WO1996015354A1

WO1996015354A1 - Machine for driving sections, tunnels or the like and correction process

Info

Publication number: WO1996015354A1
Application number: PCT/DE1995/001536
Authority: WO
Inventors: Werner Hensgens
Original assignee: Wirth Maschinen- und Bohrgeräte-Fabrik GmbH; Hdrk Mining Research Limited
Priority date: 1994-11-11
Filing date: 1995-11-07
Publication date: 1996-05-23
Also published as: AU3801095A; DE4440261A1; DE4440261C2

Abstract

A machine for driving sections, tunnels or the like has undercutting tools on radially pivotable arms fitted to a rotary working head (3) which is in turn fitted in a machine body (1) on which there is a bearing frame (21) with adjustable protective devices (25, 26). The bearing frame (21) and the machine body (1) can be adjusted relatively to each other across the machine, at an angle and/or parallel to themselves. In a process for altering or correcting the direction of advance, the movements of the tool arms are controlled in at least two successive working cycles in such a way that, in one working cycle following another, a section is cut in a different position from the machine axis from the one cut during the previous working cycle.

Description

Machine for driving routes, tunnels or the like. and correction procedures

The invention relates to a machine for driving tracks, tunnels or the like. according to the preamble of claim 1 and to a method according to the preamble of claim 11.

DE 40 15 462 A1 describes a tunneling machine with undercutting tools on swiveling tool arms aekanni, which, in a conventional manner in tunnel boring machines, has an outer body that can be braced at the track joint (so-called outer kelly) and a guided therein that can be displaced relative to it by means of cylinder-piston units Has inner body (so-called inner kelly). The working head, which can be driven in rotation, is mounted at the front end of the inner body. In one version of this machine, the outer body is carried by a crawler track. The return path to a new position of the working head that is required after the end of a working cycle can be carried out by shifting the inner body relative to the outer body while maintaining tensioning of the outer body and / or by moving the entire machine by means of the chassis after releasing the tensioning of the outer body. The object of the invention is to provide a machine of the type specified, which is characterized by favorable possibilities for correcting or changing the direction of advance and which can be formed more easily in comparison with machines with an inner part displaceable in an outer part. In particular, this is to be achieved with advantages given by the way undercut tools work. Furthermore, it is an object of the invention to provide an advantageous method for correcting or changing the direction of advance in a machine with a control for the movement of tool arms equipped with undercut tools. Further problems connected with all of this, with which the invention is concerned, result from the respective explanation of the indicated solution.

In a machine of the type mentioned, the invention provides that the working head is mounted in a machine body on which the tensioning units of the tensioning device are located, and that on the machine body a lower relative to this or in a guide by means of a drive by a limited amount Support frame is arranged with adjustable support devices spaced from one another in the longitudinal direction thereof, the support frame and the machine body being adjustable relative to one another in the transverse direction of the machine at an angle and / or parallel to themselves by adjusting devices.

Such a machine offers a wide range of options for setting relative to the track joint or for walling a tunnel or for positioning the working head with respect to the working face, for example in the vertical direction (using the support devices) and in the horizontal direction (using the setting devices), i.e. to the side and / or according to the height and accordingly in a resul regardless of the nature of the sole. It can thus be aligned in a favorable manner in accordance with the respective requirements when repositioning takes place after each working cycle (discount) and, if desired or necessary, can be adjusted in a different direction of advance. The machine contains no nested parts and can be made cheap in terms of its weight.

In an advantageous embodiment, the support frame for angle adjustment relative to the machine body has a front adjusting device and a rear adjusting device. In particular, two adjustment units are provided in each case in the front and in the rear adjustment device.

The adjustment devices are expediently arranged in the adjustment direction or in a plane parallel thereto, although this is not mandatory. In an advantageous embodiment, the adjusting devices are attached to the supporting structure and engage with their adjusting members on a guideway or the like. of the machine body. The invention also includes the reverse arrangement.

The adjustment devices can be operated mechanically, e.g. via suitable gears. In particular, they are actuated by pressure medium.

