JP7098481B2 - Concrete material spraying device and spraying method - Google Patents

Description

The present invention relates to an apparatus and a method for spraying a concrete material onto the inner wall surface of a tunnel.

In the NATM method, which is mainly used for the construction of mountain tunnels, the tunnel is constructed in the axial direction by repeating the blasting process, the slip-out process, and the concrete material spraying process at predetermined distances. The inner wall surface of the ground that has been exposed after the slip-out process may collapse, which is dangerous. The concrete material spraying step is performed to stabilize the inner wall surface of the ground, and specifically, the inner wall surface of the ground is stabilized by spraying the concrete material on the inner wall surface of the ground. Since the stability of the inner wall surface of the ground is affected by the spray thickness of the concrete material, it is necessary to grasp and manage the spray thickness of the concrete material.

Patent Document 1 discloses a method of controlling the spray thickness based on the shape of the inner space of the tunnel before and after spraying the concrete material. The inner-sky cross-sectional shape before the concrete material is sprayed is the inner-sky cross-sectional shape of the ground, and the spraying thickness is calculated by comparing the inner-sky cross-sectional shapes before and after the concrete material is sprayed. When the calculated spray thickness is less than the predetermined thickness, the concrete material is additionally sprayed on the inner wall surface of the tunnel so that the spray thickness is equal to or more than the predetermined thickness.

Japanese Unexamined Patent Publication No. 2003-13699

By the way, in the concrete material spraying process, it is required to smooth the inner peripheral surface (finished surface) of the tunnel after spraying. Since unevenness is formed on the inner wall surface of the ground after the slipping process, it is necessary to change the spray thickness according to the unevenness of the inner wall surface of the ground in order to smooth the finished surface.

However, in the method disclosed in Patent Document 1, the concrete material is sprayed on the inner wall surface of the ground so that the spray thickness is substantially constant regardless of the unevenness of the inner wall surface of the ground. Therefore, unevenness is formed on the finished surface according to the inner wall surface of the ground. In order to smooth the finished surface, it is necessary for the worker to operate the sprayer to spray the concrete material on the inner wall surface of the tunnel. The spraying work by the worker largely depends on the skill level of the worker, and there is a problem that the smoothness of the finished surface differs depending on the worker.

An object of the present invention is to smooth the finished surface with a certain degree of accuracy while ensuring the spray thickness.

The present invention is a concrete material spraying device that sprays a concrete material onto the inner wall surface of a tunnel, a measuring unit that measures the cross-sectional shape of the inner wall surface of the tunnel, and a spraying device that sprays the concrete material from a nozzle to the inner wall surface. The control unit includes a machine, a control unit that controls a measurement unit and a sprayer , and a storage unit that stores the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material ejected from the tunnel . A plurality of predetermined numbers are measured based on the measured cross-sectional shape of the inner wall surface of the tunnel using the measuring unit and the cross-sectional shape of the first design inner wall surface of the predetermined tunnel . The primary required spray thickness is calculated for each section, the primary spray parameter is determined based on the calculated primary required spray thickness and the relationship stored in the storage unit, and the determined primary spray thickness is determined. The sprayer is controlled based on the parameters to perform the primary spraying of concrete material on the inner wall surface of the tunnel, and after the primary spraying, the cross-sectional shape of the inner wall surface of the tunnel is measured using the measuring unit. Based on the cross-sectional shape measured after spraying and the cross-sectional shape of the second design inner wall surface of the predetermined tunnel, the secondary required spray thickness is calculated for each of the plurality of predetermined second sections. , The secondary spray parameter is determined based on the calculated relationship between the required secondary spray thickness and the storage unit, and the cross-sectional shape measured after the primary spray and the cross-sectional shape of the inner wall surface of the first design. And, the determined secondary spray parameters are corrected, the sprayer is controlled based on the corrected secondary spray parameters, and the concrete material sprayed by the primary spray is further concrete material. Perform secondary spraying .

Further, the present invention is a concrete material spraying method in which a concrete material is sprayed from a nozzle of a sprayer and sprayed onto the inner wall surface of the tunnel, and is measured as a primary measurement step for measuring the cross-sectional shape of the inner wall surface of the tunnel. A primary calculation step for calculating the primary required spray thickness for each of a plurality of predetermined first sections based on the cross-sectional shape and the cross-sectional shape of the first design inner wall surface of the predetermined tunnel . , The primary determination step to determine the primary spray parameter based on the relationship between the spray thickness of the concrete material and the spray parameter of the concrete material ejected from the tunnel, and the calculated primary required spray thickness. , The primary spraying step of controlling the sprayer based on the determined primary spraying parameters to spray the concrete material onto the inner wall surface of the tunnel , and measuring the cross-sectional shape of the inner wall surface of the tunnel after the primary spraying step 2 Based on the cross-sectional shape measured in the next measurement step and the secondary measurement step, and the cross-sectional shape of the inner wall surface of the second design of the predetermined tunnel, 2 for each of the plurality of predetermined second sections. Measured in the secondary calculation step to calculate the secondary required spray thickness, the secondary determination step to determine the secondary spray parameter based on the relationship and the calculated secondary required spray thickness, and the secondary measurement step. Comparing the formed cross-sectional shape with the cross-sectional shape of the inner wall surface of the first design, a correction step for correcting the determined secondary spraying parameter, and controlling the sprayer based on the corrected spraying parameter, A secondary spraying step of further spraying the concrete material onto the concrete material sprayed in the primary spraying step is provided.

According to the present invention, the finished surface can be smoothed with a certain degree of accuracy while ensuring the spray thickness.

