JPS60126495A - 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: backfilling and secondary lining, can now be done in a single cast using cast-in-place concrete, eliminating the need for backfilling and secondary lining. This construction method is extremely economical and can significantly shorten the construction period. Figure 1 shows an example of this cast-in-place concrete method, and 1 is a shield machine, which can be seen from behind in the propulsion direction (arrow support A in Figure 1) on the existing formwork 2. Excavation is performed while a propulsion force is applied to the propulsion jack 3.

As the excavation progresses, a new formwork 2 is inserted behind the propulsion jack 3.

It is installed. 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 leakage of poured concrete and fix one end to the inner surface of the tail part 1 of the shield machine 1. The press jack 5 applies a constant pressure to the concrete immediately after pouring to maintain a predetermined strength.
When new concrete is poured into the pouring section 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. Especially when the shield machine 1 is excavated along a curve, a plurality of shield machines are attached around the press ring 4. The operation of the press jack 5 becomes very complicated. If you make a mistake in this operation, the quality of the poured concrete may deteriorate.

This greatly affects strength and reduces work efficiency.
Therefore, it 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 propulsion jack 3 and press jack 5 in a shield excavator, and improves work efficiency, thereby achieving efficiency that can shorten the construction period. The present invention provides a control device and a control method.

The control device according to the present invention provides stroke meters in at least three or more of the propulsion jacks of a shield tunneling machine, and calculates the movement amount with respect to time as a signal from the stroke meters and the stroke difference between the three or more stroke meters. The machine is equipped with a calculator that calculates the excavation speed and direction of the shield excavator, and then a pressure detector is installed on the press ring installed on the concrete placement surface of the shield to detect the pressure of concrete being placed and pressed. Each of the plurality of press jacks that press the press ring is equipped with a press jack stroke meter, a control computer and an adjustment valve that control the press jack, and the above-mentioned excavation speed, excavation direction, and concrete pressure detector. The control computer installed in each press jack calculates the necessary jack extension of the press jack and the required oil amount of the jack cylinder based on the signal from the press jack and the pre-jack stroke meter (5), and adjusts the opening of the regulating valve. This is a control device for a shield excavation machine that adjusts the press jacks and controls each press jack so that appropriate pressure is always applied to the poured concrete through the press jacks regardless of the excavation speed of the shield excavation machine or the direction of excavation. be.

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, Measure the elongation of each press jack from the concrete pressure from the concrete pressure detector provided on the press ring installed in the press ring and the press jack stroke meter provided for each of the plurality of press jacks that press the press ring, The amount of elongation required for each press jack and the amount of elongation required for the cylinder of the press jack are determined based on the above-mentioned excavation speed, the inclination (6) of the surface of the press ring set in the direction of excavation, the pressure of concrete to be pressed, and the amount of elongation of each press jack. By calculating the amount of oil and controlling each press jack by adjusting the opening degree of the regulating valve based on this calculation result, the appropriate pressure is always applied through the press jack regardless of the digging speed of the shield excavator or the direction of excavation. This is a method for controlling a shield excavator that can be applied to poured concrete.

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 apply excavation force to the shield excavator 11. giving. Reference numeral 14 denotes a press ring that prevents leakage of the poured concrete 17 and applies pressing force to it, and applies appropriate pressure to the poured concrete 17 to the shield excavator 11 via this press ring 14. . A plurality of press jacks 15 are installed along the inner periphery of the tail portion 11'. Reference numeral 16 is a concrete pouring pipe, which is supplied by a concrete pump 29 installed at its base, and press ring 14
It is connected to the pouring part 17 by penetrating through it.

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 of the shield tunneling machine 11, and the propulsion jack stroke meter is arranged so that it is close to an equilateral triangle among the propulsion jacks 13 arranged circumferentially. This stroke set 21.21.21 is provided. The respective outputs of this propulsion jack stroke meter I//I'' 21.21.21 are input to the next calculator 22, and in the calculator 22, the amount of movement of the propulsion jack stroke meter with respect to time is calculated as In addition to calculating the excavation speed of 11, the angle of the excavation surface of the shield excavator is calculated based on the difference between the total stroke values of the three propulsion jacks (21.21°210), and the excavation direction is detected. First, the average amount of elongation required for the press jack 15 is calculated based on the digging speed.

Numeral 26 denotes concrete pressure detectors that are installed on the inner surface of the press ring 14, that is, on the concrete placement side, so that a plurality of concrete pressure sensors are placed at approximately equal intervals. The pressure of the young concrete is detected and this pressure signal is input to the calculator 22.

A press jack stroke meter is attached to each press jack, and the current elongation amount of each press jack 15 is detected by the stroke meter 23, 23, 23...
These respective elongation amounts are input to the calculator 22.

Here, the angle between the shield excavator 1 and the press ring 14 based on the elongation required for the press jack 15 and the excavation direction (9) of the shield excavator 11 calculated based on the excavation speed of the shield excavator 11, and each The current elongation of each press jack 15 is calculated, and the value of each elongation is provided for each subsequent press jack.Press jack control computer 24'.

