• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    excavation system and method. tunneling technique using a water jet. a water jet system includes a moving unit moving back and forth with respect to an area to be detonated for tunneling, an articulated robot arm mounted on the moving unit, a water jet nozzle that ejects water from high pressure and an abrasive towards an area to be excavated, and a control unit that controls the moving unit, the articulated robot arm and the water jet nozzle. the free face having a predetermined depth is formed from the area to be excavated in the direction in which the tunnel is to be excavated using the water jet system. provided that detonation is carried out after the free face is formed, detonation vibration can be effectively restricted.
    公开号:BR112013006841B1
    申请号:R112013006841-8
    申请日:2011-10-04
    公开日:2020-09-24
    发明作者:Gye-Chun Cho；Tae-Min Oh
    申请人:Korea Advanced Institute Of Science And Technology；
    IPC主号:
    专利说明:

    [0001] The present invention relates, in general, to a tunnel excavation technology based on explosion detonation, and more particularly, a technology to reduce the propagation of the impact or vibration caused by the detonation that occurs during the excavation process. tunnel. Even more particularly, the present invention relates to an excavation system that forms a free surface, or series of spaces, around a tunnel using a jet of water, so that the detonation vibration is not propagated to the surface. terrestrial, and an excavation method using the same. Fundamentals of Technique
    [0002] A blasting process using explosives is often carried out for construction and engineering operations, in particular, underground tunnel excavation. Although the detonation process has the merit of being able to effectively remove a rock base or other obstacles using the explosive energy of explosives, vibration and noise that are inevitably produced by detonation are propagated to the earth's surface, having an adverse effect on buildings and a variety of other structures. In addition, although the impact waves propagated from the blast source during the blasting process are significantly reduced depending on the distance, some of the energy generated at the same time causes vibration (blast vibration) from the ground while being propagated in the form of elastic waves. When construction or subway facilities are present at a relatively close distance from the explosion source, there is a possibility that a serious problem could be caused.
    [0003] Related technique technologies for reducing blast vibration described above are as follows. First, an excavation structure and method for blocking detonation vibration using line drilling holes described in Korean Patent No. 0531985 proposed a technology for forming at least two lines of line drilling holes around an area to be detonated on a rock base to be dug so that the line drilling holes in one row alternate with the line drilling holes in the other row. In addition, a tunnel detonation method described in Korean patent No. 0599982 proposed a technology that uses large unloaded holes that are formed at a distance from the outline of a tunnel, cracking orientation holes that are arranged between unloaded holes and a plurality of expansion holes that are formed into the unloaded holes.
    [0004] These earlier technologies share a commonality in that a plurality of holes that are formed in the direction in which the tunnel extends is used as a means of reducing vibration. However, when a plurality of holes are formed, connecting areas are present between the holes. Detonation vibration that is propagated through the connection areas is not blocked. Therefore, the holes used in the previous technologies are imperfect vibration reduction means.
    [0005] In addition, tunneling methods of the related technique leave a damage zone in an adjacent rock base portion due to detonation, thus causing a danger of the tunnel collapsing (see Fig. 21). In particular, when the detonation force is excessive, a space exceeding a designated tunnel space is dug, thereby causing over-excavation. In this case, a large amount of shotcrete must be poured into the empty space, which is problematic. On the contrary, when detonation force is insufficient, sub-excavation takes place, and an additional operation using a digger or rock drill.
    [0006] The tunneling process of the related technique involves forming a plurality of loading holes using a jumbo drill, loading the holes with explosives, and exploding the loaded explosives. Approximately one hundred loading holes are required for a blasting operation, and the loading hole formation operation is manually performed by jumbo drill workers. Therefore, an improvement in the efficiency of the operation is required.
    [0007] In general, in tunnel excavation, a variety of forward forecasting methods for inspecting the status of a bedrock in the front area that is to be excavated to prevent the tunnel from collapsing or others are being introduced.
    [0008] However, indirect inspection, such as measuring a resistance depending on the properties of the rock base, is performed instead of substantial inspection. Therefore, these methods have low inspection reliability and still have a danger due to the fact that the tunnel can collapse during excavation. description Technical problem
    [0009] Consequently, the present invention has been made keeping in mind the above problems occurring in the related art, and is intended to provide a water jet device and an excavation method that effectively reduces the spread of blast impact, vibration or noise caused by detonation. occurs during a tunneling process.
    [0010] The invention is also intended to prevent under-excavation or over-excavation that could otherwise be produced by detonating the tunnel.
    [0011] The invention is also intended to minimize a damage zone that is formed by detonation, thus improving the stability of the tunnel.
    [0012] The invention is also intended to maximize the efficiency of an operation, so that the operation can be carried out efficiently.
    [0013] The invention is also intended to allow an excavation point on the tunnel face to be substantially inspected. Technical Solution
    [0014] In order to achieve the technical objectives mentioned above, the present invention provides an excavation system using a water jet and an excavation method using the same.
    [0015] The inventors of the invention considered the connection areas between the holes, which are known as a problem with the related technique, as an adverse faction that must be removed, and the formation of a free surface, or a continuous space, defined along the outer circumference of a tunnel as a better way. A main technical solution for achieving the best way is to introduce waterjet technology and an abrasive.
    [0016] In one aspect of the invention, a water jet system is provided that includes a mobile moving unit over an area that is to be detonated; an articulated robot arm disposed on the moving unit; a water jet nozzle mounted on a main end of the robot arm; a supply unit that supplies high pressure water to the water jet nozzle; and a control unit that controls the moving unit, the robot arm and the water jet nozzle. It is preferable that the supply unit supplies an abrasive together with high pressure water.
