JP7455089B2 - Propulsion system and propulsion method - Google Patents

Description

The present invention relates to a propulsion system and a propulsion method.

In the propulsion method, multiple propulsion boxes are connected via ring joints (the end of one propulsion box is inserted into the end of the other propulsion box, or the end of the other propulsion box is connected by bolts, etc.). , Construct a group of propulsion boxes underground.
There are various vertical alignments of propulsion box groups, such as straight lines, circular lines, curved lines with multiple curvatures, and mixed straight and curved lines. When propulsion of a group of propulsion boxes with sections (curved), a copy cutter is inserted from the side of the cutter head of the excavator to ensure smooth propulsion of the excavator and the following propulsion case group in the curve section. A common construction method is to extend the excavation into the ground, perform over-excavation, and fill the over-excavation with lubricant while the excavator excavates and propels the propulsion box group. At this time, since the excavator is present in the lubricant filled in the over-excavation portion, there is a risk that the excavator will meander during the excavation process.
If the longitudinal curve is a curve in the vertical plane, the excavator that excavates the curved section while ascending in the lubricating material of the over-excavation section has to bear the weight of the following propulsion box group in addition to its own weight. The meandering of the excavator becomes even more pronounced due to the weight of the excavator.
Even if the excavator is equipped with a directional control jack (or propulsion jack) and can change the excavation direction using its own directional control jack, the excavation process cannot be performed in a curved section in the vertical plane as described above. When an excavator performs direction control, it is difficult to suppress the meandering of the excavator. This also applies to excavators that can control their posture while correcting their own pitching and rolling using a movable sled.

For example, when constructing a single circular circumferential tunnel in a vertical plane using the propulsion method, when the excavator approaches the top of the circumferential tunnel and is about to move beyond the top to the descending curve section, the excavator This means that the excavator's own weight and the weight of the rear propulsion box group can act to the maximum extent, and this can be the construction section where it is most difficult to suppress the meandering of the excavator among the slipping materials filled in the over-excavation section. It has been specified by the present inventors.
From the above, in propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction that has at least a curved section, a propulsion system and propulsion method that can suppress meandering when the excavator controls the direction is desired. .

Here, Patent Document 1 proposes a tunnel excavator that can switch specifications in response to tunnel construction specifications for both soft ground and hard ground. Specifically, a tunnel excavator has a cylindrical excavator body, a shield jack that advances the excavator body by extending toward the rear in the axial direction of the tunnel, and a reaction force receiver that receives the reaction force of the shield jack. structure, and a main gripper device that fixes the reaction force receiving structure to the tunnel wall by being pressed against the tunnel wall, and enables the shield jack and the reaction force receiving structure to be connected, and the shield jack By shortening, the reaction force receiving structure and the main gripper device are pulled forward in the axial direction of the tunnel.

Unexamined Japanese Patent Publication No. 2016-6252

In the tunnel excavator described in Patent Document 1, the main gripper device includes a pair of gripper jacks above and below a steel shell, and each gripper jack is configured to be expandable and retractable in the tunnel width direction. In other words, in the longitudinal direction of the tunnel (in the propulsion method, the propulsion direction), a pair of gripper jacks is configured to protrude above and below in one cross section (one place in the propulsion direction) perpendicular to the longitudinal direction. Therefore, even if this tunnel excavator is applied to a circumferential tunnel in a vertical plane as described above, the gripper jack takes the reaction force from the ground at one longitudinal cross section (one point in the propulsion direction). However, it is difficult to say that it is possible to sufficiently suppress meandering, which is a problem when the excavator performs direction control to change the direction of excavation.

The present invention provides a propulsion system and a propulsion method that can suppress meandering when the excavator controls the direction in propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction having at least a curved section. It is an object.

In order to achieve the above object, one aspect of the propulsion system according to the present invention is as follows:
A propulsion system in which an excavator excavates while controlling its attitude, and a propulsion box group consisting of a plurality of propulsion boxes connected rearward in the excavation direction of the excavator is propelled,
the excavator comprising a directional control jack;
The propulsion box group;
a propulsion device equipped with a propulsion jack that propels the excavator and the propulsion box group;
The present invention is characterized in that, in at least two locations in the group of propulsion boxes having different propulsion directions, gripper devices are provided to take a reaction force to the ground.

According to this aspect, gripper devices that take reaction force on the ground are provided at at least two locations in different propulsion directions among the propulsion box group at the rear of the excavator equipped with the direction control jack. , the propulsion box group behind the excavator can take the reaction force to the ground at two places in the propulsion direction (longitudinal direction), and the excavator takes the reaction force to the propulsion box group that took the reaction force to the ground. Since directional control can be performed while controlling the direction, it becomes possible to perform propulsion construction while suppressing meandering of the excavator during directional control.
Here, "at least two locations with different propulsion directions" means two or more locations with different propulsion directions, and multiple locations where the propulsion box group can take reaction force to the ground. There is. For example, in the above-mentioned circumferential tunnel located in a vertical plane, the forms of the gripper devices at two locations that can take reaction force to the ground differ depending on the position of the excavator.

