JPS60126496A - 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.

(2) 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. 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. Also formwork 2
A press ring 4 is provided in a ring shape between the tail part 1' of the shield machine 1 and a press ring 4 to prevent leakage of the poured concrete. 5, a certain pressure is applied to the concrete immediately after pouring to maintain a predetermined strength, and when new concrete is poured into the pouring part 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 and thin 1 are excavated by the propulsion jack 3, and as concrete is placed, the press ring 4 similarly slides in the propulsion direction, and the press ring 4, which has one end fixed to the tail part 1' of the shield machine 1, 5 constantly applies a predetermined pressure 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.
This slows down the excavation speed and causes problems in the construction period.

The present invention provides an efficient method for maintaining the quality of poured concrete, improving work efficiency, and shortening the construction period by appropriately operating the propulsion jack 3 and press jack 5 in a shield excavator. A control device and a control method are provided.

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. The concrete placing pipe is equipped with a concrete pressure detector and a flow rate detector to control the excavation speed, the excavation direction, and the press jack (5
) The control computer installed in each press jack calculates the necessary jack elongation 1 of the press jack and the required oil amount of the jack cylinder based on the signals of the stroke meter, pressure detector, and flow rate detector, and then adjusts the opening degree of the regulating valve. Shield excavation in which appropriate pressure is always applied to the poured concrete through the press jacks by adjusting and controlling each press jack, regardless of the excavation speed of the shield excavator, the direction of excavation, and the concrete placement process. This is the machine's control device.

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, A concrete pressure detector (6) installed on a concrete pouring pipe measures the amount of elongation of each press jack by a press jack stroke meter installed on each of a plurality of press jacks that press a press ring installed in the concrete casting pipe. The concrete pressure and concrete flow rate are measured from the flow rate detector, and each press jack is determined from the above-mentioned excavation speed, the inclination of the press ring surface determined from the excavation direction, the elongation amount of each press jack, the pressure of the poured concrete, and the concrete flow rate. By calculating the required elongation and the amount of oil required for the press jack cylinder, and controlling each press jack by adjusting the opening degree of the regulating valve based on the calculation results, the excavation speed and direction of the shield excavation machine can be controlled. and Conch IJ-!・This is a control method for a shield excavator that can always apply appropriate pressure to poured concrete through a press jack regardless of whether it is being poured.

Next, all the drawings of the embodiment of the present invention will be explained. 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 leakage of the poured concrete 17 and applies pressing force to it. Appropriate pressure is applied to the poured 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 with concrete by a concrete pump 29 provided at its base, passes through the press ring 4, and is connected to the pouring section 17.

FIG. 4 is a block connection diagram of the control of the above device, and is 21'
, 21", 27' are propulsion jack stroke meters provided on the propulsion jack 13 of the shield tunneling machine 11,
The stroke meter 21.21.21 is provided at a location of the propulsion jacks 13 disposed in a circumferential manner, for example, in an arrangement close to an equilateral triangle. This propulsion jack stroke meter 21. ',
The respective outputs of 21" and 21 are input to the next calculator 22, and the calculator 22 calculates the excavation speed of the shield excavator 11 from the amount of movement of the propulsion jack stroke meter with respect to time. It is configured to detect the direction of excavation by calculating the angle of the excavation surface of the shield excavator based on the difference in stroke values of the propulsion jack stroke meter 21.21°21.The first of these is the excavation speed. Based on this, the average amount of elongation required for the press jack 15 is calculated.

1 11 I// 23.23.23... is a press jack stroke meter attached to each jack of each press jack,
The current amount of elongation of each press jack 15 is detected by the stroke meters 23, 23, 23, .

Here, 27 and 28 are a pressure detector and a flow rate detector for the poured concrete installed near the pouring nozzle in the concrete pouring pipe 16, respectively. is detected and input into the calculator 22 as the pressure signal (9) and flow rate signal.

Here, the amount of elongation required for the press jack 15 calculated based on the excavation speed of the shield excavator 11 and the excavation direction of the shield excavator 11 are calculated based on the shield excavator 1
1 and the press ring 14, as well as the amount of elongation of each press jack 15 at the current time, are calculated, and the value of each elongation amount 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 used for each press.
” Gauge l installed in Jacket 15, 15.15...
〃 "' Control the opening degrees of the barrel valves 25, 25, 25... to give a predetermined amount of elongation to the press jacks 15, 15, 15..., and pour the concrete through the press ring 14!J −)
17 is configured to apply a predetermined pressing force.

When pouring of concrete is started here, the pressure 101 is inputted to the computer 22 by the force detector 27, and the flow rate detector 28 inputs the pressure signal and the flow rate signal of the flow rate of the poured concrete. In the calculator 22, the amount of movement of the press ring 14 is calculated based on the above-mentioned concrete flow rate signal, and the signal of this amount of movement is sent from the computer 22 to the control computers 24, 24, 24, . . . of each press ring. The opening degree of the digital valve is controlled by adding oil to the output signal and converting it into the amount of oil sent to the press jack in the control computer.
If the moving speed of the shield tunneling machine 11 is faster than the moving speed of the propulsion jack 13, the amount of extension of the press jack 15 becomes negative, and the press jack 15 degenerates. In this way, concrete pumping pressure and pressing pressure are maintained appropriately. If either the shield propulsion jack J3 or the press jack 15 reaches the limit of the jack's effective stroke length, a placing stop signal is sent from the computer 22 to the concrete pump 29, stopping concrete placement and stopping the excavation. It is set to be stopped.

