JP2003064983A - Shield excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shield excavator which facilitates operation thereof by the operator when a driving angle of a shield main body is changed in such a case as where the shield main body is driven from a linear driving section to a curved driving section of an execution scheme line, for instance. SOLUTION: The shield excavator 1 is comprised of an input means 21A, an arithmetic means 21B, and a control means 21C. The input means 21A inputs a target driving distance from a starting point to a target point of the shield main body 10, and a target angle of bend from the starting point to the target point. The arithmetic means 21B creates a function pattern of the driving distance and the angle of bend, based on the target driving distance and the target angle of bend input via the input means 21A. The control means 21C controls the angle of bend of the shield main body, based on the angle of bend corresponding to the driving distance determined according to the function pattern.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield excavator provided with an articulating device for bending a front body and a rear body of a shield body to each other. 2. Description of the Related Art As one method of constructing a tunnel underground, a shield method has been well known. This shield method uses a shield excavator A having a shield body M and a succeeding bogie F as shown in FIG. 7, and excavates earth and sand to excavate the shield body M; Segment S behind
The shield tunnel T is constructed by repeating the assembling process of assembling. [0004] That is, in the excavation process, the cutter head H is rotated to excavate earth and sand, and the shield jack SJ is pressed against the segment S to extend it.
The shield body M is excavated by a predetermined distance. In addition, the earth and sand excavated by the cutter head H is discharged backward via a soil discharging device (not shown) such as a screw conveyor or a mud pipe. In the subsequent assembling process, the shield jack SJ is retracted, the segment S for one divided ring is carried in front of the shield tunnel T already constructed, and assembly is performed inside the shield body M. . [0006] Thereafter, the above-mentioned excavation step and assembling step are repeated to construct a shield tunnel T of a predetermined length in the ground. Various operations in the excavation process / assembly process described above are executed based on an instruction from the operator O input to the machine control panel P mounted on the succeeding bogie F. [0007] The shield body M of the shield excavator A has an articulation device for bending the front body MF and the rear body MR to each other. Are joined by a plurality of articulated jacks (hydraulic jacks) AJ, and the shield body M is bent by the stroke difference of each jack AJ. Here, the above-mentioned articulation device is
It is a means to assist the curve construction by the shield body M,
This is used in combination with the one-side pushing of the shield jack SJ, the use of the taper segment, and the execution of the extra hole, and is operated in a digging state where the cutter head H is rotated. In the above-mentioned conventional shield excavator A, as shown in FIGS. 8 (a) and 8 (b), the shield main body M is curved from the straight section BL of the construction plan line. When excavating into the section BC, the front trunk MF and the rear trunk MR of the shield main body M are bent by the above-described articulating device at a bending angle corresponding to the curvature of the curved section BC.
(Target bending angle) It is necessary to bend to α. However, when the front torso MF enters the curved section BC shown in FIG. 9B from the straight section BL shown in FIG. 9A, the shield body suddenly changes to a bending angle α corresponding to the curved section BC. If M is bent, the reaction force of bending cannot be obtained because the gap in the G portion becomes large, and the existing segment S
This causes a problem in the excavation of the shield main body M, for example, the rear trunk MR is directed in the opposite direction to the direction of the planning line due to the reaction force from the rear body. Therefore, in the conventional shield excavator A, the bending angle is gradually increased every time the shield main body M is slightly excavated from the state where the shield main body M is located in the straight section BL shown in FIG. 8B, the bending angle of the shield main body M is finely adjusted so that the bending angle α becomes the final bending angle α in a state where the bending angle is located in the curve section BC shown in FIG. 8B. Extremely complicated work is forced. In view of the above situation, the present invention provides a shield which can facilitate an operation operation by an operator when changing the excavation angle of the shield main body, for example, by excavating the shield main body from a straight section of a construction plan line to a curved section. It aims to provide excavators. To achieve the above object, a shield excavator according to the first aspect of the present invention provides a target excavation distance from a start position of a shield body to a target position, and a target position. An input means for inputting a target bending angle in, and a calculating means for creating a function pattern of the excavation distance and the bending angle based on the target excavation distance and the target bending angle input via the input means, Control means for controlling the bending angle of the shield body based on the bending angle corresponding to the excavation distance obtained from the pattern. In the above configuration, since the bending angle of the shield main body is controlled by the control means, the operator does not need to adjust the bending angle of the shield main body while the shield main body excavates from the start position to the target position. Thus, according to the shield excavator of the present invention, the operation of the operator when changing the excavation angle of the shield main body, for example, excavating the shield main body from the straight section to the curved section of the construction plan line, is performed. It can be very easy. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing embodiments. FIG. 1 shows an embodiment of a shield excavator according to the present invention. The shield excavator 1 includes a shield body 10 and a trailing bogie 20 and the like, and excavates earth and sand to make the shield body 10 excavate. The excavation process and the assembling process of assembling the segment S behind the shield main body 10 are repeated to construct a shield tunnel T underground. The configuration is the same as that of the conventional shield excavator A shown in FIG. There is no change. The shield body 10 has a front body 11 and a rear body 12 divided from each other. The front body 11 is provided with a cutter head 11H, while the rear body 11 has a plurality of shield jacks. 13 are provided. The shield body 10 has an articulation device for bending the front body 11 and the rear body 12 mutually.