Specifically, near the top of the circumferential tunnel (near the 12 o'clock position of the circumferential tunnel), the gripper of one gripper device located near the rear of the excavator is extended radially inward (downward), and By projecting the gripper of the gripper device located at the other position radially outward (upward), meandering of the propulsion box group is suppressed by the two gripper devices. That is, in this case, in the two locations in the propulsion direction, more specifically, the front location is a position below one propulsion box, and the rear location is, for example, a position above another propulsion box.
As another example, when the excavator is digging from the 6 o'clock position to the 3 o'clock position in a circumferential tunnel in a vertical plane, one gripper located near the rear of the excavator By extending the gripper of the device radially outward and extending the gripper of the other gripper device located behind it radially inward, meandering of the propulsion box group is suppressed by the two gripper devices.
As another example, even in a circumferential tunnel in a horizontal plane, the gripper of one gripper device located near the rear of the excavator is extended radially outward, and the gripper of the other gripper device located behind it is extended. By projecting radially inward, meandering of the propulsion box group is suppressed by the two gripper devices.
In this way, each gripper device allows the propulsion box group to take an effective reaction force against the ground, depending on whether the curved section is in the vertical plane or horizontal plane, the position of the excavator in the curved section, etc. The directions in which the grippers extend from each other are different, and "at least two locations with different propulsion directions" includes the direction in which the grippers extend from each other.

In a propulsion box equipped with a gripper device, the gripper can be protruded from above and below the propulsion box, or from the left and right sides of the propulsion box. good. Furthermore, in the case of a configuration in which the gripper extends upward and downward, for example, a plurality of grippers extend upwardly and downwardly, thereby making it possible to more effectively take reaction force against the ground. For example, if the shape of the propulsion box when viewed from the front is a horizontally long rectangle, a plurality of grippers protrudes at intervals from the top and bottom sides of the horizontally long side of the propulsion box. It becomes possible to take reaction force from the ground over as much of the side surface as possible. Moreover, by extending the plurality of grippers, the pressure receiving area can be increased, and it becomes possible to effectively take reaction force against the ground.

The propulsion devices that constitute the propulsion system include a main push device that is equipped with a main push jack, and an intermediate push device that is equipped with an intermediate push jack in addition to this main push device. Further, when the direction control jack of the excavator also functions as a propulsion jack, the direction control jack is also included in the propulsion device. Further, the excavator may have, for example, a front body and a rear body, and the rear body may include a direction control jack (or propulsion jack).

Further, other aspects of the propulsion system according to the present invention include:
The foremost propulsion box located at the rear end of the excavator and located at the forefront of the propulsion box group in the propulsion direction is equipped with the gripper device at at least two locations different in the propulsion direction. do.

According to this aspect, one propulsion box constituting the propulsion box group is equipped with gripper devices at at least two locations with different propulsion directions, so that the gripper devices of a plurality of propulsion boxes can be controlled simultaneously. It is easier to control. In addition, the front propulsion box, which is located at the rear end of the excavator and at the front of the propulsion box group, is equipped with a gripper device, so that it can most effectively take the reaction force to the ground when controlling the direction of the excavator. I can do it.

Further, other aspects of the propulsion system according to the present invention include:
A front propulsion box located at the rear end of the excavator and located at the front of the propulsion box group in the propulsion direction, and at least one propulsion box located behind the front propulsion box are connected to the gripper. It is characterized by being equipped with a device.

According to this aspect, for example, two propulsion boxes located apart from each other are equipped with gripper devices, so that even if the length of the propulsion boxes in the propulsion direction is short, a reaction force is exerted on the ground. The propulsion box group can be fixed to the ground using a plurality of (for example, two) gripper devices with an effective spacing. In addition, since one of the propulsion boxes equipped with the gripper device is the frontmost propulsion box located at the rear end of the excavator and at the forefront of the group of propulsion boxes, it is the most useful for controlling the direction of the excavator as described above. It can effectively take reaction force to the ground.

Further, in another aspect of the propulsion system according to the present invention,
The propulsion box group has at least a curved section in the propulsion direction,
The gripper device includes a first gripper device and a second gripper device located radially outside and radially inside the curved section,
The gripper apparatus is characterized in that each of the gripper devices located at at least two locations having different propulsion directions can be controlled independently of each other.

According to this aspect, the gripper device includes the first gripper device and the second gripper device that cause the grippers to move in and out of the curved section on the radially outer side and the radially inner side, respectively, so that the gripper device is positioned in the curved section. Accordingly, it becomes possible to selectively extend the gripper at a position suitable for taking an effective reaction force against the ground. Furthermore, by controlling the respective gripper devices located at at least two locations with different propulsion directions independently from each other, it is possible to adjust the projecting direction and amount of the gripper of each gripper device as desired. Although each gripper device is controlled independently, the direction, amount, and timing of the extension of each gripper device are controlled in a mutually related manner in order to take an effective reaction force against the ground. .

Further, other aspects of the propulsion system according to the present invention include:
The excavator is characterized in that it is equipped with a movable sled.