    [0017] According to an embodiment of the invention, the water jet nozzle can include a depth sensor piece that measures a depth of the free surface that is compressed by the high pressure water, and the control unit can control the robot arm and the supply unit based on the depth that is compressed.
    [0018] In addition, the water jet nozzle can include a width sensor piece that measures a width of the free surface that is compressed by the high pressure water, and the control unit can control the robot arm and the supply unit with based on the width that is compressed.
    [0019] The waterjet system having the configurations described above forms a free surface having a predetermined depth around an area to be detonated in the direction in which the tunnel is to be excavated. After the free surface is formed, the area to be excavated is loaded with explosives and detonated. Advantageous Effects
    [0020] According to the invention, it is possible to effectively reduce the spread of detonation vibration using the free surface.
    [0021] In addition, as long as detonation over-excavation is reduced, the cost of additional reinforcement construction can be reduced.
    [0022] In addition, no sub-excavation is produced, thus requiring no additional operation, and the formation of a damage zone due to detonation is minimized, therefore, reinforcing the stability of the tunnel and improving the efficiency of the operation.
    [0023] In addition, it is possible to substantially analyze the geological characteristics of the tunnel face to be excavated, thus ensuring the safety of the tunnel construction. Description of the Figures
    [0024] Fig. 1 is a view of the configuration of a tunneling water jet system according to an embodiment of the invention; Fig. 2 is a view showing a tunneling water jet device according to an embodiment of the invention; Fig. 3 is a view showing the movement of the tunneling water jet according to an embodiment of the invention shown in fig. 2; Fig. 4 is a view showing a tunneling water jet nozzle according to an embodiment of the invention; Fig. 5 is a view showing an example of the degree of freedom of an articulated robot arm according to an embodiment of the invention; Fig. 6 is an illustrative view showing a free surface defined by a water jet system of the invention; Fig. 7 is an illustrative view showing the line of a pattern to be compressed defined by the water jet system of the invention; Fig. 8 is a view showing a tunneling water jet device according to the other embodiment of the invention; Fig. 9 is a view showing a tunneling method using a water jet system of the invention; Fig. 10 is a view showing loading holes in a surface to be excavated in which the free surface is formed according to the invention; Fig. 11 is a view showing a frame-type tunneling water jet device according to another embodiment of the invention; Fig. 12 and an exemplary view showing a free surface that is formed by the water jet system in fig. 1; Fig. 13 is a view showing a three-dimensional (3D) finite element analysis model; Fig. 14 is a view of simulated detonation pressures depending on time; Fig. 15 is a view of simulated synthetic displacements in XYZ directions; Fig. 16 is a view of the simulated displacements in the horizontal direction; Fig. 17 is a view of the simulated displacements in the vertical direction; Fig. 18 is a view showing variations in vertical displacements depending on the time in a position 1 m above a contour hole; Fig. 19 and fig. 20 are seen showing variations in vertical displacements in a position above a detonation point; Fig. 21 is a conceptual view of tunneling of the related technique and according to the invention; Fig. 22 is a view showing a model for numerical analysis in the vertical direction; Fig. 23 is a view showing simulated values with respect to vertical displacements; and Fig. 24 is a graph showing measurements of maximum displacements with respect to vertical displacements. Invention Mode
    [0025] To achieve the previously mentioned objective, the present invention provides an excavation system that includes: a movable moving unit over an area that is to be detonated; an articulated robot arm disposed on the moving unit; a water jet nozzle mounted on a main end of the robot arm; a supply unit that supplies high pressure water to the water jet nozzle; and a control unit that controls the moving unit, the robot arm and the water jet nozzle. Hereafter, exemplary embodiments of the invention will be described in detail with reference to the attached figures.
    [0026] First of all, technologies or words used in the description and the claims of the present invention should not be interpreted as being limited to common and dictionary meanings. On the contrary, they must be interpreted based on the meanings and concepts of the invention in compliance with the scope of the invention on the basis of the principle that the inventor (s) can adequately define the terms to describe the invention in the best way.
    [0027] Therefore, it should be understood that, considering that the following modalities described in the description and the constructions illustrated in the Figures are provided by way of example and do not limit the scope of the present invention, a variety of equivalents and changes that can replace the following modalities are possible at a time when the present invention was applied.
    [0028] Fig. 1 is a configuration view of the tunneling waterjet system according to an embodiment of the invention. As shown in the figure, the excavation system using a 600 waterjet device relates specifically to a technology to reduce the spread of impact or vibration created by detonation that occurs in the tunneling process. More specifically, the invention relates to an excavation system using the water jet device 600 that prevents vibration from being propagated to the earth's surface during detonation by the formation of a series of spaces, or a so-called free surface 20, along an external surface (a flat surface of a tunnel: see fig. 21) of a surface to be excavated 10 using the water jet device 600.
    [0029] Referring to fig. 1 to fig. 3, the water jet device 600 according to an embodiment of the invention generally includes a moving unit 100, an articulated robot arm 200, a water jet nozzle 300, a supply unit 400 and a control unit 500.
    [0030] The moving unit 100 is a moving medium that can move back and forth in the direction of excavation over an area to be excavated. Specifically, the moving unit 100 is a component that allows the waterjet device 600 to move freely back and forth and to the left and to the right. The moving unit 100 can be implemented as including a plurality of wheels or a tractor (caterpillar). The moving unit 100 is arranged in front of the surface to be excavated 10, or the area to be detonated, and can move in the direction of tunnel detonation. An object to be moved is the articulated robot arm 200 which is provided with the water jet nozzle 300.
