JPH0771189A - Method and device to control pushed pipe type shield machine - Google Patents

Abstract

PURPOSE:To automate drilling processes and achieve faster, reproducive and lower-cost drilling work by making measurements to select judgement that the drive of a buried pipe is started and finished and automatically controlling system management. CONSTITUTION:A drilling device 1 at the end contains an inclinometer 14, a soil pressure meter 15 and stroke length detecting meters 17, 18 as sensors, as well as an electromagnetic valve 19 to stroke-control a direction modifying part. Data from these are fed into a data processor 24 in a soil pit via multiple transfers 21, 25 and an I/O unit 23 to modify deviation from a target value in remote control. A target light receiver 22 is provided for monitoring in the drilling direction to receive radiated laser beams on the target plane and show the degree of the deviation. A primary pushing device 27 is provided in a vertical shaft to detect propulsion speed pressure for measuring the propulsion pressure and stroke of a propulsion jack. Then, the propulsion and retreat of the drilling device 1 is automatically judged, followed by automatic processing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for controlling a push-tube shield machine used in excavating a small-diameter tunnel.

[0002]

2. Description of the Related Art Conventionally, for excavating a tunnel having a relatively small diameter, as shown in FIG. 8, a ground cutting cutter 10, a direction correcting portion 11, a center folding portion 12, and a rear end portion 13 are provided at the tip. And a jack 4 (original pushing device) for applying pressure to the new buried pipe 20D connected to the rear end surface of the already buried pipe 2 (20A, 20B, 20C) connected to the propulsion device. It's being used. The operator monitors the data from the excavation device 1 including the center folding part 2 in an operator room (not shown) in the vertical shaft 5 that is substantially perpendicular to the tunnel excavation direction and performs excavation work. That is, to the rear portion 13 of the propulsion unit, the existing buried pipes 20A, 20B, 20C and the new buried pipe 20D that have been pressure-fed by the original pusher 4 are connected. The joint of each buried pipe is
It is fixed and each cable and pipe is also joined at this joint. Therefore, various signals from the propulsion device are taken into the operator room in the pit and the central command room 6 outside through the electric cable 7. Control signals from the central command room 6 and the operator room are transmitted to the propulsion machine through the electric cable 7.

A propulsion jack 29 installed in the vertical shaft 5 is pressed against the rear end surface of the new buried pipe 20D. By extending the stroke of the propulsion jack 4 in the tunnel axis direction, a strong pressure is applied to the embedded pipe rows 20A to 20D, and these embedded pipe rows move forward. Conversely, the propulsion jack 4
When pulling, the buried pipe line and the propulsion unit will be retracted.

[0004]

In the above-mentioned conventional push-tube type shield excavator, the propulsion or retreat of one buried pipe is used as a unit of data measurement and control, but the setting at the start or end of propulsion is not possible. The propulsion control cannot be fully automated because it is not clear, and the operator relies on the start and end timings. In addition, the number management of buried pipes depends on human labor, and automation is necessary.

It is an object of the present invention to provide a data processing method and apparatus for automating the judgment of the start and end of propulsion of a buried pipe in shield excavation.

[0006]

The present invention is based on at least two measurement data out of a measurement data group consisting of a rotation state of a cutter at a tip excavation portion, a propulsion stroke value of a propulsion jack attached to a rear portion, and the propulsion state. In addition, it is characterized in that the judgment of propulsion start and the judgment of propulsion end of one buried pipe are automatically made, and the drive processing of the device is continuously performed.

Further, in the present invention, the measurement data regarding the rotation state of the cutter is either a selection signal of a cutter operation in the operation panel or the cutter rotation torque, and the measurement data regarding the propulsion state of the propulsion jack is the propulsion on the operation panel. At least one selected from the group consisting of a jack operation selection signal, a propulsion jack stroke change state, and a propulsion jack pushing side pressure.

Furthermore, in the present invention, a data storage file is provided, the data storage file is opened after the promotion start is established, and the data storage file is closed after the promotion completion is established, and the data storage is performed. It was decided to have the buried pipe number update process performed while the file was open.

Further, according to the present invention, it is possible to judge the start of the backward movement of the device.
At least one of the measurement data groups consisting of the pressure on the propulsion jack pulling side and the pulling operation selection signal on the operation panel is selected and performed.

[0010]

[Function] The face is cut by the cutter and pressed by the propulsion jack of the former pressing device, and the tunnel pressing is the driving force for the tunnel excavation. Therefore, the start and end of propulsion and the start and end of reverse can be determined by monitoring the behavior display of these two driving force sources on the operation panel.