According to this aspect, since the excavator is equipped with a movable sled in addition to the directional control jack, the excavator has even better directional control performance and can flexibly correct its own pitching and rolling. In the curved section, the excavator moves either the direction control jack or the movable sled, or both, while absorbing the reaction force on the ground using multiple gripper devices provided in the rear propulsion box group. , direction control can be performed.

Further, in another aspect of the propulsion system according to the present invention,
The gripper device is characterized in that it includes a cylinder, a rod that can freely protrude from the cylinder, and a pressure plate attached to the tip of the rod.

According to this aspect, since the gripper device has a rod (gripper) protruding from the cylinder and is equipped with a pressure receiving plate at the tip of the rod, the pressure receiving area can be increased and reaction force can be effectively taken from the ground. I can do it. In addition, by adjusting the planar area of the pressure plate, it is possible to take the desired reaction force even from ground with low bearing capacity, making it particularly effective when the ground to be constructed is soft, for example. .

Moreover, one aspect of the propulsion method according to the present invention is
A propulsion method in which an excavator excavates while controlling its attitude, and a propulsion box group consisting of a plurality of propulsion boxes connected to the rear of the excavation machine in the excavation direction is propelled in a propulsion direction having at least a curved section. hand,
The excavator is equipped with a direction control jack, the propulsion box group is located behind the excavator in the excavation direction, and there is a propulsion device equipped with the propulsion jack that propels the excavator and the propulsion box group, Gripper devices are installed to take reaction force on the ground at at least two locations in different propulsion directions among the propulsion box group,
Propelling the propulsion box group into the ground by excavation by the excavator and jack thrust by the propulsion jack,
When controlling the direction of the excavator in the curved section, the gripper devices installed at at least two different locations control the direction and propel the excavator while taking a reaction force to the ground, and then The present invention is characterized in that the fixation to the ground by the gripper device is released, and the propulsion box group is propelled by the jack thrust of the propulsion jack.

According to this aspect, when controlling the direction of the excavator in a curved section, the gripper devices provided at at least two locations in different propulsion directions in the propulsion box group are used to control the direction of the excavator while taking a reaction force to the ground. control and propulsion, then release the fixation to the ground by the gripper device, and propel the propulsion box group including the rear gripper device by the jack thrust of the propulsion jack such as the main push device or intermediate push device. , it becomes possible to perform propulsion construction while suppressing meandering of the excavator during directional control. At this time, by keeping the movable sled of the excavator extending, meandering of the excavator can be further suppressed. As mentioned above, the propulsion method of this embodiment is suitable for circular motion in the vertical plane, which is one of the most difficult cases to suppress meandering that may occur when controlling the direction of the excavator inside the lubricant of the over-excavation part. Suitable for propulsion construction of circumferential tunnels.

According to the propulsion system and propulsion method of the present invention, meandering when the excavator controls the direction can be suppressed in propulsion construction in which the excavator and the following propulsion box group are propelled in a propulsion direction that includes at least a curved section.

FIG. 2 is a diagram illustrating the overall configuration of a propulsion system according to an embodiment, and also shows a circumferential tunnel in a vertical plane to be constructed. It is a perspective view showing an example of a propulsion box provided with a gripper device. FIG. 3 is a diagram showing the internal configuration of the gripper device. 2 is an enlarged view of section IV in FIG. 1. FIG. FIG. 2 is a diagram showing an example of a hardware configuration of a control device. FIG. 3 is a diagram illustrating an example of a functional configuration of a control device. It is a process chart showing an example of the propulsion method concerning an embodiment. 8 is a process diagram showing an example of the propulsion method according to the embodiment following FIG. 7. FIG. 9 is a process diagram showing an example of the propulsion method according to the embodiment following FIG. 8. FIG. 9 is a process chart showing an example of the propulsion method according to the embodiment following FIG. 9. FIG.

Hereinafter, a propulsion system and propulsion method according to an embodiment will be described with reference to the accompanying drawings. Note that in this specification and the drawings, substantially the same constituent elements may be given the same reference numerals to omit redundant explanation.

[Propulsion system according to embodiment]
First, an example of a propulsion system according to an embodiment will be described with reference to FIGS. 1 to 6. Here, FIG. 1 is a diagram illustrating the overall configuration of a propulsion system according to an embodiment, and is a diagram showing a circumferential tunnel in a vertical plane to be constructed. Further, FIG. 2 is a perspective view showing an example of a propulsion box equipped with a gripper device, FIG. 3 is a diagram showing the internal configuration of the gripper device, and FIG. 4 is an enlarged view of section IV in FIG. It is.

As shown in Figure 1, when connecting and widening the main line tunnel HT (e.g. main line shield tunnel) that has already been constructed underground in underground G with the lamp tunnel RT (e.g. lamp shield tunnel) located on the side thereof, , a vertical shaft T will be constructed using the ramp tunnel RT and extending vertically below it. Note that this vertical shaft may extend diagonally downward instead of vertically.

The shaft T is constructed to a predetermined depth while supporting earth pressure and earth water pressure with struts K arranged at predetermined intervals in the vertical direction.A reaction mount S is installed below the shaft T. A main push device 60 including a main push jack is installed for S.

