JPS60126494A - Control apparatus and method of shield drilling machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device and a control method for a shield excavator in the case of cast-in-place lining in the shield construction method.

In shield type tunnel excavation work, the conventional shield method is primary lining.

Tunnel lining, which used to be done in three stages: backfill injection and secondary lining, can now be done in a single concrete pour using cast-in-place concrete, eliminating the need for backfill injection and secondary lining. Therefore, it is a very economical method and can significantly shorten the construction period. FIG. 1 shows an example of this cast-in-place concrete construction method, in which excavation is carried out while being propelled by a seal jack 3. As the excavation progresses, a new formwork 2 is inserted and installed behind the propulsion jack 3. A press ring 4 is provided in a ring shape between the formwork 2 and the tail part 1 of the shield machine 1 to prevent the poured concrete from leaking and has one end fixed to the inner surface of the tail part 1 of the shield machine 1. A predetermined strength is maintained by applying a constant pressure to the concrete immediately after pouring using the press jack 5.
When new concrete is poured into the pouring portion 7 by the concrete vibro, the press ring 4 slides in the direction of propulsion of the shield machine 1 while a constant pressure is maintained by the press jack 5. As described above, the shield machine 1 is excavated by the propulsion jack 3 and as concrete is placed, the press ring 4 similarly slides in the propulsion direction, and the press jack 5 whose one end is fixed to the tail portion 1' of the shield machine 1 A predetermined pressure is always applied to the press ring 4. However, it is very difficult for a worker to perform the above-mentioned actions at the same time by manual operation, and especially when the shield machine 1 is excavated along a curved line, it is difficult to perform the above-mentioned actions at the same time. 5 becomes very complicated. If you make a mistake in this operation, you will end up pouring the concrete I.
J-quality.

This greatly affects strength and reduces work efficiency.
This slows down the excavation speed and causes problems in the construction period.

The present invention maintains the quality of poured concrete by appropriately operating the above-mentioned propulsion jack 3 and press jack 5 in a shield excavator, improves work efficiency, and improves the efficiency of shortening the construction period. The present invention provides a target force control device and a control method.

The control device according to the present invention is provided with stroke meters on at least three or more propulsion jacks of a shield tunneling machine, and calculates the signal from the stroke meters based on the amount of movement with respect to time and the stroke difference between the three or more stroke meters. It is equipped with a calculator that calculates the excavation speed and direction of the shield excavator, and then a press jack stroke meter and a press jack are installed on each of the plurality of press jacks that press the press ring provided on the concrete placement surface of the shield. It is equipped with a control computer and adjustment valve to control the above-mentioned excavation speed, direction of excavation, and press jack stroke meter signal.The control computer installed in each press jack determines the necessary jack elongation and jack of the press jack. By calculating the required amount of oil in the cylinder and adjusting the opening degree of the regulating valve to control each press jack, the appropriate pressure is always applied through the press jack regardless of the shield tunneling machine's digging speed or direction. concrete (
5) This is a control device for a shield excavator that provides the following.

The control method according to the present invention calculates the excavation speed and direction of the shield excavation machine using a computer from stroke meters provided on at least three propulsion jacks of the shield excavation machine, The amount of elongation of each press jack is determined from the press jack stroke meter provided on each of the plurality of press jacks that press the press ring provided in the The amount of elongation required for each press jack and the amount of oil required for the cylinder of the press jack are calculated based on the inclination and the amount of elongation of each press jack, and each press jack is controlled by adjusting the opening degree of the regulating valve based on the calculation results. This is a control method for a shield excavator that can always apply appropriate pressure to poured concrete through a press jack, regardless of the excavation speed or direction of the shield excavator.

(a) Next, embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows the configuration of the main parts of the device, and FIG. 3 shows the state when moving forward.

11 is a shield excavator, 11' is its tail, 12 is a formwork, and 13 is a propulsion jack. A plurality of propulsion jacks are installed around the shield excavator 11 and between the formwork 12, and provide excavation force to the shield excavator 11. is giving. Reference numeral 14 denotes a press ring that prevents the poured concrete 17 from leaking and applies pressing force to it, and the shield excavator 11 is used to press the concrete 17, and one end of the press jack 15 is added to the press ring 14 to place concrete 17. Appropriate pressure is applied to the concrete 17. This press jack 15 is the tail part 1
Multiple units are installed along the inner circumference of 1. A concrete pouring pipe 16 is supplied by a concrete pump 29 provided at its base, passes through the press ring 14, and is connected to the pouring section 17.

FIG. 4 is a block connection diagram of the control of the above device 21,
21.21 is a propulsion jack stroke meter provided on the propulsion jack 13 (7) of the shield tunneling machine 11, and is arranged so as to be close to an equilateral triangle among the propulsion jacks 13 arranged circumferentially. This stroke meter 21.21.21 is provided. The respective outputs of the propulsion jack stroke meters 21, 21, and 21 are input to the next calculator 22, and in the calculator 22, the excavation progress of the shield excavator 11 is calculated based on the amount of movement of the propulsion jack stroke meter with respect to time. In addition to calculating the speed, the angle of the excavation part of the shield tunneling machine is calculated from the difference in the stroke values of the three propulsion jack stroke meters 21 and 21°21,
The excavation direction is configured to be detected. First, the average amount of elongation required for the press jack 15 is calculated based on the digging speed.

23.23.23... are press jack stroke meters attached to each jack of each press jack 15. The amount of elongation at the current time is detected, and each amount of elongation is input to the calculator 22 described in (8) above.