It is a side view of the concrete material spraying apparatus which concerns on embodiment of this invention. It is a figure which shows the inner wall surface of the tunnel after the slip-out process and the design inner wall surface of a predetermined tunnel. It is an enlarged view which shows the periphery of the nozzle of a sprayer, (a) is a view seen along the face of a tunnel T, and (b) is a view seen along the axial direction of a tunnel T. It is a block diagram of a controller. It is a figure which shows the relationship between the spraying thickness of a concrete material, and the spraying parameter of a concrete material ejected from said nozzle. It is a flowchart which shows the processing by a controller.

Hereinafter, the concrete material spraying device 100 and the concrete material spraying method according to the embodiment of the present invention will be described with reference to the drawings. Here, the concrete material spraying device 100 and the concrete material spraying method used in the NATM method will be described with reference to FIGS. 1 to 6.

In the NATM method, for example, 1 is a blasting process for blasting rocks in the ground using explosives, a scraping process for carrying out crushed rocks in the blasting process, and a concrete material spraying process for spraying concrete material on the inner wall surface RS of the ground. By repeating every 3 m, the tunnel T is constructed in the axial direction. In the concrete material spraying process, as shown in FIG. 1, the concrete material is sprayed on the inner wall surface RS of the ground exposed after the slipping process.

The exposed inner wall RS of the ground may collapse, which is dangerous. The spraying of concrete material is performed to stabilize the inner wall surface RS of the ground. Specifically, a concrete material that has not yet been solidified is sprayed onto the inner wall surface RS of the ground, and the sprayed concrete is hardened to form the concrete structure 1 to stabilize the inner wall surface RS of the ground. The concrete material is, for example, underwater inseparable concrete or high-fluidity concrete. Mortar may be used as a concrete material. Further, when the concrete material is sprayed, a quick-setting agent is added for convenience in order to accelerate the hardening of the sprayed concrete.

Since the inner wall surface RS of the ground is more stable as the spray thickness of the concrete material is thicker, it is desirable to make the spray thickness of the concrete material as thick as possible. On the other hand, if the spray thickness of the concrete material is increased, the internal space of the tunnel T after construction is reduced. Therefore, in the concrete material spraying process, it is required to spray the concrete material on the inner wall surface RS of the ground so as not to exceed the predetermined inner wall surface of the tunnel T with a spray thickness of a predetermined value or more.

The concrete material spraying device 100 and the concrete material spraying method spray the concrete material onto the inner wall surface RS of the ground based on the cross-sectional shape of the inner wall surface RS of the ground and the predetermined cross-sectional shape of the design inner wall surface of the tunnel T. .. As a result, the concrete material can be sprayed on the inner wall surface RS of the ground so as not to exceed the design inner wall surface of the tunnel T having a spray thickness of a predetermined value or more.

Further, a waterproof sheet (not shown) is attached to the inner wall surface 1a of the concrete structure 1 formed by spraying the concrete material in order to prevent the inflow of groundwater into the tunnel T. If the inner wall surface 1a of the concrete structure 1 has irregularities, a gap may be formed between the waterproof sheet and the inner wall surface 1a, and the desired waterproof performance may not be obtained. For this reason, in the concrete material spraying step, it is required to finish the inner wall surface 1a of the concrete structure 1 smoothly.

It is difficult to smooth the inner wall surface RS of the ground in the blasting process and the slip-out process, and as shown in FIGS. 1 and 2, unevenness is formed on the inner wall surface RS of the ground after the slip-out process. It is normal. Therefore, in order to finish the inner wall surface 1a of the concrete structure 1 smoothly, it is necessary to change the spray thickness according to the cross-sectional shape of the inner wall surface RS of the ground.

In the concrete material spraying device 100 and the concrete material spraying method, the concrete material is sprayed on the inner wall surface RS of the ground so as to change the spraying thickness according to the cross-sectional shape of the inner wall surface RS of the ground. Therefore, the inner wall surface 1a of the concrete structure 1 can be finished smoothly. Hereinafter, the concrete material spraying device 100 and the concrete material spraying method will be specifically described.

As shown in FIG. 1, the concrete material spraying device 100 serves as a control unit that controls a 3D scanner 10 as a measuring unit, a spraying machine 20 that ejects concrete material from a nozzle 21, a 3D scanner 10, and a spraying machine 20. It includes a controller 60.

The 3D scanner 10 measures the cross-sectional shape of the inner wall surface of the tunnel T. In a state where the concrete material is not sprayed on the inner wall surface RS of the ground and the inner wall surface RS of the ground is exposed, the 3D scanner 10 measures the cross-sectional shape of the inner wall surface RS of the ground as the cross-sectional shape of the inner wall surface of the tunnel T. .. In a state where the concrete material is sprayed on the inner wall surface RS of the ground and the inner wall surface RS of the ground is covered by the concrete structure 1, the 3D scanner 10 uses the cross-sectional shape of the inner wall surface 1a of the concrete structure 1 as the inner wall surface of the tunnel T. Measure as the cross-sectional shape of.

The sprayer 20 includes a trolley 22, a concrete pump 23 as a pressure feeding means for pumping the concrete material to the nozzle 21, and a quick-setting agent pump (quick-setting agent adding device) as an adding means for adding a quick-setting agent to the concrete material. 24 and. The dolly 22 is self-propelled and can move in the tunnel T. When the concrete material is sprayed on the inner wall surface RS of the ground, the spraying machine 20 moves to the face F and stops with the front part of the bogie 22 facing the face F.

