WO2015132927A1 - Dispositif de commande et machine à percer un tunnel - Google Patents

Dispositif de commande et machine à percer un tunnel Download PDF

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Publication number
WO2015132927A1
WO2015132927A1 PCT/JP2014/055751 JP2014055751W WO2015132927A1 WO 2015132927 A1 WO2015132927 A1 WO 2015132927A1 JP 2014055751 W JP2014055751 W JP 2014055751W WO 2015132927 A1 WO2015132927 A1 WO 2015132927A1
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WO
WIPO (PCT)
Prior art keywords
pressure injection
ultra
high pressure
injection nozzle
excavator
Prior art date
Application number
PCT/JP2014/055751
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English (en)
Japanese (ja)
Inventor
中黒　憲一
洋平 志村
有賀　照男
Original Assignee
中黒建設株式会社
株式会社エーエヌエンジニアリング
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 中黒建設株式会社, 株式会社エーエヌエンジニアリング filed Critical 中黒建設株式会社
Priority to JP2014542621A priority Critical patent/JP5837994B1/ja
Priority to PCT/JP2014/055751 priority patent/WO2015132927A1/fr
Publication of WO2015132927A1 publication Critical patent/WO2015132927A1/fr

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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
    • E21D9/11—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
    • 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
    • E21D9/1066—Making by using boring or cutting machines with fluid jets