    [0031] The articulated robot arm 200 has a multi-articulated structure mounted on the moving unit 100. The articulated robot arm 200 is mounted on the upper portion of the moving unit 100, and functions as a support for spatial movement of the water jet nozzle. 300 which is mounted on its distal end.
    [0032] The joints of the articulated robot arm 200 are preferably configured as a hydraulic type as long as they are required to stand against a repulsive force or reaction from the water jet nozzle 300. For reference, although the water jet device 600 shown in fig. 2 is illustrated as executing both compression processes of a base rock and cutting the base rock in the horizontal direction (hereinafter referred to as "horizontal process"), not only the horizontal processes, but also vertical processes are also included accordingly with the characteristics of the articulated robot arm 200 employed in the water jet device 600 of the invention. In addition, although an articulated robot arm 200 is illustrated in fig. 2 and fig. 3, a plurality of robot arms can be assembled and operated if required.
    [0033] As described above, the water jet nozzle 300 is mounted on the front end of the articulated robot arm 200. A plurality of water jet nozzles 300 can be employed. The water jet nozzle 300 can be configured so that it is stretched backwards and forwards. Referring to fig. 4, the water jet nozzle 300 having the shape of a rod and a predetermined length is mounted on a support frame 220. The length to which the water jet nozzle 300 can be stretched can be controlled by the control unit 500. In tunnel excavation, the depth required for single detonation is generally 2 to 3 meters although this differs depending on the geological characteristics of the rock base or others. The stretchable length of the nozzle 300 is designed so that it can cover that gap.
    [0034] In addition, the water jet nozzle 300 may have a rotating part so that the rotating part of the water jet nozzle 300 rotates to sufficiently transfer the explosive force of the water ejected from the water jet device 600 to the floor.
    [0035] The water jet nozzle 300 includes a depth sensor piece 310 and a width sensor piece 320 in its predetermined portions that can measure the depth and width of the cut. Specifically, the depth sensor part 310 of the water jet nozzle 300 measures the depth of compression from the free surface 20 which is compressed by high pressure water. The control unit 500 controls the articulated robot arm 200 and the supply unit 400 based on the depth of compression. In addition, the width sensor piece 320 of the water jet nozzle 300 measures the width of the compression from the free surface 20 which is compressed by the high pressure water. The control unit 500 controls the articulated robot arm 200 and the supply unit 400 based on the compression width. The depth sensor part 310 and the width sensor part 320 can be configured based on a laser.
    [0036] The robot arm 200 has a plurality of posture control sensors to adjust the tilt angle and nozzle length, and controls the nozzle in real time depending on the sensed values. In addition, the sensor is provided to sense when the rock base collapses in the state where the nozzle is introduced into the free surface during operation.
    [0037] The water jet nozzle 300 is required to operate in order to stretch back and forth while maintaining a predetermined distance from the base of the rock. The optimum distance between the rock base and the nozzle 300 is maintained by measuring the compression of the rock base using a distance sensor 310 and the width sensor piece 320. In general, the distance between the rock base and the nozzle is measured to be about 10 cm so that optimum performance is obtained.
    [0038] The tables below represent time spent for the formation of the free surface depending on the state of the nozzles, distances and others, which were measured by tests. The tests were performed using two nozzles as a pair and adjusting coupling angles (angles between the nozzles when the nozzles are coupled on the sides) to 7.1 ° and 3.8 °, depending on the distances from the rock base and the moving speeds of the nozzles (when the nozzles have been moved linearly to the left and right without being stretched backwards or forwards).
    [0039] In the tables above, the cut shapes represent cut shapes that were produced depending on the distances between the rock base and the nozzles when the nozzles were a pair of nozzles in the tests.
    [0040] Test conditions are shown in the table below. Water Jet Pump
    [0041] It was using a water jet device having a high flow rate.
    [0042] No. 24 orifice was used (dia. 0.061cm, 8.8 liters / min @ 2500bar). Focusing Nozzle
    [0043] Inner diameter of a nozzle tip: 0.09 inches = 2.29mm. Test Pressure and Abrasive Intake Quantity Test pressure: 2500bar
    [0044] Amount of abrasive required: 57g / s (per each)
    [0045] In addition, the supply unit 400 creates the high pressure water and supplies it to the water jet nozzle 300. The supply unit 400 can supply an abrasive together with the high pressure water to the water jet nozzle. 300. The abrasive can be interpreted as particles of sand or others. The abrasive supplied to the water jet nozzle 300 is accelerated by high pressure water, and serves to increase the efficiency of compression and cutting of the surface to be excavated 10 along with the water. Of course, the control unit 500 can adjust the pressure of the ejected water through the water jet nozzle 300 and the amount of abrasive required.
    [0046] As described above, the control unit 500 of the invention controls the moving unit 100, the articulated robot arm 200 and the water jet nozzle 300. The control unit 500 controls the movement of the moving unit 100 over which the water jet 300 and the articulated robot arm 200 provided, and controls the rotation speed of the rotational hair of the water jet nozzle 300 and the pressure and direction of the water that is ejected from the water jet nozzle 300.
    [0047] In addition, the invention using the waterjet device 600 also includes a line recognition means 210 which recognizes a predetermined color line L which is painted over the surface to be excavated 10 to perform compression so that the free surface 20 is formed on the surface to be excavated 10 Such recognition can be performed as follows: an employee paints the line in advance according to a desired surface of the tunnel, and the device automatically recognizes the line through image recognition and controls the operation of the device 60 so as to form the free surface.
    [0048] In addition to the image recognition method described above, the method of automatically recognizing the position at which the free surface is to be formed can be performed as follows.