In an advantageous embodiment of the machine, a front and a rear support device can be adjusted independently of one another. As a result, the height of the machine can not only be adjusted parallel to itself, but also its longitudinal inclination can be adjusted.

According to a further feature of the invention, preference is given to at least one of the two support devices wise, however, with two support devices, two support units which are spaced apart from one another in the transverse direction of the supporting structure. This includes support legs or feet that can be changed in length or that are equipped with parts that can be pushed in and pushed out. The design is advantageously made such that the two support units of the front and / or rear support device can be adjusted both jointly and individually. For everything else, this offers the possibility of adjusting the machine in its transverse inclination or in the sense of rolling or twisting relative to the route or to the tunnel.

The support devices can be mechanically operated, e.g. via suitable gears. In particular, however, they are actuated by pressure medium.

In addition to the possibility of locomotion given by the displaceability of the support frame relative to the machine body, the machine can also have a chassis, in particular a crawler track, provided on the support frame. Although this is not absolutely necessary, it increases the mobility of the machine.

The invention further relates to a method for changing or correcting the direction of advance in a tunneling machine which is equipped with a control for pivotable tool arms provided with undercutting tools, in particular in a machine of the type specified above.

The invention provides that the movements of the tool arms are controlled in at least two successive work cycles in such a way that in a work cycle following a previous work cycle, a profile is worked out, its position in relation to the machines The longitudinal axis is different from that of the profile worked out in the previous working cycle, the relative change in position consisting in an offset of the profile in at least one coordinate direction in a transverse plane to the machine longitudinal axis. In this way, a correction or even a change in the direction of advance can be achieved without having to realign the machine itself beforehand. The position of the profile relative to the machine longitudinal axis can be defined, for example, by the position of the profile center or another location belonging to the profile with reference to the machine longitudinal axis.

Regardless of the profile offset, the profile cross section can be kept at least substantially constant in successive working cycles. However, it can also be changed from one working cycle to another if this is desired.

An advantageous procedure consists in changing the direction setting and / or the rotational position of the machine relative to the route, the tunnel or the like before a work cycle with a profile offset caused by controlling the tool arm movement. the like is made. In particular, it can be the case that a rough alignment or direction correction is carried out by positioning the machine itself and a fine correction or the achievement of the desired exact profile position is effected by corresponding control of the tool arm movements.

Further details, features and advantages of the invention result from the following explanation of exemplary embodiments, from the associated drawing and from the claims. Show it: 1 shows an embodiment of the tunneling machine according to the invention seen from the side, partly in section and partly in simplified form, in the tensioned state at the start of a working cycle,

2 shows the machine according to FIG. 1 while working with simultaneous preparation of a repositioning process,

3 shows the machine according to FIG. 1 when the work cycle has ended before repositioning,

Fig. 4 shows a simplified section along the line

IV-IV in Figure 1,

5 an adjustment unit,

6 shows a simplified section along the line VI-VI in FIG. 1, the machine being located in the middle of an opened tunnel profile,

7 shows a section corresponding to FIG. 6, the machine being offset relative to the tunnel profile and

8 shows a section corresponding to FIG. 6, the machine having undergone a rotation in addition to an offset relative to the tunnel profile.

The tunneling machine shown in FIGS. 1 to 4 has a machine body 1 with a bearing for a rotatable working head 3, designated as a whole by the number 2. This is by drive units 4, For example, hydraulic motors, only one of which is shown, can be driven in rotation via gear elements, not shown. The machine body 1 is provided with a front clamping device 5 arranged near the bearing 2 with upper and lower clamping claws 6 and 7 which can be pushed out and pulled in by pressure medium cylinders, and with a rear clamping device 8 at the end with upper and lower clamping claws 9 and 10 which can also be pushed out and pushed in by pressure medium cylinders provided (see also Figures 6 to 8). The machine also has a device 20 for picking up and discharging the cuttings, as well as other parts and devices (not shown) that are suitable for the operation of such a machine, including a cabin for the operator with a control panel.