Definitions

  • the present invention relates to an operation control technique for an excavator equipped with an ultra-high pressure injection nozzle.
  • An excavator capable of cutting an obstacle by jetting an ultra-high pressure fluid from a nozzle has been developed.
  • an obstacle is cut in a circumferential direction by ejecting an ultrahigh pressure fluid while rotating a cutter head portion provided with an ultrahigh pressure injection nozzle, and the nozzle is further jacked.
  • an excavator configured to cut an obstacle more finely in a radial direction by ejecting an ultrahigh pressure fluid while moving in a radial direction.
  • the rotation angle information of the cutter head unit is acquired in the operation panel for operating the excavator, and based on this information, the operator The rotation range of the cutter head was controlled. Further, when the obstacle is cut in the radial direction, the stroke information of the jack is acquired on the operation panel, and the operator operates the stroke range of the jack based on this information.
  • JP 2006-249926 A Japanese Patent Laid-Open No. 2005-97830
  • the present invention has been made to solve the above-described problems, and can be realized, for example, as the following forms.
  • a control device for controlling the operation of an excavator provided with an ultrahigh pressure injection nozzle that is provided in a rotatable cutter head part and configured to be movable in a radial direction. Is done.
  • the control device includes a position acquisition unit configured to acquire the position information of the ultra-high pressure injection nozzle, the radial movement of the ultra-high pressure injection nozzle, and the rotation of the cutter head unit based on the acquired position information.
  • a display unit configured to display the position of the ultra-high pressure injection nozzle in a manner in which the movement in the circumferential direction of the ultra-high pressure injection nozzle can be visually grasped.
  • the operator of the excavator can easily visually grasp the moving position of the ultrahigh pressure injection nozzle by the display on the display unit. Therefore, it is possible to accurately move the ultrahigh pressure spray nozzle in any desired direction and position while viewing the display on the display unit. As a result, it is possible to cut the obstacle with a high degree of freedom.
  • the display unit displays only the ultra-high pressure injection nozzle that is in a usable state among the plurality of ultra-high pressure injection nozzles, or is not usable with the ultra-high pressure injection nozzle that is in a usable state.
  • the super high pressure injection nozzle is configured to be displayed in an identifiable manner. According to this form, it is possible to easily grasp the ultrahigh pressure injection nozzle that is connected to the fluid source and is ready for use among the plurality of ultrahigh pressure injection nozzles. Accordingly, it is possible to suppress a connection error between the ultrahigh pressure injection nozzle and the fluid source and a grasping error of the ultrahigh pressure injection nozzle to be moved. Therefore, the reliability of the obstacle cutting operation is improved.
  • a position acquisition part further acquires the positional information on the obstruction which should be cut
  • the display unit is further configured to display the position of the obstacle in such a manner that the relative position between the obstacle and the ultra-high pressure injection nozzle can be visually grasped based on the acquired position information of the obstacle.
  • the operator of the excavator can easily visually grasp the relative position between the obstacle and the ultra-high pressure injection nozzle during the cutting operation by the display on the display unit. Therefore, the obstacle can be cut more accurately into a desired shape and size.
  • an excavation machine system includes an excavator and a control device according to any one of the first to third forms. According to this excavator system, the same effects as in any one of the first to third embodiments can be obtained.
  • the present invention is not limited to the above-described form, and can be realized in various forms such as a method for controlling the excavator, a program for controlling the excavator, and a storage medium in which the program is recorded so as to be readable by the computer. It is.
  • FIG. 1 It is sectional drawing which shows schematic structure of an excavation machine system. It is a schematic front view of the cutter head part shown in FIG. It is explanatory drawing which shows an example of the screen displayed on the monitor of a control apparatus.
  • FIG. 1 is a cross-sectional view showing a schematic configuration of an excavator system 5 as an embodiment of the present invention.
  • FIG. 2 is a schematic front view of the cutter head unit 30 shown in FIG.
  • the excavator system 5 includes an excavator 10 and a control device 100.
  • the excavation machine 10 is a machine that excavates the ground in order to construct a pipeline or a tunnel, and is applicable to, for example, a shield method or a propulsion method.
  • FIG. 1 shows an example in which the excavator 10 is applied to the propulsion method, and a propulsion pipe 90 is constructed on the opposite side (hereinafter also referred to as the rear) of the excavator 10.
  • the excavator 10 includes a main body 20 and a cutter head 30.
  • the main body 20 includes a rotating shaft 21, a mud pipe 22, and a drive motor 23.
  • the cutter head part 30 is provided with a plurality of cutter bits 31 as appropriate.
  • the cutter head portion 30 is provided at the front end portion of the main body portion 20 in the digging direction, and digs the ground by being rotated about the rotation shaft 21 by the drive motor 23. The soil excavated by the rotation of the cutter head unit 30 is discharged through the mud pipe 22.
  • the cutter head unit 30 is provided with ultra-high pressure injection nozzles 41, 42, 43, 44, 51, 52 for injecting fluid at an ultra-high pressure.
  • the ultra-high pressure fluid ejected from the ultra-high pressure spray nozzles 41, 42, 43, 44, 51, 52 can be, for example, abrasive jet water in which ultra-high pressure jet water and an abrasive are mixed.
  • the positions of the ultra-high pressure injection nozzles 41, 42, 43, and 44 are fixed with respect to the cutter head unit 30.
  • the ultra-high pressure injection nozzles 41, 42, 43, 44 are also referred to as fixed nozzles 41, 42, 43, 44.
  • the ultra-high pressure injection nozzles 51 and 52 are configured to be movable in the radial direction by nozzle moving mechanisms 32 and 33, respectively.
  • the ultra high pressure spray nozzle 51 of the ultra high pressure spray nozzles 51 and 52 is configured to be movable to the outside of the outer edge of the cutter head portion 30.
  • the ultrahigh pressure injection nozzles 51 and 52 are also referred to as moving nozzles 51 and 52.
  • the nozzle moving mechanisms 32 and 33 are hydraulic cylinder mechanisms including a piston rod and a hydraulic cylinder (not shown). However, any actuator that can linearly move the moving nozzles 51 and 52 can be used for the nozzle moving mechanisms 32 and 33.