Here, the amount of elongation required for the press jack 15 calculated based on the excavation speed of the shield excavator 11, the angle formed by the shield excavator 11 and the press ring 14 based on the excavation direction of the shield excavator 11, and the angle of each press jack 15. The amount of each growth at the current moment is calculated,
A press jack control computer 24' in which the individual elongation value is provided for each subsequent press jack.

24, 24..., and this control computer 24'.

This signal is converted into the amount of oil to be sent, and this signal is applied to each press to apply a predetermined pressing force to the poured concrete 17 via the press ring 14.

Next, an embodiment of the control method using the above-mentioned control device will be described. Three propulsion jack stroke meters arranged in a triangular shape 21.21.
21 The calculator 22 calculates the excavation speed of the shield excavator 11 and the excavation direction of the shield excavator 11 from the output value of , and further calculates the angle formed by the shield excavator 11 and the press ring 14 from the excavation direction of . .

At the same time, the total press jack stroke 23.23 is attached to each press jack 15, 15.15...
．． 23 . . . The amount of elongation of each Yoshi at the present time is input into the calculator 22. Based on these three values, that is, the digging speed of the shield tunneling machine 11, this is the average elongation of the press jack, and the angle formed by the shield tunneling machine 11 and the press ring 14 for each press jack 15, 15, 15 in the excavation direction. ...The value of the difference in the amount of individual elongation l
Based on the amount of elongation of each press jack 15, 15, 15, etc., the oil sent to each press jack 15 is determined by the press jack control computer 24', 24, 24, etc. provided for each press jack (1n). This signal is converted into a quantity, and this signal controls the opening degree 1 I//// of the digital valves 25, 25, 25, .
・Send an amount of oil to give a predetermined amount of elongation to press ring 1.
A predetermined pressing force is applied to the poured concrete 17 through the concrete 17.

Here, when the shield tunneling machine 11 excavates in a straight line, only the input value of the tunneling speed of the shield tunneling machine 11 changes among the above three values, and the press jack 15 expands to follow this tunneling speed. Ru. Next, when the shield excavator 11 is excavating at a certain angle, if the excavation angle is still changing, the amount of elongation that is extended for each press jack is determined based on the excavation speed and the signal of the change in the excavation angle. Based on this value, the /I/II/ area resistors 155, 15, . . . are expanded.

In this way, even if the excavation angle changes, a predetermined pressing force is always applied to the press ring 14. Next, when concrete is being placed, the press ring 14 will be pushed back in the excavation direction due to the concrete placing pressure, and in this case, the amount of elongation of the press jack 15 will decrease, and this negative The amount of elongation is calculated using the press jack stroke meter 23 and the calculator 22.
The elongation of the press jack 15 is transmitted to the control computer 24 via the control computer 24, where the elongation of the press jack 15 acts to apply a predetermined pressing force to the press ring 14. Excavation continues by repeating the above operations, but even during excavation, the position of the press ring is controlled so that a predetermined pressing force is always applied to the poured concrete. Become.

In this case, the propulsion jack 13 and the press jack 150
The stroke is sequentially applied to the formwork 1 within the effective length of its elongation.
2 is not added, the excavation continues, but if the shield excavator 11 advances too far and the press jack 15 is fully extended, the predetermined pressing force will not be applied to the poured concrete, so the press jack 15 If even one of them reaches the limit of extension of the effective stroke length, the excavation of the shield excavator 11 is stopped by a signal from the press jack stroke meter 23. In this way, a predetermined pressing force can always be maintained against the poured concrete.

As explained above, according to the shield excavator control device and its control method according to the present invention, mutually complex operations of propulsion during shield excavation and suppression of concrete during concrete placement can be performed automatically without relying on human work. The quality of the lining concrete that can be controlled and constructed by automating the work.

The strength is always maintained constant, and it contributes to reducing the number of work hours, improving work efficiency, and shortening the construction period, and furthermore, it can promote automation of tunnel excavation work.

[Brief explanation of the drawing]

Figure 1 is a side sectional view explaining the conventional cast-in-place concrete construction method, Figure 2 is a configuration diagram of the main parts of the present invention (13), and Figure 3 is a diagram of the curved progress of the shield excavator. FIG. 4 is a block connection diagram of the control device of the present invention. 11... Shield tunneling machine 11'... Tail part 12
...Formwork 13...Propulsion jack 14...Press ring 15...Press jack 16...Pipe for concrete placement 17...Concrete placement part 2
1,21.21... Propulsion jack stroke meter 22
...Total J448 23, 23, 23...Press jack stroke meter 24.24.24...Control computer cleat pump Applicant: Hazama Co., Ltd. Kumiyo Agent Patent attorney: Yujibe Takashi Pa1.2no (14)

Claims (2)

[Claims] (1) At least three of the propulsion jacks of the shield tunneling machine are equipped with stroke meters, and a computer is provided to calculate the excavation speed and direction of the shield tunneling machine based on the signals from the stroke meters. Each of the plurality of press jacks that press the press ring provided on the construction surface is provided with a press jack stroke meter, a control computer and an adjustment valve to control the press jack, and the above-mentioned excavation speed, direction of excavation, and press jack are determined. A control device for a shield excavator configured to control a press jack according to a signal from a stroke meter via a control computer and a regulating valve provided in each press jack. (2) From the stroke meters installed on at least three of the propulsion jacks of the shield excavator, the excavation speed of the shield excavator and (1) the concrete placement surface of the shield are calculated via a computer based on the excavation direction. Calculate the elongation of each press jack by measuring the stroke of the press jack provided on each of the plurality of press jacks that press the press ring provided in the A method for controlling a shield excavator, characterized in that the amount of elongation required for each press jack and the amount of oil required for the press jack are calculated from the inclination and the amount of elongation of each press jack, and the press jack is controlled via a regulating valve.