Gravel distribution system

Abstract

The present invention relates to a method (100) and a device (10) for backfilling a tunnel element (2) with a filler (13) comprising a tool head (20) movable by means of an actuator (14) and belongs to the technical field of tunnel construction. In particular, the method (100) and the device (10) according to the invention allow for the at least partially automated backfilling of a tunnel element (2).

Description

Technical field of the invention

[0001] The present invention relates to a method and a device for backfilling tunnel elements with a filler and belongs to the technical field of tunnel construction. In particular, the method and the device according to the invention allow for the at least partially automated backfilling of tunnel elements. State of the art

[0002] A well-known and widely used construction method for tunnel tubes is the segmental tunneling method. In this method, a tunnel boring machine excavates a cavity into the soil or rock. This cavity, with a slight oversize, corresponds to the cross-section of the later tunnel profile, which is usually cylindrical. This cavity is then lined longitudinally with numerous segmental tunnel rings, each of which in turn consists of numerous prefabricated tunnel segments. The multitude of segmental tunnel rings ultimately forms the tunnel tube.

[0003] To increase the stability of the tunnel tubes, remaining gaps between the tunnel tube and the surrounding soil or rock are filled with a fill material; that is, the tunnel wall elements are backfilled with the fill material.

[0004] From FR 2 691 748, for example, a device is known by means of which the space between wall elements and the surrounding soil or rock is filled with gravel and a cement-based binder, wherein an injector is inserted into a filling opening of a wall element and the gravel and the binder are introduced into the space between the wall element and the surrounding soil or rock by means of air pressure through the injector. The connection between the injector and a storage container for the gravel and the binder, as well as the compressor for generating the air pressure, is realized via hoses.

[0005] Furthermore, a device is known from CN 220185120 U, wherein an injection device analogous to the setup described above is arranged on a platform, which platform is movable along an axis, rotatable about this axis and tiltable relative to this axis.

[0006] These and other previously known methods share the common feature that backfilling tunnel elements with a filler material involves a large number of manual steps. As a rule, the injection devices must be manually attached to the filling openings of the tunnel elements by workers on the construction site and removed once the backfilling process is complete. Similarly, sealing the filling opening after backfilling is a separate, manual step, for example, by inserting a plug into the opening.

[0007] The manual handling of the relevant components, including robust steel injectors and large-diameter hoses, often still filled with filler material, places a significant physical strain on construction workers. Furthermore, the high delivery pressure poses a risk of the hose-injector connection becoming detached, allowing the filler material to be pumped uncontrollably and under high pressure across the construction site, creating a safety hazard for all nearby workers. However, the harsh environmental conditions in tunnel construction, such as dust and humidity, and the susceptibility of electronic components to such conditions have effectively prevented the use of automated solutions to date.

[0008] The object of the present invention is to provide a method and a device for backfilling tunnel elements with a filler material, which in particular allow for at least partially automated backfilling of tunnel elements. In this way, the physical strain on workers on the construction site can be reduced and, at the same time, productivity in backfilling tunnel elements can be increased. Above all, however, the method and the corresponding device according to the invention contribute to increased construction site safety. Summary of the invention

[0009] According to the present invention, the objectives are achieved primarily through the subject matter of the independent claims. Further advantageous embodiments are also apparent from the dependent claims and the description.

[0010] In particular, one aspect of the present invention is achieved by the inventive method for backfilling a tunnel element, wherein this method Provision of a tunnel tube comprising a plurality of tunnel elements, each of which tunnel elements has at least one filling opening, and the provision of a device for backfilling tunnel elements, comprising a tool head, which tool head is movable by means of an actuator, and which device is movable relative to the tunnel tube and is suitable for backfilling a tunnel element with a filling medium, and is characterized in that the method comprises steps a) movement of the tool head relative to the tunnel tube by moving the device and / or by means of the actuator, b) alignment of the tool head relative to a tunnel element, c) backfilling of the tunnel element with a filling medium through the at least one filling opening, d) closing of the at least one filling opening.

[0011] According to the invention, the tool head is movable relative to the tunnel tube, i.e., relative to the multitude of tunnel elements, whereby this mobility of the tool head allows its alignment relative to a tunnel element.

