JPH0460099A - Control method for concrete lining machine - Google Patents

Abstract

PURPOSE:To improve the efficiency of lining by continuously detecting the wrist angle of a trowel during the lining of the inner wall of a tunnel with concrete, reducing the pressing force of the trowel when the trowel is hooked on a projection to indicate an abnormal value, and evading it. CONSTITUTION:A trowel 5 is moved in the lining direction A while concrete is sprayed through the concrete feed port 5a of the trowel 5 fitted at the tip of the arm 4a of a working machine 4. The pressing force F of the trowel 5 is continuously detected by a detector and inputted to a controller, and the trowel 5 is controlled and pressed with the constant pressing force F for the lining of a tunnel inner wall 7. When the tip of the trowel 5 is hooked on a projection 7a of the tunnel inner wall 7, a trowel cylinder 8 is commanded to reduce the pressing force F of the trowel 5, and the hooking of the trowel 5 is evaded. The lining of the tunnel inner wall 7 can be performed with the invariably constant pressing force F.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method of controlling a concrete lining machine for lining the inner wall of a tunnel excavated in bedrock or the like with concrete.

(Conventional technology) In the conventional concrete lining method, in which the inner wall of a tunnel excavated in bedrock is lined with a concrete lining machine, the inner wall of the tunnel is lined with concrete using a trowel installed on the concrete lining machine. A method of lining has been adopted.

Conventionally, in order to uniformly line the inner wall of a tunnel with concrete, the trowel pressing force during lining is detected and the trowel pressing force is controlled so that this pressing force is always constant.

(Problem to be solved by the invention) However, with conventional control methods, if the detected measured value is within a preset range, it is possible to control the pressing force of the iron to be constant. If the sensor gets caught on a protrusion on the inner wall and the detected value shows an abnormal value, there are problems such as subsequent control becoming impossible.

This invention was made for the purpose of improving the above-mentioned problems, and aims to provide a method for controlling a concrete lining machine that avoids the problem even if the trowel gets caught on bedrock and enables subsequent control. be.

(Means and operations for solving !It!!) In order to achieve the above object, this invention lines the inner wall of a tunnel with concrete while pressing a trowel provided on a concrete lining machine with a constant pressing force. In the concrete lining construction method, the wrist angle of the trowel during lining is detected, and when the trowel gets caught on a protruding part of the tunnel inner wall and the trowel wrist angle shows an abnormal value that is different from the command value, it is detected as a numerical value. , based on the above numerical values, the pressing force of the iron is weakened to avoid the iron from getting caught.

As a result, it is possible to easily and clearly determine from the detected value whether the abnormal value acting on the iron is due to the iron getting caught, and at the same time, abnormalities caused by the iron getting caught can be accurately avoided by weakening the pushing force of the iron. You will be able to do this.

(Example) An embodiment of the present invention will be described in detail with reference to the drawings.

In the figure, 1 is a self-propelled concrete lining machine, in which an upper rotating body 3 is installed on a lower traveling body 2 that can move freely around the FF belt two legs, and the upper rotating body 3 is attached to the front part of the upper rotating body 3. A trowel 5 that is rotatable in the X-axis and Y-axis directions is attached to the tip of the arm 4a of the working machine 4, and the trowel 5 sprays concrete 6 from the concrete supply port 5a onto the tunnel inner wall 7 in a uniform thickness. It is designed to be lined.

Further, the above-mentioned iron 5 is connected to the tunnel inner wall 7 by means of a iron cylinder 8.
The trowel cylinder 8 is equipped with a pressing force detector (not shown) that detects the pressing force F, and the trowel motor 10 that rotates the trowel 5 in the lining direction A of the concrete 6 has a pressing force detector (not shown) that detects the pressing force F. Wrist position Pot
A position detector (not shown) is provided for each.

On the other hand, reference numeral 12 in the figure is an operating lever for commanding the wrist angle Pot of the iron 5. By operating this operating lever 12, the iron 5 can be controlled to a command 4IIP o t +.

Next, a method of controlling the concrete lining machine 1 will be described in detail with reference to the drawings shown in FIG. 3 and subsequent figures.