And the rear trunk 12 with a plurality of articulated jacks 14
(Hereinafter, referred to as arch jacks 14), and the front trunk 11 is refracted with respect to the rear trunk 12 in any vertical and horizontal directions by the stroke difference between the arch jacks 14, 14,. On the other hand, the trailing bogie 20 travels on a rail laid in the existing shield tunnel T by being pulled by the shield body 10. The trailing bogie 20 has a machine control panel 21 mounted thereon. At the same time, an operator O operating the shield excavator 1 by operating the machine control panel 21 is on board. Further, as shown in FIG.
Has an input means 21A, a calculation means 21B, and a control means 21C. In the input means 21A, a target excavation distance from a start position of the shield main body 10 to a target position described later is manually operated by an operator O. L and the target bending angle θ at the target position of the shield body 10 are input. Further, in the calculating means 21B, based on the target excavating distance L and the target bending angle θ inputted through the input means 21A, a function of the excavating distance and the bending angle as shown in FIG. A pattern P is created. Further, in the control means 21C, a bending angle θt corresponding to the excavation distance Lt of the shield body 10 is obtained from the function pattern P created in the calculating means 21B, as described later, and based on the bending angle θt. The bending operation of the shield body 10 is controlled. Here, the machine control panel 21 turns ON / OF the shield jack control solenoid valve 13v as shown in FIG.
F, the operation of the shield jack 13 is controlled and the solenoid valve 14v for controlling the arch jack is controlled.
By turning ON / OFF the output of the
Is controlling the operation. The shield jack 13 is provided with a stroke sensor 13s. Information from the stroke sensor 13s is input to a machine control panel 21, specifically, a control means 21C as shown in FIG. Thus, it is used for detecting the excavation distance in the shield body 10. On the other hand, the operation of the arch jack 14 is detected by the potentiometer 14s, and the feedback control of the arch jack 14 is performed by inputting information from the potentiometer 14s to the machine control panel 21. FIG. 5 shows a control procedure for excavating the shield body 10 of the above-described shield excavator 1 from the straight section BL to the curved section BC of the construction plan line shown in FIG. This will be described in detail with reference to a flowchart. As shown in FIGS. 4A to 4E, in order to smoothly excavate the shield body 10 from the straight section BL to the curved section BC, the shield body 10 excavated from the straight section BL is used.
Is gradually excavated in the curved section BC while gradually increasing the bending angle between the front trunk 11 and the rear trunk 12, and the whole is curved section BC.
At the time when the vehicle enters, it is necessary to set the bending angle between the front trunk 11 and the rear trunk 12 to a bending angle corresponding to the curvature of the curved section BC. Here, as shown in FIG. 4 (a), the whole shield body 10 is located in the straight section BL and the curved section B
The situation immediately before entering C is the start position. Also,
As shown in FIG. 4 (e), the situation where the entire shield body 10 is located in the curved section BC and immediately after the shield body 10 has escaped from the straight section BL is defined as a target position. Further, as shown in FIG. 4E, the excavation distance of the shield main body 10 from the start position to the target position is defined as a target excavation distance L, and the front trunk 11 and the rear trunk of the shield main body 10 at the target position are defined. 12 and the bending angle (front trunk 11
(The included angle between the center axis of the rear body 12 and the center axis of the rear trunk 12) is defined as the target bending angle θ. To excavate the shield body 10 at the start position shown in FIG. 4A to the target position shown in FIG. 4E, first, in Step 1 of FIG. The operator 0 (see FIGS. 1 and 3) manually inputs the target excavation distance L and the target bending angle θ designated by the operator to the machine control panel 21 via input means 21A such as a keyboard and a mouse. Next, in Step 2, the machine control panel 2
The operation mode 1 is set (instructed) to the “bending angle control mode for specifying the excavation distance” by the manual operation of the operator 0.