The propulsion boxes 30 are sequentially suspended from the ramp tunnel RT through the shaft T in front of the main pushing device 60, and the plurality of propulsion boxes 30 are connected behind the excavator 10 located forward in the propulsion direction. By propelling the propulsion box group 50 formed by the propulsion boxes 30 in the underground G in the X1 direction, a circumferential tunnel CT in the vertical plane is constructed.

The circumferential tunnel CT in the illustrated example is a single circle that surrounds the main tunnel HT and the ramp tunnel RT, but it may be a tunnel with various vertical shapes such as an ellipse or a track shape, and it may have at least a curved section. That's fine. Starting from the constructed circumferential tunnel CT, a plurality of tunneling machines (not shown) construct a plurality of shield tunnels in a chain over the widening section. For example, after multiple leading shield tunnels are constructed at intervals, a trailing shield tunnel is constructed between them while cutting a part of the adjacent leading shield tunnel, and the adjacent leading shield tunnel and trailing shield tunnel are By constructing a large-section annular body made of reinforced concrete inside the tunnel, the large-section tunnel is excavated while applying this large-section annular body (large-section tunnel) to earth retaining, and the main tunnel HT and ramp tunnel RT are constructed. The widening section is constructed by communicating with each other.

The propulsion system 100 includes an excavator 10, a propulsion box group 50, and a main push device 60 (an example of a propulsion device). In the propulsion box group 50, the front propulsion box 30A located at the rear end of the excavator 10 and at the forefront in the propulsion direction of the propulsion box group 50 is equipped with a gripper device 40, and the front propulsion box 30A is further provided with a gripper device 40. The propulsion box 30B located at the rear (sixth rear in the illustrated example) is equipped with a gripper device 40. That is, the propulsion box group 50 is provided with a gripper device 40 that allows a gripper 44 (see FIG. 3) that takes a reaction force to the ground G to be freely retractable at at least two locations having different propulsion directions.

Note that three or more propulsion boxes 30A and 30B equipped with the gripper device 40 included in the propulsion box group may be provided at arbitrary positions, but at least the propulsion boxes at the forefront of the propulsion box group 50 30A is equipped with the gripper device 40, so that the reaction force can be effectively taken from the ground G when controlling the direction of the excavator 10, and when controlling the direction, the excavator 10 is moved to the propulsion box group 50. It becomes easier to take reaction force against it. Further, for example, the propulsion box located at the forefront of the propulsion box group 50 may be provided with gripper devices 40 at two different locations in the propulsion direction. In order to take the reaction force, it is preferable to arrange the respective gripper devices 40 in the frontmost propulsion box with a certain distance in the propulsion direction. Preferably, it has a length.

Further, in the illustrated example, the main push device 60 is a propulsion device, but if a middle push device (not shown) equipped with a middle push jack is included in the propulsion box group, the main push device 60 and the middle push device are Configure the propulsion device.

As shown in FIG. 2, the propulsion box 30A including the gripper device 40 extends from the radially outer surface 32 of the steel shell 31 to the radially outer side of the circumferential tunnel CT, inside the oblong steel shell 31 that is rectangular in front view. A plurality of (four in the illustrated example) first gripper devices 40A that can move the grippers 44 in and out in the X2 direction, and a gripper 44 in the X3 direction from the radially inner surface 33 of the steel shell 31 to the radially inner side of the circumferential tunnel CT. It has a plurality of (four in the illustrated example) second gripper devices 40B that can freely appear and retract.

Here, the number and arrangement form of the first gripper device 40A and the second gripper device 40B included in the propulsion box 30A are not limited to the illustrated example. Although not shown in the drawings, a general propulsion box 30 that is not equipped with a gripper device 40 is equipped with a steel shell 31 shown in FIG. It is equipped with multiple partition walls connecting 33.

As shown in the illustrated example, by extending the grippers 44 from the plurality of first gripper devices 40A and second gripper devices 40B on the radially outer surface 32 and the radially inner surface 33 of the oblong steel shell 31 which is rectangular in front view, , the reaction force can be effectively taken from the ground G.

As shown in FIG. 3, the gripper device 40 includes a cylinder 41, a rod 42 that can freely protrude from the cylinder 41, and a pressure plate 43 attached to the tip of the rod 42. A gripper 44 is configured. The rod 42 constituting the gripper is a hydraulic jack contained in the cylinder 41.

The planar area of the pressure-receiving plate 43 is preferably set based on the relationship between the bearing capacity of the ground G to be constructed and the reaction force taken from the ground G. As shown in the illustrated example, by taking the reaction force to the ground G through the pressure-receiving plate 43 which has a larger planar area than the rod 42, the desired reaction can be achieved by adjusting the pressure-receiving area of the pressure-receiving plate 43 even when the bearing capacity of the ground is small. Since the force can be obtained, for example, even if the ground to be constructed is soft ground, it becomes possible to take reaction force to the ground and control the direction of the excavator 10 without performing ground improvement.

As shown in FIG. 1, when the excavator 10 approaches the top (12 o'clock) of the circumferential tunnel CT in the vertical plane and is about to move beyond the top to the descending curve section, the excavator 10 has its own The dead weight and the weight of the rear propulsion box group 50 can act to the maximum, and meandering may occur during direction control. This will be explained with reference to FIG. 4, which is an enlarged view of section IV in FIG. 1.

