JPH08218771A - Sludge type tunnel excavator - Google Patents

Abstract

PURPOSE: To reduce always the variation in facing pressure even if the balance of flow rate inside a chamber is lost by disturbance occurring during the excavation and to excavate a facing while keeping the stabilized facing. CONSTITUTION: Double layer construction consisting of a sludge layer and an air layer is constituted in a chamber 3, a sludge conveying pump 6 for supplying sludge is provided to the inside of the chamber 3, and a level sensor 31 for detecting the level of the surface of the water is provided to the inside of the chamber 3. A difference between water level set point and level value from the level sensor is inputted and, at the same time, a control amount for the number of revolution in a state to maintain the level of the surface of the water in specific value is set on the basis of the difference to provide a compensator outputted to the sludge conveying pump 6. The sludge conveying pump 6 is driven in a state to maintain the level of the surface of the water in specific value, the level of the surface of the water in the chamber 3 is maintained in a specific state, the variation in facing pressure is always reduced even if the balance of flow rate inside the chamber is lost by disturbance occurring during the excavation, and excavation is made while maintaining the stabilized facing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a muddy water tunnel excavator and is intended to always stabilize a face during excavation by using a hydroshield excavator having an air layer in a chamber.

[0002]

2. Description of the Related Art As a mud tunnel excavator, there is a hydroshield excavator in which an air layer is provided in a chamber to stabilize a face during excavation. The structure of a conventional hydroshield excavator will be described with reference to FIG. FIG. 10 shows a schematic configuration of a conventional hydroshield excavator.

As shown in the figure, a cutter 2 is attached to the front body of the shield excavator body 1, and the excavated mud enters the chamber 3 and is discharged through the mud discharge circuit 14 to be discharged. The chamber 3 discharges excavated mud while supplying water by a mud transportation system so as to always generate a predetermined pressure. The muddy water supply line of the muddy water transportation system is composed of the adjusting tank 4 to the valve 8 in the figure. The mud pump 6 driven by the driver 5 sucks up the water in the adjusting tank 4, and the sucked water is supplied into the chamber 3 through the mud feeding circuit 7 and the valve 8. In addition, the muddy water discharge line of the muddy water transport system is shown in FIG.
It consists of up to. A plurality of mud pumps 11 and 13 are used in the mud discharge circuit 14 to discharge the excavated mud. FIG. 10 shows the case where two sludge pumps 11 and 13 are used.
The number of thirteen is adjusted. The sludge pumps 11 and 13 are driven by drivers 10 and 12, respectively, and the excavated mud that has passed through the valve 9 flows through the sludge circuit 14 and is sent to the sludge treatment plant 15. In the muddy water treatment plant 15, a treatment for separating excavated soil and water is performed, and the separated water is reused again in the adjusting tank 4.

A central monitoring device 16 and a control device 17 are provided on the ground.
The central monitoring device 16 constantly monitors the state of the mud transportation system, and outputs an alarm or the like if there is an abnormality. The detection value of the pressure sensor 19 provided in the chamber 3 is input to the control device 17, and the detection value of the flow rate sensor 20 provided in the sludge discharge circuit 14 is also input. Based on this input information, the controller 17 adjusts the flow rate of the mud pump 6 by operating the rotational speed of the driver 5 or the mud pump 6 so that the pressure in the chamber 3 becomes constant. At the same time, the drivers 10 and 12 are controlled so that the amount of sludge is constant.
The number of rotations of the sludge pumps 11, 13 is operated to adjust the flow rate of the sludge pumps 11, 13. Reference numeral 18 in the drawing is an emergency pressure relief valve.

[0005]

In the hydroshield excavator shown in FIG. 10, the mud feed amount of the mud feed pump 6 is manipulated so that the face pressure is constant, and the mud discharge amount is kept constant. Although the amount of sludge discharged from the sludge pumps 11 and 13 was operated, the above-mentioned operation was performed in a state where the chamber 3 was filled with muddy water, resulting in the following problem.

In order to keep the cutting face pressure constant, it is necessary to keep the flow rate balance in the chamber 3 constant by the amount of sludge fed and the amount of sludge discharged. Exists. Therefore, due to disturbance, the chamber 3
There was an excess of muddy water inside, and there was a shortage. Further, the mud discharge circuit 14 may be blocked by rocks in the excavated mud, but in this case as well, the amount of mud is insufficient and the flow balance in the chamber 3 is disrupted. Furthermore,
In a conventional hydroshield excavator that fills the chamber 3 with mud, the pressure change in the chamber 3 becomes sensitive to the flow rate change caused by disturbance, and the feed water from the mud pump 6 is controlled to keep the face pressure constant. Even so, a transient pressure change had occurred.