[0012] The backfilling of a tunnel element is carried out through at least one filling opening of the tunnel element, whereby, for example, gravel with or without the addition of a binder, a cement suspension or another suitable filling material can be used as the filling material.

[0013] To close at least one filling opening, it can be closed by means of a plug, lid, or the like.

[0014] In one embodiment, steps a) to d) can be repeated for a plurality of filling openings on a single tunnel element and / or for a plurality of tunnel elements. Thus, a single tunnel element can be backfilled via a plurality of filling openings, which enables complete backfilling, particularly in the case of very large tunnel elements. Alternatively or additionally, the method can be repeated to backfill a plurality of tunnel elements. This is particularly necessary and advantageous because a tunnel tube comprises a plurality of tunnel elements, and individual, unbackfilled or insufficiently backfilled tunnel elements can locally weaken the tunnel tube and reduce its stability and durability.

[0015] In a further embodiment, at least one of steps a) to d) can be automated. This is particularly advantageous for reducing manual work steps and thus reducing the physical strain on workers on the construction site, thereby increasing safety on the construction site by eliminating the need for workers to be present in the area of ​​high-pressure backfilling.However, it is also conceivable that a method according to the invention, wherein at least one of steps a) to d) can be carried out automatically, can be combined with manual backfilling of tunnel elements, for example if a filling opening of a tunnel element is difficult to reach, if an error is detected during the at least partially automated execution of the method which requires manual correction and backfilling and / or if an error detected necessitates an interruption of the backfilling and this must be continued manually at a later time.

[0016] Advantageously, during the movement of the tool head relative to the tunnel tube, a feature of a tunnel element is detectable, and the tool head is aligned with this feature. A worker can detect this feature and then adjust the tool head accordingly. Alternatively, the detection can be performed using suitable sensors integrated into the device for backfilling tunnel elements. Sensor-based detection is particularly advantageous when at least one of steps a) to d) is automated. A suitable feature of a tunnel element could be a previously applied marking, an edge of a tunnel element, or the like.

[0017] In a further advantageous manner, the feature of a tunnel element that is discernible during the movement of the tool head relative to the tunnel tube, and relative to which the tool head is aligned, is a filling opening. This ensures that the tool head can be aligned relative to a filling opening and that the subsequent backfilling of the tunnel element can be carried out.

[0018] Another aspect of the invention is achieved by a tool head suitable for use with a device suitable for backfilling tunnel elements, which tool head includes at least one tool, at least one sensor for detecting a feature of a tunnel element.

[0019] The tool head according to the invention can be aligned relative to a tunnel element such that the at least one tool and / or the at least one sensor can be brought into operative contact with the tunnel element. The position of the at least one tool and / or the at least one sensor in which they are brought into operative contact with the tunnel element is the working position of the respective tool or sensor.

[0020] The tool head can also include additional sensors, for example to detect a possible relative movement of the tool head to the tunnel element while the at least one tool or sensor positioned in the working position is in operative communication with a tunnel element, and / or to detect the position of the tool in order to detect a loosening of a hose or pipe arranged on the tool head, etc.

[0021] The tool head can include sensors such as camera-based, ultrasonic, or infrared sensors for detecting a specific geometry, preferably an opening, bore, recess, or the like. The tool head can also include vibration sensors, displacement sensors (especially cable-operated displacement sensors), magnetic or potentiometric displacement sensors, angle sensors (especially rotary encoders), pressure sensors, flow sensors, or other sensor types. In one embodiment, the tool head further comprises a changing device for positioning the at least one tool or the at least one sensor in a working position of the tool head, wherein the at least one tool or the at least one sensor positioned in the working position can be brought into operative connection with a tunnel element.

[0022] The changing device allows the changing position of at least one tool or at least one sensor in a working position of the tool head without having to move the tool head. Consequently, the at least one tool or at least one sensor can be alternately positioned in a working position in which the at least one tool or sensor positioned in the working position can be brought into operative contact with a tunnel element.