When lining the inner wall 7 of a tunnel excavated in bedrock with concrete, the concrete is spouted from the concrete supply port 5a of the trowel 5 attached to the tip of the arm 4a of the working machine 4, and the trowel 5 is moved in the lining direction A. Although the iron 5 is moved, the pressing force F of the iron 5 is constantly detected by a detector as a pressing force f, and is inputted to a controller (not shown), and the controller executes the next control flow.

That is, it is determined whether the pressing force r of the iron 5 detected in step (3) of the flowchart shown in FIG. 3 is within a preset pressing force f, , f, +8f (constant).

If it is within the above range, it is considered normal and the lining work is continued with the same pressing force F.

Furthermore, if the detected pressing force r1 is not within the above range, the process proceeds to step (2), where it is determined whether f,>f, and if f
, >f, the iron cylinder 8 is extended in step (2), and steps from step (2) to (2) are repeated until the pressing method F is within the above range.

On the other hand, if it is determined in step (2) that f is not >f, the process proceeds to step (2), where it is determined whether f, >f, +Δf.

Then, if it is determined that f, > f, +△r, step ■
Then, the iron cylinder 8 is reduced in size and the steps from step (2) to step (2) are repeated so that the pressing force F is within the above range.

As described above, while pressing the trowel 5 with a constant pressing force F, the tunnel inner wall 7 is lined with concrete 6. During the above operation, as shown in FIG. If it gets caught in part 7a etc., the iron 5
is forcibly rotated by an angle θ.

In a normal lining state, the angle of the trowel 5 is maintained at Pot, -Potz l≦a, but as the trowel 5 is forcibly rotated, an abnormality is determined in step 2'.

In other words, when the iron 5 gets caught on the protrusion 7a, l
Potl-Pot21>a, indicating a value different from the command value, or a value different from the command value.

Proceed to step ■', divide the lower limit of the pressing force range by a constant to further lower the lower limit, and press the iron 5 using F.
Commands Kotesiri and Nda 8 to weaken it. This weakens the pressing force F of the iron 5, thereby avoiding the iron 5 from getting caught.

When the iron 5 returns to its normal state, the pressing force F of the iron 5 is again controlled according to the normal flow.

Although the above embodiment has been described with reference to a self-propelled concrete lining machine, it is also possible to apply the same method to a manipulator type concrete lining machine that performs lining work in tunnels. It is.

(Effects of the Invention) As detailed above, this invention constantly detects the wrist angle of the trowel while lining the inner wall of a tunnel with concrete, and when the trowel gets caught on a protrusion, the trowel wrist angle differs from the command value. If an abnormal value is shown, the pushing force of the trowel is weakened to avoid getting caught, making it possible to efficiently line the inner wall of the tunnel with a constant pushing force.

In addition, since it is possible to judge whether the iron is caught numerically,
When an abnormal value is displayed, the cause can be clearly determined, and control such as weakening the pushing force of the iron to avoid getting caught can be performed accurately.

[Brief explanation of drawings]

Fig. 1 is a perspective view of a concrete lining machine for carrying out the method of this invention, Fig. 2 is an enlarged view of the vicinity of the trowel, Fig. 3 is a flowchart showing the control method, and Fig. 4 is an explanation of the operation in abnormal situations. It is a diagram. l... Concrete lining machine 5... Trowel 6...
Concrete 7...Tunnel inner wall 7a...Protrusion F...Forcing force patent applicant Komatsu Ltd. Agent (patent attorney) Osamu Matsuzawa (and one other person) Figure 2

Claims (1)

[Claims] In the concrete lining method of lining the tunnel inner wall 7 with concrete 6 while pressing the trowel 5 installed on the concrete lining machine 1 with a constant pressing force F, the wrist angle of the trowel 5 during lining is detected and the trowel is When detecting as a numerical value that the wrist angle of the iron 5 shows an abnormal value different from the command value due to the iron 5 getting caught on a protruding part of the tunnel inner wall 7, etc., the pressing force F of the iron 5 is calculated based on the above numerical value. A method for controlling a concrete lining machine, characterized in that the trowel 5 is prevented from getting caught by weakening the trowel.