  • the cutter head unit 30 is provided with ground improvement nozzles 61, 62, 63, 64, 65. From the ground improvement nozzles 61 to 65, ground improved jet water in which ultra-high pressure jet water and a ground improvement material are mixed is jetted.
  • the positions of the ground improvement nozzles 61 to 65 with respect to the cutter head 30 are fixed.
  • the number of the various nozzles mentioned above can be set arbitrarily.
  • a single nozzle may be used as an ultrahigh pressure spray nozzle and a ground improvement nozzle.
  • FIG. 2B shows a state in which the cutter head unit 30 is rotated 30 degrees clockwise from the position shown in FIG. 2A, and accordingly, the various nozzles are similarly moved to positions rotated 30 degrees. ing.
  • nozzles are configured to be selectively connectable with a fluid source of the fluid to be ejected and an ultrahigh pressure pump (not shown).
  • flow paths for these fluids are formed inside the rotary shaft 21, and these paths, the fluid source, and the ultrahigh pressure pump are selectively connected by a hose.
  • “selective” includes that two or more nozzles are connected at the same time and that one of the plurality of nozzles is exclusively connected.
  • each connection port for connecting the hose is provided with a connection sensor for detecting the presence or absence of connection.
  • the connection sensor various known sensors such as a mechanical type, an optical type, an electric type, and a magnetic type can be used.
  • the excavator 10 When the excavator 10 encounters an obstacle buried or left in the ground during excavation of the ground, the excavator 10 may cut the obstacle in the ground, remove the cut piece, and continue the excavation. it can. Specifically, the excavator 10 first detects the position (and thus the shape) of the obstacle. Such detection is performed, for example, by ejecting ultrahigh pressure fluid from at least one of the ultrahigh pressure injection nozzles 41 to 44, 51, 52 toward the obstacle and analyzing the reflected sound with an oscilloscope or the like.
  • the positions of the ultra-high pressure injection nozzles 41 to 44, 51, 52 may be moved by the cutter head unit 30, and the positions of the moving nozzles 51, 52 are moved by the nozzle moving mechanisms 32, 33. May be.
  • the excavator 10 jets the ground improvement jet water from at least one of the ground improvement nozzles 61 to 65 while rotating the cutter head unit 30, and the ground around the obstacle is ground. Improve. Thereafter, the excavator 10 cuts the obstacle by injecting the ultra-high pressure fluid from at least one of the ultra-high pressure injection nozzles 41 to 44, 51, 52 while rotating the cutter head unit 30. The cut pieces that have been cut are taken into the interior of the excavator 10 from an opening (not shown) of the cutter head portion 30 and then discharged from the mud pipe 22. When the obstacle is removed in this way, the excavator 10 resumes excavation of the ground.
  • the cutting operation of the excavator 10 is controlled by the control device 100.
  • the control device 100 is an operation panel that receives an operation instruction of the excavator 10 input by an operator and gives an operation command to the actuator of the excavator 10, and also has a function as a monitoring panel that monitors the operation of the excavator 10. ing.
  • the control device 100 is communicably connected to various actuators and sensors included in the excavator 10. As illustrated in FIG. 1, the control device 100 includes a monitor 110, a control unit 120, and a user interface 111. As will be described later, an image showing the positions of various nozzles is displayed on the monitor 110.
  • the user interface 111 is configured to accept operation instructions of the excavator 10 and the control device 100 input by an operator.
  • the user interface 111 may be a button, a lever, a switch, or the like, for example.
  • the monitor 110 may be configured with a touch panel display, and the monitor 110 may be used as the user interface.
  • the control unit 120 controls the operation of the excavator 10 and the operation of the control device 100 based on the instruction input via the user interface 111.
  • the control unit 120 may be a hardware circuit that realizes only a predetermined function with an electronic circuit, or may be an information processing apparatus that realizes a predetermined function by executing a program stored in a memory. It may be a combination thereof.
  • the control device 100 also functions as the position acquisition unit 121 and the display unit 122.
  • the position acquisition unit 121 acquires position information representing the positions of the ultrahigh pressure injection nozzles 41 to 44, 51, 52 from the excavator 10.
  • the position acquisition unit 121 acquires a detected value of the rotation angle of the cutter head unit 30 from a rotation angle sensor (not shown) provided in the excavator 10. Since the positions of the fixed nozzles 41 to 44 and the ground improvement nozzles 61 to 65 are fixed with respect to the cutter head unit 30, the radial positions of these nozzles with respect to the rotation axis of the cutter head unit 30 are known. Therefore, if the rotation angles of these nozzles are known, the coordinate values of these nozzles can be derived.
  • the position acquisition unit 121 acquires a stroke amount detection value of the piston rod from position sensors (not shown) provided in the nozzle moving mechanisms 32 and 33.
  • the coordinate values of the moving nozzles 51 and 52 are derived from the stroke amount detection value and the rotation angle detection value.
  • the acquisition of the nozzle position information is repeatedly acquired at a predetermined cycle so that the movement amount of the nozzle can be grasped in real time.
  • the position acquisition unit 121 also acquires obstacle position information obtained by the above-described method.
  • the display unit 122 performs control for displaying an image on the monitor 110. Specifically, the display unit 122 generates an image for displaying the positions of the nozzles and the obstacles based on the position information of the nozzles and the obstacles acquired by the position acquisition unit 121, and displays the images on the monitor 110. Output.
  • the position of each nozzle is displayed in such a manner that the movement of the fixed nozzles 41 to 44 and the ground improvement nozzles 61 to 65 in the circumferential direction and the movement of the moving nozzles 51 and 52 in the radial direction can be visually grasped in real time. Is called.
  • the obstacle position display is performed in such a manner that the relative position between the obstacle position and each nozzle can be visually grasped.
  • FIG. 3 shows an example of a screen displayed on the monitor 110.
  • the projection area in the rotation axis direction of the cutter head unit 30 around the rotation center 183 of the cutter head unit 30 is displayed as an outer edge line 181, and the rotation angle of the cutter head unit 30 is visually grasped.
  • An angle auxiliary line 182 is displayed every 30 degrees.
