WO2015079872A1 - トンネル掘削装置およびその制御方法 - Google Patents

トンネル掘削装置およびその制御方法 Download PDF

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Publication number
WO2015079872A1
WO2015079872A1 PCT/JP2014/079264 JP2014079264W WO2015079872A1 WO 2015079872 A1 WO2015079872 A1 WO 2015079872A1 JP 2014079264 W JP2014079264 W JP 2014079264W WO 2015079872 A1 WO2015079872 A1 WO 2015079872A1
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WO
WIPO (PCT)
Prior art keywords
torso
body part
tunnel
point
trunk
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2014/079264
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
豊司 倉本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority to AU2014355690A priority Critical patent/AU2014355690B2/en
Priority to CA2924214A priority patent/CA2924214C/en
Priority to SE1650367A priority patent/SE541751C2/en
Priority to US15/023,036 priority patent/US9951617B2/en
Priority to DE112014004026.6T priority patent/DE112014004026T5/de
Priority to SE1650367D priority patent/SE1650367A1/sv
Priority to CN201480049384.4A priority patent/CN105556062B/zh
Publication of WO2015079872A1 publication Critical patent/WO2015079872A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D33/00—Details of, or accessories for, sacks or bags
    • B65D33/16—End- or aperture-closing arrangements or devices
    • B65D33/25—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners
    • B65D33/2508—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners using slide fasteners with interlocking members having a substantially uniform section throughout the length of the fastener; Sliders therefor
    • B65D33/2541—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners using slide fasteners with interlocking members having a substantially uniform section throughout the length of the fastener; Sliders therefor characterised by the slide fastener, e.g. adapted to interlock with a sheet between the interlocking members having sections of particular shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D33/00—Details of, or accessories for, sacks or bags
    • B65D33/16—End- or aperture-closing arrangements or devices
    • B65D33/25—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners
    • B65D33/2508—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners using slide fasteners with interlocking members having a substantially uniform section throughout the length of the fastener; Sliders therefor
    • B65D33/2575—Riveting; Dovetailing; Screwing; using press buttons or slide fasteners using slide fasteners with interlocking members having a substantially uniform section throughout the length of the fastener; Sliders therefor the slide fastener providing access to the bag through a bag wall, e.g. intended to be cut open by the consumer
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
    • E21D9/112—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines by means of one single rotary head or of concentric rotary heads
    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44B—BUTTONS, PINS, BUCKLES, SLIDE FASTENERS, OR THE LIKE
    • A44B19/00—Slide fasteners
    • A44B19/10—Slide fasteners with a one-piece interlocking member on each stringer tape
    • A44B19/16—Interlocking member having uniform section throughout the length of the stringer

Definitions

  • the present invention relates to a tunnel excavation apparatus used when excavating a tunnel and a control method thereof.
  • Tunnel excavation is performed using an excavator provided with a cutter head including a cutter on the front side of the machine and grippers provided on the left and right side surfaces behind the machine.
  • the right and left grippers are pressed against the left and right side walls of the tunnel, and the cutter head is pressed against the face while rotating the cutter head to excavate the tunnel.
  • Patent Document 1 includes a front trunk having a cutter for rock excavation, a rear trunk having a gripper for obtaining a reaction force for excavation and connected to the front trunk through an actuator or the like.
  • This underground excavator is equipped with an actuator (for example, a thrust jack) that bends between the front trunk portion and the rear trunk portion, so that a curved tunnel can be excavated.
  • an actuator for example, a thrust jack
  • automatic excavation is performed based on the stored planned excavation line, and the traveling direction of the underground excavator changes due to a change in the hardness of the rock mass or the like
  • a six-axis drive link is required.
  • the rod side of six thrust jacks is connected to the front barrel portion and the cylinder tube side is connected to the rear barrel portion.
  • the rod side of a plurality of thrust jacks is annularly disposed in the vicinity of the outer peripheral edge of the surface of the front body portion facing the rear body portion, and is opposed to the front body portion of the rear body portion.
  • the rod side of a plurality of thrust jacks is arranged in an annular shape, and a so-called parallel link structure is adopted.
  • the conventional underground excavator has the following problems.
