JP2004190282A - Eccentric multi-spindle cutter type shield excavator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shield excavator which does not generate a rotary torque because there is no occurrence of component force to the rotary direction due to the thrust of a hydraulic cylinder when the rotary driving hydraulic cylinder comes to the upper dead point or the lower dead point, hence, the hydraulic cylinder can not be pushed/pulled at the upper dead point, the lower dead point, and in the the vicinity of the zone of the upper and lower dead points and solve such a problem that excavation by the cutter can not be realized. <P>SOLUTION: The eccentric multi-spindle cutter type shield excavator obtaining a rotary driving force of the cutter by a plurality of driving hydraulic cylinders is provided with a stroke position detection means of the hydraulic cylinder in respective driving hydraulic cylinders and a rotary phase position detection means of the eccentric multi-axle cutter. The detected value of one detection means is used as a parameter of main motion control and the detected value of the other detection means is used for a parameter of an auxiliary control. Until the hydraulic cylinder reaches the dead point from the vicinity of the dead point by at least one detection means and separates from it, the drive of the hydraulic cylinder is controlled to form the opened condition. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an eccentric multi-axial cutter-type shield excavator that controls rotation of an eccentric multi-axial cutter by a hydraulic cylinder.
[0002]
[Prior art]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2001-116012 Conventionally, a plurality of crank mechanisms rotatably penetrated through a partition wall provided at a front portion of a shield excavator body are rotatably supported by the front portions thereof. The plurality of hydraulic mechanisms connected to the rear of the plurality of crank mechanisms and the hydraulic pressure jacks cause the plurality of crank mechanisms to perform a crank motion, and the crank motion causes the cutter portion to oscillate to excavate a face. The shield excavator described in Patent Literature 1 is known as a shield excavator to be used.
[0003]
The conventional known shield excavator is mounted such that a plurality of dead centers of a plurality of hydraulic cylinders driving a cutter unit do not overlap each other, and that a plurality of pushes and a plurality of pulls overlap while being out of phase. In the state, it is possible to smoothly switch from the push side to the pull side or from the pull side to the push side, and in order to prevent the occurrence of impact at the time of switching, the piston rod of the hydraulic cylinder should be at or near the dead center , The directional control valve that controls the direction of the hydraulic pressure supplied to the hydraulic cylinder is set to the neutral position, the hydraulic cylinder is released, and the hydraulic cylinder is moved by the force of another hydraulic cylinder. are doing. For this reason, in the above-mentioned conventionally known shield excavator, the cutter part can be smoothly rocked and rotated with a large combined torque and a small variation torque.
[0004]
[Problems to be solved by the invention]
However, the above-mentioned conventionally known shield excavator has the following problems. That is, as a method of detecting the dead center of the hydraulic cylinder, a position detecting means (sensor) is provided in the hydraulic cylinder, and the hydraulic cylinder is controlled based on the detection result of the position detecting means (sensor). For this reason, if an unexpected event such as a failure or breakage of the position detecting means (sensor) or a disconnection of the signal line occurs, the hydraulic cylinder itself cannot be controlled in an originally intended state. Unnecessary stress may be generated in the portion, causing a problem such as a decrease in rotational torque of the cutter portion or an inability to rotate.
[0005]
The present invention has been made in view of the above-described problems, and has as its object to provide an eccentric multi-axis cutter-type shield excavator that can normally rotate and drive a cutter unit even when an unexpected situation occurs. It is assumed that.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, an invention according to claim 1 of the present invention is directed to an eccentric cutter type shield excavator including an eccentric multi-axis cutter oscillatingly rotated by a plurality of hydraulic cylinders. The dead point of the hydraulic cylinder is detected by the stroke position detecting means of the hydraulic cylinder provided in each case and the rotational phase position detecting means provided on the rotating shaft of the eccentric multi-axis cutter. Until the point is reached and the vehicle escapes the dead center, at least one of the stroke position detecting means and the rotational phase position detecting means controls the hydraulic cylinder to be in a released state. In order to achieve the above object, the invention according to claim 2 of the present invention provides a main control for controlling one of the stroke position detecting means and the rotational phase position detecting means to release the hydraulic cylinder. It is characterized in that it is a parameter and the other is an auxiliary parameter.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a side view of an eccentric multi-shaft cutter type excavator of the present invention, FIG. 2 is a conceptual configuration diagram of a hydraulic cylinder driving device and a hydraulic circuit of the present invention, and FIG. FIG. 4 is a conceptual diagram of control, FIG. 4 is a conceptual diagram of hydraulic cylinder control when the proximity sensor on the top dead center side fails, and FIG. FIG.