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 determines the excavation speed of the shield excavator 11 and the excavation direction of the shield excavator 11 from the output values from the three propulsion jack stroke meters 21, 21, and 21 arranged in an approximately equilateral triangle shape. is calculated, and furthermore, the angle formed by the shield excavator 11 and the press ring 14 is calculated from this excavation direction. At the same time, each press jack 15
, 15, 15, . . . , the respective elongation amounts at the present time from the press jack stroke meters 23°, 23, 23, . . . are input into the calculator 22. These three values are the average elongation of the press jack based on the excavation speed of the shield excavator 11, and the value of each press jack 15, 15 which is extended in the excavation direction from the angle formed between the shield excavator 11 and the press ring 14. .15...
The value of the difference in the amount of individual elongation and each press jack 15, 15
, 15..., the press jack control computer 24, 24, 24 provided for each of the press jacks.
... is converted into the amount of oil sent to each press jack 15, and this signal controls the opening degree of the digital valve 25, 25, 25, etc. provided in each press jack, and the press jack 15, 15, 15. . . , a predetermined amount of oil is sent to give a predetermined elongation, and a predetermined pressing force is applied to the poured concrete 17 via the press ring 14.

When concrete placement is started here, pressure signals and flow rate signals from the concrete pressure detector 27 and flow rate detector 28 provided in the concrete placement vibrator 16 are input to the computer 22. The amount of movement of the press ring 14 is calculated by the computer 22 based on the flow rate signal, and the signal of this amount of movement is added to the signal output from the computer 22 to the control computers 24, 24, 24, etc. of each press jack. This is converted into the amount of oil sent to the press jack in the control computer (13), and the opening degree of the digital valve is controlled. In this case, if the moving speed of the press ring due to concrete placement is faster than the digging speed of the shield excavator 11, that is, the moving speed of the propulsion jack 13, the amount of elongation of the press jack 15 will be negative, and the press jack 15 will shrink. .

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 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 15'
, 1, //, 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 (14), the press ring 14 is pushed back in the excavation direction by the control of the press jack 15 by the signal from the concrete flow rate detector 28 and the concrete placement pressure. In this case, shield tunneling machine 11
If the movement speed of the press ring 14 is faster than the digging speed of At this point, the elongation of the press jack 15 decreases while acting 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 only in the trench during pouring. It will be controlled. In this case, the strokes of the propulsion jack 13 and the press jack 15 are within the effective length of their elongation, and the excavation proceeds without adding the formwork 12 one after another, but the shield excavator 11 advances too far and the press jack 15 If the concrete IJ is fully extended, the predetermined pressing force cannot be applied to the cast concrete IJ, so the press jack 15
If the effective stroke length of any one of these reaches the limit of extension, or if one of the propulsion jacks 13 reaches the limit of extension of the effective stroke length, the press jack stroke meter 23 or the propulsion jack The excavation of the shield excavator 11 and the pouring of concrete are stopped by a signal from the excavator stroke meter 21. In this way, a predetermined pressing force can always be maintained against the poured concrete 1.

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 concrete pressing during concrete pouring can be performed automatically without relying on human operations. The quality of the concrete lining 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 drawings]

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 gear 14... Press ring 15... Press gear 16... Pipe for concrete placement 17... Concrete placement part 21.21.21... Propulsion gear Tsuki stroke total 2
2... Calculator 23, 23.23... Press jack stroke meter 24', 24.24... Control computer 25, 25.25... Digital valve 27... Pressure detector 28... Flow rate detector (17) 29...Concrete pump (18)

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 a press ring installed on the construction surface is equipped with a press jack stroke meter, a control computer and a regulating valve to control the press jacks, and a concrete pressure detector and a flow rate are installed on the concrete pouring pipe. A detector is installed, and the press jack is controlled via a regulating valve from a control computer installed in each press jack based on the above-mentioned excavation speed, excavation direction, press jack stroke meter signal, concrete pressure signal, and flow rate signal. A control device for a shield tunneling machine configured as follows. (2) The least of the propulsion jacks of shield tunneling machines (
1) A plurality of press jacks that press a press ring provided on the concrete placement surface of the shield by calculating the digging speed and direction of the shield excavator using a computer from three or more stroke meters. The amount of elongation of each press jack is determined by the press jack stroke meter installed in each of the press jacks, and the concrete pressure and concrete flow rate are determined by the concrete pressure detector and flow rate detector installed in the concrete pouring pipe, and the above-mentioned excavation speed is determined. The amount of elongation required for each press jack and the amount of oil required for the press jack are calculated from the inclination of the surface of the press ring set in the excavation direction, the amount of elongation of each press jack, concrete pressure and concrete flow rate, and the amount of elongation required for each press jack and the amount of oil required for the press jack are calculated using the adjustment valve. A method for controlling a shield excavator, characterized by controlling.