  • Curved digging by a conventional tunnel excavator is usually performed by forming a broken line tunnel by repeating a straight digging of a short length while changing the posture of the front trunk.
  • the posture of the front body of the tunnel excavator is changed by manipulating the amount of each thrust jack stroke based on the experience of the operator.
  • the stroke operation and the posture are changed. Since the relationship may be different from the intuition of the operator, there is a problem that the operation is difficult.
  • An object of the present invention is to provide a tunnel excavation apparatus and a control method thereof capable of performing excavation including a curved portion by a simple operation even when the tunnel excavation is performed by a manual operation.
  • the tunnel excavation apparatus includes a front trunk part, a rear trunk part, a middle break point, a parallel link mechanism, an input part, a calculation part, and a jack control part.
  • the front trunk portion has a plurality of cutters on the excavation side surface.
  • the rear trunk portion is disposed behind the front trunk portion, and has a gripper for obtaining a reaction force when excavating.
  • the middle break point is provided between the front body part and the rear body part.
  • the parallel link mechanism includes a plurality of thrust jacks that are arranged in parallel between the front body portion and the rear body portion, connect the front body portion and the rear body portion, and change the position of the front body portion with respect to the rear body portion. .
  • the input unit receives an operation input related to the traveling direction of the front trunk from the operator.
  • the calculation unit calculates the position of the middle break point based on the contents of the operation input received by the input unit, the center line and the center point of the rear torso, and the position of the center point of the front torso.
  • the jack control unit is configured to move each thrust jack included in the parallel link mechanism so as to move forward in accordance with the curves generated from the positions of the center point of the rear trunk part, the middle folding point, and the center point of the front trunk part. Control the stroke.
  • the tunnel is excavated by advancing the front body part relative to the rear body part by a parallel link mechanism including a plurality of thrust jacks provided between the front body part and the rear body part.
  • the front torso is advanced along curves generated from the respective positions of the center point of the rear torso, the virtual center break point obtained by calculation, and the center point of the front torso.
  • this tunnel excavator has a middle break point between the front trunk and the rear trunk.
  • the front trunk portion has a plurality of cutters mounted on the tip portion on the excavation side.
  • the rear trunk is supported on the inner wall surface of the tunnel by a gripper.
  • the parallel link mechanism has a plurality (at least six) of thrust jacks, and each thrust jack expands and contracts according to a preset target position or a target position (direction) input by an operator. It is possible to control the position, posture, etc. of the front body part with respect to the rear body part.
  • the center line and the center position of the rear trunk, and the center position of the front trunk so that the operator performs excavation in a direction corresponding to the content of the operation input by the operator
  • the position of the point is obtained by calculation.
  • the center line and the center position of the rear trunk can be obtained with reference to the current position.
  • the center position of the front barrel can be obtained by calculation based on the current position of the rear barrel and the stroke amount of each thrust jack.
  • the jack control unit is configured so that the front torso is moved along a curve indicating the traveling direction calculated based on the center break point obtained by calculation, the center line and center position of the rear torso, and the center position of the front torso.
  • a plurality of thrust jacks included in the parallel link mechanism are controlled so as to move forward.
  • the tunnel excavation device is the tunnel excavation device according to the first invention, and when an operation input from the operator is received with respect to the input unit, the jack control unit is based on the content of the operation input.
  • the thrust jack is controlled so that excavation is performed along the desired radius of curvature R set in the above.
  • a curved portion is excavated along a desired radius of curvature R by an operation input by the operator.
  • excavation along a smooth curve can be performed while maintaining a desired radius of curvature R by a single operation input by the operator.
  • a tunnel excavation apparatus is the tunnel excavation apparatus according to the first or second aspect of the present invention, wherein the jack control unit controls the posture of the front trunk in the three-dimensional direction.
  • the plurality of thrust jacks included in the parallel link mechanism are controlled so that the orientation / posture of the front torso relative to the rear torso can be adjusted in the three-dimensional direction (up / down / left / right).
  • the excavation of the tunnel in the three-dimensional direction including the curved portion can be easily performed with only a simple operation input.
  • a tunnel excavating apparatus is the tunnel excavating apparatus according to the first or second aspect of the present invention, and is provided in each thrust jack in order to detect the posture of the front trunk relative to the rear trunk.
  • a stroke sensor is further provided.