FIG. 11 shows a simulation result in the case where mud is forced to be stepwise input into the chamber 3 from the outside during steady excavation in the mud transport system of the hydroshield excavator described above. As shown in the figure,
The face pressure, which was about 2 kgf / cm ² at first, increased to about 4 kgf / cm ^{2 for a} moment. By operating the number of revolutions of the mud pump 6 to keep the face pressure constant (the number of revolutions is reduced in the case of FIG. 11), the face pressure gradually returns to the initial state, but the disturbance occurs. On the other hand, the pressure change in the chamber 3 becomes sensitive, and it becomes difficult to keep the face pressure constant.

The present invention has been made in view of the above circumstances, and provides a muddy water tunnel excavator capable of maintaining a constant pressure state of air and muddy water in a chamber, thereby constantly stabilizing the face pressure during excavation. The purpose is to let.

[0009]

A muddy water tunnel excavator according to a first aspect of the present invention for achieving the above object is characterized in that a partition plate is provided in parallel with a bulkhead which is a partition wall of a chamber provided in a front body. While enclosing air in the chamber,
In the muddy water tunnel excavator, which is provided with a muddy water supply mud pump for supplying muddy water in the chamber, forms a muddy water layer and an air layer in the chamber to keep the face pressure during excavation constant, And a level sensor for detecting the level of the water surface which is the boundary between the muddy water layer and the chamber, the difference between the level value set by the water surface level and the level sensor is input, and the water surface is based on the difference. Is provided with a compensator for setting a rotational speed manipulated variable in a state where the level of (1) is maintained at a predetermined value and outputting it to the mud supply mud pump.

The muddy water tunnel excavator of the second invention for achieving the above object is provided with a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, and air is enclosed in the chamber. In addition, in the muddy water tunnel excavator which is provided with a muddy water supply mud pump for supplying muddy water into the chamber, which forms a muddy water layer and an air layer in the chamber to keep the face pressure constant during excavation,
A pressure sensor for detecting the air pressure of the air layer is provided in the chamber, while the difference between the air pressure set value and the pressure value from the pressure sensor is input and the air pressure maintains a predetermined value based on the difference. It is characterized by comprising a compensator for setting a rotational speed manipulated variable in a state and outputting it to the mud feed mud pump.

The muddy water tunnel excavator of the third invention for achieving the above object is provided with a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, and air is enclosed in the chamber. In the muddy water tunnel excavator that supplies muddy water into the chamber and forms a muddy water layer and an air layer in the chamber to maintain a constant face pressure during excavation, air that supplies air into the chamber. A compressor or an air compressor and an accumulator are provided, an air discharge path for discharging air from the chamber is provided, and an air supply valve for supplying air is provided, while air for discharging air is supplied to the air discharge path. An exhaust valve is provided, a pressure sensor for detecting the air pressure of the air layer is provided in the chamber, and the detected value of the air pressure by the pressure sensor is a predetermined value or more. In this case, the air supply valve is operated to be opened, and when the detected value of the air pressure by the pressure sensor is a predetermined value or more, the air discharge valve is operated to be opened to maintain the air pressure in the chamber at a predetermined pressure at all times. A control device is provided.

A muddy water tunnel excavator according to a fourth aspect of the invention for achieving the above object is to provide a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, and to enclose air in the chamber. In addition, in the muddy water tunnel excavator which is provided with a muddy water supply mud pump for supplying muddy water into the chamber, which forms a muddy water layer and an air layer in the chamber to keep the face pressure constant during excavation,
An air compressor for supplying air into the chamber or an air compressor and an accumulator are provided, an air discharge path for discharging air from the chamber is provided, an air supply valve for performing air supply operation is provided, and the air discharge is performed. An air discharge valve for discharging air is provided in the path, a pressure sensor for detecting the air pressure of the air layer is provided in the chamber, and the air supply is performed when the detected value of the air pressure by the pressure sensor is a predetermined value or less. A control device is provided for opening the valve and operating the air discharge valve to open the air pressure in the chamber at a predetermined pressure when the detected value of the air pressure by the pressure sensor is equal to or higher than a predetermined value. A level sensor for detecting a level of a water surface which is a boundary between the air layer and the muddy water layer is provided in the chamber while the level sensor is used. When the level value is above the allowable upper limit value, the rotation speed of the mud supply mud pump is decreased, and when the level value by the level sensor is below the allowable lower limit value, the rotation speed of the mud water supply mud pump is increased. It is characterized by being provided with a mud feed control device for maintaining the water surface level within a predetermined range.