The concrete pump 23 is provided on the carriage 22 together with the hopper 25 for storing the concrete material. The hopper 25 is mounted on the rear portion of the trolley 22, and concrete material is charged into the hopper 25 from the mixer truck M. The concrete pump 23 sucks concrete material from the hopper 25 and pumps it to the nozzle 21 through a pipe (not shown). The pumped concrete material is mixed with high-pressure air and ejected from the nozzle 21.

The quick-setting agent pump (quick-setting agent adding device) 24 is provided on the bogie 22 in the same manner as the concrete pump 23. The quick-setting agent pump (quick-setting agent adding device) 24 is connected to the nozzle 21 through a pipe (not shown), and supplies the quick-setting agent in a tank (not shown) to the nozzle 21. The quick-setting admixture supplied to the nozzle 21 is added to the concrete material inside the nozzle 21, and is ejected from the nozzle 21 together with the concrete material.

The spraying machine 20 includes a nozzle driving unit 30 that moves the nozzle 21 so as to face the inner wall surface of the tunnel T. By injecting the concrete material while moving the nozzle 21, the concrete material can be sprayed on the entire inner wall surface of the tunnel T.

The nozzle drive unit 30 includes a boom 31 swingably provided at the front portion of the carriage 22, an arm 32 swingably provided at the tip of the boom 31, and a rotary shaft 33 rotatably provided at the tip of the arm 32. To prepare for. The boom 31 and the arm 32 are formed to be expandable and contractible. The nozzle 21 is attached to the tip of the rotating shaft 33, and the nozzle 21 moves with respect to the carriage 22 by swinging and expanding / contracting the boom 31 and the arm 32.

The nozzle drive unit 30 expands and contracts the first boom cylinder 31a that swings the boom 31 horizontally with respect to the carriage 22, the second boom cylinder 31b that swings the boom 31 vertically with respect to the carriage 22, and the boom 31. The third boom cylinder 31c and the like are provided. When the boom 31 swings and expands and contracts by driving the first to third boom cylinders 31a to 31c, the tip of the boom 31 moves up, down, left and right in front of the carriage 22.

Since the arm 32 is provided at the tip of the boom 31 and the nozzle 21 is provided at the tip of the arm 32, when the tip of the boom 31 is moved up / down / left / right, the distance between the nozzle 21 and the inner wall surface RS of the ground changes. That is, the boom 31 and the first to third boom cylinders 31a to 31c constitute a distance changing means for changing the distance between the nozzle 21 and the inner wall surface RS of the ground.

The nozzle drive unit 30 includes a first arm cylinder 32a that swings the arm 32 in the horizontal direction with respect to the boom 31, and a second arm cylinder 32b that swings the arm 32 in the vertical direction with respect to the boom 31. .. When the arm 32 swings due to the drive of the first and second arm cylinders 32a and 32b, the angle between the arm 32 and the boom 31 changes. Therefore, the direction of the arm 32 can be adjusted so that the expansion / contraction direction of the arm 32 substantially coincides with the axial direction of the tunnel T.

The nozzle drive unit 30 further includes a third arm cylinder 32c that expands and contracts the arm 32. Since the nozzle 21 is provided at the tip of the arm 32, when the third arm cylinder 32c is driven to expand and contract the arm 32 in a state where the expansion and contraction directions of the arm 32 are substantially aligned with the axial direction of the tunnel T, the nozzle 21 is expanded and contracted. Scans in the axial direction of the tunnel T. That is, the arm 32 and the third arm cylinder 32c constitute a scanning means for scanning the nozzle 21 in the axial direction of the tunnel T.

The rotary shaft 33 is rotatably supported by the arm 32 around an axis extending in the expansion / contraction direction of the arm 32. Therefore, when the rotary shaft 33 is rotated in a state where the expansion / contraction direction of the arm 32 is substantially aligned with the axial direction of the tunnel T, the nozzle 21 swings in the circumferential direction of the tunnel T (see FIG. 3B).

As shown in FIG. 3A, a motor 33a is provided on the outer peripheral surface of the tip of the arm 32. The output shaft 33b of the motor 33a is connected to the rotary shaft 33 via a plurality of gears (not shown) housed in the gearbox 33c. Therefore, when the rotary shaft 33 is rotated by the drive of the motor 33a, the nozzle 21 swings. That is, the rotating shaft 33 and the motor 33a constitute a swing means for swinging the nozzle 21 in the circumferential direction of the tunnel T.

In this way, the nozzle drive unit 30 of the sprayer 20 moves the nozzle 21 toward the inner wall surface of the tunnel T. Therefore, the concrete material can be sprayed on the entire inner wall surface of the tunnel T.

In the present embodiment, the concrete material spraying device 100 further sprays the concrete material on the concrete material sprayed on the inner wall surface RS of the ground by the primary spraying and the primary spraying of the concrete material on the inner wall surface RS of the ground. The secondary spraying to be attached is performed. The primary spraying is also called a main spraying, and the concrete structure 1 (see FIG. 1) is generally formed by the primary spraying. The secondary spraying is also called finish spraying and is performed to make the inner wall surface 1a of the concrete structure 1 smoother.

The primary spraying is performed for each of a plurality of predetermined first compartments D1. The secondary spraying is performed for each of a plurality of predetermined second compartments D2 with a smaller number than the first compartment D1. In FIG. 2, a first section D1 that divides the tunnel T into 12 pieces at intervals of approximately 15 degrees in the circumferential direction is defined, and a second section D2 that divides the tunnel T into six pieces at intervals of approximately 30 degrees in the circumferential direction is defined. A defined example is shown. The primary spraying and the secondary spraying may be performed in order for each of the sections D1 and D2.