[0008]
The shield excavator 1 of the present invention shown in FIGS. 1 and 2 includes a shield tube 2 and a cutter 4 at the front portion of the shield excavator 1 for excavating by rotating the face while swinging the face. A plurality of crank mechanisms 5 for rotationally driving the cutter 4 and a plurality of cutter driving hydraulic jacks 8 for cranking the plurality of crank mechanisms 5 are provided inside the shield cylinder 2. A number of cutter bits 16 are provided on the face side of the cutter 4, and a plurality of crank mechanisms 5 for driving the cutter 4 to swing and rotate are provided rotatably on the rear surface of the cutter 4. Each of the crank mechanisms 5 is rotatably provided by being freely fitted into each of the crank rotation holes 20 formed in the partition wall 3 of the shield excavator 1 by the number of the crank mechanisms 5, and is provided with a crank arm 6 of each of the crank mechanisms 5. The rear end is pivotally connected to the connecting plate 7. A plurality of cutter driving hydraulic jacks, one end and the other end of which are mounted by mounting pins 21 and 22 between the connecting plate 7 and the mounting flange portion 11 protruding from the inner peripheral wall of the shield cylinder 2. 8 are attached. In the embodiment of the present invention shown in FIG. 2, a type in which three cutter driving hydraulic cylinders 8 are attached to the inner peripheral wall of the shield cylinder 2 at equal intervals is shown.
[0009]
Each cutter driving hydraulic jack 8 is connected to a hydraulic pump 27 via an oil passage 29 and an oil passage 30 via a solenoid type three-position directional switching valve 28 to form a hydraulic circuit. A stroke detector 24a and a stroke detector 24b, which are means for detecting the position of the piston rod, are provided on the cylinder side of each hydraulic cylinder 8 for driving the cutter. However, the piston 18 is provided with a stroke detecting piece 25 that comes into contact with the stroke detector 24a and the stroke detector 24b.
[0010]
The stroke detector 24a and the stroke detector 24b come into contact with a stroke detecting piece 25 provided on the piston 18 when the piston 18 is extended or contracted. The area is detected, and a signal from the stroke detector 24a or the stroke detector 24b is issued, sent to the control unit 31 via the conductor 32 or 33, and then sent from the control unit 31 to the control unit 31 via the conductor 35 or 36. A switching operation signal to the neutral position B is sent to the direction switching valve 28 to switch the three-position direction switching valve 28 to the neutral position B and release the cutter driving hydraulic cylinder 8. Then, by following the expansion and contraction operation of the other hydraulic cylinder 8 for driving the cutter, a contraction or extension operation is performed, and the cutter 4 is rotated by the crank motion of the crank mechanism 5 so as to swing the cutting face so as to excavate. It has become.
[0011]
Reference numeral 14 denotes a screw conveyor for carrying excavated earth and sand taken into the chamber 17 in front of the shield excavator 1 by the cutter 4 to the outside of the shield excavator 1. Reference numeral 15 denotes an erector that arranges the segments 13 on the inner wall surface of the excavated tunnel. Further, a propulsion hydraulic cylinder 12 for propelling the shield excavator 1 forward by taking a reaction force at an end face of the segment 13 assembled on the inner periphery of the shield cylinder 2 is provided.
[0012]
Reference numeral 26 denotes a rotary encoder which is a cutter rotation position detector for measuring the rotation angle of the cutter, and is provided on the rotation shaft so as to detect the rotation angle of the shaft of the crank mechanism 5 for driving the cutter 4 to rotate. The rotary encoder 26 detects the rotation of the shaft of the crank mechanism 5 to detect the rotation angle of the cutter 4 provided at the tip of the shaft of the crank mechanism 5, and detects the rotation of the cutter 4 at this time. Is internally processed. If the detection angle detected by the rotary encoder 26 is within the range of the preset detection angle, the control unit 31 controls the three-position directional control valve 28 so that the cutter driving hydraulic cylinder 8 is released. Signals for neutral position.
