids. And a jack pressure distribution pattern setting / storing step for storing a jack pressure distribution pattern which is a pressure distribution pattern of the propulsion jack so that the propulsion action point is located on the grid for each grid. The jack jack distribution pattern stored in the jack pressure distribution pattern setting / storage step is selected based on the estimated value obtained in the propulsion action point estimation step, and the propulsion jack is controlled.

    Further, in the control method for a middle-fold type tunnel excavator of the present invention, a middle-fold angle estimation for estimating a middle-fold angle (θ) that is a bending angle of the front trunk portion with respect to a rear trunk portion based on the construction history data. It is desirable to provide a step and control the direction control jack based on the estimated value obtained in the bending angle estimation step.

    In the control method of the middle-folded tunnel excavator of the present invention, a simple control system that directly selects a jack pressure distribution pattern prepared in advance is used without applying a complicated calculation, and a large section, main road tunnel, etc. It becomes possible to construct the curved portion smoothly and accurately. In addition, this control method has a jack pressure distribution pattern set to produce the necessary eccentric moment, so it can be applied not only to small and medium calibers but also to curved construction by shield excavators in large caliber tunnels. Therefore, it is possible to suitably realize simultaneous construction of efficient excavation and segment assembly.

It is a figure which shows the folding center type | mold tunnel excavator which concerns on one Embodiment of this invention. It is a figure which shows an example of the analysis of the construction log | history data in the control method of the folding tunnel excavator which concerns on one Embodiment of this invention. It is the figure used by description of the analysis of the construction log | history data in the control method of the folding tunnel excavator which concerns on one Embodiment of this invention. It is the figure used for description which divides | segments the required range of a propulsion action point into the grid in the control method of the folding tunnel excavator which concerns on one Embodiment of this invention. It is a figure which shows an example of the control pattern of a propulsion jack in the control method of the folding tunnel excavator which concerns on one Embodiment of this invention.

    Hereinafter, with reference to FIGS. 1 to 5, a control method for a folding tunnel excavator according to an embodiment of the present invention will be described.

    First, as shown in FIG. 1, the tunnel machine A according to the present embodiment includes a cutter head for excavating natural ground on the front side (front trunk portion 1) of the cylindrical skin plate, and the rear side of the skin plate. This is a shield machine equipped with a propulsion jack, an erector device, etc. inside the (rear trunk part 2), and a plurality of direction control jacks (middle folding jacks, The directional control jack is connected by a propulsion jack, and is bent by extending and contracting to smoothly perform the curve construction.

    In the control method of the middle-folded tunnel excavator A according to the present embodiment, first, the generation mechanism of the rotational moment acting on the tunnel excavator A in curve construction is applied, as shown in FIG. 2 and FIG. Analyze construction history data. Further, by analyzing the construction history data, the bending angle (θ) and the propulsion action point (Fx, Fy) are estimated (the bending angle / propulsion action point estimation step).

Next, as shown in FIG. 4, based on the construction cycle and the linear condition of the tunnel T, the necessary range (X _{min to} X _max , Y _{min to} Y) of the propulsion action point (Fx, Fy) that generates the necessary eccentric moment. _max )) (propulsion action point range setting step). Furthermore, based on the construction cycle and the linear condition of the tunnel, the number of segment pieces (P) to which simultaneous construction of natural ground excavation and segment assembly is applied is set (segment piece number setting step).

In the control method for the middle-folded tunnel excavator A according to the present embodiment, the division widths (W _x , W _y ) required for smooth attitude control of the shield excavator A in the propulsion action point range setting step. And the required range of propulsion action points is divided into N _x × N _y grids from N _x = (X _max −X _min ) / W _x and N _y = (Y _max −Y _min ) / W _y (Division grid setting process).

Moreover, the jack pressure distribution pattern number N _p needed for the propulsion jacks as shown in FIG. 5, the _{N p = P × n × N} x × N y with calculated (assembly pattern party hereto segment in this embodiment n = and 2) stores the jack pressure distribution pattern of the N _p Street (jack pressure distribution pattern setting / storage process).

    And in the control method of the middle folding type tunnel excavator A of this embodiment, the propulsion memorize | stored according to each assembly piece under simultaneous construction based on the estimated value obtained in the middle folding angle / propulsion action point estimation step. The jack pressure distribution pattern of the action point range setting process is selected, and each jack is controlled so as to become this jack pressure distribution pattern, so that the natural mountain excavation and the segment assembly are simultaneously performed.

    Therefore, in the control method of the middle-folded tunnel excavator A according to the present embodiment, a simple control system that directly selects a jack pressure distribution pattern prepared in advance without using a complicated calculation is used. Curved parts such as main tunnels can be constructed smoothly and accurately. In addition, this control method has a jack pressure distribution pattern set to generate the necessary eccentric moment, so it can be applied not only to small and medium calibers, but also to curved construction by shield excavators A in large caliber tunnels. Therefore, it is possible to suitably realize simultaneous simultaneous excavation and segment assembly.

    As mentioned above, although one embodiment of the control method of the folding tunnel excavator according to the present invention has been described, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof. It is.

For example, in this embodiment, the simultaneous construction of the ground excavation and the segment assembly is performed, and the number of segment pieces (P) to which the simultaneous construction of the local excavation and the segment assembly is applied is set based on the construction cycle and the linear condition of the tunnel. It was described as obtaining the jack pressure distribution pattern number _{n p} needed at _n p = P × n (segment assembly pattern) × _{n x} × _{n y.}
On the other hand, in the control method of the center-break type tunnel excavator according to the present invention, the jacks necessary based on the number of segment pieces (P) to which the simultaneous construction of the ground mountain excavation and the segment assembly is necessarily performed are applied. it is not necessary to determine the pressure distribution pattern number N _p. In other words, it is only necessary to select an appropriate method and set a necessary jack pressure distribution pattern even when the ground excavation and segment assembly are separately performed or when the simultaneous assembly is performed.

1 Front trunk 2 Rear trunk A Shield excavator

Claims (2)

The front torso and the back torso are connected with a plurality of directional control jacks that are half-folded jacks, and the plurality of directional control jacks are telescopically driven to bend / bend the front torso against the rear torso And a method for controlling a folded tunnel excavator configured to perform a curved construction by advancing a natural ground by driving a plurality of propulsion jacks to extend and contract,
A propulsion action point estimation step of estimating a propulsion action point which is a power point of a propulsion resultant force by the propulsion jack by analyzing the construction history data of the folded tunnel excavator,
A propulsion action point range setting process for setting a necessary range of the propulsion action point that generates a necessary eccentric moment based on the tunnel plan line,
A divided grid setting step for dividing the necessary range of the propulsion action points into grids;
A jack pressure distribution pattern setting / storing step for storing a jack pressure distribution pattern, which is a pressure distribution pattern of the propulsion jack such that the propulsion action point is located on the grid, for each grid;
Based on the estimated value obtained in the propulsion action point estimation step, the jack pressure distribution pattern stored in the jack pressure distribution pattern setting / storage step is selected to control the propulsion jack. Control method of tunnel excavator. Based on the construction history data, comprising a bending angle estimation step of estimating a bending angle (θ) that is a bending angle of the front trunk portion with respect to the rear trunk portion,
2. The method for controlling the middle-folded tunnel excavator according to claim 1, wherein the direction control jack is controlled based on the estimated value obtained in the middle-fold angle estimation step.

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