The primary spraying and the secondary spraying are performed by controlling the spraying machine 20 by the controller 60.

The controller 60 includes a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read-Only Memory) that stores a control program and the like executed by the CPU, and a RAM (random access memory) that stores the arithmetic results of the CPU. And consists of a microcomputer including. The controller 60 may be composed of a single microcomputer or may be composed of a plurality of microcomputers.

As shown in FIG. 4, the controller 60 includes a required spray thickness calculation unit 61, a spray parameter determination unit 62, and a control signal output unit 63. The required spray thickness calculation unit 61, the spray parameter determination unit 62, and the control signal output unit 63 use the function of the controller 60 for controlling the sprayer 20 as a virtual unit.

The required spray thickness calculation unit 61 determines the required spray thickness based on the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 and the cross-sectional shape of the design inner wall surface of the tunnel T determined in advance. calculate. Specifically, the required spray thickness calculation unit 61 is the inner wall surface of the tunnel T and the tunnel measured along the radial direction (diameter direction) centered on the design reference axis DA (see FIG. 2) of the tunnel T. The required spray thickness is calculated by calculating the distance from the cross-sectional shape of the design inner wall surface of T.

The information on the inner wall surface of the design of the tunnel T is stored in advance in the storage unit 50 mounted on the sprayer 20 (see FIG. 1). When calculating the required spray thickness, the required spray thickness calculation unit 61 acquires information on the design inner wall surface of the tunnel T from the storage unit 50.

The design inner wall surface of the tunnel T is the first design inner wall surface DS1 (see FIG. 2) defined for the primary spraying and the second design inner wall surface DS2 (see FIG. 2) defined for the secondary spraying. Is. The required spray thickness calculation unit 61 acquires the first design inner wall surface DS1 as the design inner wall surface of the tunnel T when performing the primary spraying, and designs the tunnel T when performing the secondary spraying. Acquire the second design inner wall surface DS2 as the inner wall surface. The first design inner wall surface DS1 is set so as to be an area close to the inner wall surface RS among the radial areas where the concrete material is sprayed on the inner wall surface RS of the ground, and the wall surface RS is compared with the first design inner wall surface DS1. The second design inner wall surface DS2 is set so as to be a distant area. In other words, it can be said that the area of the primary spraying is closer to the inner wall surface RS of the ground than the area of the secondary spraying.

Further, the required spray thickness calculation unit 61 calculates a plurality of locally required spray thicknesses (for example, for each degree) in each of the first compartments D1, and uses the calculated plurality of locally required spray thicknesses. , The average required spray thickness is calculated for each of the first section D1 or the second section D2. Specifically, the required spray thickness calculation unit 61 calculates the average required spray thickness for each of the plurality of first compartments D1 when performing the primary spraying, and when performing the secondary spraying, the required spray thickness calculation unit 61 is used. , The average required spray thickness is calculated for each of the plurality of second compartments D2.

The spray parameter determination unit 62 determines the spray parameter for each first section D1 or for each second section D2 based on the calculated average required spray thickness. The spray parameters are the flow rate of the concrete material ejected from the nozzle 21 per hour, that is, the discharge amount of the concrete material per hour, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, and the swing of the nozzle 21. The angle, the scanning speed of the nozzle 21, and the amount of the quick-setting admixture added to the concrete material.

The control signal output unit 63 includes the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick-setting agent pump 24 based on the determined spraying parameters. Outputs a control signal to. The concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick-setting admixture pump 24 are driven in response to a control signal to tunnel the concrete material into the tunnel T. Spray on the inner wall.

As described above, in the primary spraying, the controller 60 calculates the required spraying thickness based on the measured cross-sectional shape of the inner wall surface RS of the ground and the cross-sectional shape of the first design inner wall surface DS1 of the tunnel T. do. The spraying machine 20 is controlled by the controller 60 according to the required spraying thickness to spray the concrete material onto the inner wall surface RS of the ground. Therefore, the concrete material can be sprayed on the inner wall surface RS of the ground so as not to exceed the spray thickness of the predetermined value or more and not to exceed the first design inner wall surface DS1 of the tunnel T. The same applies to the secondary spraying.

Further, in the primary spraying, the controller 60 calculates the average required spraying thickness for each of the plurality of first compartments D1, and controls the spraying machine 20 based on the calculated average required spraying thickness. Therefore, the concrete material is sprayed on the inner wall surface RS of the ground according to the average required spray thickness calculated for each first section D1. Therefore, the spray thickness of the concrete material can be changed according to the unevenness of the inner wall surface RS of the ground, and the unevenness of the finished surface due to the primary spraying can be made smaller than the unevenness of the inner wall surface RS of the ground. This makes it possible to improve the smoothness of the finished surface by the primary spraying.

Further, in the secondary spraying, the controller 60 is used for each of the plurality of second compartments D2 based on the cross-sectional shape of the finished surface by the primary spraying and the cross-sectional shape of the second design inner wall surface DS2 of the tunnel T. The average required spray thickness is calculated, and the spraying machine 20 is controlled based on the calculated average required spray thickness. Therefore, the concrete material is sprayed on the finished surface by the primary spraying according to the average required spraying thickness calculated for each second section D2. Therefore, the spray thickness of the concrete material can be changed according to the unevenness of the finished surface by the primary spraying, and the unevenness of the finished surface by the secondary spraying is smaller than the unevenness of the finished surface by the primary spraying. can do. Thereby, the smoothness of the finished surface by the secondary spraying, that is, the inner wall surface 1a of the concrete structure 1 can be improved.