[0013]
Next, the basic operation of the hydraulic cylinder driven cutter driving device of the present invention having the above-described configuration will be described.
A. Description of Basic Control Operation FIG. 2 is a schematic configuration diagram of a hydraulic circuit that drives the cutter driving hydraulic cylinder 8. As a basic operation of the hydraulic cylinder drive type cutter driving device, a rear end portion of a crank arm 6 of the crank mechanism 5 and one end of a cutter driving hydraulic jack 8 are provided in order to cause a crank mechanism 5 that rotationally drives the cutter 4 to perform a crank motion. Rotates the connecting plate 7, which is pivoted, to impart crank motion to the crank mechanism 5.
[0014]
That is, the connecting plate 7 is oscillated by controlling the extension and contraction of the three cutter driving hydraulic cylinders 8, and the oscillating rotation is applied to the crank mechanism 5 to oscillate the cutter 4. I do. At this time, at the top dead center and the bottom dead center provided near the maximum extension and the minimum contraction of the cutter driving hydraulic cylinder 8, there is no generation of a component force in the rotation direction due to the thrust of the cutter driving hydraulic cylinder 8. Therefore, a rotational torque cannot be applied to the connecting plate 7. Further, the thrust of the hydraulic cylinder is small even in the vicinity of the vertical dead center region, so that it does not contribute much to the rotational torque.
[0015]
The vertical dead center is a point at which the expansion / contraction operation of the cutter driving hydraulic cylinder 8 is switched. However, it is not possible to instantaneously switch the expansion / contraction operation of the cutter driving hydraulic cylinder 8 on the vertical driving center during continuous rotation. It is very difficult. Therefore, near this vertical dead center, the cutter driving hydraulic cylinder 8 is not extended or retracted, and the three-position directional switching valve 28 is switched to the neutral position B so that the cutter driving hydraulic cylinder 8 is not moved. The expansion-side oil passage 29 and the contraction-side oil passage 30 are communicated to release the operation of the cutter driving cylinder 8 so that the cutter driving hydraulic cylinder 8 in the other expansion / contraction operation state can passively follow the operation. By doing so, an allowable range for the timing of expansion and contraction switching by pressure oil near the top and bottom dead center is created, and smooth operation control is performed without causing a significant decrease in rotational torque. You have me.
[0016]
B. Description of Normal Operation FIG. 3 shows the concept of cutter driving hydraulic cylinder control during normal operation. Signal detection for main control of the expansion / contraction operation of the hydraulic cylinder 8 for driving the cutter is performed by detecting the upper and lower cutter dead hydraulic cylinders 8 provided in each hydraulic cylinder 8 for driving the cutter, from a limit SW and a proximity switch for detecting a bottom dead center. And a stroke detection piece 25 provided on the piston 18. When the piston 18 expands or contracts, the stroke detecting piece 25 comes into contact with the stroke detectors 24a and 24b, thereby detecting the upper and lower dead center regions of the hydraulic cylinder 8 for driving the cutter, and detecting the stroke detector 24a or A signal is emitted from the stroke detector 24b and sent to the control unit 31 from the conductor 32 or 33. Then, a switching operation signal to the neutral position B is sent from the control unit 31 to the three-position directional switching valve 28 via the conducting wire 35 or the conducting wire 36, and the three-position directional switching valve 28 is switched to the neutral position B to drive the cutter driving device. Release the hydraulic cylinder 8. Next, when the hydraulic cylinder 8 for driving the cutter escapes from the upper and lower dead center areas, the hydraulic cylinder 8 for driving the cutter moves in the direction opposite to the operating direction of the cylinder 8 before detecting the upper and lower dead areas. An operation command for the three-position directional control valve 28 is issued so as to operate. By this repetitive operation, the crank mechanism 5 is caused to perform a crank motion, and the cutter 4 is normally oscillated and rotated to excavate.
