TUNNEL DRILLING MACHINE AND METHOD FOR DRILLING A TUNNEL WITH A TUNNEL DRILLING MACHINE

Description

[0001] The invention relates to a tunnel boring machine having the features of the preamble of claim 1.

[0002] The invention further relates to a method for driving a tunnel with a tunnel boring machine.

[0003] Such a device and method are known from DE 10 2018 102 330 A1. The previously known tunnel boring machine has a cutting wheel and a number of jacking presses with which the cutting wheel can be displaced in an advance direction. Furthermore, a jacking press control unit is provided with which the jacking presses can be controlled, with means being provided for visualizing a total pressure center of gravity resulting from the pressure effect of the jacking presses. When excavating a tunnel with this tunnel boring machine, the position of the total pressure center of gravity can be visually displayed, particularly when installing segments with corresponding load changes on the jacking presses during ongoing excavation.

[0004] DE 11 2014 004 026 T5 discloses a tunnel boring machine that has input means configured to input geometric data for controlling the stroke of the thrust rams, thereby influencing the trajectory of the tunnel boring machine. The means are configured to adjust the strokes of the thrust rams, independent of the actual forces acting, to maintain a trajectory defined by geometric parameters.

[0005] Tunnel boring machines and methods for excavating a tunnel are known from CN 111 810 171 A, CN 111 810 172 A, and JP 2013 007 226 A, in which the pressure exerted by the jacking presses is based on group formations in the jacking presses. According to CN 111 810 172 A, a visualization of the total force exerted is provided.

[0006] In practice, the adjustment of the thrust forces to be exerted by individual jacking presses or groups of jacking presses in tunnel boring machines is usually carried out via potentiometers that act on control modules connected to the jacking presses.

[0007] The invention is based on the object of specifying a tunnel boring machine of the type mentioned at the outset and of specifying a method for driving a tunnel with a tunnel boring machine of the type mentioned at the outset, which are characterized by relatively simple and reliable operation.

[0008] This object is achieved according to the invention in a tunnel boring machine of the type mentioned at the outset with the features of the characterising part of claim 1.

[0009] This object is achieved according to the invention in a method for driving a tunnel with the features of claim 10.

[0010] Because in the tunnel boring machine and in the method according to the invention, the actual position of an actual total pressure center of gravity is determined directly by influencing the position of a representation of a desired total pressure center of gravity, determined by coordinate values ​​and visualized in a coordinate system related to the tunnel boring machine, and preferably via a touch-sensitive screen, the tunnel boring machine can be controlled relatively easily via this one central operating parameter.

[0011] Further expedient embodiments of the invention are the subject of the dependent claims.

[0012] Further expedient embodiments and advantages of the invention will become apparent from the following description of embodiments with reference to the figures of the drawing as well as additional explanations.

[0013] They show: Fig. 1 in a schematic view an embodiment of a tunnel boring machine having a cutting wheel, which is equipped with an operating unit, Fig. 2 in a side view the embodiment of a tunnel boring machine according to Fig. 1 with an exemplary force curve exerted by jacking presses in a horizontal (X-) direction, constant over the entire diameter of the cutting wheel for a straight-ahead travel, Fig. 3 in a side view the embodiment of a tunnel boring machine according to Fig. 1 with an exemplary force curve exerted by jacking presses in the horizontal (X-) direction, constantly changing over the entire diameter of the cutting wheel for cornering, Fig. 4 in a side view the embodiment of a tunnel boring machine according to Fig. 1 with an exemplary force curve exerted by jacking presses in the horizontal (X-) direction, continuously changing over a part of the diameter of the cutting wheel for cornering, Fig. 5 in a side view the embodiment of a tunnel boring machine according to Fig. 1 with an exemplary force distribution exerted by jacking presses in a vertical (Y-) direction, constantly changing over the entire diameter of the cutting wheel to compensate for counterforces changing in the vertical direction for horizontal travel, Fig. 6 in a side view the embodiment of a tunnel boring machine according to Fig. 1 with an exemplary force curve exerted by jacking presses in the vertical (Y-) direction, constant over the entire diameter of the cutting wheel for a downwardly descending travel and Fig. 7 in a flow chart an exemplary embodiment of the procedure for operating a tunnel boring machine for driving a tunnel with the Fig. 1 bis Fig. 3 explained embodiment of a tunnel boring machine according to the invention.