  • the stroke sensor installed in each thrust jack is used as information for calculating the position / posture of the front body relative to the rear body.
  • a tunnel excavation apparatus is the tunnel excavation apparatus according to the first or second invention, and the input unit is a touch panel type monitor.
  • a touch panel monitor is used as an input unit that receives an operation input from an operator.
  • the operator can easily perform excavation in a desired direction only by operating the touch panel monitor when adjusting the traveling direction of the front body portion by manual operation.
  • a tunnel excavation apparatus is the tunnel excavation apparatus according to the fifth invention, wherein the monitor is an up / down / left / right key for setting the advancing direction of the front torso, and a deviation amount between the current position and the target position. And a display unit for displaying.
  • the monitor is an up / down / left / right key for setting the advancing direction of the front torso, and a deviation amount between the current position and the target position.
  • a method for controlling a tunnel excavating device comprising: a front trunk, a rear trunk disposed behind the front trunk, and a predetermined medium provided between the front trunk and the rear trunk.
  • a tunnel excavator control method comprising: a break point; and a parallel link mechanism including a plurality of thrust jacks arranged in parallel between the front trunk portion and the rear trunk portion.
  • the step of controlling the stroke of each thrust jack included in the parallel link mechanism so as to advance in accordance with the curves generated from the positions of the center point of the rear body part, the middle break point, and the center point of the front body part.
  • the tunnel is excavated by advancing the front body part relative to the rear body part by a parallel link mechanism including a plurality of thrust jacks provided between the front body part and the rear body part.
  • the front torso is advanced along curves generated from the respective positions of the center point of the rear torso, the middle break point obtained by calculation, and the center point of the front torso.
  • a virtual center break point is provided between the front trunk part and the rear trunk part.
  • the parallel link mechanism has a plurality (at least six) of thrust jacks, and each thrust jack expands and contracts according to a preset target position or a target position (direction) input by an operator. It is possible to control the position, posture, etc. of the front body part with respect to the rear body part.
  • the position of the middle break point is based on the contents of the operation input, the center line and the center position of the rear trunk, and the center position of the front trunk so that excavation is performed in a direction corresponding to the contents of the operation input by the operator. Calculated by calculation.
  • the center line and the center position of the rear trunk can be obtained with reference to the current position.
  • the center position of the front barrel can be obtained by calculation based on the current position of the rear barrel and the stroke amount of each thrust jack.
  • a plurality of thrust jacks included in the parallel link mechanism are curves indicating a traveling direction calculated based on a middle break point obtained by calculation, a center line and a center position of the rear trunk, and a center position of the front trunk.
  • the front body is controlled so as to move forward. Thereby, for example, even when the traveling direction of the front torso deviates from a predetermined traveling direction due to a change in bedrock quality or the like during automatic operation along a predetermined desired curve, an operator's manual operation (for example, By simply pressing the direction key so as to proceed to the right, etc., it is possible to perform excavation along a smooth curve by controlling the posture of the front trunk to the target position.
  • a method for controlling a tunnel excavation apparatus comprising: a rear trunk section; and a front trunk section having a cutter head and connected to the rear trunk section so as to be movable relative to the rear trunk section.
  • a control method includes the following steps. Instructing the position of the front torso relative to the position of the back torso. A step of calculating a position of a middle break point which is an intersection of the center line of the front trunk part and the center line of the rear trunk part. A step of generating a curve smoothly connecting the three points of the position of the front body part, the position of the middle break point, and the position of the rear body part. Moving the front torso relative to the back to follow the curve.
  • the center point of the rear trunk In the tunnel excavator that excavates the tunnel by moving the front trunk forward with respect to the rear trunk, the center point of the rear trunk, the middle break point obtained by calculation, the center point of the front trunk
  • the front torso is advanced along a curve generated from each position.
  • a virtual center break point is provided between the front trunk part and the rear trunk part.
  • the position of the middle break point is based on the contents of the operation input, the center line and the center position of the rear trunk, and the center position of the front trunk so that excavation is performed in a direction corresponding to the contents of the operation input by the operator.
  • the center line and the center position of the rear trunk can be obtained with reference to the current position.
  • the center position of the front barrel can be obtained by calculation based on, for example, the current position of the rear barrel and the stroke amount of a thrust jack connecting the front barrel and the rear barrel.