As shown in FIG. 4, there is a front propulsion box 30A located at the rear end of the excavator 10 and at the forefront in the propulsion direction of the propulsion box group 50, and a sixth propulsion box located at the rear of the front propulsion box 30A. The propulsion box 30B is equipped with a gripper device 40.

The illustrated excavator 10 has a front shell 11 and a rear shell 12, the front shell 11 is equipped with a cutter head 15 on the front surface, and the rear shell 12 is equipped with a direction control jack 18. Moreover, a copy cutter (not shown) is built into the cutter head 15 so that it can come in and out from the side. By filling the portion E with the slipping material U, it is possible to smoothly propel the excavator 10 and the following propulsion box group 50 in the curve section. Further, although not shown, the excavator 10 may include a plurality of movable sleds that can extend underground when correcting pitching or rolling of the excavator 10.

In order to enable smooth propulsion in the curved section, an extra excavation section E is created and the lubricant U is filled, while the curved section is moved vertically and obliquely upward in the lubricant U as shown in the example shown in the figure. In addition to its own weight W1, the weight W2 of the following propulsion box group 50 can act to the maximum extent on the excavator 10 that excavates. Due to these acting loads, a rotational moment M acts on the excavator 10, which attempts to control the direction of propulsion in the curved section at any time, in a direction that tends to cause the cutter head 15 to fall downward. The excavator 10 often meanderes. Furthermore, although not shown, even when the excavator 10 is located at a position other than those shown in FIGS. Although it differs depending on the position of the machine 10, the fact remains that the excavator 10 tends to meander due to the rotational moment caused by its own weight and the weight of the following propulsion box group 50.

Therefore, at the top of the circumferential tunnel CT in the illustrated example, a gripper 44 is made to protrude radially inward (downward) of the circumferential tunnel CT from the second gripper device 40B of the foremost propulsion box 30A, and cross over the slip material U. At the same time, the gripper 44 is protruded radially outward (upwards) of the circumferential tunnel CT from the first gripper device 40A of the rear propulsion box 30B, and the gripper 44 is applied to the ground G beyond the sliding material U. Control is executed to apply reaction force R2 to G.

In this way, the propulsion box group 50 causes the grippers 44 to protrude radially outward and radially inward of the circumferential tunnel CT at two locations in the propulsion direction in the vicinity of the excavator 10, and exerts a reaction force R1 on the ground G. By taking R2, the propulsion box group 50 can be fixed to the ground G first. Then, by operating the directional control jack 18 while the excavator 10 takes a reaction force against the propulsion box group 50 fixed to the ground G, the excavator 10 is located in the lubricant U of the over-excavation section E. However, it becomes possible to perform directional control in a desired propulsion direction while resisting the rotational moment M that acts on the excavation. Furthermore, as described above, since the frontmost propulsion box 30A at the rear end of the excavator 10 takes the reaction force from the ground G, the propulsion box group 50 can effectively take the reaction force from the ground G. , it becomes easier for the excavator 10 to take reaction force against the propulsion box group 50 during direction control.

When the excavator 10 is in a different position from the illustrated example, in order to take an effective reaction force from the ground G, the gripper 44 is extended radially outward from the first gripper device 40A of the foremost propulsion box 30A, and the rear There is also a case where the gripper 44 extends radially inward from the second gripper device 40B of the propulsion box 30B. Further, in order to more stably fix the propulsion box group 50 to the ground G, the propulsion box group may include a propulsion box equipped with three or more gripper devices 40 in the propulsion direction.

As shown in FIG. 2, the propulsion box 30A (30B) is equipped with a first gripper device 40A and a second gripper device 40B that can freely project the gripper 44 in both the radial outside and the radial inside. Depending on the location of the circumferential tunnel CT, it becomes possible to project the gripper 44 from either the first gripper device 40A or the second gripper device 40B suitable for taking a reaction force to the ground G.

In the propulsion system 100, it has already been explained that the propulsion device 60, which is a component thereof, is a main push device located in the shaft T, but the direction control jack 18 provided in the excavator 10 is also included in the propulsion jack. The propulsion device 60 may be configured together with the jack.

In addition to controlling the direction control jack 18, the excavator 10 includes a control device 20 that simultaneously controls the gripper devices 40 of the two rear propulsion boxes 30A and 30B. The excavator 10 is equipped with a control device that controls the direction control jack 18, and another control device that simultaneously controls each gripper device 40 of the propulsion box 30A is installed in the shaft T, an administrative building on the ground (not shown), etc. You may be prepared.

The gripper devices 40 (first gripper device 40A, second gripper device 40B) of the two propulsion boxes 30A, 30B are independently controlled by the control device 20, but each gripper device 40 (first gripper device 40A, second gripper device 40B) is In order to obtain the reaction forces R1 and R2, the direction, amount, and timing of the extension of each gripper device 40 are controlled by the control device 20 in a mutually related manner.

Here, with reference to FIGS. 5 and 6, the control device 20 provided inside the excavator 10 will be described. FIG. 5 is a diagram showing an example of the hardware configuration of the control device, and FIG. 6 is a diagram showing an example of the functional configuration of the control device.