Thereby, the automatic control of the shield main body 10 as described later based on the target excavation distance L and the target bending angle θ becomes effective. Next, in Step 3, the input means 21A
Based on the target excavation distance L and the target bending angle θ inputted from the computer, the calculating means 21B of the machine control panel 21
A function pattern P of the excavation distance and the bending angle as shown in FIG. Here, since the curved section in the planned construction line of the shield tunnel is usually designed with a constant curvature, the excavation distance and the bending angle have a proportional relationship (linear function), and as shown in FIG. The function pattern P is a straight line in a graph in which the horizontal axis represents distance and the vertical axis represents bending angle. Next, in Step 4, the shield body 1
It is determined whether or not 0 is excavating (the cutter head 11H is rotating and the shield jack 13 is operating). Only when the shield body 10 is excavating, the process proceeds to the next Step 5. This is because the articulating device is an auxiliary means for curving and can be operated only during the excavation process of the shield body 10. Next, in Step 5, the counting (time counting) of the interval timer is started. Here, the interval timer is a means for controlling the bending angle of the shield body 10 at predetermined time intervals during the excavation process of the shield body 10.
min excavation process, shield body 1 every 5 min
The bending angle of 0 is controlled. Next, in Step 6, the count of the interval timer is set to a set value (5 min in the embodiment).
Is determined, and only when the count has reached the set value, the flow shifts to the next Step 7. In Step 7, it is determined whether or not the current excavation distance Lt of the shield body 10 has reached the target excavation distance L. Here, the excavation distance Lt from the start position in the shield body 10 is obtained by the integrated value of the stroke in the shield jack 13 based on the information from the above-described stroke sensor 13s. That is, for example, if the shield body 10 is already propelled by laying one row of segments S from the start position, the stroke of the shield jack 13 required for laying one row of segments S and the current By adding the stroke of the shield jack 13 to the current position, the excavation distance Lt from the start position to the current position is calculated. If it is determined in Step 7 that the current excavation distance Lt of the shield body 10 has not reached the target excavation distance L, in the next Step 8, the current bending angle θa is changed to the current excavation distance Lt. Is determined to have reached the ideal bending angle θt corresponding to. Here, the above-mentioned ideal bending angle θt is calculated in Step 3
At the present time, based on the function pattern P (see FIG. 6) created by the calculating means 21B (see FIG. 2).
This is obtained as an ideal bending angle corresponding to t. In Step 8, the current bending angle θ
If a does not reach the ideal bending angle θt, the next Ste
At p9, an operation signal is output to the arch jack control solenoid valve 14v, and by operating the arch jack 14, the front body 11 and the rear body of the shield body 10 bend toward the ideal bending angle θt. . Thereafter, Step 7 to Step 9 are repeatedly executed, and in Step 8, the bending angle θa at the present time is
If it is determined that the ideal bending angle θt has been reached, Step 10
Move to In Step 10, the output of the operation signal to the arch jack control solenoid valve 14v is stopped, and the bending operation of the shield body 10 is stopped. In Step 11, the count of the interval timer is reset. Thereafter, Step 5 to Step 11 are repeatedly executed, and in Step 7, when it is determined that the excavation distance Lt of the shield body 10 at the present time has reached the target excavation distance L, the processing shifts to Step 7E to complete the control. Become. Here, in the above-described embodiment, an example is shown in which the shield body 10 is excavated from the straight section BL of the construction plan line to the curved section BC. However, the shield body 10 is excavated from the curve section BC of the construction plan line to the straight section BL. Over the shield body 10
It is needless to say that the operation of the shield main body 10 is controlled in accordance with the same control procedure as described above even when excavating. As described above, in the shield excavator 1 to which the present invention is applied, the bending angle of the shield body 10 during the excavation based on the target excavation distance L and the target bending angle θ input to the machine control panel 21. Is automatically controlled, the operator O does not need to adjust the bending angle of the shield body 10 while the shield body 10 digs from the start position to the target position. Thus, according to the shield excavator 1 to which the present invention is applied, the straight section BL to the curved section B
Shield body 1 such as excavating shield body 10 in C
The driving operation by the operator O when changing the excavation angle of 0 can be made extremely easy. In the above-described embodiment, the target excavation distance L and the target bending angle θ are manually set by the operator O.