Tool arms 11 and 12 and further tool arms, not shown, are attached to the working head 3, in each case with a tool holder 13, 14 and a roller drilling tool rotatably mounted therein in the form of an undercutting disc roller 15, 16, in such a way that they are operated by means of piston-cylinder units 17, 18 can be pivoted about the axes 19 relative to a reference axis or machine longitudinal axis M. The tool 15 on the tool arm 11 is used to process an approximately circular central part of the working face B designated as the central region Z, while the tools 16 on the other tool arms 12, for example six such arms (cf. FIGS. 6 to 8), are used to process one of the Central area surrounding outer area A are determined.

During the rotation of the working head 3, the tool arm 11 is gradually pivoted radially inward from the initial position shown in FIG. 1 by means of its pivot drive 17 in the direction of the arrow F1, with its tool 15 covering the central region Z of the working face B from processed outside inside. The tool arms 12 are given a pivoting movement in the sense of the arrows F2 radially from the inside to the outside by means of the swivel drives 18, so that the tools 16 begin to work from their respective engagement points on the outer region A.

The swivel drives of the tool arms are influenced by means of an electronic control in such a way that a desired profile shape or contour results.

A method of this type is known from DE 40 15 462 A1 and is explained there in detail with various variants, so that reference is expressly made to this publication for further details and additional information.

Beneath the machine body 1 there is a support frame, designated overall by the number 21. This has a rigid frame 22 with legs 23, 24 at its ends and is provided in the region of these legs with a front support device 25 and at a distance from this with a rear support device 26. In the embodiment shown, each support device has two support units 27 and 28 fastened to the legs 23 and 24, which have a distance from one another in the transverse direction of the supporting frame 21 that is suitable for good support and adjustment of the machine. Each support unit 27 or 28 contains a shoe 29 or the like. at the end of a piston rod 30 of a piston-cylinder unit 31 which can be pushed in and out in a controllable manner (see also FIG. 4).

The legs 23 and 24 are provided at their upper ends with inwardly directed recesses 32, with which they grip around guide strips 33, which are at a distance to the longitudinal spacing of the legs 23 and 24 from one another on the underside of the machine body 1 are brought. The lower sides of the recesses 32 form horizontal support and guide surfaces 34 for the undersides of the guide strips 33. In the embodiment shown, front guide strips 33 are provided in the region of the legs 23 and rear guide strips 33 in the region of the legs 24, the latter relative to the former are arranged higher. But it can also provide a continuous horizontal guide bar. As a result of this design, the support frame 21 and the machine body 1 can be displaced relative to one another by a limited amount. The displacement is brought about by one or more piston-cylinder units 40, which are articulated on the one hand on the frame 22 of the supporting frame 21 and on the other hand on the machine body 1. The number 43 denotes upper guide plates (not shown in FIG. 5), which close off the recesses 32 at the top and overlap the guide strips 33 in a guiding and securing manner.

The machine can additionally be equipped with a chassis, in particular a crawler chassis 51. In the embodiment shown (FIGS. 1 to 4), this is firmly attached to the supporting frame 21.

The lateral guidance of the parts does not take place directly through the mutually facing surfaces of the recesses 32, but via adjustment units. 36, which enable an angular adjustment of the supporting frame 21 and the machine body 1 relative to one another in a transverse plane Q passing through the respective guide strips 33. The adjusting units 36 have guide pieces 37 which bear against the outer side surfaces 35 of the guide strips 33 and can slide on them. They are located at the ends of piston rods 38 of piston-cylinder units 39. The latter are attached to the outside of legs 23 and 24, with their piston rods 38 pass through openings in the legs (see Figure 5). The adjustment units 36 on the rear legs 24 of the support frame 21 are referred to together as the rear adjustment device 42 and the corresponding two adjustment units 36 on the front legs 23 of the support frame 21 are referred to as the front adjustment device 41.

FIG. 1 shows the state at the beginning of a work cycle, as explained above. After aligning the machine side and height by means of the adjusting devices 41, 42 and the adjustable support devices 25, 26, the clamping claws 6, 7 of the front clamping device and the clamping claws 9, 10 of the rear clamping device are extended and against the wall of the track or of the tunnel pressed so that the machine is clamped in position. The support units 27 and 28 of the front and rear support devices 25 and 26 are retracted, the shoes 29 lifting off from the bottom of the track or tunnel. In this state, as shown in Figure 1, the tools start to work.