[0023] Advantageously, the at least one tool or the at least one sensor can be positioned in a working position of the tool head by movement with at least two degrees of freedom. This mobility with at least two degrees of freedom allows the at least one tool and the at least one sensor to be of different dimensions and yet still be positionable in a working position in which the at least one tool or the at least one sensor positioned in the working position can be brought into operative contact with a tunnel element. Preferably, the changing device is movable along a linear axis of movement of the tool head, and the at least one tool and the at least one sensor are rotatable about a rotational axis of the changing device. Preferably, the rotational axis and the linear axis of movement are approximately orthogonal to each other and intersect at a common point of intersection.By rotating the at least one tool or the at least one sensor about an axis of rotation, this at least one tool or this at least one sensor can be oriented in a linear axis of motion and positioned in a working position by moving the changing device along the linear axis of motion. However, it is also possible that the changing device is movable along a first linear axis of motion of the tool head and that the at least one tool and the at least one sensor are movable along a second linear axis of motion of the changing device, which first linear axis of motion and second linear axis of motion are preferably approximately orthogonal to each other.In this case, at least one tool or at least one sensor can be oriented in the first linear axis of movement by moving along the second linear axis of movement and can be positioned in a working position by moving the changing device along the first linear axis of movement.

[0024] In a preferred embodiment, the tool head comprises at least one injector, suitable for positioning and / or at least partially inserting into a filling opening of a tunnel element, and a closing tool, suitable for closing a filling opening of a tunnel element. A tight connection between the injector and the filling opening is ensured by a force-fit and / or form-fit connection. For this purpose, the injector can be pressed against the tunnel element. An outer surface of the injector and an inner surface of the filling opening can be shaped to correspond with each other, such that this sealing effect is further increased under appropriate contact pressure.However, an outer surface of the injector and an inner surface of the filler opening can also be shaped to correspond with each other, such that the filler opening has an internal thread and the injector has an external thread, allowing the injector to be screwed into the filler opening. The filling opening can be closed by the sealing tool, for example, by screwing a cap into an inner surface of the filler opening that is shaped as an internal thread, or by inserting a plug that seals against an inner surface of the filler opening.

[0025] An additional aspect of the present invention is achieved by a device suitable for backfilling tunnel elements according to a method according to the invention, which device is characterized in that the device comprises at least a tool head according to the invention, a container for storing a filling agent, a conveying unit for conveying the filling agent to the tool head, an actuator on which the tool head can be received and aligned with at least two degrees of freedom relative to a feature of a tunnel element, and a control unit for controlling the actuator, the tool head and the conveying unit.

[0026] Prior to backfilling a wall element, a tunnel is created using a tunnel boring machine in the conventional manner. Preferably, the device is mounted on the tunnel boring machine and movable along the length of the tunnel. In this preferred case, the tool head is movable by the actuator in the radial and circumferential direction of a substantially cylindrical tunnel and can be aligned relative to a feature of the tunnel element. However, the actuator can also allow additional movement along the length of the tunnel to align the tool head independently of the movement of the tunnel boring machine. For this purpose, the actuator can comprise electrical, hydraulic, or pneumatic drive elements, such as motors, linear actuators, pistons, etc., as well as appropriately designed gearboxes.

[0027] The device may also include additional sensors to detect the movement of the actuator and / or the orientation of the tool head relative to a feature of a tunnel element and / or information about whether the at least one tool or the at least one sensor is positioned in a working position of the tool head and / or information about the delivery of the filler to the tool head.

[0028] Preferably, the container for storing a filling agent and the conveying unit for delivering the filling agent to the tool head can also be arranged on the tunnel boring machine and connected to each other and to the tool head in such a way that the conveying unit can deliver the filling agent from the container to the tool head. Ideally, this connection is designed in the form of flexible lines, for example hoses, so that the mobility of the tool head is maintained.

[0029] The at least one control unit for controlling the actuators and the tool head can comprise suitable system components such as CPUs, GPUs, memory elements and / or software to control the device suitable for backfilling tunnel elements according to a method according to the invention. In particular, the control unit can be connected to sensors of the tool head and / or other sensors of the device in order to acquire their signals and to control the actuators, the tool head and / or the conveying unit based on these signals.

[0030] Insofar as a large number of devices suitable for backfilling tunnel elements are used in parallel, a single control unit can control the large number of devices, or each individual device suitable for backfilling tunnel elements can comprise an individual control unit.