[0014] Fig. 1 shows, in a schematic view, an embodiment of a tunnel boring machine 103 according to the invention, which is equipped with a cutting wheel 106 located at the front in the direction of excavation. Rearward of the cutting wheel 106 in the direction of excavation, the tunnel boring machine 103 has a number of jacking presses 109, with which the cutting wheel 106 can be displaced in an advance direction and, in particular, can be pressed with jacking forces against a working face 112 located in front of the cutting wheel 106 in the direction of excavation during excavation.

[0015] The jacking presses 109 are connected individually or in groups to a jacking press control unit 115, with which the jacking presses 109 can be controlled to achieve a pressure effect.

[0016] The jacking press control unit 115, in turn, is connected to an operating unit 118, via which the jacking press control unit 115 can be fed with the control values ​​required to control the jacking presses 109 after conversion of coordinate values ​​explained in more detail below into control values ​​corresponding to pressure values.

[0017] The operating unit 118 has, on the one hand, a touch-sensitive screen with a first input area 121, via which a value for the desired total propulsion force F ges to be exerted on the cutting wheel 106 by the jacking presses 109 or the groups of jacking presses 109 can be entered directly as a specification in an input field 130 as an input means by a machine operator.

[0018] In modifications for the direct input of the target total propulsion force F ges, for example, touch-sensitive areas or electromechanical buttons or elements that act electromechanically by turning or moving, such as potentiometers or slide controls, are provided in the first input area 121.

[0019] In a further embodiment (not shown), an advance speed control loop is provided as an input means for specifying a target total advance force F total, to which a machine operator can feed a desired target advance speed into a first input and the currently prevailing actual advance speed of the tunnel boring machine 103 into a second input. The output of the advance speed control loop provides the target total advance force F total as a specification for further processing, explained in more detail below, to maintain the desired target advance speed.

[0020] Furthermore, the operating unit 118 is equipped with a second input area 133, which is designed with a number of, expediently four, touch fields 136, 139, 142, 145 as operating elements, which in the exemplary embodiment explained here, by being arranged in pairs on a horizontal or vertical plane, serve to decrease or increase coordinate values ​​of a desired target total pressure center of gravity (also called "Center of Thrust", abbreviated to "CoT") in a coordinate system related to the tunnel boring machine 103, and in particular to the longitudinal center axis of a substantially cylindrical shield element 146 of the tunnel boring machine 103, in which the tunneling presses 109 are arranged and permanently installed, which results from the pressure effect of all the tunneling presses 109.

[0021] In one embodiment, the touch fields 136, 139, 142, 145 are designed to be touch-sensitive as a partial component of the touch-sensitive screen.

[0022] In another version, the touch fields 136, 139, 142, 145 are designed as pressure-sensitive electromechanical buttons.

[0023] In yet another embodiment, the means for influencing the desired total pressure center of gravity comprise electromechanically acting elements such as potentiometers or slide controls by turning or shifting.

[0024] Furthermore, in this exemplary embodiment, the screen of the operating unit 118 has a further, two-dimensional touch-sensitive area 148 as a visualization means, on which a symbolic visualization of a desired total pressure center of gravity 151 to be assumed is shown in the coordinate system spanned by an X-axis 154 for the horizontal direction and by a Y-axis 157 for the vertical direction, which intersect at right angles at a zero point 163 as the coordinate origin, and related to the tunnel boring machine 103.

[0025] At the Fig. 1 The visualization shown with a black filled circle is the target total pressure center of gravity 151, the coordinate values ​​of which in the coordinate system formed by the X-axis 154 and the Y-axis 157, together with the value for the target total propulsion force F total to be exerted, which can be entered, for example, via the input field 130, form the input values ​​for the propulsion press control unit 115 for controlling the propulsion presses 109.

[0026] In a suitable further development, it is provided that an actual total pressure center of gravity 166 is also shown on the touch-sensitive area 148 in a further visualization shown as a white filled circle, which represents the currently actually existing position of the actual total pressure center of gravity 166 returned by the jacking press control unit 115 from the jacking presses 109 to the control unit 118. In the representation according to Fig. 1 the actual total pressure center 166 deviates noticeably from the target total pressure center 151, for example due to a control process that has not yet been completed and is explained in more detail below, and will continue to move during the control process towards a value shown in the illustration according to Fig. 1 move from the actual total pressure center 166 to the desired total pressure center 151 of the control direction arrow 167.

[0027] To change the position of the actual total pressure center of gravity 166, in addition to the touch fields 136, 139, 142, 145, by touching and moving the visualization of the target total pressure center of gravity 151, the target total pressure center of gravity 151 can be moved in the touch-sensitive area 148 in two dimensions, for example with a finger of an operator or with an interactive pen, with a corresponding change in the control values ​​fed to the jacking press control unit 115 with associated pressure value changes, insofar as this is within a range shown in the illustration according to Fig. 1 The operating conditions of the tunnel boring machine 103 lying within the permissible value range 169 shown in dashed lines and purely as an example generally allow a new actual total pressure center of gravity 166 to be assumed.