While the work cycle is running, the supporting frame 21 is made up by actuating the piston-cylinder units 40, ie moved forward from the position according to FIG. 1 to the position according to FIG. 2 relative to the braced machine body 1. The support units 27 and 28 of the support devices 25 and 26 are then extended, the shoes 29 being seated again on the sole of the route or the tunnel. This state is shown in FIG. 2. The support units 27 and 28 can be blocked hydraulically in the position now assumed or, depending on the design, in another way. The repositioning path of the supporting structure 21 is designated by the letter H in FIGS. 1 and 2. When the work cycle is finished, the tensioning of the machine body 1 can be released by releasing the tensioning devices 5 and 8. The tool arms 11, 12 are brought into a new starting position. In this state, as illustrated in FIG. 3, the machine can be realigned if necessary. The machine body 1 is brought forward and braced by the units 40 by the stroke H, whereupon the support units 27 and 28 are retracted. A state is again reached as shown in FIG. 1, so that a new work cycle can begin.

Alignment or direction correction takes place in height by corresponding actuation of the support units 27, 28 and laterally by corresponding actuation of the adjusting units 36. All of these units (four units 27, 28 in the vertical axis and four units 36 in the horizontal axis) are preferably not only to operate or control all or in pairs together and, if necessary, to fix or block in an assumed position, but also individually for each, so that a universal position or direction of the machine is possible in all axes, including tilting - and inclinations in the longitudinal and transverse directions. A rotation of the machine in the route or in the tunnel can also be achieved by operating support units only on one side of the machine or by operating the support units on one side and that on the other side in opposite directions.

By adjusting the units 27, 28 and 36 accordingly, not only can the position of the machine be set up or corrected with regard to a straight line continuation of the propulsion, but it can of course also change the direction of propulsion. In the case of a machine which has a control for the movements of tool arms provided with undercutting tools, according to the invention a change in the direction of advance or a correction of a position thereof deviating from the desired orientation of the machine is achieved in that in a second one following a previous first work cycle Working cycle, the movements of the tool arms are controlled such that the profile worked out in the second working cycle is offset at least in one coordinate direction (side and / or height) transversely to the longitudinal axis of the machine compared to the situation in the first working cycle.

Depending on the desired goal, two extreme cases can be distinguished. On the one hand: if the machine is still correctly aligned in the longitudinal axis of the route or tunnel at the beginning of a work cycle following a previous work cycle, a profile offset generated by controlling the movement of the tool arms leads to a change in the direction of advance. On the other hand: if the alignment of the machine deviates from the longitudinal or tunnel longitudinal axis at the beginning of the following work cycle and if straightforward continuation of the advance with a constant profile is required, a correct profile can be generated by controlling the movement of the tool arms, which is now relative is offset to the machine longitudinal axis, but not with reference to the line or tunnel longitudinal axis, so that there is a perfect continuation of the previous straight profile.

FIG. 6 illustrates the optimal or target state, in which the machine longitudinal axis M coincides with the tunnel longitudinal axis T and the profile P generated lies correctly with the longitudinal axis of the tunnel. In the case of FIG In the state shown, the machine longitudinal axis M has undergone a shift "x" or "y" relative to the longitudinal axis T of the tunnel both to the side (X direction) and in height (Y direction). Regardless of this, a corresponding control of the movements of the tool arms, however, produces a profile P with the correct position with respect to the longitudinal axis of the tunnel. In addition to a shift in the X and Y axes, FIG. 8 also indicates that the machine has undergone a rotation relative to the tunnel wall. Nevertheless, by appropriately controlling the movements of the tool arms, a profile P that is correctly located with respect to the longitudinal axis T of the tunnel and thus offset with respect to the longitudinal axis M of the machine is generated.

According to the above explanation, a change or correction of the direction of advance can be achieved only by influencing the movements of the tool arms. Such a method is used with particular advantage in a machine which itself still has possibilities for alignment or direction correction, in particular in a machine of the machine explained or similar in connection with FIGS. 1 to 5.