[0031] By controlling the conveying unit, fill material can be conveyed to the tool head, preferably to an injector-shaped tool within the tool head. This injector-shaped tool can be attached to, or at least partially inserted into, a filling opening of a tunnel element. The injector and filling opening allow the fill material to be conveyed into the remaining space between the tunnel element and the surrounding soil or rock. In particular, by comparing a theoretical conveying volume, which can be calculated from the operating data (e.g., electrical power consumption and maximum conveying volume) of the conveying unit, with a measured conveying volume, it is possible to determine whether the remaining space between the tunnel element and the surrounding soil or rock is completely filled with fill material.

[0032] In a preferred embodiment, the control unit comprises an operating unit by means of which the at least one actuator and / or the at least one tool head and / or the conveying unit can be operated. A worker on the construction site can thus control the at least one actuator and / or the at least one tool head and thereby perform one or more steps of the method according to the invention. The operating unit can be arranged at any distance from the control unit and is connected to it either by cable or wirelessly, thus enabling a worker on the construction site to operate the at least one actuator and / or the at least one tool head from a sufficiently large safety distance.

[0033] In a further preferred embodiment, the control unit can be configured such that the backfilling of a tunnel element can be carried out at least partially automatically. Preferably, all steps of the method can be carried out automatically, wherein at least the information collected by the at least one sensor of the tool head can be evaluated by the control unit in order to recognize a feature of a tunnel element. By controlling the actuator, the tool head can be aligned relative to the recognized feature of a tunnel element, wherein the correct alignment of the tool head relative to the feature of a tunnel element can be detected by means of the at least one sensor of the tool head and any further sensors arranged on the tool head, and the at least one tool can be positioned by means of the changing device into a working position of the tool head in which it can be brought into operative contact with a tunnel element. Brief description of the drawings

[0034] It shows Figure 1 a perspective view of a tool head according to an embodiment of the invention, Figure 2 a tool head according to an embodiment of the invention with a sensor in a working position, which tool head is aligned relative to a tunnel element Figure 3 a tool head according to an embodiment of the invention with a first tool in a working position, which tool head is aligned relative to a tunnel element, Figure 4 a tool head according to an embodiment of the invention with a second tool in a working position, which tool head is aligned relative to a tunnel element, Figure 5 a device arranged on a tunnel boring machine suitable for backfilling a tunnel element, and Figure 6a schematic side view of a tunnel boring machine comprising a device suitable for backfilling a tunnel element. Preferred embodiments of the invention

[0035] In the Figure 1In the illustrated embodiment, the tool head 20 according to the invention comprises a first tool 21a, a second tool 21b, a sensor 22, and an exchange device 23, by means of which the first tool 21a, the second tool 21b, or the sensor 22 can be positioned in a working position of the tool head 20, in which working position the respective tool 21a, 21b, or the sensor 22 can be brought into operative contact with a tunnel element (not shown). For this purpose, the first tool 21a, the second tool 21b, and the sensor 22 are rotatably arranged about a rotation axis 25 of the exchange device 23.The changing device 23 can be moved along a linear axis of motion 5 by means of the linear drive 24, so that in a retracted position of the linear drive the tools 21a, 21b and the sensor 22 can be rotated about the axis of rotation 25 and one of the tools 21a, 21b or the sensor 22 can be positioned in the working position by extending the linear drive 24.

[0036] The first tool 21a of the illustrated tool head 20 is designed as an injector, wherein a first end 27 of the tool 21a can be attached to or at least partially inserted into a filling opening (not shown) of a tunnel element, and a line (not shown), preferably a flexible line, for example a hose, can be attached to a second end 28, through which a filling medium can be conveyed through the injector into the filling opening. The second tool 21b is configured such that it can receive a cover (not shown) and screw it into or onto the filling opening to close it.

[0037] The sensor 22 is configured such that the signals it receives detect a feature of a tunnel element, for example, a filling opening, and the tool head 20 can be positioned relative to this feature by means of an actuator. The positioning of the tool head 20 can be performed manually by means of a control unit or automatically.