In the primary spraying and the secondary spraying, the spraying machine 20 is controlled by the controller 60. Therefore, the primary spraying and the secondary spraying are completed without the operation of the spraying machine 20 by the worker. Therefore, the finished surface by the primary spraying and the secondary spraying can be smoothed with a certain accuracy.

By the way, not all of the concrete material ejected from the nozzle 21 adheres to the inner wall surface of the tunnel T, but a part of the concrete material rebounds and falls without adhering to the inner wall surface. The adhesiveness of the concrete material includes the flow rate of the concrete material ejected from the nozzle 21, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, the swing angle of the nozzle 21, the scanning speed of the nozzle 21, and the rapid connection. Spraying parameters such as the amount of agent added are entangled and change. Therefore, when the spraying parameters are different, the spraying thickness is different even if the amount of the concrete material sprayed from the nozzle 21 toward the inner wall surface is the same.

In the concrete material spraying device 100, the spraying parameter determining unit 62 determines the spraying parameter by using the relationship between the spraying thickness of the concrete material and the spraying parameter of the concrete material ejected from the nozzle 21. Therefore, the spraying parameter can be determined according to the adhesiveness of the spraying thickness, and the concrete material can be sprayed on the inner wall surface of the tunnel T with a spraying thickness substantially the same as the calculated required spraying thickness. Thereby, the smoothness of the finished surface by the primary spraying and the secondary spraying can be further improved.

The configuration of the spray parameter determination unit 62 will be described more specifically. The spray parameter determination unit 62 includes a spray parameter extraction unit 62a and a spray parameter correction unit 62b. The spray parameter extraction unit 62a extracts the spray parameter from the relationship stored in advance in the storage unit 50.

The relationship stored in advance in the storage unit 50 is a table (see FIG. 5) showing the relationship between the spray thickness of the concrete material and the spray parameters of the concrete material ejected from the nozzle 21. In the table shown in FIG. 5, the values of the spray parameters (flow rate, distance, swing speed, swing angle, scanning speed and addition amount) suitable for spraying the concrete material with a predetermined spray thickness are set.

The spray parameter extraction unit 62a uses the required spray thickness calculated by the required spray thickness calculation unit 61 as the spray thickness in the table of FIG. 5, and corresponds to the flow rate, distance, swing speed, and swing angle from the table of FIG. , Scanning speed and addition amount values are extracted. Therefore, the spraying machine 20 can spray the concrete material on the inner wall surface of the tunnel T with a spraying thickness close to the calculated required spraying thickness.

The table shown in FIG. 5 is obtained by experiment in advance. The experiment is carried out by spraying concrete material horizontally onto a vertically extending wall surface. The concrete material is sprayed multiple times with different spray parameters. By measuring the thickness of the concrete material adhering to the wall surface for each spraying of the concrete material, the relationship between the spraying thickness of the concrete material and the spraying parameter of the concrete material can be obtained.

The flow rate of the concrete material ejected from the nozzle 21 is set to be larger as the spray thickness is thicker, and is set to be larger in the primary spray than in the secondary spray.

The distance between the nozzle 21 and the inner wall surface of the tunnel T is set smaller as the spray thickness is thicker, and is set smaller for the primary spray than for the secondary spray.

The swing speed of the nozzle 21 is set to be slower as the spray thickness is thicker, and is set to be slower in the primary spray than in the secondary spray.

The swing angle of the nozzle 21 is set smaller as the spray thickness is thicker, and is set smaller for the primary spray than for the secondary spray.

The scanning speed of the nozzle 21 is set to be slower as the spray thickness is thicker, and the primary spray is set to be slower than the secondary spray.

The amount of the quick-setting admixture added to the concrete material ejected from the nozzle 21 is set to be larger as the spray thickness is thicker, and is set to be smaller in the primary spray than in the secondary spray.

As described above, in the concrete material spraying device 100, the spraying parameters are extracted in consideration of the adhesiveness. Therefore, the concrete material can be sprayed on the inner wall surface of the tunnel T with a spray thickness substantially the same as the calculated required spray thickness. Thereby, the smoothness of the finished surface by the primary spraying and the secondary spraying can be further improved.

The spray parameter correction unit 62b corrects the extracted spray parameters based on the positions of the first section D1 and the second section D2. Specifically, the spray parameter correction unit 62b corrects the spray parameters so as to increase the amount of the quick-setting admixture added to the first section D1 and the second section D2 closer to the top surface. This is because, in the vicinity of the top surface of the tunnel T, the concrete material is sprayed upward onto the inner wall surface of the tunnel T, so that the adhesiveness is lower than in the experiment in which the concrete material is sprayed horizontally on the wall surface. By correcting the spray parameters based on the positions of the first compartment D1 and the second compartment D2, the concrete material can be sprayed onto the inner wall surface of the tunnel T with a spray thickness closer to the calculated required spray thickness. Thereby, the smoothness of the finished surface by the primary spraying and the secondary spraying can be further improved.

Further, the spray parameter correction unit 62b compares the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 after the primary spraying with the first design inner wall surface DS1 (see FIG. 2), and compares the concrete material. The spraying parameters extracted by the spraying parameter extraction 62a in the secondary spraying are corrected based on the actual adhesion condition of the above. Therefore, in the secondary spraying, the concrete material is sprayed on the inner wall surface of the tunnel T in consideration of the adhesiveness in the tunnel T. Therefore, the concrete material can be sprayed on the inner wall surface of the tunnel T with a spray thickness closer to the calculated required spray thickness. Thereby, the smoothness of the finished surface by the primary spraying and the secondary spraying can be further improved.