  • fixed nozzle position marks 141 to 144 representing the relative positions of the fixed nozzles 41 to 44 with respect to the outer edge line 181
  • moving nozzle position marks 151 and 152 representing the positions of the moving nozzles 51 and 52 with respect to the outer edge line 181, respectively.
  • the ground improvement nozzle position marks 161 to 165 representing the relative positions of the ground improvement nozzles 61 to 65 with respect to the outer edge line 181 are displayed corresponding to the current positions of the nozzles. Further, the relative position of the obstacle with respect to the outer edge line 181 is displayed as an obstacle range 195. In the example of FIG. 3, the obstacle range 195 indicates the existence range of the steel sheet pile.
  • the detection result of the connection sensor described above is acquired by the control device 100, the nozzle connected to the fluid source and the ultrahigh pressure pump (that is, in a usable state), the fluid source and the ultra high pressure pump.
  • Each position mark is displayed in such a manner that a nozzle that is not connected to the high-pressure pump (that is, not in a usable state) can be identified.
  • a nozzle that is in a usable state and a nozzle that is not in a usable state may be displayed in mutually different colors, or may be displayed by lighting and blinking.
  • FIG. 3A shows a state in which only the moving nozzle 51 among the nozzles is usable, and the moving nozzle position mark 151 is displayed in a color different from the other position marks.
  • the operation of the excavator 10 can be operated as follows using the control device 100 described above, for example.
  • the operator creates a cutting plan diagram.
  • the cutting plan diagram is prepared by, for example, an operator creating a cutting planned line 174 with CAD software and printing it on the transparent sheet 170.
  • the cutting plan diagram is created on the same scale as the outer edge line 181 displayed on the monitor 110.
  • the written scheduled cutting line 174 includes a circumferential line 171, a radial line 172, and a vertical line 173.
  • the operator superimposes the transparent sheet 170 on which the cutting plan diagram is printed on the monitor 110 so that the scheduled cutting line 174 of the transparent sheet 170 overlaps the display range of the obstacle range 195 on the monitor 110.
  • a reference mark may be printed on the transparent sheet 170 in order to perform alignment at this time accurately. Further, a reference mark may be displayed on the monitor 110.
  • FIG. 3A shows a state in which the cutting is performed so that the moving nozzle position mark 151 moves substantially on the circumferential line 171.
  • the moving nozzle 51 is moved until the moving nozzle position mark 151 is positioned on the circumferential line 171, and thereafter, while the moving nozzle position mark 151 moves on the circumferential line 171 to a desired range,
  • the movement in the circumferential direction that is, the rotation of the cutter head unit 30 and the injection of the ultrahigh pressure fluid from the moving nozzle 51 are instructed.
  • FIG. 3B shows a state where the moving nozzle position mark 151 is cut so that it moves on the vertical line 173 in general.
  • the operator alternately repeats an operation for rotating the cutter head unit 30 by a small distance and an operation for linearly moving the moving nozzle 51 by a small distance, thereby moving the moving nozzle position mark 151.
  • the excavator 10 is operated so that the trajectory does not greatly deviate from the vertical line 173.
  • the operator performs the rotation of the cutter head unit 30 and the linear movement of the moving nozzle 51 at the same time, and the locus of the moving nozzle position mark 151 does not deviate greatly from the vertical line 173.
  • the excavator 10 may be operated.
  • the operator can move the movable nozzles 51 and 52 within the movable range (for example, in the case of the movable nozzle 51, in the region inside the circle slightly larger than the outer edge line 181).
  • the moving nozzles 51 and 52 can be accurately moved in any direction (for example, the horizontal direction) and position.
  • the operator of the excavator system 5 can easily visually grasp the moving positions of the moving nozzles 51 and 52 in real time from the display on the monitor 110. Therefore, the moving nozzles 51 and 52 can be accurately moved in any desired direction and position while viewing the display on the monitor 110. As a result, it is possible to cut the obstacle with a high degree of freedom.
  • the excavator system 5 since the nozzles in a usable state are displayed on the monitor 110 in an identifiable manner, a connection error between each nozzle 41 to 44, 51, 52, 61 to 65 and the fluid source, Even if an error in grasping the nozzle to be moved occurs, the operator can easily notice it. Therefore, the excavator 10 is prevented from performing a cutting operation in a state where a mistake has occurred, and the reliability of the cutting work is improved.
  • the relative position between the obstacle and the moving nozzles 51 and 52 can be easily grasped visually by the display on the monitor 110. Therefore, the obstacle can be cut more accurately into a desired shape and size.
  • Modification 2 On the monitor 110, only the position mark corresponding to the nozzle in the usable state among the nozzle in the usable state and the nozzle not in the usable state may be displayed.
  • the cutting plan diagram may be input to the control device 100 by the operator using the user interface 111 or the like, instead of filling in the transparent sheet 170.
  • the control device 100 may display the input scheduled cutting line 174 on the monitor 110 so as to overlap the various displays shown in FIG. This improves the convenience for the operator.
  • Modification 4 Various information related to the operation of the excavator 10 may be displayed on the monitor 110 simultaneously with the display content described above. Such information may be, for example, the stroke amount in the radial direction of the moving nozzles 51 and 52, the rotational speed of the cutter head unit 30, the earth pressure received by the excavator 10 from the ground, the operating oil pressure value, and the like. According to such a configuration, it becomes easier to manage the operation of the excavator 10.
  • Modification 5 The configuration of the control device 100 described above can also be applied to the automatic operation system of the excavator 10. That is, instead of inputting the rotation command of the cutter head unit 30 and the movement command of the moving nozzles 51 and 52 to the control device 100 by an operator manually, the control device 100 uses the cutter head based on the inputted cutting plan. The rotation of the unit 30 and the movement of the moving nozzles 51 and 52 may be automatically controlled, and the movement status of various nozzles may be displayed on the monitor 110.
  • Ground improvement nozzle position mark 170 ... Transparent sheet 171 ... Circumferential line 172 ... Radial direction line 173 ... Longitudinal line 174 ... Planned cutting line 181 ... Outer edge line 182 ... Angle auxiliary line 183 ... Center of rotation 195 ... Obstacle Range