If one considers away the special positions of the tool arms in FIGS. 7 and 8, these figures are also examples of some of the setting options given in the machine according to FIGS. 1 to 5. If such a machine has undergone displacements in the X and Y axes (FIG. 7), it can be easily aligned by corresponding actuation of the support units 27, 28 and the setting units 36 in the manner already explained above. that the machine longitudinal axis M again coincides with the tunnel longitudinal axis T. This applies equally to FIG. 8, with a return to the correct rotational position of the machine relative here comes to the tunnel wall. This is achieved by different actuation of the support units 27, 28 on one side of the machine or its support frame 21 with respect to the other side, as has already been stated above.

All the features mentioned in the above description or shown in the drawing, if the known prior art permits, should be regarded as falling within the scope of the invention, either alone or in combinations.

Claims

Patent claims

1. Machine for driving routes, tunnels or the like. with a rotatably drivable and movable in the direction of advance with at least partially undercut working tools, in particular with drives that can be pivoted radially relative to a reference axis forming the axis of rotation of the working head with undercut working tools, such as roller drilling tools or the like, with a tensioning device that Machine longitudinal direction contains spacing clamping units, as well as with locomotion for the machine, characterized in that the working head (3) is mounted in a machine body (1) on which the clamping units (5, 8) of the clamping device are located, and that on the machine body (1) a lower support frame (21) which is longitudinally displaceable relative to this on or in a guide (33) by means of a drive (40) is arranged with adjustable supporting devices (25, 26) spaced apart in the longitudinal direction thereof , wocei the support frame (21) and the machine body (1) by adjusting devices (41, 42) relative to each other in the transverse direction of the machine at an angle and / or parallel to themselves are adjustable.

2. Machine according to claim 1, characterized in that a front adjusting device (41) and a rear adjusting device (42) is provided for the relative angle adjustment of the machine body (1) and support frame (21).

3. Machine according to claim 2, characterized in that the front and the rear adjusting device (41, 42) each have two adjusting units (36).

4. Machine according to one of claims 2 and 3, characterized in that the adjusting devices (41, 42) are attached to the supporting frame (21) and with guide pieces (37 or the like.) On a guide track (33) or the like. of the machine body (1).

5. Machine according to one of claims 1 to 4, characterized in that the adjusting devices (41, 42) are actuated by pressure medium.

6. Machine according to one of claims 1 to 6, characterized in that a front support device (25) and a rear support device (26) are independently adjustable.

7. Machine according to one of claims 1 to 6, characterized in that in a front and / or a rear support device (25 or 26) two in the transverse direction of the support structure (21) spaced apart support units (27 and 28) are available .

8. Machine according to claim 7, characterized in that the two support units (27 and 28) of the front and / or the rear support device (25 and 26) are both jointly and individually adjustable.

9. Machine according to one of claims 1 to 8, characterized in that the supporting devices (25, 26) are actuated by pressure medium.

10. Machine according to one of claims 1 to 9, characterized in that it is provided with a chassis (21) arranged undercarriage (51).

11. A method for changing or correcting the direction of advance in a machine which is equipped with a control for the movements of pivotable tool arms equipped with undercutting tools, in particular in a machine according to one of claims 1 to 10, characterized in that the movements of the tool arms be controlled in at least two successive work cycles in such a way that in a work cycle following a previous work cycle, a profile is worked out whose position in relation to the longitudinal axis of the machine is different from that of the profile worked out in the previous work cycle, the relative change in position resulting in an offset of the profile in at least one coordinate direction in a transverse plane to the machine longitudinal axis.

12. The method according to claim 11, characterized in that the profile cross section is kept at least substantially constant regardless of the profile offset with respect to the machine longitudinal axis in successive working cycles.

13. The method according to any one of claims 11 and 12, characterized in that before a work cycle with profile offset with respect to the machine longitudinal axis, a change in the direction setting of the machine is made.

14. The method according to any one of claims 11 to 13, characterized in that a change in the rotational position of the machine relative to the route, the tunnel or the like before a work cycle with profile offset with respect to the machine longitudinal axis. is made.