JPH0559894A - Thickness control system for tunnel lining sprayed concrete - Google Patents

Abstract

PURPOSE:To prevent spray irregularities of lining concrete by measuring the distances to the inner face of the natural ground and the concrete spray face with a light wave range finder, and performing the spraying work while measuring its thickness. CONSTITUTION:Distances L to portions (1)-(N) along the cross section shape of a tunnel are measured toward the concrete spray position by a light wave range finder 4 respectively, and the results are temporarily stored together with the data of the portions. An arm 2 locates a spray nozzle 3 at the optimum position for the first measurement portion (1) based on the measured results for spraying. The distance at this position after the spraying is measured by the light wave range finder 4 in sequence, and the difference between the initial measurement value L and the measured data is calculated by an arithmetic controller. When the calculated result coincides with the initial set value of the spray distortion, a warning is outputted, the arm 2 and a base machine 1 are turned, the spray nozzle 3 is moved to the next portion (2), and the same actions are repeated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a thickness of sprayed concrete for tunnel lining, in which the thickness of sprayed concrete for primary lining sprayed on the ground surface of a tunnel excavated in the construction of a Natom tunnel is constantly controlled. It is about the management system.

[0002]

2. Description of the Related Art Conventionally, the thickness of shotcrete is controlled by visual observation or inspection pins. Since it relies on the judgment of people, it is the current situation that it often sprays extra.

[0003]

However, in this construction method, the surface of the excavated ground is not always smooth and uneven as compared with other construction methods that use an excavating device such as a shield excavator. Therefore, concrete must be sprayed with a uniform thickness along the irregularities, but due to the working characteristics of the spraying, the amount of spraying tends to be insufficient in the convex portion and excessive in the concave portion, resulting in uneven thickness. Was likely to occur. Since the primary lining concrete is expensive compared to the material unit price of the secondary lining concrete, if there is a large amount of wasteful spraying compared to the design amount, profitability decreases and conversely in thin places There was a high risk that the ground would collapse.

The present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a lining concrete thickness management system in which uneven spraying is prevented by performing a spraying operation while measuring the concrete thickness. It is what

[0005]

In order to achieve the above object, the gist of the present invention is to provide a robot arm on a base machine having a spray nozzle for concrete for primary lining at the tip. , A light-wave rangefinder that irradiates a measurement light beam toward the inner surface of the natural ground, which is the spraying position of the spray nozzle, in conjunction with the turning operation of the robot arm, and And a calculation means for calculating the difference between the ground distance before attachment and the distance at the time of spraying, and outputting a command to stop the spraying operation to the spray nozzle when the result reaches the set value. This is a concrete thickness management system for linings.

[0006]

In the thickness control system of the present invention, first, the uneven shape and the distance of the concrete spray surface of the natural ground are measured by the light wave distance measuring device. Then, concrete is sprayed on the natural ground by the operation of the spray nozzle, and the distance of this spray surface is also measured by the light wave rangefinder. The calculation means calculates the difference between the distance to the original ground of the corresponding sprayed part and the distance reduced by the sprayed thickness. When this difference reaches a value that is a preset spray thickness, the spray operation by the spray nozzle is stopped.

[0007]

Embodiments of the present invention will be described in detail below with reference to the drawings. 1 and 2 show a self-propelled spraying robot incorporating the management system of the present invention. The spraying robot is provided so as to be turnable on a traveling platform having a crawler 1a and is provided at one front side portion. A base machine 1 provided with a control chamber 1b, an articulated robot arm 2 provided at the tip of the base machine 1, and a spray nozzle 3 arranged at the tip of the arm 2 so as to be able to swivel, slide and swing. And a lightwave distance measuring device 4 arranged on the base machine 1 on the back surface of the arm 2, and a concrete whose front end is connected to the spray nozzle 3 and whose rear end is connected to a concrete discharge pump or the like not shown. A hose 5 is provided.

The spray nozzle 3 sprays concrete in a predetermined range while performing an elliptical motion.

The light-wave rangefinder 4 irradiates the ground E, which is diagonally in front of the base machine 1, with a measurement beam and measures the distance in accordance with the reflection time thereof. As shown in the measurement diagram of No. 3, a plurality of sites (from 1 to N) are measured along the sectional shape of the tunnel in front of the base machine 1 orthogonal to the longitudinal direction in the tunnel.

In the control chamber 1b, as shown in FIG. 4, the light wave distance measuring device 4 is driven, and based on the obtained distance data, the arm 2 is driven to rotate and the spray nozzle 3 is installed. Calculation control unit 6 for thickness control for drive control, storage unit 7, plotter 8 for recording measurement results, display C
An RT display 9 and a keyboard 10 for inputting initial setting values and the like are provided, and the arithmetic and control unit 6 executes the following control shown in the flowchart of FIG. 5 according to each input state.