As shown in FIG. 5, the control device 20 is configured by an information processing device (computer) such as a personal computer (PC). The computer constituting the control device 20 includes a CPU (Central Processing Unit) 21, a main storage device 22, an auxiliary storage device 23, an input/output IF (interface) 24, and a communication IF 25, which are interconnected by a connection bus 26. ing. The main storage device 22 and the auxiliary storage device 23 are computer-readable recording media. Note that the above components may be provided individually, or some components may not be provided.

The CPU 21 is also called an MPU (Microprocessor) or a processor, and the CPU 21 may be a single processor or a multiprocessor. The CPU 21 is a central processing unit that performs overall control of the control device 20 made up of a computer. For example, the CPU 21 develops a program stored in the auxiliary storage device 23 in an executable manner in the work area of the main storage device 22, and controls peripheral devices through the execution of the program, thereby executing functions that meet a predetermined purpose. I will provide a.

The main storage device 22 stores computer programs executed by the CPU 21, data processed by the CPU 21, and the like. The main storage device 22 includes, for example, flash memory, RAM (Random Access Memory), and ROM (Read Only Memory). The auxiliary storage device 23 stores various programs and various data on a recording medium in a readable and writable manner, and is also called an external storage device. The auxiliary storage device 23 stores, for example, an OS (Operating System), various programs, various tables, and the like. The OS includes, for example, a communication interface program that exchanges data with an external device connected via the communication IF 25. External devices include, for example, a main push jack provided in the main push device 60, a gripper device 40 provided in the propulsion boxes 30A and 30B, and a personal computer owned by a person in charge of design, etc. in an administration building connected to the network (Fig. (not shown) etc.

The auxiliary storage device 23 is used, for example, as a storage area to supplement the main storage device 22, and stores computer programs executed by the CPU 21, data processed by the CPU 21, and the like. The auxiliary storage device 23 is a silicon disk including a nonvolatile semiconductor memory (flash memory, EPROM (Erasable Programmable ROM)), a hard disk drive (HDD) device, a solid state drive device, or the like. Further, as the auxiliary storage device 23, a drive device for a removable recording medium such as a CD drive device, a DVD drive device, and a BD drive device is exemplified. ) memory, SD (Secure Digital) memory card, and the like.

The input/output IF 24 is an interface that inputs and outputs data with devices connected to the control device 20. For example, a keyboard, a pointing device such as a touch panel or a mouse, an input device such as a microphone, etc. are connected to the input/output IF 24 . The control device 20 receives operation instructions and the like from an operator who operates an input device via the input/output IF 24 .

Further, the input/output IF 24 is connected to, for example, a display device such as a liquid crystal display (LCD) or an organic EL panel (electroluminescence), an output device such as a printer, or a speaker. For example, the excavator 10 is equipped with a pressure gauge for measuring face pressure in the cutter head 15, and is also equipped with pressure gauges around the steel shells of the front shell 11 and the rear shell 12, and the control device 20 has pressure gauges for measuring face pressure. Measurement data regarding the face pressure and earth pressure acting on the circumferential surfaces of the front shell 11 and the rear shell 12 are transmitted and displayed from time to time. In addition, the current position of the excavator 10 is transmitted from a position sensor such as a gyro included in the excavator 10 to the control device 20 at any time, and the planned propulsion alignment and actual propulsion alignment of the excavator 10 are displayed on the same screen, Three-dimensional deviations are displayed at any time.

The communication IF 25 is an interface with a network to which the control device 20 is connected. The communication IF 25 communicates with the source device 60 and the forwarding device via various networks such as a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as a VPN (Virtual Private Network), and a LAN (Local Area Network). A control signal is transmitted to the gripper device 40 provided in the boxes 30A and 30B, and the measurement data measured by various sensors and the control details (control The stroke amount of the target main push jack 60, the amount of overhang of the gripper 44 of the gripper device 40 provided in the propulsion boxes 30A and 30B to be controlled, the timing of both overhangs, and the reaction force from the ground G obtained by the overhang of the gripper 44. etc.).

As shown in FIG. 6, the control device 20 provides various functions of at least the input section 202, the calculation section 204, the drive control section 206, and the storage section 208 by executing programs by the CPU 21. Here, at least a part of the processing function may be provided by a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), etc. Similarly, at least a part of the processing function may be provided by an FPGA (Field-Programmable Unit). It may also be a dedicated LSI (large scale integration) such as a gate array), a numerical calculation processor, an image processing processor, or other digital circuits.

The input unit 202 includes jack thrust force data from the main push jack 60 measured by a pressure gauge, measured data regarding face pressure acting on the cutter head 15, and earth pressure acting on the circumferential surfaces of the front shell 11 and rear shell 12. Measurement data, current position data of the excavator 10 measured by the position sensor, etc. are input as needed and stored in the storage unit 208 via the input unit 202 as needed.

Furthermore, the physical property values of each soil layer through which the circumferential tunnel passes are input to the input section 202, and the friction coefficient μ of each soil layer is stored in the storage section 208. This friction coefficient μ is used when calculating the peripheral surface friction force of the propulsion box group 50 in calculating the jack thrust of the propulsion device 60 in the calculation unit 204.