Next, the operation of the concrete material spraying device 100 will be described with reference to FIG. Here, the operation from stopping the spraying machine 20 at a desired position after the slipping process to the end of the secondary spraying will be described.

In step S601, the cross-sectional shape of the inner wall surface of the tunnel T is measured by using the 3D scanner 10 (primary measurement step). At this point, it is before the concrete material is sprayed on the inner wall surface RS of the ground. Therefore, the cross-sectional shape of the inner wall surface of the tunnel T measured by the 3D scanner 10 is approximately the cross-sectional shape of the inner wall surface RS of the ground, and is the cross-sectional shape before spraying the concrete material.

In step S602, the required spray thickness is calculated for each spray section (primary calculation step). Specifically, in order to perform the primary spraying, the average required spraying thickness is calculated for each section D1 based on the measured cross-sectional shape of the inner wall surface RS of the ground and the first design inner wall surface DS1. do.

In step S603, the spraying parameters are determined based on the calculated average required spraying thickness (primary determination step). Specifically, the information of the table shown in FIG. 5 is acquired from the storage unit 50, and the spray parameter is extracted for each first section D1 using the acquired table. After that, the extracted spraying parameters are corrected based on the position of the first section D1 to determine the spraying parameters.

In step S604, the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick-setting agent pump 24 are driven based on the determined spraying parameters. (Primary spraying step). As a result, the concrete material is ejected from the nozzle 21 and the primary spraying is performed.

In step S605, the cross-sectional shape of the inner wall surface of the tunnel T is measured by using the 3D scanner 10 (secondary measurement step). At this point, concrete material is sprayed on the inner wall surface RS of the ground. Therefore, the 3D scanner 10 measures the cross-sectional shape of the inner wall surface of the tunnel T after the primary spraying as the cross-sectional shape of the inner wall surface of the tunnel T.

In step S606, the average required spray thickness is calculated for each second section D2 based on the cross-sectional shape measured in step S604 and the second design inner wall surface DS2 (second calculation step).

In step S607, the spray parameters are determined based on the average required spray thickness calculated in step S606 (secondary determination step). Specifically, the information of the table shown in FIG. 5 is acquired from the storage unit 50, and the spray parameter is extracted for each second section D2 using the acquired table. After that, the extracted spraying parameters are corrected based on the position of the second section D2, and the spraying parameters are determined.

In step S608, the spraying parameter determined in step S607 is corrected (correction step). Specifically, the cross-sectional shape of the inner wall surface of the tunnel T measured in step S605 is compared with the first design inner wall surface DS1 (see FIG. 2), and the actual adhesion of the concrete material is calculated. The spray parameter determined in step S607 is corrected based on the calculated adhesion condition.

In step S609, the concrete pump 23, the first to third boom cylinders 31a to 31c, the first to third arm cylinders 32a to 32c, the motor 33a, and the quick-setting agent pump are based on the spray parameters corrected in step S608. 24 is driven (secondary spraying step). As a result, the concrete material is ejected from the nozzle 21 and the secondary spraying is performed.

As a result, the spraying by the concrete material spraying device 100 is completed, and the operation of the concrete material spraying device 100 is completed.

According to the above embodiments, the following actions and effects are exhibited.

In the concrete material spraying device 100 and the concrete material spraying method, it is necessary for each of a plurality of predetermined sections based on the measured cross-sectional shape of the inner wall surface of the tunnel T and the cross-sectional shape of the design inner wall surface of the tunnel T. The spray thickness is calculated, and the spray machine 20 is controlled based on the calculated required spray thickness. Therefore, the concrete material can be sprayed on the inner wall surface RS of the ground so as not to exceed the design inner wall surface of the tunnel T with a spray thickness of a predetermined value or more. Further, the spray thickness of the concrete material can be changed according to the unevenness of the inner wall surface of the tunnel T, and the smoothness of the finished surface by spraying can be improved. In addition, in spraying, the sprayer 20 is controlled by the controller 60. Therefore, the spraying can be completed without the operation of the spraying machine 20 by the worker, and the finished surface by the spraying can be smoothed with a certain accuracy. In addition, it is possible to suppress variations in spraying work depending on the skill level of the worker and the like.

Further, in the concrete material spraying device 100 and the concrete material spraying method, the spraying parameters are determined by using the relationship between the spraying thickness of the concrete material and the spraying parameters of the concrete material sprayed from the nozzle 21. Therefore, the concrete material is sprayed on the inner wall surface of the tunnel T with the spraying parameters according to the adhesiveness for each spraying thickness. Therefore, the concrete material can be sprayed on the inner wall surface of the tunnel T with a spray thickness substantially the same as the calculated required spray thickness, and the smoothness of the finished surface by spraying can be further improved.

Further, in the concrete material spraying device 100 and the concrete material spraying method, the spraying machine 20 is controlled based on the required spraying thickness calculated for each of a plurality of sections and the position of the corresponding section. Therefore, the concrete material is sprayed on the inner wall surface of the tunnel T according to the position of the section. Therefore, the concrete material can be sprayed on the inner wall surface of the tunnel T with a spray thickness closer to the calculated required spray thickness, and the smoothness of the finished surface by spraying can be further improved.

Further, in the concrete material spraying device 100 and the concrete material spraying method, when performing the secondary spraying, the cross-sectional shape of the inner wall surface DS1 of the first design is compared with the cross-sectional shape measured after the primary spraying. Then, the spraying parameters are determined using the comparison result and the table shown in FIG. Therefore, in the secondary spraying, the concrete material is sprayed on the inner wall surface of the tunnel T in consideration of the adhesiveness in the tunnel T. Therefore, the concrete material can be sprayed on the inner wall surface of the tunnel T with a spray thickness closer to the calculated required spray thickness. Thereby, the smoothness of the finished surface by the secondary spraying can be further improved.