  • FIG. 1 is an overall view showing a configuration of a tunnel excavation device according to an embodiment of the present invention.
  • Sectional drawing which shows the state which performs tunnel excavation using the excavator of FIG.
  • the control block diagram of the excavator of FIG. Explanatory drawing which shows the curve used at the time of control of the excavator of FIG.
  • the flowchart which shows the flow of manual excavation control at the time of tunnel excavation by the excavator of FIG.
  • the excavator (tunnel excavator) 10 (FIG. 1 etc.) that appears in this embodiment is an excavator used for tunnel excavation (see FIG. 7), and is a so-called gripper among TBMs (tunnel boring machines). These are called TBM and hard lock TBM.
  • the tunnel excavated by the excavator 10 (first tunnel T1) is a tunnel having a substantially circular cross section (first tunnel T1 (see FIG. 2)).
  • the cross-sectional shape of the tunnel excavated by the excavator 10 according to the present embodiment is not limited to a circle, and may be an ellipse, a double circle, a horseshoe shape, or the like.
  • the first tunnel T1 (see FIG. 2 and the like) is excavated using the excavator 10 shown in FIG.
  • the excavator 10 described in the present embodiment is an excavator having a general configuration in which excavation is performed by rotating the cutter head 12 while being supported rearward by the gripper 13a.
  • the excavator 10 is an apparatus for performing excavation work on the first tunnel T1 while excavating a rock mass or the like.
  • the excavator 10 includes a front trunk section 11, a cutter head 12, a rear trunk section 13, and a parallel trunk section.
  • a link mechanism 14 and a belt conveyor 15 are provided.
  • the front trunk portion 11 is disposed between the cutter head 12 and the parallel link mechanism 14, and constitutes the front portion of the excavator 10 together with the cutter head 12 provided at the excavation side tip.
  • the front trunk portion 11 changes its position and posture relative to the rear trunk portion 13 by a plurality of thrust jacks 14a to 14f included in the parallel link mechanism 14 described later.
  • drum 11 has the gripper 11a which protrudes and is pressed with respect to the side wall T1a of the tunnel T1 from the outer peripheral surface, as shown in FIG. Thereby, for example, when the excavator 10 is moved backward, the rear trunk portion 13 can be moved backward by driving the parallel link mechanism 14 in the extending direction while supporting the front barrel portion 11 in the tunnel T1. .
  • the cutter head 12 is disposed on the distal end side of the excavator 10, and rotates around the central axis of the substantially circular tunnel as a center of rotation, so that a plurality of disks provided on the distal end side surface.
  • the bedrock or the like is excavated by the cutter 12a.
  • the cutter head 12 takes in the bedrock, the rock, etc. which were finely crushed with the disk cutter 12a into the inside from the opening part (not shown) formed in the surface.
  • the rear trunk portion 13 is disposed on the rear side of the excavator 10 and constitutes the rear portion of the excavator 10.
  • Grippers 13 a are disposed on both side portions of the rear trunk portion 13 in the width direction.
  • the rear trunk portion 13 and the front trunk portion 11 are connected by a parallel link mechanism 14.
  • the gripper 13a protrudes radially outward from the outer peripheral surface of the rear trunk portion 13, thereby being pressed against the side wall T1a of the first tunnel T1 during excavation. Thereby, the excavator 10 can be supported in the first tunnel T1.
  • the parallel link mechanism 14 is disposed in the middle of the excavator 10 in the front-rear direction as shown in FIG.
  • the parallel link mechanism 14 includes six thrust jacks 14a to 14f that are hydraulic actuators. For this reason, by extending or contracting the respective thrust jacks 14a to 14f between the front body part 11 and the rear body part 13, the posture (direction) of the front body part 11 with respect to the rear body part 13 becomes a desired direction.
  • the first tunnel T1 is excavated by the cutter head 12 while being controlled.
  • the six thrust jacks 14a to 14f are arranged in parallel between the front body part 11 and the rear body part 13 as links, and connect the front body part 11 and the rear body part 13. Further, the rod side and the cylinder tube side of the six thrust jacks 14a to 14f are arranged along the outer peripheral portions of the opposing surfaces of the front barrel portion 11 and the rear barrel portion 13, respectively. Further, by extending or contracting the thrust jacks 14a to 14f, the front body 11 is moved forward with respect to the rear body 13, or the rear body 13 is moved backward with respect to the front body 11, and the excavator 10 is moved. You can move forward and backward little by little.