For example, when the excavator 10 performs direction control in a curved section, the calculation unit 204 calculates the rotational moment and the like acting on the excavator 10 based on measurement data from each pressure gauge. For example, when the excavator 10 is in the position shown in FIG. 4, the rear propulsion box group 50 is The protrusion amount of each gripper 44 of the first gripper device 40A of the propulsion box 30A and the second gripper device 40B of the propulsion box 30B in order to fix it to the ground G with reaction forces R1 and R2 at two locations in the propulsion direction. calculate.

In addition, the calculation unit 204 calculates the extension (total area) of the propulsion box group 50, the friction coefficient μ of each soil layer through which the propulsion box group 50 stored in the storage unit 208 passes, and the propulsion box group 50. The circumferential surface friction force is calculated each time based on the measured value by the pressure gauge attached to 50, and the necessary jack thrust is calculated based on the calculated circumferential surface friction force.

In the drive control unit 206, based on the calculation result by the calculation unit 204, when controlling the direction of the excavator 10, the gripper 44 is moved by a predetermined amount at a predetermined timing with respect to each gripper device 40 provided in the propulsion boxes 30A and 30B. Send a control signal to make it extend. On the other hand, when propelling the excavator 10 and the propulsion box group 50 by the jack thrust of the propulsion device 60, a control signal is sent to the propulsion device 60 to generate a jack thrust greater than the required jack thrust calculated by the calculation unit 204. do.

Regarding the direction control of the excavator 10, for example, when the excavator 10 is located at the position shown in FIG. First, the gripper 44 of the first gripper device 40A of the propulsion box 30A in the front is extended radially inward (downward) to take a reaction force to the ground G and suppress the downward fall of the excavator 10. Execute the control to be executed. Next, the control device 20 causes the gripper 44 of the second gripper device 40B of the propulsion box 30B located at the rear to extend outward (upward) in the radial direction to take a reaction force to the ground G, so that the propulsion box group Control is executed to fix the front area of 50 to the ground G. At this time, in order to receive the reaction forces R1 and R2 from the ground G by both grippers 44, the amount of overhang and the timing of the overhang of each gripper 44 are controlled in relation to each other by the control device 20.

[Promotion method according to embodiment]
Next, an example of the propulsion method according to the embodiment will be described with reference to FIGS. 7 to 10. Here, FIGS. 7 to 10 are process charts showing an example of the propulsion method according to the embodiment.

The illustrated example takes up a case where the excavator 10 constituting the propulsion system 100 is located at or near the top of the circumferential tunnel CT, as shown in FIG. As already explained with reference to FIG. 4, due to the self-weight W1 acting on the excavator 10 and the weight W2 of the propulsion box group 50, a rotational moment M is generated in the direction that tends to cause the cutter head 15 to fall downward. This rotational moment M may cause the excavator 10 to meander when controlling the direction of the excavator 10 inside the slipping material S of the over-excavation portion E.

Therefore, in order for the excavator 10 to propel the curved section along the planned vertical alignment while suppressing meandering while controlling the direction at any time, first, the second The gripper 44 is extended radially inward (downward) in the Y1 direction from the gripper device 40B. At the same time as the gripper 44 is extended, or after a predetermined period of time has elapsed, the gripper 44 is extended radially outward (upwards) in the Y2 direction from the first gripper device 40A of the rear propulsion box 30B. A reaction force is taken at two locations on the ground G located diagonally across the group 50, and the front area of the propulsion box group 50 (area on the side of the excavator 10) is fixed to the ground G.

After fixing the front area of the propulsion box group 50 to the ground G, as shown in FIG. By sliding and extending in the Y4 direction, the excavator 10 is pulled up in the Y5 direction, which is a clockwise direction opposite to the rotational moment M, and the meandering of the excavator 10 caused by the rotational moment M is corrected or suppressed.

After correcting or suppressing the meandering of the excavator 10, the direction of the excavator 10 is controlled along the longitudinal alignment of the curve section by controlling the upper and lower direction control jacks 18 (18A, 18B) as desired. . In the illustrated example, the direction control jack 18A on the outside in the radial direction is relatively extended compared to the direction control jack 18B on the inside in the radial direction so as to follow the longitudinal alignment of the curved section, or the direction control jack on the inside in the radial direction is controlled. Control or the like is executed to retract only the jack 18B.

Following the direction control of the excavator 10, as shown in FIG. 9, the gripper 44 of the second gripper device 40B of the foremost propulsion box 30A, which was taking a reaction force to the ground G, is returned (pull in) to the Y6 direction, and then , the fixation of the propulsion box group 50 to the ground G is released by returning (pulling in) the gripper 44 of the first gripper device 40A of the rear propulsion box 30B in the Y7 direction.

After releasing the fixation of the propulsion box group 50 to the ground G, as shown in FIG. 10, some or all of the direction control jacks 18 are slid (in FIG. While controlling the direction of the excavator 10 (sliding in the Y8 direction), the cutter head 15 of the excavator 10 is operated to allow the excavator 10 to dig, and the propulsion device 60 is operated to move the excavator 10 by the jack thrust. and propels the propulsion box group 50 in the X1 direction.