A muddy water tunnel excavator according to a fifth aspect of the invention for achieving the above object is to provide a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, and to enclose air in the chamber. In addition to supplying muddy water into the chamber, a muddy water drainage pump for discharging muddy water in the chamber is provided, and a muddy water layer and an air layer are formed in the chamber to maintain a constant face pressure during excavation. In the muddy water tunnel excavator to be kept at, a flow rate detector for detecting the amount of sludge is provided in the muddy water discharge route, and the difference between the set value of the amount of sludge and the value from the flow rate detector is input and based on the difference. It is characterized by comprising a compensator for setting a rotational speed manipulated variable in a state where the amount of sludge is maintained at a predetermined value and outputting it to the sludge pump for discharging the muddy water.

A muddy water tunnel excavator according to a sixth aspect of the invention for achieving the above object is to provide a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, and enclose air in the chamber. Then, a muddy water supply mud pump for supplying muddy water is provided in the chamber, and a muddy water discharge mud pump for discharging muddy water in the chamber is provided to form a muddy water layer and an air layer in the chamber. In a muddy water tunnel excavator that maintains a constant face pressure during excavation, the mud feeding system according to the first invention, the second invention, the third invention, or the fourth invention is applied as a mud feeding system for supplying muddy water. The sludge discharge system according to the fifth aspect is applied as a sludge discharge system for discharging muddy water.

[0015]

According to the first aspect of the present invention, the level sensor detects the level of the water surface at the boundary between the air layer and the muddy water layer in the chamber, and the water level setting value and the level are set so that the water level maintains a predetermined value. The difference from the level value from the sensor is input to the compensator, and the rotational speed manipulated variable is set based on this difference, and the output of the compensator is used as the rotational speed manipulated variable of the mud feed mud pump.

According to the second aspect of the invention, the air pressure in the air layer is detected by the pressure sensor, and the difference between the air pressure set value and the pressure value from the pressure sensor sensor is input to the compensator so that the air pressure maintains a predetermined value. Then, the rotational speed manipulated variable is set based on this difference, and the output of the compensator is used as the rotational speed manipulated variable of the mud feed mud pump.

According to the third aspect of the present invention, the air pressure in the air layer is detected by the pressure sensor, and when the air pressure is below a predetermined value, the air supply valve is opened to supply air from the air compressor or accumulator to obtain the air pressure. When is greater than or equal to a predetermined value, the air exhaust valve is opened to exhaust air to the air exhaust path so that the air pressure always maintains the predetermined pressure.

According to the fourth aspect of the present invention, the air pressure in the air layer is detected by the pressure sensor, and when the air pressure is below a predetermined value, the air supply valve is opened to supply air from the air compressor or accumulator. When is above a predetermined value, the air exhaust valve is opened to exhaust air to the air exhaust path so that the air pressure is always maintained at a predetermined pressure, and the level of the water surface is detected by a level sensor, When the level is above the upper limit, the rotation speed of the mud supply mud pump is decreased, and when the water level is below the lower limit, the rotation speed of the mud pump is increased, and the water level is within the specified range. Try to maintain.

According to the fifth aspect of the present invention, the amount of sludge discharged from the mud discharge route is detected by the flow rate detector, and the set amount of sludge and the value from the flow rate detector are set so that the amount of sludge is maintained at a predetermined value. Is input to the compensator, and the rotational speed manipulated variable is set based on this difference, and the output of the compensator is used as the rotational speed manipulated variable of the mud discharge mud pump.

According to the sixth aspect of the present invention, the mud-sending system for supplying mud water is formed by applying any one of the first to fourth aspects of the present invention to adjust the rotational speed of the mud-sending mud pump or the air pressure in the air layer. For the sludge discharge system for discharging the muddy water, the fifth invention is applied to adjust the rotation speed of the muddy water discharge sludge pump to keep the pressure state of the air and the muddy water in the chamber constant.

[0021]

Embodiments of the present invention will be described below. FIG. 1 shows a first embodiment showing the overall structure of a muddy water transport system in a muddy water tunnel excavator of the present invention, FIG. 5 shows a second embodiment, and FIG. 7 shows a third embodiment. . In addition, FIG. 2, FIG.
6 and 8 show a control unit stored in the control device in each embodiment, and FIG. 9 shows the appearance of a hydroshield excavator as an example of a muddy tunnel excavator. It should be noted that the same members as those shown in FIG. 10 are designated by the same reference numerals and duplicate explanations are omitted.

First, the construction of the hydroshield excavator will be described with reference to FIG. As shown in the figure, the hydroshield excavator is provided with a partition plate 30 in the chamber 3, an air chamber 41 for enclosing air between the bulkhead 42 and the partition plate 30, and a muddy water 40 and an air chamber 41. It has a two-layer structure. The mud excavated by the cutter 2 is the partition plate 3
It is discharged from the mud pipe described later through the gap at the bottom.