That is, the cutter maintains a predetermined number of rotations and torque during the cutting work, and the cutter stops when not cutting. Further, the propulsion jack exhibits a pushing operation during the propulsion of the buried pipe, and it is possible to judge whether or not the length of the buried pipe is reached by measuring the stroke. Since the propulsion jack is hydraulically driven, it is possible to check whether the propulsion or retraction work is being performed by measuring the pressure.

Since there is a possibility that the timing of the propulsion work determination may be off with only one of the above-mentioned indexes, if the start and end of the propulsion are determined by checking the two indexes, the operation control can be fully completed. .

After starting the propulsion, the saved data file is opened and the propulsion or retreat is operated while comparing with the existing pipe data. If the buried pipe number is updated in this process,
Even if the buried pipe is replaced by retreating, the data will not be confused.

[0014]

EXAMPLES The present invention will be described in more detail based on the following examples. FIG. 1 is a diagram showing an example of a data processing flowchart in the case of performing shield excavation for one new buried pipe based on the control method of the present invention.

At the start of construction, the operator first follows the procedure 10
Perform 0 "system startup". That is, the power of the data processing device and the power of the propulsion device such as the cutter and the hydraulic unit are turned on to prepare for excavation. During this period, the data measured by the machine is input at a constant interval in “Data input 1” of procedure 101 for the determination of the start of propulsion. Procedure 10 from these data
Judgment 2 “start promotion”. Here, the input measurement data is data indicating the cutter rotation state, data indicating the original push signal, a signal indicating the propulsion stroke, and the like.

FIG. 2 is a flowchart showing an example of determination of the propulsion start condition in the procedure 102. FIG. 2 (A) shows the cutter rotation state (cutter rotation selection signal or rotation hydraulic pressure or drive current indicating increase in cutter rotation torque) and the original push selection signal (of the propulsion jack operation) of the input data captured in step 101. It is shown that the propulsion start determination is made by confirming two of the selection signal or the pushing side pressure of the propulsion jack) by steps 110 and 111. If any of these is “No”, the propulsion setup change is determined and the procedure 1 is performed again.
Data input 1 by 01 will be input.

On the other hand, FIG. 2 (B) is to check the propulsion stroke value of the propulsion jack according to the procedure 112 in addition to the above two indexes. Propulsion stroke value is a specified value,
In other words, it is a confirmation whether or not the stroke position of the most recent existing buried pipe length is maintained at the rear position by the new buried pipe length.

In FIG. 1, when the propulsion start condition is satisfied, the "propulsion start process" according to step 103 is performed. This example is shown in FIG. First, in step 113, the data storage file is opened, and in step 114, the new buried pipe number is registered (set). Next, in step 115, data such as the propulsion start time and the stroke position at the start are stored. Also, the program in the data processing device 24 moves to the step when the machine enters the propulsion, and supports the operator during propulsion (machine position status display, hydraulic propulsion speed and other propulsion status display), propulsion control (direction control, sediment). Carry out control, etc.). Further, in step 116, the position where the buried pipe is pushed by one, that is, the propulsion end prescribed stroke position is calculated and the data is stored.

The data input 2 according to the procedure 104 is information on the operation of the cross-progress machine of these data, that is, the machine position state value or the hydraulic propulsion state value such as the hydraulic propulsion speed and the propulsion control (direction control, Information regarding sediment discharge control, etc.) is also provided.

The data input 2 is performed at regular intervals, and the "promotion end condition" is confirmed by the procedure 105 each time. FIG. 4 shows an example of determination as to whether or not this promotion end condition is satisfied.

The end determination index in FIG. 4 is whether the stroke value of the propulsion jack in step 117 has reached the specified value for one buried pipe set previously, and the rotation state of the cutter in step 118 (whether it has stopped or not). Please) and step 1
The three data of the propulsion state of the propulsion jack according to 19 (whether the stop or the pulling pressure is entered) are used.
If either of them is "NO", the data processing (data leveling, etc.) is performed by the procedure 107 by judging that the buried pipe is still being promoted. In this data processing routine, the operation data is recorded at a constant propulsion pitch (specified stroke unit) (procedures 108 and 109). If the operation data has not been reached, the procedure directly returns to the data input 2 of the procedure 104, and the propulsion ends by data comparison. Check if the conditions are met.