    [0049] A plurality of (preferably, at least three) location terminals are arranged on the side of the tunnel entrance. The location terminals acquire their positions by detecting signals from the satellites, and each terminal sends position information including information about its position into the tunnel. The device 600 acquires distance information pertaining to the terminals and the position information of the terminals by analyzing the position information received from the location terminals, and recognizes their three-dimensional position (#D) by operation. Then, the free surface according to the tunnel excavation is formed by adapting the recognized 3D position with the 3D position information according to the tunnel formation plan that was entered in advance. When the device cannot receive the signals because the tunnel is long, a repeater terminal is added in the middle of the tunnel so that the device can recognize its position. When the repeater terminal recognizes its position, the repeater terminal stores its position and sends position information based on its position. In this case, the terminal arranged on the side of the tunnel entrance can be removed. The terminal on the side of the tunnel entrance can also be used as a repeater.
    [0050] As an alternative, a laser or other is used to emit information relevant to the guideline in the direction of the excavation from a specific rear point, and the device 600 detects the information and recognizes the 3D position of the device 600. The emitted laser beam it is linear in 3D space, and the 3D position of the device can be acquired when only the information about the distance between the terminal and the device is operated. For this, the device 600 also includes a location part (not shown) and a posture detection part (not shown), which recognizes the position of the nozzle from the information pertinent to its inclination and the stretching of the nozzle). The device 600 can automatically form the free surface.
    [0051] Referring to fig. 5 and fig. 7, line L is a pattern to be compressed formed on the surface to be excavated 10.
    [0052] The standard Leo line to be compressed having the shape of an arc, and is a line of predetermined color L that is drawn on the surface to be excavated 10.
    [0053] In addition, the pattern to be compressed is basically the arc-shaped pattern, but it can be a pattern for which a zigzag pattern is combined.
    [0054] Here, the water jet nozzle 300 compresses the rock base along the zigzag pattern, and the free surface 20 has a predetermined width on the surface to be excavated 10.
    [0055] Here, when the line L is formed as a pattern to be compressed, the control unit 500 controls the articulated robot arm 200 so that the water jet nozzle 300 follows the line L which is recognized by the line recognition means 210.
    [0056] The line recognition means 210 which recognizes the L line can be implemented as a means of photographing.
    [0057] When the location of the device is completed in the manner described above, according to one of the methods of locating the device, the line recognition means 210 determines the present state of the free surface to be excavated 10, for example, if the free surface projects towards device 600 or is dug in the direction of the excavation.
    [0058] When the determination is completed, prior to the main operation, a preliminary operation is performed by moving the nozzle 300 to projecting portions that must be compressed first. The preliminary operation is performed by dividing the entire area into sections and operating the robot arm.
    [0059] That is, the control unit 500 controls the articulated robot arm 200 to move along the line L which is drawn on the surface to be excavated 20, so that the water jet nozzle 300 mounted on the articulated robot arm 200 compress the free surface 20 in the shape of the L line.
    [0060] In this mode, the articulated robot arm 200 moves along line L, the water jet nozzle 300 forms an arc-shaped or zigzag stroke while moving together with the articulated robot arm 200.
    [0061] Consequently, the free surface 20 which is excavated in the shape of an arc or zigzag having a predetermined depth, is formed around the surface to be excavated 10. This free surface 20 is configured so that it is interposed between the surface to be excavated. excavated 10 and the surface of the earth and surround the surface to be excavated 10.
    [0062] In addition, the waterjet device 600 may also include the line recognition means 210 which recognizes the predetermined color line L painted on the surface to be excavated 10. Referring to fig. 5 to fig. 7, the arc-shaped line L is painted over the surface to be excavated 10. Line L can be understood as the substantial pattern that is to be compressed using the water jet device 600 of the invention. The pattern to be compressed is basically the arc pattern, but it can be a pattern for which a zigzag pattern is combined.
    [0063] Specifically, the control unit 500 controls the articulated robot arm 200 so that the water jet nozzle 300 follows the line L which is recognized using line recognition means 210. Line recognition means 210 can be implemented as a means of photographing. Consequently, the free surface 20 is formed along line L. For reference, as illustrated in fig. 7, the control unit 500 controls the articulated robot arm 200 so that it is basically like following the arc-shaped line L, and can also control the articulated robot arm 200 so as to draw the zigzag line considering the compression width. Consequently, the free surface 20, which is excavated in the arc or zigzag shape having a predetermined depth, is formed around the surface to be excavated 10.
    [0064] When the free surface is formed, the space within the free surface is photographed using a camera mounted on the nozzle, and the status of the rock base is inspected. A possibility of collapsing during the subsequent process of detonating the load or construction of the tunnel is envisaged to increase the safety of the subsequent construction.
    [0065] Fig. 8 is a view showing another embodiment of the invention. Referring to fig. 8, according to another embodiment of the invention, a tunneling water jet device 600 has two articulated robot arms 200 and water jet nozzles 300. Each of the articulated robot arms 200 supports a jet spray nozzle. corresponding water 300. As indicated by arrows in the figure, both height and length of the water jet nozzle 300 can be adjusted.
    [0066] The water jet device 600 will be described as follows. Components of the waterjet device include the articulated robot arm 200, a distance measurement sensor, a temperature monitoring sensor, a suction system, a depression detection system.
    [0067] More specifically, the articulated robot arm 200 is designed so that the free surface 20 can be formed without the problem of device malfunction caused by errors in the free surface 20 and the speed of movement of the articulated robot arm 200 can be controlled .
    [0068] The distance measurement sensor is attached to the water jet nozzle 300, and is configured to interrupt operation when none of the targets are present within a predetermined distance.