  • the relationship between the stroke operation of each thrust jack 14a to 14f and the actual posture of the front trunk portion 11 is as follows.
  • the operation is difficult because it may be different from the intuition of the operator.
  • the work of excavating a curved portion having a small curvature radius R by manual operation is very difficult.
  • the belt conveyor 15 is provided between the front trunk portion 11 and the rear trunk portion 13, and conveys rock, sand, or the like excavated by the cutter head 12 from the front trunk portion 11 to the rear trunk portion 13.
  • the excavator 10 is configured so that the gripper 13a is pressed against the side wall T1a of the first tunnel T1 and is held so as not to move in the first tunnel T1. While rotating 12, the thrust jacks 14 a to 14 f of the parallel link mechanism 14 are extended and the cutter head 12 is pressed to excavate and advance the bedrock. At this time, the excavator 10 transports the finely crushed rock or the like backward using a belt conveyor or the like. In this way, the excavator 10 can dig up the first tunnel T1 (see FIG. 2).
  • the excavator 10 includes an input unit 21, a rear trunk posture reading unit 22, a turning point position calculation unit 23, a front trunk posture calculation unit 24, A control block including the curve calculation unit 25 and the jack control unit 26 is configured.
  • the input unit 21 receives an operation input from an operator via a touch panel type monitor display screen 50 (see FIG. 5) described later. Specifically, when manually operating the direction in which the front body portion 11 is dug (advanced), operations such as various keys 52a to 52d (see FIG. 5) of the direction input unit 52 are accepted.
  • the rear torso posture reading unit 22 obtains the center position P1 and the center line C1 (direction) from the current position of the rear torso 13 (the position of the gripper 13a, etc.) (see FIG. 4).
  • the center position P1 and the center line C1 of the rear trunk portion 13 can be obtained, for example, by surveying from outside using a three-point prism (not shown) once a day.
  • the middle break point position calculation unit 23 includes the position information of the center position P1 and the center line C1 of the rear torso 13 obtained by the rear torso posture reading unit 22 and information on the target position to which the front torso 11 should proceed. Based on this, the position of the virtual half-turn point Px (see FIG. 4) is obtained by calculation.
  • the front torso posture calculation unit 24 performs the rear wheel based on the position information of the center position P1 and the center line C1 of the rear torso 13 obtained by the rear torso posture reading unit 22 and the stroke amounts of the thrust jacks 14a to 14f.
  • the center position P2 and posture (center line C2) of the front body part 11 with respect to the body part 13 are calculated. More specifically, as shown in FIG. 3, the front trunk posture calculation unit 24 is connected to stroke sensors 16a to 16f attached to the thrust jacks 14a to 14f, and the stroke of each thrust jack 14a to 14f. Get the quantity. Thereby, the front torso posture calculation unit 24 can obtain information on the stroke amounts of the thrust jacks 14a to 14f necessary for calculating the position and posture of the front torso portion 11.
  • the excavation curve calculation unit 25 includes information on the center position P1 and the center line C1 of the rear trunk portion 13, position information on the virtual center break point Px, and a target position according to a manual operation by the operator.
  • a smooth three-dimensional curve connecting the center position P1 of the rear trunk 13 and the center position P2 of the front trunk 11 as the target position is obtained by calculation based on the information about the center position P2 of the front trunk 11.
  • This curve is a parametric curve having three control points: the center position P1 of the rear trunk section 13, the center position P2 of the front trunk section 11, and the middle folding point Px, and the center line C1 of the rear trunk section 13 And the center line C2 of the front body portion 11 are tangent lines.
  • the parametric curve in this embodiment is a quadratic Bezier curve. That is, in the present embodiment, the center position P1 of the rear trunk 13 is set as the first control point, the middle break point Px is set as the second control point, and the center position P2 of the front trunk is set as the third control point.
  • the three-dimensional arc locus can be approximated with high accuracy.
  • the trajectory (target value) of the three-dimensional curvature radius R construction can be obtained by calculation with a one-dimensional parameter change.