If the conditions for ending the propulsion are satisfied, the "promotion end process" of step 106 is entered. An example of this is shown in FIG. In step 120, the promotion end time and end stroke position are saved in the data save file, and in step 121, the data save file is closed. After that, the procedure returns to the data input 1 of step 101 to promote the buried pipe in the next stage.

FIG. 6 shows a flow chart of another embodiment of the method for controlling the push tube type shield excavator according to the present invention.

This control method for the excavation device describes a case in which both propulsion and retreat are included as compared with the case where only propulsion of the buried pipe is considered in the previous embodiment. When the embedded pipe deviates from the predetermined route and is propelled, the machine is temporarily retracted to pull out the embedded pipe and propel it again along the prescribed route.

The "system start-up" in step 100 and the "data input 1" in step 101 in the embodiment of FIG. 6 are the same as in the previous embodiment. Next to "Data input 1", follow step 12
Add 2 to determine whether to start backward or to start promotion.

The conditions for starting the retreat are (1) whether the stroke value of the propulsion jack exceeds the specified value for one buried pipe (2), and whether the propulsion jack is in the pulling operation (3), At least one of the propulsion jack pulling side pressure (hydraulic pressure) exceeds the specified value.

If the condition for starting the backward movement is satisfied, the "reverse starting processing" in step 123 is performed. This processing is to open the saved data file and set the pipe number for backward movement, save the backward start time and backward start stroke position data, and calculate the machine position. After this processing, the procedure proceeds to "Data input 2" of procedure 105A.

On the other hand, if the starting condition is not satisfied, the vehicle should be promoted. As in the previous embodiment, it is confirmed whether the "propulsion starting condition" is satisfied in step 102, and if it is satisfied, step 103 is executed. "Promotion start process"-> Procedure 1
Go to "Data input 2" of 05A.

In the next step, procedure 124 determines whether the machine is "in propulsion". This is because the present embodiment includes both cases of propulsion and retreat. The judgment is made by checking both the cutter rotation state (rotation or stop) and the propulsion state (pushing operation or pulling operation) of the propulsion jack.

If it can be determined that it is in the propulsion state, the same process as the previous embodiment shown in FIG. 1 is followed, but if it is determined that it is not in the propulsion state, the machine is in the backward or stopped state. Therefore, next, in step 125, it is determined based on the data whether or not the buried pipe has retreated by one line.

In the procedure 125, the judgment as to "whether the backward condition for one unit is satisfied" is made as follows: (1), cutter stopped state (2), propulsion jack stopped state (3), propulsion jack stroke value for one line. It is whether or not the specified stroke value of is reached. If “NO” in step 125, the process returns to “data input 2”, but if “YES”, the “process for backward movement for one line” in step 126 is performed.

This is shown in FIG. 8 when one buried pipe is pulled out.
This is because it is necessary to reconnect the electric cable 30, other hydraulic systems, and the transfer system as shown in FIG. When the electric cable 30 is reconnected, the measurement data of the machine is lost at this time, so it may be detected and used as the judgment of "satisfaction condition for one retreat".

After the "reverse processing for one pipe", it is necessary to judge again whether or not the next buried pipe should be pulled out, so that the process returns to "data input 1" again.

FIG. 7 shows a configuration example of the control device used in this embodiment. As shown in FIG. 7, a tip excavation device 1
Is a solenoid valve for controlling the stroke of the inclinometer 14, the earth pressure gauge 15, the drain pressure gauge 15, the bending angle stroke length detector 17, the direction correction stroke length detector 18 (in addition to the pitching gauge and the rolling gauge) as a sensor. 19
Etc. are built in, and these data are sent by the multiplex transmission device 21 to the data processing device 24 such as a personal computer in the vertical shaft through the multiplex transmission device 25 and the I / O unit 23 to correct the deviation from the target value. Remotely controlled by. In addition to this, an original pushing operation panel 26, an original pushing device 27, and a hydraulic unit 28 are provided in the pit, and the original pushing device 27 is driven by controlling the hydraulic unit 28 from the operating panel 26. Also, in order to monitor the direction of excavation, a target light receiving device is installed as shown in the figure. This device is a laser light receiving device and receives a laser beam emitted from a vertical shaft in a target direction on a target surface to indicate the degree of deviation.