    [0069] In addition, the temperature monitoring sensor is configured so that it can measure a temperature range recognizable as a human at an excavation point to prevent an accident.
    [0070] The suction system is configured so that the suction system accepts water and discharges it to another area when water flows when the rock base is compressed. This can consequently prevent deposition and thus increase the speed at which the free surface 20 is formed. The depression detection system is configured so that it can detect the position or portion of the free surface 20 that is depressed and whether or not the water jet nozzle 300 is damaged by the depressed floor. If the water jet nozzle 300 is damaged, a design or configuration that facilitates replacement and reassembly is provided.
    [0071] Furthermore, it is configured so that when the water jet nozzle 300 does not move properly when forming the free surface 20, the reasons can be identified.
    [0072] Henceforth, with reference to fig. 9 and fig. 10, a description will be given below of an excavation method using the water jet according to an embodiment of the invention.
    [0073] First, the waterjet device 600 is moved to an excavation position using the moving unit 100.
    [0074] When the device 600 is seated in position, the device determines the present status by scanning its position and the portion that is to form the free surface, and begins the preliminary operation using the nozzle 300. It is preferable that the nozzle moves along the line L while being reciprocated and rotated, therefore, efficiently forming the free surface. It is preferred that the free surface is formed by the operation of the robot arm after the depth of the free surface is formed uniformly by first treating the covex portions determined by sweeping.
    [0075] Then, the pattern to be compressed which is defined by line L is formed on the surface to be excavated 10.
    [0076] The pattern to be compressed is formed by selecting the pattern in an arc or zigzag format and painting the L line having a predetermined color on the surface to be excavated 10.
    [0077] The control unit 500 recognizes the line L formed on the surface to be excavated 10 by means of the line recognition means 210, and controls the water jet nozzle 300 in order to follow the line L.
    [0078] When a plurality of robot arms 200 is provided, the operation can be performed by dividing the area into two sections, and the sequence and time of operation is respectively controlled according to the robot arms so that the robot arms 200 do not interfere each other.
    [0079] The control unit 500 controls the articulated robot arm 200 in order to move along the line L, so that the free surface 20 is formed in the planned shape of the line L,
    [0080] The free surface 20 is formed to a predetermined depth in the surface to be excavated 10 using the water jet nozzle 300.
    [0081] The step of measuring the free surface 20 measures the compressed depth and width of the free surface 20, which is compressed by the water jet nozzle 300, in real time using the sensors. When the measured width or depth does not exceed a reference value, the nozzle 300 is operated again in the corresponding portion to achieve the desired width and depth.
    [0082] When the depth and space of the free surface 20 is not reached, an initial run command is fulfilled, and when the depth and space of the free surface 20 is reached, a blasting preparation step is performed.
    [0083] When the process of forming the free surface 20 is completed in this way, a plurality of charge holes 30 are subsequently formed in the internal area of the free surface 20 using the water jet nozzle 300. Thereafter, the charge holes 30 are loaded with explosives, which in turn, cause detonation.
    [0084] In addition, the pattern to be compressed according to the invention can form the free surface 20 so as to be continuous along the line L, or the excavation line drawn from the portion to be excavated. The continuous free surface 20 can reduce the transfer of vibration and noise, thereby reducing blasting vibration. Unlike the related technique in which detonation is performed in the state where only the front side with respect to the direction in which the tunnel is dug is opened and the top side, bottom side, left side, right side and the rear side are closed by the base of adjacent rock, the invention performs detonation in the state in which only the lower side and rear side are closed by the adjacent rock base, but the front side, the upper side, the left side and the right side are opened. Consequently, as long as the free surface 20 is increased, the amount of a charge that is required is minimized. This, consequently, reduces impact, vibration and noise, which are transferred, thus allowing a safer and more environmentally friendly blasting process.
    [0085] In addition, when the explosives loaded into the loading orifice 30 are detonated, vibration, noise and the destructive force that occurs spread in all directions through the rock base 10 to be excavated, which acts as a means. However, the noise of vibration and destructive force is deflected or reflected towards the rock base 10 from the surroundings to the free surface 20 because of the difference between medium (i.e. the rock and air base). This is the same principle that sound generated in the water is effectively transferred into the water, but not audible in the air outside the water.
    [0086] Consequently, the free surface 20 effectively blocks and reduces the vibration and noise that are generated by the explosion.
    [0087] In the related technique, the destructive force generated by the explosion is propagated in all directions along the rock base, thus causing a large amount of loss. On the contrary, according to the invention, the destructive force is deflected by the free surface 20 and is directed back inwards (see fig. 9). Consequently, this can destroy the rock base to be excavated using a small amount of destructive force, thereby reducing the amount of explosives required.
    [0088] As shown in fig. 10, a plurality of loading holes 30 having a predetermined depth are formed at an equal distance on the surface (the surface to be dug 10) within the free surface 20, and explosives are loaded into the loading holes 30.
    [0089] The loading holes 30 can be formed using a water jet according to the invention, or they can be formed using an existing jumbo drill. In addition, when a plurality of robot arms 600 is assembled, robot arms 600 can be operated so that some of the robot arms 600 form the free surface and the other robot arms 600 form the loading holes.
    [0090] Then, the tunnel excavation is carried out by detonating the surface to be excavated 10.