[0017]
C. FIG. 4 shows a conceptual diagram of hydraulic cylinder control when the stroke detector 24a, which is the top dead center side proximity sensor (LS1) of the stroke detector 24a, is out of order. Signal detection for main control of the expansion / contraction operation of the cutter driving hydraulic cylinder 8 is detected by a stroke detector 24a and a stroke detector 24b which are stroke position detecting means provided in each cutter driving hydraulic cylinder 8. The operation in the case where the stroke detector 24a serving as the top dead center side proximity sensor (LS1) breaks down will be described. On the bottom dead center side, when the stroke detector 24b, which is the bottom dead center side proximity sensor (LS2), detects the bottom dead center region (range around 0 rad), the operation command of the three-position directional control valve 28 is set to the neutral position B. And the hydraulic cylinder 8 for driving the cutter is released.
[0018]
When the escape from the bottom dead center area is detected by the stroke detector 24b, an extension position switching operation signal is sent to the three-position direction switching valve 28 via the lead 35 so that the cutter driving hydraulic cylinder 8 is extended. The cutter position is switched to the extension position A, and the cutter driving hydraulic cylinder 8 is extended. Next, when the stroke detector 24a, which is originally the top dead center side proximity sensor (LS1), detects the top dead center region (range around πrad), the operation command of the three-position directional control valve 28 is set to the neutral position B. The hydraulic cylinder 8 for driving the cutter should be released, but it cannot be detected if the stroke detector 24a, which is a sensor, has failed, and the operation signal for setting the three-position directional control valve 28 to the neutral position B Can not emit.
[0019]
For this reason, the operation of the cutter driving hydraulic cylinder 8 is controlled using the rotation phase position detection signal of the cutter 4 detected by the rotary encoder 26. That is, if the rotation phase position detection signal of the cutter 4 has reached the valve inoperable range (NA) defined by the control unit 31, the control program of the control unit 31 will forcibly force the cutter driving hydraulic cylinder at this time. The eight-position directional control valve 28 is switched to the neutral position b. The detection of escape from the top dead center region is also performed by the rotary encoder 26. When the escape from the top dead center area is detected by the rotary encoder 26, the three-position directional control valve 28 is switched to the reduced position, and the hydraulic cylinder 8 for driving the cutter is reduced. By this repetitive operation, the normal operation of the hydraulic cylinder 8 for driving the cutter is ensured, and the cutter 4 is rotated normally. In addition, a warning is issued to the driver or the like about the abnormality of the proximity sensor.
[0020]
D. Both the stroke detector 24a that is the top dead center side proximity sensor (LS1) and the stroke detector 24b that is the bottom dead center side proximity sensor (LS2) are stroke detectors that are abnormal top dead center side proximity sensors (LS1). FIG. 5 shows a conceptual diagram of hydraulic cylinder control when both the stroke detector 24a and the stroke detector 24b, which is the bottom dead center side proximity sensor (LS2), fail. The signal detection for the main control of the expansion / contraction operation of the hydraulic cylinder 8 is performed by the stroke position detecting means 24a and 24b provided in each hydraulic cylinder 8, but both of the stroke detector 24a and the stroke detector 24b are detected. Will be described.
[0021]
The three-way directional control valve 28 is switched to the neutral position B when the bottom dead center region is detected by the stroke detector 24b, which is originally the bottom dead center side proximity sensor (LS2) (range around 0 rad), to switch the hydraulic cylinder 8 It should be released, but if the stroke detector 24b has failed, no signal can be detected. Therefore, the three-position directional control valve 28 remains at the contracted position C, and the contracted state of the cutter driving hydraulic cylinder 8 is finally detected by the rotary encoder 26, and the valve operation non-operable range (NA) defined by the control unit 31. At this point, the control program of the control unit 31 forcibly switches the three-position directional switching valve 28 of the cutter driving hydraulic cylinder 8 to the neutral position b.
[0022]
When the rotary encoder 26 detects the escape from the bottom dead center area, an operation command is issued to the three-position direction switching valve 28 so as to extend the hydraulic cylinder 8 for driving the cutter. Then, the three-position directional control valve 28 is switched to the neutral position B when the top dead center region is detected by the stroke detector 24a, which is essentially the top dead center side proximity sensor (LS1) (range around πrad). The hydraulic cylinder 8 for driving the cutter should be released, but if the stroke detector 24a is out of order, no signal can be detected. Therefore, the three-position directional control valve 28 remains at the extended position A, and the extended state of the cutter driving hydraulic cylinder 8 is detected by the rotary encoder 26, and the valve operation non-operable range (NA ), The three-way directional control valve 28 is forcibly switched from the extended position A to the neutral position B by the control program of the control unit 31 to release the hydraulic cylinder 8 for driving the cutter.