Is input to the machine control panel 21, but the target excavating distance L and the target bending angle θ are directly input to the machine control panel 21 by wire / wireless communication from the department managing the construction plan line. It is also possible to make the operation of the operator O on the site easier. In the above-described shield excavator 1, the copy cutter (not shown) provided on the cutter head 11H of the shield main body 10 for overcutting and excavating the outer periphery of the shield is provided. It is also possible to control the operation in conjunction with the control of the bending angle in. Further, in the shield excavator 1 described above, the operation of the shield body 10 can be controlled by interruption of a manual operation while the shield body 10 is being excavated in the "bend angle control mode for specifying the excavation distance". is there.
For example, while the curved construction in the left and right direction is being performed by excavating the shield main body 10, the up and down excavation directions of the shield main body 10 can be adjusted by manual operation. Alternatively, for example, while the shield main body 10 is performing the curve construction under the condition of “digging 1 m and bending at 1 °”, the condition is changed to the condition “digging 1 m and bending at 1.2 °” by a manual operation, specifically, By updating the input value to the machine operation panel 21, the bending angle of the shield body 10 can be finely adjusted appropriately. In the shield excavator 1 described above, when the front body 11 of the shield body 10 is swung up and down, the range of operation of the front body 11 in the left-right direction is also reduced. There is a limit to the bending motion. For this reason, when the target excavation distance and the target bending angle are input to the machine operation panel 21, due to the above-mentioned vertical angle of the front trunk 11, even if the curve construction is performed, the operation range is limited in the middle. When it is determined that the target bending angle cannot be reached, it is effective to issue a warning to the operator O. Alternatively, when performing the curve construction in the left-right direction, due to the vertical angle of the front body 11 described above, if the curve construction is continued as it is, the limit of the operation range is consequently reached, and the target bending angle is reached. It is effective to issue a warning if it cannot be obtained, and to perform an interlock control to immediately stop the excavation operation when the operation is disabled due to the limitation of the operation range. In the above-described embodiment, the shield body 10 is excavated over the straight section BL and the curved section BC. However, the control of the shield body 10 in the shield excavator 1 is performed at the start position. It is also effective when the bending angle of the shield main body 10 changes when digging from to the target position. For example, as shown in FIG. 4A, the shield body 10 immediately before entering the curved section BC is used.
It is necessary to slightly bend the front trunk 11 in the traveling direction, so that the above-mentioned operation is performed from a few segments before entering the curved section BC to digging to a position immediately before entering the curved section BC. Shield body 10 according to the control procedure
Can also be controlled.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a sectional view showing an embodiment of a shield excavator according to the present invention. FIG. 2 is a conceptual diagram of the shield excavator shown in FIG. FIG. 3 is a conceptual diagram of operation control in the shield excavator shown in FIG. 4 (a) to 4 (e) are conceptual diagrams sequentially showing the manner of bending when the shield body in the shield excavator shown in FIG. 1 excavates from a straight section to a curved section. FIG. 5 is a flowchart showing a control procedure in the shield excavator shown in FIG. 1; FIG. 6 is a function pattern of the excavation distance and the bending angle created by the calculating means of the shield excavator shown in FIG. 1; FIG. 7 is a sectional view showing a conventional shield excavator. FIGS. 8A and 8B are conceptual diagrams showing a shield main body in a straight section and a curved section. FIGS. 9A and 9B are conceptual diagrams showing a shield main body in a straight section and a curved section. [Description of Signs] 1 ... Shield excavator, 10 ... Shield body, 11 ... Front trunk, 11H ... Cutter head, 12 ... Rear trunk, 13 ... Shield jack, 14 ... Articulate jack, 20 ... Subsequent bogie, 21 ... Machine Control panel, 21A ... input means, 21B ... calculation means, 21C ... control means. P: Function pattern, O: Operator, S: Segment, T: Shield tunnel.

Claims (1)

Claims: 1. A shield excavator comprising an articulating device for bending a front body and a rear body of a shield body to each other, wherein a target excavation from a start position of the shield body to a target position is provided. Input means for inputting a distance and a target bending angle at the target position; and forming a function pattern of the excavation distance and the bending angle based on the target excavation distance and the target bending angle input via the input means. And a control means for controlling a bending angle of the shield body based on a bending angle corresponding to a digging distance obtained from the function pattern.