First, in the standby state of the arm 2, the distance L is measured toward the concrete spraying position by the optical distance measuring device 4 along the sectional shape of the tunnel to each of the portions (1) to (N). The measurement result is temporarily stored in the storage unit 7 together with the site data (steps 1 and 2).

Next, based on this initial measurement result, the arm 2
Positions the spray nozzle 3 at the optimum position of the first measurement site (1), and then the spray operation is performed (step 3,
4). The distance L ′ at this position is successively measured by the lightwave distance measuring device 4, and the calculation control unit 6 calculates the difference between the initial measurement value L and this measurement data L ′ = L−L ′ (step 5, 6). This difference d corresponds to the spraying thickness of concrete, and generally differs depending on the rock type of the natural ground, but it is necessary to apply a thickness of about 5 to 25 cm depending on the rock type to prevent the natural rock from collapsing. It is said that it is suitable for prevention. Since it is not possible to secure a large thickness with one spraying operation, the initial setting value is set to the optimum thickness for one spraying operation.

When the result of this calculation matches the initial setting value of the spray thickness, an alarm is output, so that the arm 2 and the base machine 1 are swivel-driven by an operator or automatically, and the next portion (2) The spray nozzle 3 is moved to (steps 7, 8 and 9), and then the same operation as the above steps 4 to 7 is repeated at the part (2). When the spraying, the measurement and the calculation are performed up to the final portion (N) in this way, the spraying operation is stopped, and as shown in FIG. Complete the construction of work concrete C.

When the thickness to be obtained is twice the set value d, for example, when the set value d is 5 cm and the design thickness is 10 cm, spraying from the site (1) and measurement are performed again. By repeating the above, the primary lining concrete C becomes the designed thickness. Similarly, since the thickness to be obtained is 5 to 25 cm depending on the rock type, the desired design thickness can be obtained by repeating the number of times accordingly.

Although the above thickness control has been described for the case where there is no steel support, when the steel support is provided, the unevenness of the excavated natural ground E is first examined as shown in FIG. 7 (a). And the primary spraying line K indicated by the imaginary line, the concrete is sprayed and the thickness is controlled so that the corresponding steel post-support 20 is built in, and as shown in FIG. By performing the spraying operation again at a position avoiding the inner air side flange surface of the work 20, the steel support 20
The primary lining concrete integrated with can be obtained.

[0016]

As described above, in the thickness control system for lining concrete according to the present invention, the concavo-convex shape and the distance of the concrete spraying surface of the ground are measured by the light wave distance measuring device, and then the spraying is performed. Concrete is sprayed on the natural ground by the operation of the nozzle, and the distance of this spraying surface is also measured by the light wave rangefinder, and the calculation means determines the distance to the original natural ground of the corresponding sprayed part and the spray thickness. The difference in the reduced distances is calculated, and when this difference reaches the preset spray thickness, the spraying operation by the spray nozzle is stopped, so the concrete is uniform in the intended design thickness. Since it adheres to, it is highly safe, and waste of material can be prevented, which is economical.

[Brief description of drawings]

FIG. 1 is a perspective view showing a thickness management system of the present invention.

FIG. 2 is a sectional view of the same.

FIG. 3 is a measurement diagram showing a tunnel inner section measured by a lightwave rangefinder.

FIG. 4 is a block diagram showing a hardware configuration of a thickness management system.

FIG. 5 is a flowchart showing an operation procedure of the thickness management system.

FIG. 6 is a partial cross-sectional view showing a state in which lining is completed.

FIG. 7 is a partial cross-sectional view showing an embodiment in which steel supporters are arranged, and (a) is a lining state before installation of steel supporters. (B) is a partial cross-sectional view showing a state of lining after steel support construction.

[Explanation of symbols]

 1 Base Machine 2 Robot Arm 3 Spray Nozzle 4 Lightwave Range Finder 6 Computation Control Section (Computing Unit) E Natural Ground C Concrete

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masashi Takahashi 1-11-25 Higashioi, Shinagawa-ku, Tokyo Goyo Construction Co., Ltd. Technical Research Institute

Claims (1)

[Claims] 1. A robot arm on a base machine, the tip of which is provided with a spraying nozzle for primary lining concrete, and a spraying position of the spraying nozzle which is interlocked with a turning operation of the robot arm. An optical rangefinder that irradiates a measuring ray toward the inner surface of the ground, and the distance between the ground before spraying measured by this optical rangefinder and the distance at the time of spraying are calculated, and A thickness control system for concrete for lining, comprising: a computing unit that outputs a command to stop the spraying operation to the spraying nozzle when the result reaches a set value.