[0023]
In this way, even if the stroke detectors 24a and 24b become abnormal, the cutter encoder 4 can be normally rotated by the rotary encoder 26 because the cutter driving hydraulic cylinder 8 is normally controlled. . In the above description, the embodiment in which the stroke detection of the cutter driving hydraulic cylinder 8 is used as a main control parameter and the detection of the rotation angle of the cutter 4 by the rotary encoder 26 is used as an auxiliary control parameter has been described. As the control parameters, the detection value of the rotation angle of the cutter 4 by the rotary encoder 26 may be used as the main control parameter, and the stroke detection value of the other cutter driving hydraulic cylinder 8 may be used as the auxiliary control parameter. The values may be used in parallel.
[0024]
As described above, in the eccentric multi-axis cutter type shield excavator of the present invention, two different control signal detection means are provided, and by using both signals, the hydraulic cylinder operates even when one of the signal detection systems is abnormal. Therefore, it is possible to prevent the occurrence of unnecessary stress in the cutter driving unit, the reduction of the rotational torque, and the occurrence of the inability of the cutter to rotate.
[0025]
【The invention's effect】
As described above, according to the eccentric multi-axis cutter type shield excavator of the present invention, the present invention provides two different control signal detecting means, and uses one of the two signals to control one signal detecting system. In the event of abnormalities, abnormal operation of the hydraulic cylinder can be prevented, so that unnecessary stress in the cutter driving unit, reduction in rotational torque, and occurrence of inability to rotate the cutter can be prevented. To play.
[Brief description of the drawings]
FIG. 1 is a side view of an eccentric multi-shaft cutter type excavator according to the present invention;
FIG. 2 is a conceptual configuration diagram of a hydraulic cylinder driving device and a hydraulic circuit of the present invention,
FIG. 3 is a conceptual diagram of hydraulic cylinder control during normal operation according to the present invention;
FIG. 4 is a conceptual diagram of hydraulic cylinder control when the top dead center side proximity sensor fails according to the present invention;
FIG. 5 is a conceptual diagram of hydraulic cylinder control when a proximity sensor on both sides of the bottom dead center of the present invention fails.
[Explanation of symbols]
1 shield excavator, 2 shield cylinder, 3 bulkhead, 4 cutter,
5 crank mechanism, 6 crank arm, 7 connecting plate,
8 hydraulic cylinder for driving cutter, 9 other end, 10 piston rod,
11 mounting flange part, 12 hydraulic cylinder for propulsion,
13 segments, 14 screw conveyors, 15 erectors,
16 cutter bits, 17 chambers, 18 piston rods,
19 crankshaft, 20 crank rotation hole, 21 mounting pin,
22 mounting pins, 23 axes, 24a stroke detector,
24b stroke detector, 25 stroke detector,
26 rotary encoder, 27 hydraulic pump, 28 three-position directional control valve,
29 oil passages, 30 oil passages, 31 control units, 32 conductors,
33 conductors, 34 conductors, 35 conductors, 36 conductors.

Claims (2)

In an eccentric cutter type shield excavator provided with an eccentric multi-axis cutter which swings and rotates by a plurality of hydraulic cylinders, a stroke position detecting means of a hydraulic cylinder provided for each of the plurality of hydraulic cylinders, and rotation of the eccentric multi-axis cutter A dead point of the hydraulic cylinder is detected by a rotational phase position detecting means provided on a shaft. An eccentric multi-axis cutter-type shield excavator, wherein the hydraulic cylinder is controlled to be in a released state by at least one of a rotational phase position detecting means. 2. The apparatus according to claim 1, wherein one of the stroke position detecting means and the rotational phase position detecting means is set as a main parameter of control for releasing the hydraulic cylinder, and the other is set as an auxiliary parameter. Eccentric multi-axis cutter type shield excavator.

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