[0028] Fig. 2 shows in a side view the embodiment of a tunnel boring machine 103 according to Fig. 1 with an exemplary force curve 200 exerted by jacking presses 109 in a horizontal direction along the X-axis 154, constant over the entire diameter of the cutting wheel 106 for a straight-ahead travel. In the illustration according to Fig. 2 refers to the Z-axis 203, which is Fig. 2 with its negative value range, in the coordinate system related to the tunnel boring machine 103, the direction of the longitudinal center axis of the shield element 146, to which the coordinate system is expediently referenced in this embodiment and otherwise.

[0029] Furthermore, Fig. 2 a total force vector arrow 206 for the desired total thrust force F ges to be exerted by the entirety of the thrust presses 109, which can be entered via the input field 130, and a dashed line 209 represents a value for the average force F m.

[0030] In the Fig. 2 In the exemplary embodiment shown, for straight-ahead travel with respect to a horizontal in the sense of a curve-free advance along a straight line lying in this horizontal, each advance press 109 or each group of advance presses 109 exerts the same partial advance force F i corresponding to the average force F m and represented by a partial force vector arrow 212, so that the force curve 200 lying on the line 209 is constant over the diameter of the cutting wheel 106 and the desired total advance force F ges lies exactly on the Z-axis 203 and passes through the zero point 163 of the X-axis 154. As a result, an offset of the target total propulsion force F ges from the Z-axis 203 in the X-direction and thus an X-deviation CoT X as a coordinate value of the target total pressure center of gravity 151 from the Z-axis 203 in the X-direction is equal to zero.

[0031] Fig. 3 shows in a side view accordingly Fig. 2 the embodiment of a tunnel boring machine 103 according to Fig. 1 with an exemplary force curve 300 exerted by jacking presses 109 in the horizontal direction along the X-axis 154, constantly changing over the entire diameter of the cutting wheel 106 for cornering.

[0032] In Fig. 3 a total force vector arrow 306 for the target total propulsion force F ges to be exerted by the entirety of the jacking presses 109, which can be entered via the input field 130, a dashed first line 309 represents a value for the average force F m to be exerted, a dashed second line 312 represents a value for the minimum force F min to be exerted at least and a dashed third line 315 represents a value for the maximum force F max to be exerted.

[0033] Furthermore, Fig. 3 A partial force vector arrow 318 represents, for example, the partial thrust force F i to be exerted by a jacking press 109 or a group of jacking presses 109, here a jacking press 109 arranged laterally relatively at the edge in the horizontal direction, and a mean force vector arrow 321 represents the mean force F m to be exerted by the entirety of the jacking presses 109. A difference force vector arrow 324 represents the difference force ΔF x,i as the difference in the X direction between the partial thrust force F i and the mean force F m. Finally, a double arrow 327 represents the offset of the target total propulsion force F ges from the Z-axis in the X-direction and thus, as a coordinate value, the X-offset CoT X of the target total pressure center of gravity 151 from the Z-axis 203 in the X-direction, which is included in the visualization of the respective total pressure center of gravity 151, 166 in the coordinate system shown in the area 148.

[0034] To accomplish the cornering, the force curve 300 in the X-direction between the minimum force F min and the maximum force F max is set up with a force that changes continuously over the entire diameter of the cutting wheel 106 by successively increasing the force applied by the jacking presses 109 or groups of jacking presses 109 starting from the minimum force F min with initially negative and then positive values ​​of the differential forces ΔF x,i up to the maximum force F max up to the Z-axis 203.

[0035] Fig. 4 shows in a side view accordingly Fig. 2 and Fig. 3 the embodiment of a tunnel boring machine 103 according to Fig. 1 with an exemplary force curve 400 exerted by jacking presses 109 in the horizontal direction along the X-axis 154, continuously changing over a part of the diameter of the cutting wheel 106 for cornering, wherein to avoid repetitions the Fig. 3 and in Fig. 4 The same reference symbols used denote corresponding elements.

[0036] Out of Fig. 4 It can be seen that the partial jacking forces F i exerted by the jacking presses 109 or groups of jacking presses 109 are the same over a specific edge region and correspond to the minimum force F min or the maximum force F max, while between these edge regions the partial jacking forces F i change continuously over a central region, which also leads to an X-deviation CoT X of the total pressure center of gravity from the Z-axis 203 in the X-direction and thus to a curve in the horizontal.