    [0091] The detonation sequence is as follows: some of the explosives that are adjacent to the free surface 20 are first detonated, and the detonation is sequentially directed towards the center and the bottom of the tunnel. Specifically, detonation is initiated in the portions that are adjacent to the front side, the left and right free surfaces and the upper free surface, and then the rock base charges that are inside and at the bottom of the tunnel explode sequentially. In addition, since the charge holes are usually formed to a depth ranging from 2 m to 3 m, it is possible to execute sequential detonation instead of simultaneously exploding all of the charges in a corresponding charge orifice. For example, part of the explosives that are positioned more externally (adjacent to the front, left, right and top free surface portions) are blown up first, and blast is sequentially executed in the inward direction. When blasting is performed in this mode, the part of the rock base that has more areas corresponding to the free surface is blown up first, thereby reducing the amount of charges.
    [0092] Hereinafter, a detailed description will be given below an excavation system using a water jet according to another embodiment of the invention.
    [0093] Referring to fig. 11 and fig. 12, a water jet system includes a frame 710, a moving means 720, a water jet nozzle 730 and a control device 740.
    [0094] More specifically, frame 710 is arranged in front of the surface to be excavated 10. As shown in the figure, frame 710 is shaped like an arc similar to the transverse shape of the tunnel, and can move in the direction in which the tunnel is excavated. A track 750 is provided in frame 710. Moving medium 720 is moved movably to track 750. Moving medium 720 acts reciprocally along track 750 under the control of control device 740. Moving medium 720 can move the frame 710 using wheels or a tractor (caterpillar) without using the rail.
    [0095] The object that the moving medium 720 is designed to move is the water jet nozzle 730. The water jet nozzle 730 ejects high pressure water to the front side of the surface to be excavated 10. The high pressure water is supplied by a water supply unit (not shown). According to the invention, the surface to be excavated 10 is broken (or compressed) by water ejected from the water jet nozzle 730. An abrasive can be used together to increase performance. The abrasive is sand particles or other, and is supplied to the 730 water jet nozzle by an abrasive supply unit (not shown). Consequently, the water jet nozzle 730 ejects water and the abrasive, which is accelerated by water, towards the surface to be dug 10. The control device 740 can adjust the pressure of the water ejected through the jet nozzle. of water 730 and the amount of abrasive required. As long as the water jet nozzle 730 is attached to and supported on the moving medium 720, it acts reciprocally along the track 750.
    [0096] Here, moving medium 720 includes rail 750, which includes a first rail 752 which allows frame 710 to move back and forth and a second rail 754 which allows water jet nozzle 730 to move.
    [0097] The first rail 752 is provided to allow for forward and backward movement of the frame 710, and the second rail is positioned over the frame 710 so that the water jet nozzle 730 can move along the second rail. The water jet nozzle 730 is mounted on the moving medium 720 so that it can reciprocate on the second nozzle 754. In addition, it can also be configured so that the water jet nozzle 730 is mounted on the robot arm , which has been described above, and the robot arm is mounted on the frame 710, so that the robot arm can move along the frame.
    [0098] As long as the water jet nozzle 730 can move along the frame 710, its movement draws an arc-shaped trace that goes back to the shape of the frame. Consequently, a free arc-shaped surface 20 having a predetermined depth is formed around the surface to be excavated 10. The free surface 20 is interposed between the surface to be excavated 10 and the earth surface, and is shaped like a fence. surface to be excavated 10.
    [0099] Here, the water jet nozzle 730 can move using the moving means 720, and a plurality of the water jet nozzle can be employed. The 730 water jet nozzle can include a 732 measurement sensor on one of its sides, which measures the depth of the cut.
    [0100] In addition, the control device 740 controls the movement speed of the moving medium 720 and the pressure and direction of the water ejected from the water jet nozzle 730. Here, an auxiliary material, such as the abrasive, can be mixed with the water ejected from the 730 water jet nozzle to increase digging efficiency.
    [0101] The description will now be given of the free surface formation process 20 using the water jet system. First, the frame 710 is moved to an excavation position along the first rail 752. Then the control device 740 determines the pressure of the water jet nozzle 730, the speed of movement of the moving medium 720 and the amount of abrasive required .
    [0102] As long as the water jet nozzle 730 moves along the frame 710, its movement draws an arc-shaped trace that goes back to the shape of the frame. Consequently, the free arc-shaped surface 20 having a predetermined depth is formed around the surface to be excavated 10. The free surface 20 is interposed between the surface to be excavated 10 and the earth surface, and has the shape that surrounds it. surface to be excavated 10.
    [0103] When the free surface forming process 20 is completed, the moving medium is moved backwards along the first rail 752 from the surface to be excavated 10. Then, a plurality of loading holes are formed in the surface to be excavated 10 , followed by charging and blasting. During detonation, detonation vibration (vibration energy) is generated from the explosion source. The free surface 20 deflects detonation vibration, thereby effectively preventing or reducing the spread of detonation vibration to the surrounding areas including the earth's surface.
    [0104] In addition, most of the detonation vibration deflected from the free surface 20 again acts as the energy required for detonation. Therefore, the amount of explosives required for detonation can be reduced than the case without the free surface 20. Furthermore, the possibility of over-excavation after detonation can be significantly reduced. This means that subsequent processing after blasting is unnecessary, leading to reduced construction cost and reduced construction period. Examples
    [0105] Fig. 13 to fig. 20 are the results of the simulation to reduce blast vibration by forming a free surface. Fig. 13 is a view showing 3D finite element analysis model, and represents the positions of the contour holes 40 and stop holes 30.
    [0106] Fig. 14 is a view of the simulated detonation pressures depending on time, where (a) represents the detonation pressure in the stop hole, and (b) represents the detonation pressure in the bypass 40. Here, the conditions of loading of the contour holes (40, see fig. 13) include decoupling gurit having a diameter of 17 mm, a fine explosive, and the conditions for loading the stop holes (30, see Fig. 13) including loading explosives of emulsion having a diameter of 32 mm. The difference in detonation pressure between stop holes 30 and contour holes 40 is not significant. Detonation vibration is not very influenced by whether the contour holes 40 are detonated or not.