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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)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

L'objectif de la présente invention est de réaliser la découpe d'obstacles avec une grande souplesse dans une machine à percer un tunnel. Un dispositif de commande destiné à commander le mouvement d'une machine à percer un tunnel, qui comprend une buse d'injection à ultra-haute pression disposée sur une tête de coupe rotative et conçue pour être mobile dans la direction radiale, comprend : une unité d'acquisition de position conçue pour acquérir des informations de positionnement pour la buse d'injection à ultra-haute pression ; et une unité d'affichage conçue pour afficher la position de la buse d'injection à ultra-haute pression en fonction des informations de position acquises d'une manière telle que le mouvement de la buse d'injection à ultra-haute pression dans la direction radiale et le mouvement de la buse d'injection à ultra-haute pression dans la direction circonférentielle en raison de la rotation de la tête de coupe puissent être visuellement identifiés.
PCT/JP2014/055751 2014-03-06 2014-03-06 Dispositif de commande et machine à percer un tunnel WO2015132927A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2014542621A JP5837994B1 (ja) 2014-03-06 2014-03-06 制御装置および掘進機
PCT/JP2014/055751 WO2015132927A1 (fr) 2014-03-06 2014-03-06 Dispositif de commande et machine à percer un tunnel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/055751 WO2015132927A1 (fr) 2014-03-06 2014-03-06 Dispositif de commande et machine à percer un tunnel

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WO2015132927A1 true WO2015132927A1 (fr) 2015-09-11

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020097868A (ja) * 2018-12-19 2020-06-25 Ｎ．Ｊｅｔエンジニアリング株式会社 掘進機の前方探査方法および掘進機

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2624463B2 (ja) * 1995-06-27 1997-06-25 川崎重工業株式会社 残置杭の切断装置と取込装置とこれらを具備したトンネル掘進機
JP3363435B2 (ja) * 2000-09-07 2003-01-08 中黒建設株式会社 トンネル掘進方法及びトンネル掘進装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3184823B2 (ja) * 1999-02-02 2001-07-09 中黒建設株式会社 掘進機
JP2005097830A (ja) * 2003-09-22 2005-04-14 Nakaguro Kensetsu Kk 掘進機

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2624463B2 (ja) * 1995-06-27 1997-06-25 川崎重工業株式会社 残置杭の切断装置と取込装置とこれらを具備したトンネル掘進機
JP3363435B2 (ja) * 2000-09-07 2003-01-08 中黒建設株式会社 トンネル掘進方法及びトンネル掘進装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020097868A (ja) * 2018-12-19 2020-06-25 Ｎ．Ｊｅｔエンジニアリング株式会社 掘進機の前方探査方法および掘進機

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