Although the embodiments of the present invention have been described above, the above embodiments are only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiments. do not have.

In the above embodiment, the spraying is divided into the primary spraying and the secondary spraying twice, but they are not strictly distinguished and may be mixed in a series of operations. Moreover, it may be once. Further, the spraying may be performed in three or more times.

In the above embodiment, the first design inner wall surface DS1 and the second design inner wall surface DS2 are stored in the storage unit 50. Only the second design inner wall surface DS2 is stored in the storage unit 50, and the first design inner wall surface DS1 may be calculated using the second design inner wall surface DS2.

The first section D1 and the second section D2 may be defined in the same way.

In the above embodiment, the spray parameter determining unit 62 determines the flow rate of the concrete material ejected from the nozzle 21, the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, the swing angle of the nozzle 21, and the nozzle 21. The scanning speed and the amount of the quick-setting agent added are all determined. The spray parameter determination unit 62 may be configured to determine at least one of these spray parameter items.

When the spray parameter determination unit 62 is configured to determine at least two of these spray parameter items, two or more spray parameters can be changed at the same time, so that the finished surface is smoother. can do. Specifically, the two spray parameter items are
(1) Combination of the flow rate of the concrete material ejected from the nozzle 21 and the distance between the nozzle 21 and the inner wall surface of the tunnel T (2) The flow rate of the concrete material ejected from the nozzle 21 and the swing of the nozzle 21 Combination of speed (3) Flow rate of concrete material ejected from nozzle 21 and swing angle of nozzle 21 (4) Flow rate of concrete material ejected from nozzle 21 and scanning of nozzle 21 Combination of speed (5) Flow rate of concrete material ejected from nozzle 21 and addition amount of quick-setting admixture (6) Distance between nozzle 21 and inner wall surface of tunnel T, nozzle 21 Combination of swing speed (7) Combination of nozzle 21 and inner wall surface of tunnel T and swing angle of nozzle 21 (8) Combination of nozzle 21 and inner wall surface of tunnel T and nozzle Combination of the scanning speed of 21 (9) The distance between the nozzle 21 and the inner wall surface of the tunnel T and the amount of the quick-setting agent added (10) The swing speed of the nozzle 21 and the swing of the nozzle 21 Combination of angle (11) Combination of nozzle 21 swing speed and nozzle 21 scanning speed (12) Combination of nozzle 21 swing speed and addition amount of quick-setting admixture (13) Combination of the swing angle of the nozzle 21 and the scanning speed of the nozzle 21 (14) The combination of the swing angle of the nozzle 21 and the amount of the quick-setting agent added (15) The scanning speed of the nozzle 21 and the rapid connection It is a combination of the amount of the agent added and the amount of the agent added. The spray parameter items (flow rate, distance, swing speed, swing angle, scanning speed and addition amount) are selected and set for convenience.

By appropriately setting the combination of (1), that is, the combination of the spray parameter items of the flow rate of the concrete material injected from the nozzle and the distance between the nozzle 21 and the inner wall surface of the tunnel T, the inside of the tunnel T It is possible to reduce the rebound of the concrete material sprayed on the wall surface.

Appropriately set the combination of (2) to (4), that is, the combination of the spray parameter items of the flow rate of the concrete material ejected from the nozzle, the swing speed of the nozzle 21, the swing angle, or the scanning speed. Therefore, the concrete material to be sprayed can be stably sprayed on the inner wall surface of the tunnel T as planned, so that the finished surface can be smoothed.

By appropriately setting the combination of (5), that is, the combination of the flow rate of the concrete material ejected from the nozzle 21, the amount of the quick-setting admixture added, and the spraying parameter items, it adheres to the inner wall surface of the tunnel T. Since the concrete material is stable and the amount of the quick-setting admixture added can be kept appropriate, the amount of the quick-setting admixture used can be reduced.

Appropriately set the combination of (6) to (8), that is, the combination of the spray parameter items of the distance between the nozzle 21 and the inner wall surface of the tunnel T, the swing speed of the nozzle 21, the swing angle, or the scanning speed. By doing so, it is possible to reduce the rebound of the concrete material sprayed on the inner wall surface of the tunnel T.

Adhesion to the inner wall surface of the tunnel T by appropriately setting the combination of (9), that is, the combination of the spraying parameter items of the distance between the nozzle 21 and the inner wall surface of the tunnel T and the amount of the quick-setting admixture added. Since the concrete material to be used is stable and the amount of the quick-setting admixture added can be kept appropriate, the amount of the quick-setting admixture used can be reduced.

Appropriately set the combination of (10), (11) and (13), that is, the combination of the swing speed, the swing angle, or the scanning speed of the nozzle 21, and the combination of two of the spray parameter items. Therefore, the concrete material to be sprayed can be stably sprayed on the inner wall surface of the tunnel T as planned, so that the finished surface can be smoothed.

The combination of (12), (14) and (15), that is, the swing speed or swing angle of the nozzle 21, or the scanning speed and the amount of the quick-setting admixture added, and the combination of the spray parameter items are appropriately set. As a result, the concrete adhering to the inner wall surface of the tunnel T is stabilized, and the amount of the quick-setting agent added can be kept appropriate, so that the amount of the quick-setting agent used can be reduced.