The source pushing device 27 in the vertical shaft has a propulsion speed detector 27A, a propulsion pressure detector 27B, and a propulsion stroke detector 27C in addition to the propulsion jack 4 (FIG. 8) of the buried pipe. The propulsion jack presses the rear end of the new buried pipe so that the buried pipe can be moved forward or backward. On the other hand, the power source (electricity, hydraulic pressure), mud material injection, soil disposal device, sequencer master station, etc. are arranged in the command room 6 (FIG. 8) on the ground. Although the basic configuration is the same as that of the conventional system, it is characterized in that the propulsion pressure and stroke of the propulsion jack by the detectors 27B and 27C are added as measurement parameters to the operator's original pushing device on the vertical shaft side. As described above, these parameters play an important role in determining the propulsion / retraction of the device and performing automation. Further, the hydraulic unit (hydraulic pressure gauge, solenoid valve, etc.) is also integrated in one place in consideration of the convenience of the operator and the measurement for the automation of the apparatus. FIG. 9 is a diagram showing FIG. 8 more concretely, and no particular explanation will be required.

[0036]

As described above, according to the present invention,
It is possible to judge the start and end of propulsion for each buried pipe, and to automatically control system management such as program startup. Since it is possible to detect the receding of the buried pipe, it is possible to automate the process including redoing the excavation work. Therefore, the present invention is to speed up the push tube shield excavation method,
It is thought that it can be reproduced or contribute to cost reduction.

[Brief description of drawings]

FIG. 1 is a flow chart showing data processing of buried pipe propulsion according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an example of determination of a promotion start condition.

FIG. 3 is a flowchart showing an example of propulsion start processing.

FIG. 4 is a flowchart showing an example of determination of a promotion end condition.

FIG. 5 is a flowchart showing an example of a promotion end process.

FIG. 6 is a diagram showing a flowchart of another buried pipe propulsion data processing of the present invention.

FIG. 7 is a diagram showing a system configuration example of a control device of the present invention.

FIG. 8 is an overall configuration diagram of a push tube type shield excavation.

FIG. 9 is a diagram showing the configuration of FIG. 8 more specifically.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Propulsion device 2 Buried pipes 20A to 20C Existing buried pipe 20D New buried pipe 4 Propulsion jack 5 Standing resistance 7 Electric cable 27 Original push device 27A Propulsion speed meter 27B Propulsion pressure gauge 27C Propulsion stroke gauge 28 Hydraulic unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Nobuaki Endo Inoue Nobuaki, 650 Kazunachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory

Claims (5)

[Claims] 1. A push-pipe shield excavator that continues tunnel lining by pushing a new buried pipe pressed against the rear end of an existing buried pipe with a propulsion jack attached to the rear while excavating a face with a cutter at the tip excavating part, Whether the propulsion start condition for one embedded pipe is satisfied based on at least two measurement data of the measurement data group consisting of the rotation state of the cutter, the propulsion stroke value of the propulsion jack, and the propulsion state of the propulsion jack. And a propulsion end condition are automatically satisfied, propulsion start processing is performed when the propulsion condition is satisfied, and propulsion end processing is performed when the propulsion end condition is satisfied. . 2. The measurement data regarding the rotation state of the cutter is either a selection signal of a cutter operation on the operation panel or a cutter rotation torque, and the measurement data regarding the propulsion state of the propulsion jack is the propulsion jack operation on the operation panel. 2. The method for controlling a push-tube shield machine according to claim 1, wherein the control signal is at least one selected from the group consisting of a selection signal of the above, a change state of the propulsion jack stroke, and a pressure on the push jack pushing side. 3. Having a data storage file, opening the data storage file after the promotion start is established, closing the data storage file after the promotion end is established, and opening the data storage file. The method for controlling a push-tube shield machine according to claim 1, wherein a buried pipe number updating process is performed. 4. The propulsion start determination of the device includes a backward propulsion, which is a negative propulsion, and the retraction start determination of the device includes measurement data composed of the propulsion jack pulling side pressure and a pulling action selection signal in an operation panel. The method for controlling a push-tube shield machine according to claim 1, wherein at least one of the groups is selected and executed. 5. A push-tube type shield excavator for continuing tunnel lining by pushing a new buried pipe pressed against the rear end of an existing buried pipe with a propulsion jack attached to the rear while excavating a face with a cutter at the tip excavating part. , The rotation state of the cutter,
A means for measuring at least two data in the data group consisting of the propulsion stroke value of the propulsion jack and the propulsion state of the propulsion jack, and the propulsion start condition for one embedded pipe based on these two measurement data. And means for automatically performing whether or not the propulsion end condition is satisfied, and means for performing propulsion start processing when the propulsion start condition is satisfied and performing propulsion end processing when the propulsion end condition is satisfied. Control device for push-tube shield machine.