JP2544475B2 - Excavation control method and shield control device for shield excavator - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation control method and an excavation control device for a shield excavator characterized by simultaneous shield excavation and segment assembly.

(Prior Art) A typical conventional example of simultaneous construction of shield excavation and segment assembly in a shield excavator will be described. A shield jerk group arranged in the rear part of the machine body at circumferential intervals (on the same circumference). Each shield jack is made a long jack with a stroke longer than the two rings of the segment, and segment assembly is possible during the operation (extension) of each shield jack, and the shield jack group is assembled. The shield excavator is driven by the total thrust of each jack thrust and the excavation direction is determined by the thrust of each jack thrust. By operating, each segment block is assembled and installed in sequence, and the total thrust of each jacking thrust other than the above non-operation is The excavation of the shield excavator is continued by the force, and segment assembly is simultaneously performed during shield excavation.

(Problems to be solved by the invention) Simultaneous construction of the conventional shield excavation and segment assembly is performed by manually operating each of the shield jacks of the shield jack group to partially remove each jack group corresponding to each segment block. The blocks are sequentially deactivated, and at the time of each block construction, the thrust of the shield excavator is obtained by the total thrust of the jack thrusts other than the above deactivated blocks. The total thrust and propulsion direction change for each construction, and the propulsion moment of the shield excavator becomes unbalanced, which causes meandering and reduces work efficiency.Each block construction requires manual adjustment of each jacking thrust and propulsion direction. However, there is a problem in that it is difficult in practice because it requires a lot of trouble and time.

The present invention has been developed in order to address the above-mentioned problems, and the purpose thereof is to automatically control the inactivation of a part of each jack group corresponding to each block construction, By controlling the total thrust of each jacking thrust other than the non-operation to a constant value and controlling the propulsion direction, simultaneous construction performance of shield excavation and segment assembly, the excavation control method and the excavation control device of the shield excavator with improved efficiency are provided. To provide.

(Means for Solving the Problem) The present invention applies a shield jerk group arranged in the rear part of the machine body at intervals in the circumferential direction to the front part of the assembled segment to operate, and by the total thrust of each jerk thrust force. While excavating while controlling the propulsion direction along with the promotion of the shield excavator, during the excavation, some of the jack groups corresponding to each segment block are sequentially deactivated, and each segment block is assembled and constructed sequentially. It has a feature in the excavation control method of the shield excavator that controls the excavation by setting the total thrust of each jacking thrust other than the non-operation to a constant value and setting the propulsion direction by each propulsion control pattern corresponding to the block construction. The shield jack group, which is arranged in the rear part of the machine body at intervals in the circumferential direction, is applied to the front part of the assembled segment to operate, and the total thrust of each jack thrust is used. In a shield excavator that excavates by controlling the propulsion direction as well as propulsion of the machine, process setter that outputs the process signal of each segment block construction and operation that outputs the operation data signal of each shield jack corresponding to each block construction The data setter, the process signal and the operation data signal are input and calculated, and the total thrust of each jacking thrust other than the same is set as a constant value for each block construction. In addition, it is characterized by the excavation control device of the shield excavator equipped with an arithmetic controller that outputs a control signal of each propulsion control pattern for setting the propulsion direction. In addition to automatically controlling the non-operation of the Tsuki group, the propulsion control pattern corresponding to each block construction comprehensively estimates each jacking thrust other than the non-operation. The Automatic control of setting the secure and and propulsion direction at a constant value, and smooth aircraft propulsion, the excavation and segment assembly.

(Operation) The shield excavator is propelled by operating the shield jack group, which is arranged in the rear part of the fuselage at intervals in the circumferential direction, at the front part of the assembled segment, and the shield excavation is performed by the total thrust of each jack thrust. As the machine is propelled, the propulsion direction is controlled and the car is excavated.During the excavation, some of the jack groups corresponding to each segment block are sequentially deactivated, and each segment block is assembled and constructed sequentially. The total thrust of each jacking thrust other than the non-operation is secured to a constant value by each propulsion control pattern corresponding to the above, and the propulsion direction is set and the excavation control is performed to balance the moment and thrust balance of the shield excavator during each block construction. It prevents the meandering and prevents the meandering, and realizes the normal propulsion smoothly. The construction can be performed freely, and therefore, simultaneous construction of segment assembly can be smoothly performed.

The excavation control performance and the operation as described above are controlled by the process signal of the process setting device, the operation data signal of the operation data setting device, and the control signal based on the calculation of the process signal and the operation data signal of the arithmetic controller in the excavation control device. Reliability is obtained and the shield excavator is smoothly propelled and advanced.