A first embodiment will be described with reference to FIGS. As shown in FIG. 1, a partition plate 30 is provided in the chamber 3 of the hydroshield excavator, and a level sensor 31 that detects the level of the water surface that is the boundary between the air chamber 41 and the muddy water is provided. The control device 17 receives the detected value of the level sensor 31 and the detected value from the flow rate sensor 20 provided in the mud discharge circuit 14, and inputs a rotation speed command of the driver 5 that drives the mud pump 6 (mud pump). 6 speed command)
And a rotation speed command of the driver 10 for driving the sludge pump 11 (a rotation speed command of the sludge pump 11). FIG.
In the above, the case of using the two sludge pumps 11 and 13 is shown, but the number of the sludge pumps 11 and 13 is adjusted according to the digging length. Hereinafter, the sludge pump 11 will be simply described.

2 and 3 show a control unit stored in the control device 17, FIG. 2 is a control unit for operating the rotation speed of the mud pump 6, and FIG. It is a control unit that operates the number of rotations.

As shown in FIG. 2, the water surface level set value 101
And the actual water level 10 detected by the level sensor 31
The deviation from 2 is obtained by the adder 103, and the above deviation is input to the function 104 having a dead zone. The value from the function 104 is input to the compensator (compensator) 105. The output of the compensator 105 is the rotation speed correction amount 106 of the mud pump 6. The rotation speed correction amount 106 is added by the initial rotation speed 107 of the mud pump 6 and the adder 108,
The added value becomes the rotation speed command value 109 of the mud pump 6 (Claim 1: First invention).

As shown in FIG. 3, the deviation between the set value 111 of sludge flow rate and the actual flow rate 112 of sludge detected by the flow sensor 20 is calculated by an adder 113, and the deviation 114 is a function 114 having a dead zone.
To enter. The value from the function 114 is the compensator (compensator) 115.
Is input to The output of the compensation unit 115 is the rotation speed correction amount 116 of the sludge pump 11. The rotation speed correction amount 116 is added to the initial rotation speed 117 of the sludge pump 11 by the adder 118, and the added value becomes the rotation speed command value 119 of the sludge pump 11 (claim 5: fifth invention).

The above-described functions 104 and 114 are provided with a dead zone so that the rotational speeds of the mud feed pump 6 and the mud pump 11 are not controlled for a slight control error. Even in the case of normal excavation, the water level and the sludge flow rate are constantly fluctuating slightly, and the functions 104 and 114 with dead zones are provided to prevent the rpm from being manipulated in spite of this minute fluctuation. If the dead zone width is set to zero, the control section has no dead zone. The initial rotational speeds 107 and 117 in FIGS. 2 and 3 are adjusted according to the excavation situation.

The operation of the above-mentioned hydroshield excavator (FIGS. 1 to 3) will be described. If the flow rate balance of the muddy water in the chamber 3 is lost, the water surface level will change. That is, when the muddy water in the chamber 3 increases due to disturbance such as clogging of the mud discharge circuit 14, the water surface level rises, and when the muddy water decreases due to disturbance such as lost water, the water surface level falls. However, the change of the water surface level has a so-called air cushion effect, and the air pressure does not change rapidly, so that the face pressure does not change much even if the flow rate balance is lost.

By using the control unit shown in FIG.
Since the rotational speed of the mud pump 6 is operated so as to keep the water surface level constant, it is possible to further reduce the change in the face pressure. The control unit shown in FIG. 2 has a function of keeping the water surface level within a predetermined set value 101 or an error range,
The rotation speed of the mud pump 6 is controlled so that the deviation of the water surface level obtained at 103 is within the dead zone width in the function 104.
A compensating unit 105 in the figure is composed of a proportional constant, an integrator, a differentiator, etc., and a proportional operation, an integral operation, and a differential operation D are combined by a combination of three control operations.
It is configured by so-called PID control so that the operation is performed.

The compensating unit 105 has a function of reducing the control deviation, and may be configured to have that function. For example, in Figure 2, the actual water level 102 is the water level setting.
If the deviation is larger than 101 and the deviation is larger than the dead band width in the function 104, the rotation speed correction amount 10 which is the output of the compensation unit 105
6 becomes a negative value, and since the adder 108 adds the initial rotation speed 107 and the correction amount 106, the rotation speed of the mud pump 6 becomes smaller than the initial rotation speed 107. That is, since the amount of sludge supplied to the chamber 3 is reduced, the actual water level 102
Will come down. On the contrary, if the actual water surface level 102 decreases due to another disturbance, the supply amount from the mud pump 6 will increase.