  • the target position can be set as a point on the same parametric curve at the time of excavation along a curve including a small radius of curvature R or at the time of straight excavation.
  • the jack control unit 26 determines the stroke amounts of the thrust jacks 14a to 14f included in the parallel link mechanism 14 so that the front trunk portion 11 performs excavation along the Bezier curve obtained by calculation in the excavation curve calculation unit 25. Control. Thereby, excavation along a smooth curve (secondary Bezier curve) can be performed only by an operator performing a simple input operation.
  • the excavator 10 of the present embodiment uses a touch panel monitor display screen 50 as the input unit 21 that receives an operation input from an operator.
  • a touch panel monitor display screen 50 as the input unit 21 that receives an operation input from an operator.
  • three points of the vertical direction, the horizontal direction, and the forward direction can be input via the monitor display screen 50 as an interface for inputting the excavation target position.
  • the monitor display screen 50 displays an excavation / retreat setting unit 51, a direction input unit 52, a jack operation unit 53, and a deviation amount display unit 54.
  • the excavation / retreat setting unit 51 is a switch for switching the moving direction (advance / retreat) of the excavator 10, and includes an excavation button 51a and a retreat button 51b.
  • the excavation button 51a is pressed when the excavator 10 is advanced. Then, when the excavation button 51a is pressed, the cutter head 12, the gripper 13a of the rear trunk 13 and the parallel link mechanism 14 are controlled so that the excavator 10 moves forward.
  • the retreat button 51b is pressed when the excavator 10 is retreated along the tunnel when the tunnel excavation is completed up to a desired position. Then, when the reverse button 51b is pressed, the gripper 13a and the parallel link mechanism 14 of the rear trunk 13 are controlled so that the excavator 10 moves forward.
  • the direction input unit 52 is operated by an operator when a deviation occurs during excavation toward the target position, and has a plurality of direction buttons (up button 52a, down button 52b, right button 52c, left button 52d). Yes.
  • the up button 52a, the down button 52b, the right button 52c, and the left button 52d are buttons in a direction in which the deviation amount becomes smaller while the operator confirms in which direction the deviation amount occurs while looking at the deviation amount display portion 54. Operated. As a result, the operator can control the excavator 10 to dig toward the target position simply by operating a button in a direction to cancel the deviation amount while looking at the deviation amount display unit 54. it can.
  • the jack operation unit 53 is an operation input unit for setting operations of the six thrust jacks 14a to 14f included in the parallel link mechanism 14, and includes an extension button 53a, a stop button 53b, and a contraction button 53c.
  • the extend button 53a is operated when the thrust jacks 14a to 14f are driven in the extending direction.
  • the stop button 53b is operated when stopping the movement of the thrust jacks 14a to 14f.
  • the contraction button 53c is operated when driving the thrust jacks 14a to 14f in the contracting direction.
  • the deviation amount display unit 54 displays the position / posture of the front trunk 11 with respect to the rear trunk 13 and how much the front trunk 11 of the excavator 10 currently excavating is deviated from the target position. To do. Further, the shift amount display unit 54 includes a first display unit 54a and a second display unit 54b.
  • the first display portion 54a includes a center position R1 and a center line R of the rear trunk portion 13, a center position F1, a center line F, an outline (posture) A of the front trunk portion 11, and a middle break point Px of the excavator.
  • the planned excavation line DL which is a desired curve set in advance, is displayed.
  • the first display portion 54a indicates in which direction the center position (front barrel origin) F1 of the front barrel portion 11 is oriented with respect to the middle break point Px. In the example shown in FIG. 5, the center position of the front body portion 11 is shifted to the right. Further, the first display unit 54a displays a deviation of the front trunk center position F1 from the planned excavation line DL. In FIG. 5, the planned excavation line DL is displayed shifted to the right in order to make the drawing easier to see.
  • the second display portion 54b displays in which direction the center position of the front body portion 11 is shifted in the vertical and horizontal directions when viewed from the front, with the center point Px as the center position.
  • the center position of the front body portion 11 is shifted slightly to the right with respect to the center position of the rear body portion 13.
  • the operator can perform the following operations by performing operation input on the monitor display screen 50 shown in FIG.