    [0107] Fig. 15 is a view of simulated synthetic displacements of contour hole 40 and stop hole 30 in XYZ directions, fig. 16 is a view showing horizontal displacements of contour hole 40 and stop hole 30, and fig. 17 is a view of simulated displacements in the vertical direction. In these figures, (a) represents the case where the contour holes 40 and the stop holes 30 are blown up without forming the free surface 20, (b) represents the case where the contour holes 40 and the stop holes 30 are blown up after forming the free surface 20, and (c) represents the case where only the stop holes 30 are blown up after forming the free surface 20. As shown in fig. 15 to fig. 17, the detonation pressure is not propagated to the surrounding Earth surface, as long as the free surface 20 is formed. In addition, the difference in detonation pressure between (b) and (c) is not significant.
    [0108] Fig. 18 is a view showing variations in vertical displacements depending on time at a position 1 m above contour hole 40. Here, case A indicates numerical values that represent the variation in vertical displacement of a typical detonation cross section, Case B indicates numerical values that represent the variation in the vertical displacement of a detonation cross section when the free surface 20 was formed, and Case C indicates numerical values that represent the variation in the vertical displacement of a detonation cross section when the detonation was performed using only stop holes 30 without considering contour holes 40. Blast vibration is not greatly influenced by contour holes 40 whether they are present or not. This consequently leads to a reduced number of orifices and a reduced amount of loads, thus achieving the effect of the reduced construction stroke.
    [0109] Fig. 19 and fig. 20 are seen showing variations in vertical displacements in a position above a detonation point. Here, the size of the detonation vibration decreases the further the detonation point is distanced from the top of the tunnel (see fig. 19). It can be appreciated that the amplitude of vibration is decreased the further it is distanced from the detonation point. In addition, the arrival time of the vibration waves also increases the further the detonation point is distanced from the top of the tunnel (see fig. 19).
    [0110] Fig. 20 is a graph of the simulated vertical variations on a land surface above the detonation point of the tunnel (a position 20 m away from the detonation point), depending on whether the free surface is present and on the depth of the free surface. Referring to fig. 20, it can be appreciated that the detonation vibration is decreased as the depth of the free surface 20 increases.
    [0111] In the case where the free surface 20 is absent, the maximum vertical displacement of the earth surface (the earth surface 20 m away from the detonation point) is about 0.07 (see fig. 20). However, when the free surface 20 is formed, the maximum vertical displacement is decreased more than the case where the free surface 20 is not formed. In addition, as the depth of the free surface 20 is increased, the size of the maximum vertical displacement that occurs over the earth's surface above the tunnel is gradually decreased. When the free surface 20 having a depth of 4m is applied, the effect of vibration reduction of 90% or more compared to the case where the free surface 20 is not applied.
    [0112] Fig. 22 is simulation modeling for vertical displacements, in which tests were performed by loading "contour holes" and "stop holes" as in the table below and blowing up the holes.
    [0113] Fig. 23 shows measurements of vertical displacements that are caused by detonation. Although no significant difference occurred between the case where the line drill holes were formed and the case of typical tunnel detonation, it is appreciated that virtually no vertical displacement occurred at the top when the free surface was formed.
    [0114] Fig. 24 shows measurements of maximum vertical displacements. When the free surface was formed, the maximum displacement was measured to be about 0.6. It is generally known that the damage zone is formed when a maximum displacement of 0.7 or more occurs.
    [0115] Therefore, it can be appreciated that detonation vibration can be reduced effectively when the free surface is formed according to the invention.
    [0116] Although some exemplary embodiments of the present invention have been described with reference to the figures for illustrative purposes, those versed in the technique to which the present invention relates will appreciate that various modifications and variations are possible, without departing from the scope and spirit of the invention as described in the follow-up claims. Industrial Applicability
    [0117] The present invention is applicable to tunnel excavation based on explosive detonation. In particular, the invention is expected to be highly applicable to the construction of urban subways and underground facilities for which a high level reduction in blast vibration is required. Main Reference Numerals of the Figures 100: moving unit 200: articulated robot arm 300: water jet nozzle 310: depth sensor part 320: width sensor part 400: supply unit 500: control unit 600: water jet device L: line 710: frame 720: moving medium 730: water jet nozzle 732: measuring sensor 740: control device 750: rail 752: first rail 754: second rail
    权利要求:
    Claims (13)
    [0001]
    Excavation system comprising: a moving unit (100) movable over an area that is to be detonated; an articulated robot arm (200) disposed on the moving unit (100); a water jet nozzle (300) mounted on a main end of the robot arm (200); a supply unit (400) that supplies high pressure water to the water jet nozzle (300); and a control unit (500) that controls the moving unit (100), the robot arm (200), the water jet nozzle (300) and the supply unit (400), characterized by the fact that the water jet nozzle (300) includes a sensor (310, 320) configured to measure a depth and width of a free surface that is compressed by the high pressure water from the water jet nozzle (300 ), and that the control unit (500) controls the robot arm (200) and the supply unit (400) based on the depth and width measured by the sensor (310, 320).
    [0002]
    Excavation system according to claim 1, characterized by the fact that the supply unit (400) supplies an abrasive together with high pressure water.
    [0003]
    Excavation system according to claim 1, characterized in that it additionally comprises a line recognizing means for recognizing a predetermined color line (L) that is painted on a surface to be excavated, in which the control unit ( 500) controls the robot arm (200) so as to follow the line (L) which is recognized by the line recognizing means.