Thereafter, at each position in the longitudinal alignment of the circumferential tunnel CT, the propulsion box group 50 is fixed to the ground G, and the directional control jack is installed so as to eliminate the external force (rotational moment, etc.) acting on the excavator 10 at that position. 18 to suppress the meandering of the excavator 10, and further control the direction of the excavator 10 along the planned vertical alignment using the direction control jack 18, and then release the fixation of the propulsion box group 50 to the ground G. , a cycle in which the excavator 10 and the propulsion box group 50 are propelled by the jack thrust of the propulsion device 60 is repeatedly executed. Even during the process in which the excavator 10 is propelled by the jack thrust, the direction control of the excavator 10 by the direction control jack 18 is executed at any time. In the propulsion construction of the circumferential tunnel CT shown in FIG. 1, the circumferential tunnel CT is propelled and constructed by the excavator 10 reaching the shaft T.

The above propulsion method is the content of control of each device (direction control jack 18, gripper device 40, main push jack 60, etc.) by the control device 20 provided in the excavator 10.

According to the illustrated propulsion method, by applying the propulsion system 100, the excavator 10 and the propulsion box group 50 in the lubricant U of the over-excavation part E are propelled in the propulsion direction having at least a curved section. At this time, the excavator 10 can be made to excavate along the planned vertical alignment while suppressing the meandering of the excavator 10, and the propulsion box group 50 can be propelled.

It should be noted that other embodiments may be adopted in which other components are combined with the configurations listed in the above embodiments, and the present invention is not limited to the configurations shown here. In this regard, changes can be made without departing from the spirit of the present invention, and can be appropriately determined depending on the application form.

10: Excavation machine 11: Front shell 12: Rear shell 15: Cutter head 18: Direction control jack (propulsion jack)
18A: Direction control jack on the outside in the radial direction 18B: Direction control jack on the inside in the radial direction 20: Control device 30: Propulsion box 30A: Frontmost propulsion box (propulsion box)
30B: Propulsion box 31: Steel shell 32: Radial outer surface 33: Radial inner surface 40: Gripper device 41: Cylinder 42: Rod (jack)
43: Pressure receiving plate 44: Gripper 40A: First gripper device 40B: Second gripper device 50: Propulsion box group 60: Main push device (start push jack, propulsion device)
100: Propulsion system G: Ground (underground)
CT: Circumferential tunnel HT: Main tunnel RT: Ramp tunnel T: Vertical shaft K: Straybeam S: Reaction force mount E: Extra excavation section U: Sliding material R1, R2: Reaction force M: Rotation moment

Claims (7)

A propulsion system in which an excavator excavates while controlling its attitude, and a propulsion box group consisting of a plurality of propulsion boxes connected rearward in the excavation direction of the excavator is propelled,
the excavator comprising a directional control jack;
The propulsion box group;
a propulsion device equipped with a propulsion jack that propels the excavator and the propulsion box group;
A propulsion system characterized in that gripper devices for taking reaction force on the ground are provided at at least two locations in the group of propulsion boxes having different propulsion directions. The foremost propulsion box located at the rear end of the excavator and located at the forefront of the propulsion box group in the propulsion direction is equipped with the gripper device at at least two locations different in the propulsion direction. The propulsion system according to claim 1. A front propulsion box located at the rear end of the excavator and located at the front of the propulsion box group in the propulsion direction, and at least one propulsion box located behind the front propulsion box are connected to the gripper. Propulsion system according to claim 1, characterized in that it comprises a device. The propulsion box group has at least a curved section in the propulsion direction,
The gripper device includes a first gripper device and a second gripper device located radially outside and radially inside the curved section,
4. The propulsion system according to claim 1, wherein each of the gripper devices located at at least two locations having different propulsion directions can be controlled independently of each other. Propulsion system according to any one of claims 1 to 4, characterized in that the excavator is equipped with a movable sled. The gripper device according to any one of claims 1 to 5, characterized in that it has a cylinder, a rod that can freely protrude from the cylinder, and a pressure receiving plate attached to the tip of the rod. Propulsion system. A propulsion method in which an excavator excavates while controlling its attitude, and a propulsion box group consisting of a plurality of propulsion boxes connected to the rear of the excavation machine in the excavation direction is propelled in a propulsion direction having at least a curved section. hand,
The excavator is equipped with a direction control jack, the propulsion box group is located behind the excavator in the excavation direction, and there is a propulsion device equipped with the propulsion jack that propels the excavator and the propulsion box group, Gripper devices are installed to take reaction force on the ground at at least two locations in different propulsion directions among the propulsion box group,
Propelling the propulsion box group into the ground by excavation by the excavator and jack thrust by the propulsion jack,
When controlling the direction of the excavator in the curved section, the gripper devices installed at at least two different locations control the direction and propel the excavator while taking a reaction force to the ground, and then A propulsion method comprising releasing the fixation to the ground by a gripper device and propelling the propulsion box group by the jack thrust of the propulsion jack.

Images