  • the gripper 13a of the rear trunk portion 13 projects toward the side wall of the tunnel, and the gripper 11a of the front trunk portion 11 does not project.
  • the thrust jacks 14a to 14f of the parallel link mechanism 14 are driven in the extending direction. Thereby, only the front trunk
  • the reverse button 51b is turned on and the extend button 53a is pressed, the gripper 13a of the rear trunk portion 13 does not protrude, and the thrust of the parallel link mechanism 14 is extended with the gripper 11a of the front barrel portion 11 protruding.
  • the jacks 14a to 14f are driven in the extending direction. Thereby, the position of the front trunk
  • the retreat button 51b is turned on and the contraction button 53c is pressed, the thrust jacks of the parallel link mechanism 14 with the gripper 13a of the rear trunk portion 13 projecting and the gripper 11a of the front trunk portion 11 not projecting. 14a to 14f are driven in a contracting direction. Thereby, the position of the rear trunk
  • step S11 when control of the excavator 10 by manual operation input is started in step S11, the position and center of the center position P1 of the rear trunk 13 from the current position of the rear trunk 13 are determined in step S12. Line C1 is determined. Then, the center position of the front body portion 11 is obtained from the information on the center position P1 and the center line C1 of the rear body portion 13 and the stroke amounts of the plurality of thrust jacks 14a to 14f included in the parallel link mechanism 14.
  • the stroke amounts of the thrust jacks 14a to 14f can be obtained from the stroke sensors 16a to 16f (see FIG. 3) attached to the thrust jacks 14a to 14f.
  • the stroke sensors 16a to 16f are position sensors that detect the position (stroke) of the piston rod with respect to the cylinder tube.
  • the middle break point Px is obtained by calculation based on the information on the center position P1 and the center line C1 of the rear trunk 13 and the information on the center position P2 of the front trunk 11 obtained in step S12. It is done.
  • each direction button (up button 52a, down button 52b, right button 52c, left button 52d) of the direction input unit 52 is operated by the operator, and the target position of the cutter head 12 (front body part 11). Is entered.
  • Each direction button can be repeatedly pressed by the operator to set the target position in a desired direction.
  • step S15 the center position P2 of the front body portion 11 in a state where the thrust jacks 14a to 14f of the parallel link mechanism 14 are extended is obtained by calculation.
  • step S16 the thrust jacks 14a to 14f of the parallel link mechanism 14 are expanded from the center position P2 of the front body portion 11 and the current center position P1 of the rear body portion 13 obtained by calculation in step S15.
  • the position of the middle break point Px in the state is obtained by calculation.
  • step S17 the center position P2 of the front body portion 11, the center position P1 of the rear body portion 13 and the middle folding point Px in the state where the thrust jacks 14a to 14f obtained in steps S15 and S16 are extended.
  • a parametric curve having three control points in the three-dimensional space is obtained by calculation.
  • parametric curve is a quadratic Bezier curve P 12 represented by a quadratic equation of the parametric t, can be calculated by the following equation (1).
  • P 12 (t) (1 ⁇ t) 2 P 0 +2 (1 ⁇ t) tP 1 + t 2 P 2 (1)
  • the control point P 0 indicates the center position P 1 of the rear body portion 13
  • P 1 indicates the middle break point Px
  • P 2 indicates the center position P 2 of the front body portion 11.
  • Each P 1 , Px, P 2 is a three-dimensional spatial coordinate.
  • a quadratic curve having one peak passing through the three-dimensional space is generated by the relational expression (1).
  • step S18 digging is carried out while actually controlling the thrust jacks 14a to 14f based on the Bezier curve obtained in step S17.
  • the center position P1 and the center line C1 of the rear trunk portion 13 are used as targets.
  • the center position P2 and the middle break point Px of the front torso 11 serving as the position are calculated, and excavation is performed along a Bezier curve with the three points P1, P2, and Px as control points.
  • FIG. 7 shows a procedure for excavating the three first tunnels T1 from the two existing tunnels T0 along the three first excavation lines L1 substantially parallel to each other.
  • the excavator 10 follows the backup trailer 31 including a drive source for the excavator 10, and the excavator 10 is moved to a position where the excavator 10 branches to the existing tunnel T ⁇ b> 0 and the first tunnel T ⁇ b> 1. It shows a state of being moved by a tow vehicle.