FIG. 3 has a function of keeping the sludge flow rate within a predetermined set value or error range. The configuration of the control unit is the same as that of the control unit shown in FIG.
Using 1 and the actual sludge flow rate 112, the output is the rotation speed command of the sludge pump 11. For example, in FIG. 3, the actual sludge flow rate 112
Is larger than the set value 111 for sludge flow and the deviation is
When the dead band width in 4 is larger than the dead band width, the rotation speed correction amount 116, which is the output of the compensation unit 115, becomes a negative value, and the adder 118 adds the initial rotation speed 117 and the correction amount 116. The rotation speed is smaller than the initial rotation speed 117. That is,
Since the amount of sludge is reduced, the actual sludge flow rate 112 is gradually reduced.

FIG. 4 shows a simulation result under the same conditions as in FIG. 11 by the control unit shown in FIGS. As shown in the figure, the change in face pressure is within 0.1 kgf / cm ² . Since the deviation of the water surface level is increasing, it can be seen that the rotation speed of the mud pump 6 decreases and the deviation gradually becomes zero.

Next, a second embodiment will be described with reference to FIGS. 5 is different from FIG. 1 in that instead of the level sensor 31, a pressure sensor 32 for detecting the pressure of air is used.
Is provided (Claim 2: Second invention). FIG. 6 shows a control unit stored in the control device 17, which is a control unit for operating the rotation speed of the mud pump 6 based on the air pressure.

As shown in FIG. 6, the deviation between the air pressure set value 121 and the actual air pressure 122 detected by the pressure sensor 32 is calculated by an adder 123, and the deviation is input to a function 124 having a dead zone. The value from the function 124 is input to the compensation unit 125. The output of the compensator 125 is the rotation speed correction amount 12 of the mud pump 6
6 The rotation speed correction amount 126 is added to the initial rotation speed 127 of the mud pump 6 by the adder 128, and the added value becomes the rotation speed command value 129 of the mud pump 6. As described above, the function 124 can be a control unit without the above function by setting the dead zone to zero. If the air chamber 41 is hermetically closed, the water level becomes constant when the air pressure is constant. Therefore, the operation in FIG. 6 is the same as that shown in FIG.

For example, in FIG. 6, when the actual air pressure 122 is larger than the air pressure set value 121 and the deviation thereof is larger than the dead band width in the function 124 due to the clogging of the sludge discharge circuit 14 or the like,
The rotation speed correction amount 126, which is the output of the compensator 125, becomes a negative value, and the adder 128 adds the initial rotation speed 127 and the correction amount 126, so the rotation speed of the mud pump 6 is smaller than the initial rotation speed 127. Become. That is, since the amount of sludge supplied to the chamber 3 decreases, the actual air pressure 122 gradually decreases. On the contrary, if the actual air pressure 122 decreases due to another disturbance, the supply amount from the mud pump 6 will increase.

Next, a third embodiment will be described with reference to FIGS. The third embodiment shown in FIG. 7 is the pressure sensor 3
2, the air pressure is detected, the air is supplied directly to the air chamber 41 by the air compressor 33 through the air supply valve 35, and the air discharge valve 36 discharges the air to keep the air pressure constant. Item 3: Third invention). Further, in order to maintain the water surface level on average on a predetermined level, the water level is detected by the level sensor 31, and the rotation speed of the mud pump 6 is operated (Claim 4: Fourth invention). FIG. 8 is a flow chart of the control unit stored in the control device 17 and related to FIG.

As shown in FIG. 8, first, the air pressure deviation determiner 130 determines whether the actual air pressure is different from the set air pressure. If the air pressure deviation determiner 130 has a deviation in air pressure and the deviation is negative, the operation moves to the air supply unit 131. In the air supply unit 131, the air supply valve 35 is operated to supply air with the air compressor 33 and the accumulator 34. The accumulator 34 is used for the air supply valve 3
This is for improving the responsiveness of the air supply during the operation of No. 5. If the air pressure deviation determiner 130 determines that there is a deviation in the air pressure and the deviation is positive, the operation moves to the air discharger 132.
In the air discharge part 132, the air discharge valve 36 for discharging the air in the air chamber 41 is operated. If the air pressure deviation determiner 130 determines that there is no air pressure deviation, the air supply valve 35 and the air discharge valve 36 are not operated.