[0038] Figure 2Figure 20 shows the tool head 20 aligned relative to a filling opening 3 of a tunnel element 2, with the sensor 22 positioned in a working position of the tool head 20. The sensor 22 is configured to detect a feature of the tunnel element 2, preferably a filling opening 3. If a feature of the tunnel element 2, preferably the filling opening 3, has been detected by the sensor 22, the position of the tool head 20 relative to the filling opening 3 can be maintained, and with the relative position of the tool head 20 to the filling opening 3 constant, the sensor 22 can be moved out of the working position and the first tool 21a or the second tool 21b can be positioned into the working position.

[0039] In Figure 3 The first tool 21a, designed as an injector, is in a working position of the in Figure 2The tool head 20 shown is positioned and interacts with the filling opening 3. A filling medium can be conveyed through the first tool 21a into the filling opening 3, so that the tunnel element 2 is backfilled.

[0040] Figure 4 shows the tool head 20 from Figure 2 The second tool 21b is aligned relative to a filling opening 3 of a tunnel element 2, with the tool head 20 being positioned in a working position and interacting with the filling opening 3. A cover 29 can be picked up by means of the second tool 21b and screwed into or onto the filling opening 3 to close it and prevent the filler from escaping through the filling opening 3.

[0041] The mobility of the tools 21a, 21b and the sensor 22 with two lines of freedom, i.e. by movement of the changing device 23 along the linear axis of motion 5 and by rotation of the tools 21a, 21b and the sensor 22 about the axis of rotation 25, allows the changing positioning of the first tool 21a, the second tool 21b or the sensor 22 in the working position of the tool head 20 without having to change the relative orientation of the tool head 20 to the filling opening 3.

[0042] In Figure 5A portion of a tunnel boring machine 100 is shown, which tunnel boring machine 100 creates a cavity for constructing a tunnel and assembles the tunnel tube 1 from a plurality of tunnel elements. The tunnel boring machine 100 comprises a device 10 according to the invention suitable for backfilling a tunnel element 2, 2', 2", which device 10 comprises an actuator 14, a tool head 20, a container (not shown), a conveying unit (not shown), and a control unit (not shown). In the present embodiment, the actuator 14 comprises a first linear drive 17, which is movable on a rail system 18, wherein the actuator 14 enables movement of the tool head 20 in three translational degrees of freedom in order to align the tool head 20 relative to a feature, for example, a filling opening 3, 3', 3", 3‴, of a tunnel element 2, 2', 2", 2".Additionally or alternatively, the actuator 14 can also include rotary drives, gears, joints, and / or other known drive technology components. The device 10 is arranged on a platform 19 of the tunnel boring machine 100 and is moved along the tunnel tube 1 longitudinally with the tunnel boring machine 100. It detects a feature of a tunnel element, for example, a filling opening 3, 3', 3", 3‴, by means of at least one sensor 22 or possibly additional sensors. The tool head 20 can be aligned relative to this feature of a tunnel element 2, 2', 2" by means of the actuator 14 and brought into operative contact with a filling opening 3, 3', 3", 3‴, such that the tunnel element 2, 2', 2" can be backfilled and the filling opening 3, 3', 3", 3‴ can then be closed.If one or more filling openings 3, 3', 3", 3' of a tunnel element 2, 2', 2" are located outside the range of motion of the actuator 14, the conveying unit can be connected to a manually operated backfilling device (not shown) with which the tunnel element 2, 2', 2" can be manually backfilled. Alternatively, the tunnel boring machine 100 can include a plurality of further devices 10 suitable for backfilling a tunnel element, wherein a portion of the plurality of filling openings can be reached by means of each individual device 10 of the plurality of devices suitable for backfilling a tunnel element. The device for manual backfilling and / or further devices 10 can, for example, be arranged on secondary platforms 19a, 19b.

[0043] Figure 6Figure 1 shows a platform 19 of a tunnel boring machine 100 with a device 10 suitable for backfilling a tunnel element 2. The tool head 20 is movable by means of the actuator 14 and can be aligned relative to a tunnel element 2. Furthermore, the tool head 20 is connected by means of the hose 12a to a conveying unit (not shown), and the conveying unit is in turn connected to at least one container (not shown) for storing a filler material. The conveying unit delivers the filler material from the container to the tool head 20 to backfill a tunnel element 2. At least the tool head 20, the actuator 14, and the conveying unit are connected to and controllable by a control unit (not shown). Figure 6Furthermore, it can be seen that the device 10 can be arranged on a tunnel boring machine 100 in such a way that the backfilling of a tunnel element 2 can be carried out immediately after the assembly of a tunnel segment ring from a plurality of tunnel elements.