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

24. At 24..., the amount of oil sent to each press jack is converted, and this signal is sent to each press jack i5.
, 15. Digital valve 25 provided in 15,
Press jack 1 by controlling the opening degree of 25, 25...
5, 15, 15... are given a predetermined amount of elongation, and a predetermined pressing force is applied to the concrete cast through the press ring 14)], 7. In this case, the pressure force on the concrete is detected by the pressure detector 26, and the pressure signal is fed back to the computer 22. If the detected pressure is lower than the set pressure, the calculator 22 determines the pressure of each l 〃 ′〃 press jack. Control calculation @24, 24, 24... increases the opening degree of the digital valves 25', 25, 25... to increase the pressing force against the concrete (10) A signal is added, and the pressing force is increased. If the opening is too high, a signal is added to reduce the opening, resulting in a pressurization. In this operation, when there is one pressure detector 26, the pressing force of concrete is represented by this one pressure, but when multiple pressure detectors 26 are arranged in the press ring 14, The press jack 15 is also selected depending on the detected position of the pressure detector 26, respectively.

Next, an embodiment of the control method using the above-mentioned control device will be described. First, the propulsion jack 1 of the shield tunneling machine 11
30 Propulsion jacks 13 arranged circumferentially within a cylinder
For example, the calculator 22 calculates the excavation speed of the shield excavator 11 and the excavation progress of the shield excavator 11 from the output values from the three propulsion jack stroke meters 21', 21, 21 arranged in a substantially equilateral triangle shape. The direction is calculated, and from this propulsion direction, the shield excavator 11 and the press ring 1
4 is calculated.

At the same time, the press jack stroke total 23.2 attached to each press jack 1d, 1g', 15... (11)
3. The respective elongation amounts at the present time from 23... are 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 digging direction. ...The control calculators 24, 24, 24, etc. for each press jack are used to control each press jack based on the value of the difference between the individual elongations and the amount of elongation of each press jack 15, 15.15... This signal is converted into the amount of oil sent to 15, and this signal is sent to the digital valves 2g and 2 installed in each press jack.
5. Press jack 15' by controlling the opening degree of 25...
, 1.5 , 15 . . . , an amount of oil to give a predetermined elongation amount is applied to the poured concrete 17 via the press ring 14 . This pressing force is detected by a pressure sensor 26 provided on the press ring 14, and the pressure signal is fed to a subtraction machine 22. Here, it is compared with the appropriate set pressure set in the calculator 22, and if it is lower than the set pressure, the calculator 2
2, each press jack control computer 24, 24, 24
..., digital valve 25, 25.25...
A signal is added to increase the opening of the press ring 14 and increase the pressing force of the concrete by the press jack, and if the pressing force is still too high, a signal is added to reduce the opening, and the pressing force of the press ring 14 is adjusted and controlled. As a result, it always acts to apply an appropriate pressing force to the poured concrete. This effect means that when there is one pressure detector 26, the pressing force of concrete is represented by this one pressure, but when a plurality of pressure detectors are arranged in the press ring 14, The press jack 15 is also selected and controlled according to the detected position of the pressure detector 26, respectively.

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 (13) the press jack 15 follows the tunneling speed of the shield tunneling machine 11. and expanded. Next, when the shield excavator 11 is excavating at a certain angle or when the excavation angle changes, the amount of elongation to be extended for each press jack is calculated based on the excavation speed and the signal of the change in the excavation angle. Based on this value, each press jack 1. g, 15, 15...
expands.

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 pressure of the concrete that has been placed is constantly detected and controlled so that a predetermined pressing force is applied. Become. In this case, the propulsion jack 13 and the press jack 150 stroke continue to advance without adding the formwork 12 one after another within the effective length of their elongation, but if the shield excavator 11 advances too far and the press jack 15 is fully extended. Since the predetermined pressing force is no longer applied to the poured concrete, if one of the press jacks 15 reaches the limit of extension of the effective stroke length, the press jack stroke total 23 The excavation of the signal shield excavator 11 is stopped. 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. 15) 25.25.25...Digital valve 26...It is something that can be constructed and is the quality of lining concrete that is placed by automation of 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]

Fig. 1 is a side cross-sectional view illustrating the conventional cast-in-place concrete method, Fig. 2 is a configuration diagram of the main parts of an embodiment of the present invention, and Fig. 3 is a configuration of a shield tunneling machine in the case of curved advancement. The explanatory diagram, FIG. 4, is a block connection diagram of the control device of the present invention. 11... Shield tunneling machine 11'... Tail part 1
2...Formwork 13...Propulsion jack 14...Press ring 15...Press jack 16...Pipe for concrete placement, //J 17...Concrete placement part 21.21.21・・・
・Propulsion jack stroke meter 22..., 11/
// Calculator 23, 23, 23...Press jack stroke meter 24.24.24...Control computer (16
) Applicant Hazama Co., Ltd. (17) -A Figure 4 13'

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. A concrete pressure detector is provided on the press ring provided on the design surface, and a press jack stroke meter is provided on each of the plurality of press jacks that press the press ring, and a control computer and adjustment valve are provided to control the press jacks.
The press jack is controlled by the control computer installed in each press jack via the adjustment valve based on the above-mentioned digging speed, digging direction, concrete pressure detector signal, and press jack stroke meter signal. The configured shield tunneling machine control device. (2) Calculate the digging speed and direction of the shield tunneling machine using a computer from the stroke meters installed on at least three of the propulsion jacks of the shield tunneling machine, and measure the excavation speed and direction of the shield tunneling machine on the concrete placement surface of the shield. The concrete pressure is detected by a concrete pressure detector provided on the press ring, and the amount of pressure of each press jack is determined from the press jack stroke meter provided in each of the plurality of press jacks that press the press ring. The inclination of the surface of the press ring determined by the above-mentioned digging speed and digging direction,
[Conch] A method for controlling a shield excavation machine 0 characterized by calculating the amount of elongation required for each press jack and the amount of oil required for the press jack based on the amount of elongation of each press jack and controlling the press jack via a regulating valve.