Next, the water level determiner 133 determines whether the water level deviation of the air chamber 41 is within the allowable range. The air pressure was controlled in the air supply part 131 and the air discharge part 132 regardless of the water surface level. In this case, when the air chamber 41 reaches the opening at the bottom of the partition plate 30, air is blown to the face of the excavation surface. Will flow in. Therefore, the water level must be monitored and the water level deviation must be within the allowable range. When the deviation is less than the lower limit value in the water surface level determination unit 133, the operation proceeds to the rotation speed operation unit 134. The operation unit 134 performs an operation of increasing the rotation speed of the mud pump 6 to increase the water supplied from the mud pump 6 and raise the water level. Water level judge 133
If the deviation exceeds the upper limit value at, the process proceeds to the rotation speed operation unit 135. The operation unit 135 performs an operation to decrease the rotation speed of the mud pump 6, reduces the water supplied from the mud pump 6, lowers the water surface level, and controls so that the deviation of the water surface level always remains within the allowable range. To do.

Each embodiment corresponds to claim 6 (sixth invention). Further, in the above-described embodiment, the shield excavator that excavates mainly soft ground is taken as an example of the tunnel excavator, but the present invention is not limited to this, and other tunnel excavators such as an excavator that excavates rock. Applicable to machine.

As described above, in the hydroshield excavator in which air is enclosed in the chamber 3 in the front body and the two-layer structure of the muddy water layer and the air layer is formed in the chamber 3 for excavation, Since the control for keeping the level of the water surface which is the boundary between the air layer and the muddy water layer constant or the control for keeping the pressure of the air constant is performed, it is possible to prevent clogging of the mud pipe, loss of muddy water in the chamber 3, etc. Even if the flow rate balance in the chamber 3 is disturbed by a disturbance, the air layer acts as a so-called air cushion and the water surface that is the boundary between the air layer and the muddy water changes. Moreover, since the air pressure does not change rapidly, the change in face pressure is small. Furthermore, because the control to keep the water surface level constant or the control to keep the air pressure constant is carried out, it is possible to further reduce the change in the face pressure with respect to the disturbance that occurs during excavation, and to obtain a stable face. It is possible to dig while maintaining.

[0041]

The tunnel excavator of the first invention has a two-layer structure of a muddy water layer and an air layer in the chamber, and is provided with a muddy water supply mud pump for supplying muddy water into the chamber.
A level sensor that detects the level of the water surface is installed inside the chamber, and the difference between the set value of the water surface level and the level value from the level sensor is input, and the rotation of the state where the water surface level maintains a predetermined value based on the difference. Since it has a compensator that sets several manipulated variables and outputs it to the mud water supply mud pump, the mud water supply mud pump is driven to maintain the water level at a specified value, and the water level in the chamber Can be maintained in a predetermined state. As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

The tunnel excavator of the second invention has a two-layer structure of a muddy water layer and an air layer in the chamber, is provided with a muddy water supply mud pump for supplying muddy water in the chamber, and the air pressure of the air layer is A pressure sensor for detecting is set in the chamber, and the difference between the air pressure set value and the pressure value from the pressure sensor is input, and the rotational speed manipulated variable is set based on the difference to maintain the air pressure at a predetermined value. Since it has a compensator that outputs to the mud water supply mud pump, the mud water supply mud pump is driven so that the air pressure of the air layer is maintained at a predetermined value, and the air pressure of the air layer is maintained at a predetermined state. can do. As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

The tunnel excavator of the third invention has a two-layer structure of a muddy water layer and an air layer in the chamber, and is provided with an air compressor for supplying air into the chamber or an air compressor and an accumulator. A pressure sensor that detects the air pressure in the air layer by providing an air discharge path that discharges air from the inside and an air supply valve that performs air supply operation while providing an air discharge valve that performs air discharge operation in the air discharge path Is installed inside the chamber, and opens the air supply valve when the air pressure detected by the pressure sensor is below the specified value, and opens the air discharge valve when the air pressure detected by the pressure sensor is above the specified value. Since it is equipped with a control device that constantly maintains the air pressure in the chamber at a predetermined pressure, the air supply valve and the air exhaust valve are opened so that the air pressure in the air layer is maintained at a predetermined value. Is created, it is possible to maintain the air pressure of the air layer in a predetermined state. As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