Claims

1. Method (100) for backfilling a tunnel element (2), comprising: - providing a tunnel tube (1), comprising a plurality of tunnel elements, each tunnel element having at least one filling opening (3), and - providing a device for backfilling tunnel elements (10), comprising a tool head (20), which tool head (20) is movable by means of an actuator (14), and which device (10) is movable relative to the tunnel tube (1) and is suitable for backfilling a tunnel element (2) with a filler material, characterized by the fact that the method (100) comprises steps a) movement of the tool head (20) relative to the tunnel tube (1) by moving the device (10) and / or by means of the actuator (14), b) alignment of the tool head (20) relative to a tunnel element (2), c) backfilling of the tunnel element (2) with a filler through the at least one filling opening (3), d) closing of the at least one filling opening (3).

2. Method (100) according to claim 1, characterized by the fact that Steps a) to d) can be repeated for a plurality of filling openings on a single tunnel element (2) and / or for a plurality of tunnel elements.

3. Method (100) according to claim 1 or 2, characterized by the fact that at least one of steps a) to d) can be executed automatically.

4. Method (100) according to any one of the preceding claims, characterized by the fact that during the movement of the tool head (20) relative to the tunnel tube (1) a feature (5) of a tunnel element (2) is recognizable, relative to which feature (5) of a tunnel element (2) the alignment of the tool head (20) takes place.

5. Method (100) according to claim 4, characterized by the fact thatthe feature (5) of a tunnel element (2), which is recognizable during the movement of the tool head (20) relative to the tunnel tube (1), and relative to which feature (5) of a tunnel element (2) the alignment of the tool head (20) takes place, is a filling opening (3).

6. Tool head (20) suitable for use with a device suitable for backfilling a tunnel element (10), comprising - at least one tool (21), - at least one sensor (22) for detecting a feature (5) of a tunnel element (2).

7. Tool head (20) according to claim 6, characterized by the fact thatThe tool head (20) further comprises a changing device (23) for positioning the at least one tool (21) or the at least one sensor (22) in a working position of the tool head (20), wherein the at least one tool (21) positioned in the working position or the at least one sensor (22) positioned in the working position can be brought into operative connection with a tunnel element (2).

8. Tool head (20) according to claim 7, characterized by the fact that that at least one tool (21) and / or at least one sensor (22) can be positioned in a working position of the tool head (20) by movement with at least two degrees of freedom.

9. Tool head (20) according to claim 6, 7 or 8, characterized by the fact thatthe tool head (20) comprises as tools at least an injector (21a) suitable for attaching and / or at least partially inserting into a filling opening (3) of a tunnel element (2), and a closing tool (21b) suitable for closing a filling opening (3) of a tunnel element (2).

10. Device (10) suitable for backfilling a tunnel element (2) according to a method (100) according to one of claims 1 to 5, characterized by the fact that the device (10) comprises at least - a tool head (20) according to one of claims 6 to 9, - a container (11) for storing a filling agent, - a conveying unit (12) for conveying the filling agent to the tool head (20), - an actuator (14) on which the tool head (20) can be received and aligned with at least two degrees of freedom relative to a feature of a tunnel element (2), and - a control unit (15) for controlling the actuator (14), the tool head (20) and the conveying unit (12).

11. Device (10) according to claim 10, characterized by the fact that the control unit (15) includes an operating unit (16) by means of which operating unit (16) the actuator (14) and / or the tool head (20) and / or the conveying unit (12) can be operated.

12. Device (10) according to claim 10 or 11, characterized by the fact that the control unit (15) can be set up in such a way that the backfilling of a tunnel element (2) can be carried out at least partially automatically.

13. Tunnel boring machine (100) comprising a device (10) suitable for backfilling a tunnel element (2) according to one of claims 10 to 12.

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