[0037] Fig. 5 shows in a different way than the side views according to Fig. 2 bis Fig. 4 side view rotated by 90 degrees the embodiment of a tunnel boring machine 103 according to Fig. 1 with an exemplary force curve 500 exerted by jacking presses 109 in the vertical direction along the Y-axis 157, constantly changing over the entire diameter of the cutting wheel 106 to compensate for counterforces changing in the opposite direction in the vertical direction, such as earth pressure, water pressure, friction and the like, for horizontal travel.

[0038] In Fig. 5 a total force vector arrow 506 for the desired total propulsion force F total exerted by the entirety of the jacking presses 109, which can be entered via the input field 130, a dashed first line 509 represents a value for the average force F m , a dashed second line 512 represents a value for the at least exerted minimum force F min and a dashed third line 515 represents a value for the maximum force F max to be exerted.

[0039] Furthermore, Fig. 5 A partial force vector arrow 518 represents, for example, the partial thrust force F i exerted by a jacking press 109 or a group of jacking presses 109, here a jacking press 109 arranged relatively close to the tunnel floor in the vertical direction, and a mean force vector arrow 521 represents the mean force F m exerted by the entirety of the jacking presses 109. A difference force vector arrow 524 represents the difference force ΔF y,i as the difference in the Y direction between the partial thrust force F i and the mean force F m. Finally, a double arrow 527 represents the offset of the target total propulsion force F total from the Z-axis in the Y-direction and thus, as a coordinate value, the Y-offset CoT Y of the target total pressure center 151 from the Z-axis in the Y-direction, which is included in the visualization of the respective total pressure center 151, 166 in the coordinate system shown in the area 148.

[0040] In the Fig. 5 In the force curve 500 shown, the counterforces at the tunnel face 112, which usually increase evenly with depth, are compensated by the tunneling presses 109 in order to carry out a horizontal travel in the sense of a tunnel excavation in a horizontal direction without deviations in the vertical.

[0041] Fig. 6 shows in a side view according to Fig. 5 the embodiment of a tunnel boring machine 103 according to Fig. 1 with an exemplary force curve 600 exerted by jacking presses 109 in the vertical direction along the Y-axis 157, constant over the entire diameter of the cutting wheel 106, for carrying out a downwardly emerging travel during the excavation of a tunnel, wherein in order to avoid repetitions the Fig. 5 and in Fig. 6 The same reference symbols used denote corresponding elements.

[0042] Out of Fig. 6 It can be seen that with this force curve 600 remaining constant vertically along the Y-axis 157 with partial excavation forces F i corresponding to the average force F m and thus a disappearance of the Y-deviation CoT Y of the target total pressure center 151 from the Z-axis 203 in the Y-direction, the target total excavation force F ges lies on the Z-axis 203 and intersects the Y-axis 157 at the zero point 163 of the coordinate system. As a result, the counterforces at the face 112 are overcompensated in the upper region near the roof and undercompensated in the region of the tunnel floor, so that the trajectory of the tunnel excavation tilts downwards and the tunnel boring machine 103 submerges compared to a horizontal travel.

[0043] Fig. 7 shows, in a flowchart, the basic procedure for a method for excavating a tunnel with a tunnel boring machine 103 according to the invention. In an evaluation step 703, the current position of the tunnel boring machine 103 is evaluated, taking into account the other operating parameters of the tunnel boring machine 103.

[0044] In a setting step 706 following the evaluation step 703, the target total pressure center of gravity 151, also called "Center of Thrust", abbreviated to "CoT", is initially selected or, if necessary, changed during propulsion by setting its coordinates in the coordinate system either by means of the touch fields 136, 139, 142, 145 or by moving its visualization in the touch-sensitive area 148.

[0045] In this case, the Fig. 1In the embodiment explained, the target total propulsion force F ges is directly specified via the input field 130 as an input means.

[0046] In the further embodiment, not shown, with the propulsion speed control loop as input means, the propulsion speed control loop specifies the target total propulsion force F total to maintain a desired propulsion speed.

[0047] In a first calculation step 709 following the setting step 706 and carried out by means of the tunneling press control unit 115, the force components F i to be exerted for the horizontal and vertical control of the tunnel boring machine 103 are calculated using their variable components ΔF x,i and ΔF y,i , given the values ​​CoT X , CoT Y and F ges explained above.

[0048] In a second calculation step 712 following the first calculation step 709, the forces F i to be exerted by each i-th jacking press 109 or each i-th group of jacking presses 109 to generate the desired respective force components ΔF x,i , ΔF y,i taking into account the desired total jacking force F ges to be exerted is also calculated using the jacking press control unit 115.