The tunnel excavator of the fourth aspect of the invention has a two-layer structure of a muddy water layer and an air layer in the chamber, is provided with a muddy water supply mud pump for supplying muddy water into the chamber, and has an air flow inside the chamber. Is provided with an air compressor or an air compressor and an accumulator, an air discharge path for discharging air from the chamber is provided, and an air supply valve for supplying air is provided, while an air discharge operation is performed on the air discharge path. An air exhaust valve for performing the above is installed, a pressure sensor for detecting the air pressure of the air layer is installed in the chamber, and when the detected value of the air pressure by the pressure sensor is below a predetermined value, the air supply valve is opened and the air pressure by the pressure sensor is opened. By providing a control device that constantly operates the air exhaust valve to maintain the air pressure in the chamber at a predetermined pressure when the detected value of is greater than or equal to a predetermined value, Air supply valve and the air discharge valve in a state where the air pressure of the air layer is maintained at a value of the predetermined range is operated to open, it is possible to maintain the air pressure of the air layer in a predetermined state. In addition, a level sensor that detects the level of the water surface is installed in the chamber, and when the level value by the level sensor is above the allowable upper limit value, the rotation speed of the mud supply mud pump is reduced and the level value by the level sensor is the allowable lower limit value. When the water level is maintained at a value within a predetermined range by installing a mud control device that increases the number of rotations of the mud supply mud pump to maintain the water level within a specified range The mud pump for supplying muddy water is driven to keep the water level in the chamber at a predetermined level.
As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

The tunnel excavator of the fifth aspect of the present invention has a two-layer structure of a muddy water layer and an air layer in the chamber, encloses air in the chamber and supplies muddy water into the chamber, A mud discharge drainage pump that discharges the mud inside is installed, and a flow rate detector that detects the amount of mud discharge is installed in the mud discharge route, and the difference between the set value of the mud discharge and the value from the flow rate detector is input. With the compensator that sets the rotation speed manipulated variable in a state in which the amount of sludge is maintained at a predetermined value based on the difference, and outputs it to the sludge pump for discharging muddy water,
The mud pump for mud discharge is driven in a state where the amount of mud is maintained at a predetermined value, and the pressure state of mud can be maintained constant. As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

In the tunnel excavator according to the sixth aspect of the invention, the mud feeding system for feeding mud applies any one of the first to fourth aspects of the invention to adjust the rotational speed of the mud feeding mud pump or the air pressure of the air layer. However, since the sludge discharge system for discharging the muddy water is adapted to adjust the rotational speed of the muddy water discharge sludge pump by applying the fifth invention, the pressure state of the air and the muddy water in the chamber can be kept constant. . As a result, even if the flow rate balance in the chamber is disturbed by the disturbance generated during the excavation, the change in the cutting face pressure can be constantly reduced, so that the excavation can be performed while maintaining a stable cutting face.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a muddy water transport system according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a mud sending control unit stored in the control device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram of a sludge control unit stored in the control device according to the first embodiment of the present invention.

FIG. 4 is a graph of simulation results when the first embodiment of the present invention is applied.

FIG. 5 is an overall configuration diagram of a muddy water transportation system according to a second embodiment of the present invention.

FIG. 6 is an explanatory diagram of a mud sending control unit stored in a control device according to a second embodiment of the present invention.

FIG. 7 is an overall configuration diagram of a muddy water transportation system according to a third embodiment of the present invention.

FIG. 8 is a flowchart of a mud sending control unit stored in a control device according to a third embodiment of the present invention.

FIG. 9 is an external view of a hydroshield excavator.

FIG. 10 is an overall configuration diagram of a conventional muddy water transportation system.

FIG. 11 is a graph of a simulation result of a conventional muddy water transport system.

[Explanation of symbols]

 1 Shield Excavator 2 Cutter 3 Chamber 6 Mud Pump 7 Mud Circuit 11, 13 Mud Pump 14 Mud Circuit 17 Controller 20 Flow Sensor 31 Level Sensor 32 Pressure Sensor 33 Air Compressor 34 Accumulator 35 Air Supply Valve 36 Air Discharge valve 41 Air chamber 42 Bulkhead 101 Water surface level set value 102 Actual water surface level 103,108,113,118,123,128 Adder 104,114,124 Function 105,115,125 Compensation unit 106,116,126 Rotation speed correction amount 107,117,127 Initial rotation speed 109,119,129 Sludge pump rotation speed command value 111 Sludge flow rate setting value 112 Actual discharge Mud flow rate 111 Sludge discharge flow rate set value 121 Air pressure set value 122 Actual air pressure 129 Mud pump rotation speed command 130 Air pressure deviation discriminator 131 Air supply unit 132 Air discharge unit 133 Water surface level determination unit 134,135 Rotation speed operation unit

Claims (6)