  • a corner reaction force receiving portion 30 is installed in a portion having a small radius of curvature R that branches from the existing tunnel T0 to the first tunnel T1.
  • the excavator 10 advances the excavation of the first tunnel T1 while bringing the gripper 13a into contact with the corner reaction force receiving portion 30 even in the curved portion having a small curvature radius R that branches to the first tunnel T1. be able to.
  • the excavator 10 and the backup trailer 31 are moved along the first excavation line L ⁇ b> 1 while excavating the rock and the like by the excavator 10. Thereby, the 1st tunnel T1 can be formed in a desired position.
  • the excavator 10 and the backup trailer 31 are moved backward by the towing vehicle and initially Return to position.
  • a corner reaction force receiving portion 30 is provided at a portion where the first tunnel T1 reaches the tunnel T0.
  • the excavator 10 is moved again along the first excavation line L1.
  • these procedures are repeated to excavate three first tunnels T1 substantially parallel to each other.
  • a quadratic Bezier curve that is a parametric curve is used as a curve to be generated, but the present invention is not limited to this.
  • a spline curve may be used as the parametric curve.
  • the tunnel excavation device of the present invention has an effect that excavation including a curved portion can be performed by a simple operation even when the tunnel excavation is performed manually. Applicable.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
PCT/JP2014/079264 2013-11-29 2014-11-04 トンネル掘削装置およびその制御方法 Ceased WO2015079872A1 (ja)

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AU2014355690A AU2014355690B2 (en) 2013-11-29 2014-11-04 Tunnel boring device, and control method therefor
CA2924214A CA2924214C (en) 2013-11-29 2014-11-04 Tunnel boring device, and control method therefor
SE1650367A SE541751C2 (en) 2013-11-29 2014-11-04 Tunnel boring device, and control method therefor
US15/023,036 US9951617B2 (en) 2013-11-29 2014-11-04 Tunnel boring device, and control method therefor
DE112014004026.6T DE112014004026T5 (de) 2013-11-29 2014-11-04 Tunnelbohrvorrichtung und Steuerverfahren dafür
SE1650367D SE1650367A1 (sv) 2013-11-29 2014-11-04 Tunnel boring device, and control method therefor
CN201480049384.4A CN105556062B (zh) 2013-11-29 2014-11-04 隧道掘进装置及其控制方法

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KR102298318B1 (ko) * 2016-03-30 2021-09-03 스미토모 겐키 가부시키가이샤 쇼벨 및 쇼벨의 표시장치
JP6644871B2 (ja) * 2016-03-31 2020-02-12 住友建機株式会社 ショベル及びショベルの表示装置
CN108374667A (zh) * 2018-03-23 2018-08-07 北京交通大学 泥水平衡式盾构模型机及其安装方法
JP7458891B2 (ja) * 2020-05-12 2024-04-01 株式会社小松製作所 トンネル掘削装置
JP7556701B2 (ja) * 2020-05-25 2024-09-26 株式会社小松製作所 トンネル掘削装置
JP7402748B2 (ja) * 2020-05-29 2023-12-21 株式会社小松製作所 トンネル掘削装置の制御方法およびトンネル掘削装置
DE102021126200A1 (de) * 2021-10-08 2023-04-13 Herrenknecht Aktiengesellschaft Tunnelbohrmaschine und Verfahren zum Vortreiben eines Tunnels mit einer Tunnelbohrmaschine
CN117822681B (zh) * 2024-03-06 2024-05-07 临沂市金明寓建筑科技有限公司 一种建筑工程用钻孔装置

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US9951617B2 (en) 2018-04-24
CA2924214C (en) 2017-08-15
AU2014355690B2 (en) 2016-09-29
CN105556062A (zh) 2016-05-04
AU2014355690A1 (en) 2016-03-24
SE1650367A1 (sv) 2016-03-18
DE112014004026T5 (de) 2016-07-28
JP2015105512A (ja) 2015-06-08
CN105556062B (zh) 2017-04-26
SE343467B (https=) 1972-03-13
CA2924214A1 (en) 2015-06-04
JP6254429B2 (ja) 2017-12-27
SE541751C2 (en) 2019-12-10
US20160230553A1 (en) 2016-08-11

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