[0049] In a conversion step 715 following the second calculation step 712, the forces F i to be exerted by the jacking presses 109 are converted into the hydraulic pressures with which the respective jacking presses 109 are to be subjected in order to actually exert the forces F i.

[0050] In a control step 718 following the conversion step 715, the hydraulic pressures actually acting on the jacking presses 109 are controlled in order to bring the actual total pressure center of gravity 166 closer to the desired total pressure center of gravity 151 and finally to bring both essentially into alignment.

[0051] In an operating step 721 following the control step 718, the tunnel boring machine 103 is operated according to the last used operating data during a predetermined, to a certain extent freely selectable time unit until the next evaluation step 703 is carried out.

Claims

1. Tunnel boring machine with a cutting wheel (106), with a number of driving presses (109) with which the cutting wheel (106) can be displaced in a driving direction, with a driving press control unit (115) with which the driving presses (109) or groups of driving presses (109) can be controlled, and with visualization means (148) which are designed to visualize an actual total pressure centre (166) resulting from the pressure effect of the driving presses (109) or groups of driving presses (109), characterized in that input means (130) are provided which are designed to specify a target total driving force (Fges), that the visualization means (148) are designed to display a target total pressure centre (151) and the actual total pressure centre (166), that a control unit (118) connected to the driving press control unit (115) is present, which features means (133, 136, 139, 142, 145, 148) for influencing the actual total pressure centre (166) by changing coordinate values (CoTx, CoTY) of the target total pressure centre (151) in a coordinate system (154, 157) related to the tunnel boring machine (103) for at least approximating the actual total pressure centre (166) to the target total pressure centre (151), and that the driving press control unit (115) is designed to convert and regulate the change in the coordinate values (CoTx, CoTY) of the target total pressure centre (151) into pressure value changes when controlling the driving presses (109) or groups of driving presses (109).

2. Tunnel boring machine according to Claim 1, characterized in that the means for influencing the target total pressure centre (151) have operating elements (136, 139, 142, 145) for directly entering coordinate values and / or for increasing or decreasing coordinate values (CoTx, CoTY).

3. Tunnel boring machine according to Claim 2, characterized in that the screen has a touch-sensitive area (133) with touch-sensitive touch fields (136, 139, 142, 145) for increasing or decreasing coordinate values (CoTx, CoTY) of the target total pressure centre (151).

4. Tunnel boring machine according to Claim 2, characterized in that an area (133) with pressure-sensitive touch fields (136, 139, 142, 145) is provided for increasing or decreasing coordinate values (CoTx, CoTY) of the target total pressure centre (151).

5. Tunnel boring machine according to Claim 2, characterized in that electromechanically acting elements are provided for increasing or decreasing coordinate values (CoTx, CoTY) of the target total pressure centre (151) by rotating or shifting.

6. Tunnel boring machine according to one of Claims 1 to 5, characterized in that a screen with a touch-sensitive area (148) is present, in which the visualized target total pressure centre (151) can be moved from an initial position to an end position when touched by and moved by a finger or object, wherein the deviations in the coordinate values (CoTx, CoTY) of the end position to the initial position form the input values of the driving press control unit (115) for adjusting the contact forces exerted by the driving presses (109) or groups of driving presses (109).

7. Tunnel boring machine according to one of Claims 1 to 6, characterized in that the coordinate system is a two-axis orthogonal coordinate system (154, 157) with the zero point (163) on the longitudinal centre axis of a shield element (146) of the tunnel boring machine (103), in which the driving presses (109) or groups of driving presses (109) are arranged.

8. Tunnel boring machine according to one of Claims 1 to 7, characterized in that the visualization means (148) are designed to display a permissible value range (169) for the target total pressure centre (151), and that the driving press control unit (115) is designed to process only values for a target total pressure centre (151) that lie within the permissible value range (169).

9. Tunnel boring machine according to one of Claims 1 to 8, characterized in that a drive speed control circuit is present as input means, which is designed to specify the target total drive force (Fges) via a target drive speed that can be fed into a first input and via an actual drive speed that can be fed into a second input while maintaining the target drive speed.

10. Method for driving a tunnel with a tunnel boring machine (103) having the steps of - providing a tunnel boring machine (103) according to one of Claims 1 to 9, - determining a target trajectory, - determining initial drive forces of the driving presses (109) or groups of driving presses (109) and - during driving, repeated adjustment of the drive forces by changing a target total pressure centre (151) in coordinate values (CoTx, CoTY) of the target total pressure centre (151) of the coordinate system (154, 157) related to the tunnel boring machine (103).