[Claims] 1. A muddy water feed mud for supplying a muddy water into the chamber while enclosing air in the chamber by providing a partition plate in parallel with a bulkhead which is a partition wall of the chamber provided in the front body. In a muddy water tunnel excavator that is provided with a pump and forms a muddy water layer and an air layer in the chamber to keep the face pressure during excavation constant, the level of the water surface that is the boundary between the air layer and the muddy water layer is adjusted. A level sensor for detecting is provided in the chamber, and the number of revolutions in a state where the difference between the water surface level set value and the level value from the level sensor is input and the water surface level maintains a predetermined value based on the difference. A mud tunnel excavator, comprising a compensator for setting a manipulated variable and outputting it to the mud pump for supplying mud. 2. A muddy water feed mud for supplying a muddy water into the chamber while enclosing air in the chamber by providing a partition plate in parallel with a bulkhead which is a partition wall of the chamber provided in the front body. In a muddy water tunnel excavator which is provided with a pump and forms a muddy water layer and an air layer in the chamber to keep the face pressure constant during excavation, a pressure sensor for detecting the air pressure of the air layer is provided in the chamber. On the other hand, the difference between the air pressure set value and the pressure value from the pressure sensor is input, and based on the difference, the rotational speed manipulated variable is set in a state where the air pressure maintains a predetermined value, and the mud supply mud feed is set. A mud tunnel excavator, which is equipped with a compensator for outputting to a pump. 3. A partition plate is provided in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, encloses air in the chamber and supplies muddy water into the chamber, and the muddy water is fed into the chamber. Layer and air layer to form a muddy water tunnel excavator for maintaining a constant face pressure during excavation, an air compressor for supplying air into the chamber or an air compressor and an accumulator are provided, and air is supplied from within the chamber. An air discharge path for discharging
While having an air supply valve for performing an air supply operation, an air discharge valve for performing an air discharge operation is provided in the air discharge path,
A pressure sensor for detecting the air pressure of the air layer is provided in the chamber, and when the detected value of the air pressure by the pressure sensor is less than or equal to a predetermined value, the air supply valve is opened and the detected value of the air pressure by the pressure sensor. A muddy water tunnel excavator comprising a control device for opening the air discharge valve to constantly maintain the air pressure in the chamber at a predetermined pressure when is greater than or equal to a predetermined value. 4. A muddy water feed mud for supplying muddy water into the chamber while enclosing air in the chamber and providing a partition plate in parallel with a bulkhead which is a partition wall of the chamber provided in the front body. In a muddy water tunnel excavator that is provided with a pump and forms a muddy water layer and an air layer in the chamber to keep the face pressure constant during excavation, an air compressor or an air compressor for supplying air into the chamber. An accumulator is provided, an air discharge path for discharging air from the chamber is provided, an air supply valve for performing an air supply operation is provided, and an air discharge valve for performing an air discharge operation is provided at the air discharge path. A pressure sensor for detecting the air pressure of the bed is provided in the chamber, and the air supply valve is provided when the detected value of the air pressure by the pressure sensor is equal to or less than a predetermined value And a control device for constantly maintaining the air pressure in the chamber at a predetermined pressure by opening the air discharge valve when the detected value of the air pressure by the pressure sensor is equal to or higher than a predetermined value. A level sensor that detects the level of the water surface that is the boundary between the air layer and the muddy water layer is provided in the chamber, while the level value by the level sensor is equal to or greater than the allowable upper limit, the muddy water supply mud pump A mud feed control device is provided for maintaining the water surface level within a predetermined range by decreasing the rotational speed and increasing the rotational speed of the mud feed mud pump when the level value by the level sensor is equal to or lower than the allowable lower limit value. A mud tunnel excavator characterized by 5. A partition plate is provided in parallel with a bulkhead that is a partition wall of a chamber provided in the front body, and air is enclosed in the chamber and muddy water is supplied into the chamber while the partition in the chamber is provided. In a muddy water tunnel excavator, which is provided with a muddy water discharge mud pump for discharging muddy water, forms a muddy water layer and an air layer in the chamber to keep the face pressure constant during excavation, Is provided with a flow rate detector to detect the difference, and the difference between the set value of the amount of sludge and the value from the flow rate detector is input, and the amount of sludge is maintained at a predetermined value based on the difference. A mud tunnel excavator, comprising a compensator for setting a quantity and outputting the mud water to the mud discharge pump. 6. A sludge pump for supplying muddy water, which is provided with a partition plate in parallel with a bulkhead which is a partition wall of a chamber provided in the front body, encloses air in the chamber, and supplies muddy water into the chamber. In the muddy water tunnel excavator, which is provided with a muddy water drainage pump for discharging muddy water in the chamber, forms a muddy water layer and an air layer in the chamber to keep the face pressure during excavation constant. The mud feeding system according to the first invention, the second invention, the third invention or the fourth invention is applied as a mud feeding system for supplying mud, and the drainage according to the fifth invention is applied as a mud draining system. A mud tunnel excavator characterized by applying a mud system.