    [0004]
    Excavation system according to claim 3, characterized by the fact that the line (L) comprises a pattern to be compressed.
    [0005]
    Excavation system according to claim 1, characterized in that the pattern to be compressed from the surface to be excavated which is formed by the water jet nozzle (300) comprises an arc-shaped pattern.
    [0006]
    Excavation system according to claim 5, characterized in that the pattern to be compressed comprises the arc-shaped pattern to which a zigzag pattern is combined.
    [0007]
    Excavation system according to claim 1, characterized by the fact that the sensor comprises a deep sensor piece (310) that measures the depth of the free surface that is compressed by high pressure water, and the sensor comprises a piece of width sensor (320) that measures the width of the free surface that is compressed by high pressure water.
    [0008]
    Excavation system according to claim 7, characterized by the fact that the depth sensor part (310) is based on a laser.
    [0009]
    Excavation system according to claim 7, characterized by the fact that the width sensor part is based on a laser.
    [0010]
    Excavation system according to claim 1, characterized by the fact that it comprises a plurality of robot arms (200) and a plurality of water jet nozzles (300), each water jet nozzle (300) being assembled resiliently over one of the pluralities of the robot arms (200) so that the water jet nozzle (300) compresses a surface to be excavated.
    [0011]
    Excavation method, characterized by the fact that it comprises a first process of forming a free surface having a predetermined depth in a surface to be excavated using a water jet, in which the excavation method is carried out by means of an excavation system; the excavation system comprising: a moving unit (100) movable over an area that is to be detonated; an articulated robot arm (200) disposed on the moving unit (100); a water jet nozzle (300) mounted on a main end of the robot arm (200); a supply unit (400) that supplies high pressure water to the water jet nozzle (300); and a control unit (500) that controls the moving unit (100), the robot arm (200), the water jet nozzle (300) and the supply unit (400); wherein a sensor (310, 320) included in the water jet nozzle (300) of the excavation system measures the depth and width of the free surface that is compressed by the high pressure water; and wherein the robot arm (200) and the supply unit (400) are controlled based on the depth and width measured by the sensor (310, 320).
    [0012]
    Excavation method according to claim 11, characterized in that it additionally comprises a second process of forming charge holes in an area within the free surface using a water jet.
    [0013]
    Excavation method according to claim 12, characterized in that it additionally comprises a third process of loading the loading holes with explosives and detonating the explosives.
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    同族专利:
    公开号 | 公开日
    EP2623706A2|2013-08-07|
    KR101816078B1|2018-01-30|
    JP5721842B2|2015-05-20|
    EP2623706B1|2018-06-27|
    KR101401652B1|2014-06-03|
    SG189172A1|2013-05-31|
    US20130200680A1|2013-08-08|
    WO2012044138A2|2012-04-05|
    US9140122B2|2015-09-22|
    CN103221627B|2015-08-05|
    KR20120034545A|2012-04-12|
    KR20120034583A|2012-04-12|
    KR101780800B1|2017-09-21|
    KR20140017469A|2014-02-11|
    BR112013006841A2|2016-06-07|
    JP2014505183A|2014-02-27|
    WO2012044138A3|2012-06-28|
    CN103221627A|2013-07-24|
    KR20140021495A|2014-02-20|
    EP2623706A4|2016-08-10|
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    法律状态:
    2016-06-14| B15I| Others concerning applications: loss of priority|Free format text: PERDA DAS PRIORIDADES KR 10-2010-0095879; KR 10-2010-0102134; KR 10-2010-0102135 E KR 10-2011-0029250 REIVINDICADAS NO PCT KR11/007322 DE 04/10/2011, CONFORME AS DISPOSICOES PREVISTAS NA LEI 9.279 DE 14/05/1996 (LPI) ART. 162O, ITEM 28 DO ATO NORMATIVO 128/97 E NO ART. 29 DA RESOLUCAO INPI-PR 77/2013. ESTA PERDA SE DEU PELO FATO DE QUE O DEPOSITANTE CONSTANTE DA PETICAO DE REQUERIMENTO DE ENTRADA NA FASE NACIONAL NAO APRESENTOU E NAO FORAM DISPONIBILIZADOS NA BIBLIOTECA DIGITAL DA OMPI OS DOCUMENTOS DE PRIORIDADE OU DOCUMENTOS EQUIVALENTES, CONFORME AS DISPOSICOES PREVISTAS NA LEI 9.279 DE 14/05/1996 (LPI) ART. 164O, ITEM 24 DO ATO NORMATIVO 128/1997 E NO ART. 26 DA RESOLUCAO INPI-PR 7 |
    2016-10-11| B12F| Other appeals [chapter 12.6 patent gazette]|
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-08-06| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-02-04| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2020-04-22| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-09-24| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 04/10/2011, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-06-01| B24B| Patent annual fee: requirement for complementing annual fee|Free format text: COMPLEMENTAR A RETRIBUICAO DA(S) 7A ANUIDADE(S), DE ACORDO COM TABELA VIGENTE, REFERENTE A(S) GUIA(S) DE RECOLHIMENTO 29409161711522731. |
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    优先权:
    申请号 | 申请日 | 专利标题
    KR10-2010-0095879|2010-10-01|
    KR20100095879|2010-10-01|
    KR20100102134|2010-10-19|
    KR10-2010-0102135|2010-10-19|
    KR10-2010-0102134|2010-10-19|
    KR20100102135|2010-10-19|
    KR20110029250|2011-03-31|
    KR10-2011-0029250|2011-03-31|
    PCT/KR2011/007322|WO2012044138A2|2010-10-01|2011-10-04|Excavation system using a water jet, and excavation method using the same|
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