10 ... 3D scanner (measurement unit)
20 ... Sprayer 21 ... Nozzle 50 ... Storage unit 60 ... Controller (control unit)
100 ... Concrete material spraying device D1 ... 1st section D2 ... 2nd section RS ... Inner wall surface of the ground T ... Tunnel

Claims (12)

A concrete material spraying device that sprays concrete material onto the inner wall surface of a tunnel.
A measuring unit that measures the cross-sectional shape of the inner wall surface,
A sprayer that sprays concrete material from a nozzle and sprays it on the inner wall surface.
The measuring unit, the control unit that controls the spraying machine, and
A storage unit for storing the relationship between the spray thickness of the concrete material and the spray parameter of the concrete material ejected from the nozzle is provided.
The control unit
Using the measuring unit, the cross-sectional shape of the inner wall surface of the tunnel is measured.
Based on the measured cross-sectional shape and the predetermined cross-sectional shape of the first design inner wall surface of the tunnel, the primary required spray thickness is calculated for each of the plurality of predetermined first sections.
The primary spray parameter is determined based on the calculated primary required spray thickness and the relationship stored in the storage unit.
The spraying machine is controlled based on the determined primary spraying parameter to perform the primary spraying of the concrete material on the inner wall surface of the tunnel.
After the primary spraying, the cross-sectional shape of the inner wall surface of the tunnel is measured using the measuring unit.
Based on the cross-sectional shape measured after the primary spraying and the predetermined cross-sectional shape of the inner wall surface of the second design of the tunnel, the secondary required spraying is performed for each of the plurality of predetermined second sections. Calculate the thickness,
The secondary spray parameter is determined based on the calculated secondary required spray thickness and the relationship stored in the storage unit.
The cross-sectional shape measured after the primary spraying is compared with the cross-sectional shape of the inner wall surface of the first design, and the determined secondary spraying parameter is corrected.
The spraying machine is controlled based on the corrected secondary spraying parameter to perform secondary spraying in which the concrete material is further sprayed onto the concrete material sprayed by the primary spraying .
Concrete material spraying device. The spray parameter includes the flow rate of the concrete material ejected from the nozzle.
The flow rate in the secondary spraying is smaller than the flow rate in the primary spraying.
The concrete material spraying device according to claim 1 . The spray parameter includes the swing speed of the nozzle in the circumferential direction of the tunnel.
The swing speed in the secondary spraying is larger than the swing speed in the primary spraying.
The concrete material spraying device according to claim 1 or 2 . The spray parameter includes a swing angle of the nozzle in the circumferential direction of the tunnel.
The swing angle in the secondary spraying is larger than the swing angle in the primary spraying.
The concrete material spraying device according to any one of claims 1 to 3 . The spray parameter includes the scanning speed of the nozzle in the axial direction of the tunnel.
The scanning speed in the secondary spraying is higher than the scanning speed in the primary spraying.
The concrete material spraying apparatus according to any one of claims 1 to 4 . The second section is set larger than the first section.
The concrete material spraying apparatus according to any one of claims 1 to 5. It is a concrete material spraying method that sprays concrete material from the nozzle of the sprayer and sprays it on the inner wall surface of the tunnel.
A primary measurement step for measuring the cross-sectional shape of the inner wall surface of the tunnel ,
Based on the measured cross-sectional shape and the predetermined cross-sectional shape of the first design inner wall surface of the tunnel, the primary required spray thickness is calculated for each of the plurality of predetermined first sections. Next calculation step and
With the primary determination step of determining the primary spray parameter based on the relationship between the spray thickness of the concrete material and the spray parameter of the concrete material ejected from the nozzle, and the calculated primary required spray thickness. ,
A primary spraying step of controlling the spraying machine based on the determined primary spraying parameters to spray the concrete material onto the inner wall surface of the tunnel .
After the primary spraying step, a secondary measurement step of measuring the cross-sectional shape of the inner wall surface of the tunnel and a secondary measurement step.
Based on the cross-sectional shape measured in the secondary measurement step and the predetermined cross-sectional shape of the inner wall surface of the second design of the tunnel, a secondary requirement is required for each of the plurality of predetermined second sections. A secondary calculation step to calculate the spray thickness and
A secondary determination step for determining the secondary spray parameter based on the relationship and the calculated secondary required spray thickness.
A correction step for correcting the determined secondary spray parameter by comparing the cross-sectional shape measured in the secondary measurement step with the cross-sectional shape of the inner wall surface of the first design.
It comprises a secondary spraying step in which the sprayer is controlled based on the corrected spraying parameters to further spray the concrete material onto the concrete material sprayed in the primary spraying step.
Concrete material spraying method. The spray parameter includes the flow rate of the concrete material ejected from the nozzle.
In the secondary determination step, the flow rate of the secondary spray parameter is determined to be smaller than the flow rate of the primary spray parameter.
The concrete material spraying method according to claim 7 . The spray parameter includes the swing speed of the nozzle in the circumferential direction of the tunnel.
In the secondary determination step, the swing speed of the secondary spray parameter is determined to be a value larger than the swing speed of the primary spray parameter.
The concrete material spraying method according to claim 7 or 8. The spray parameter includes a swing angle of the nozzle in the circumferential direction of the tunnel.
In the secondary determination step, the swing angle of the secondary spray parameter is determined to be a value larger than the swing angle of the primary spray parameter.
The concrete material spraying method according to any one of claims 7 to 9. The spray parameter includes the scanning speed of the nozzle in the axial direction of the tunnel.
In the secondary determination step, the scanning speed of the secondary spraying parameter is determined to be a value larger than the scanning speed of the primary spraying parameter.
The concrete material spraying method according to any one of claims 7 to 10. The second section is set larger than the first section.
The concrete material spraying method according to any one of claims 7 to 11.

Images