(Embodiment) FIGS. 1 to 6 show an embodiment of the shield excavator, segment assembly, excavation control method and excavation control device of the present invention. The shield excavator is shown in FIGS. 1, 3 and As shown in FIG. 4, a skin plate (1), a cutter head with a cutter bit group (2) arranged in front of the partition (1a) in the skin plate (1) and rotationally driven by a driving device (not shown), and a rear part of the machine body Inside the rear part of the fuselage (5), which is arranged on the inner side of the partition wall (1a) with a circumferential interval (on the same circumference) and is controlled by the excavation control device (20) shown in FIG. The segment blocks (10a), (10b), ... (10i) that are arranged are gripped, transported, and arranged in front of the assembled segment (10) to be assembled, and the erector (6) and the partition (1a) are connected to the rear of the partition. Discharge of excavated earth and sand etc. to the rear of the machine Device comprises a (not shown) or the like,
For each shield jack in the shield jack group (5),
A long jack having a long stroke equivalent to 2 rings (2 × X) or more of the segment (10) is applied, and the shield jack group (5) is a shield arranged as shown in FIGS. Jack (5-1) (5-2) …… (5-
38), each shield jack has an appropriate drive circuit (not shown), and the excavation control device (20) shown in FIG.
Is individually controlled by the operation of extension and non-operation of shortening.

The assembled segment (10) is composed of many segment blocks (10a) (10b) (10i) arranged in a ring shape as shown in FIG. They are connected and arranged and assembled by an erector (6) having a known mechanism.

The excavation control device (20) includes a process setting device (21) for outputting a process signal (21a) for segment block construction and an operation data signal for each shield jack corresponding to each block construction as shown in FIG. (22a) output data setter (22), process signal (21a) and operation data signal (22)
Arithmetic controller (23) which inputs and calculates a), converts it into a control signal (24a) via the interface (24) and outputs it.
And the display (2) on the arithmetic controller (23).
5), the recorder (26), etc. are attached, and the arithmetic controller (23) receives a process signal (21a) and an operation data signal (22a) as will be described later. The control signal of each propulsion control pattern that sets the propulsion direction with a constant value of the total thrust of each jack thrust other than the non-operation of each jack group
a) is output through the interface (24), and each shield valve (5-1) (5-2) is output through each control valve (27-1) (27-2) (27-38). ...... (5-38) is automatically controlled.

The excavation control in the shield excavator is as shown in FIGS. 1 and 2, and the cutter head (2) is rotationally driven for excavation, and the shield jerk group (5) is assembled in the segment (10). It hits (extends) to the front part and controls the propulsion direction along with the propulsion of the shield excavator by the total thrust of each jacking thrust, and excavates, and each segment block (10a) (10b) …… (10i) Deactivate (shorten) some of the corresponding jack groups one after another, assemble and construct each segment block in sequence, and use each excavation control pattern corresponding to each block construction to control each jacking thrust other than the above inoperative. Excavation control is performed by setting the total thrust to a constant value and setting the propulsion direction.

Simultaneous construction of shield excavation and segment assembly in the excavation control method will be described in detail with reference to FIGS. 1 and 2. When the shield excavator group (5) is controlled by the excavation control device (20), the shield excavator is propelled and excavated. At the start, each shield jack is shortened and applied (extended) to the front of the assembled segment (10) to propel the shield excavator by the total thrust of each jack thrust and set the propulsion direction. .

As the excavation progresses and each shield jack extends to a stroke corresponding to one ring (X) of the segment (10) as shown in FIG. 1 (A), FIG. 1 (B), FIG. 2 (A) As shown in, some of the jack groups (5-18 to 5-23) corresponding to the segment block (10a) are automatically disabled (shortened), and the new segment block (5) is selected by the erector (6). 10a) is grasped and conveyed, and the segment (10) is arranged and assembled at a desired position of the assembled segment (10) and is connected by bolts or the like by an appropriate means to be constructed, and it is inoperative as shown in FIG. 2 (A). (5-18 to 5-2
Each shield jack (black mark) other than 3) is operated and controlled by the control signal (24a) of the excavation control device (20),
The total thrust of each jack thrust is maintained at a constant value and the propulsion direction is set, so that the shield excavator is smoothly propelled even during the construction of the segment block (10a).

When the assembly and construction of the segment block (10a) are completed, the jack group (5-9 to 5-23) is operated (extended) as shown in FIG. 1 (C), and a new segment block (10a) is obtained. It exerts a jacking thrust on each of the jack groups (5-15 to 5-18) corresponding to the segment block (10b) as shown in FIGS. 1 (D) and 2 (B). ) Becomes inoperative, a new segment block (10b) is similarly assembled and constructed, and the total thrust of each jacking thrust other than inoperative is similarly secured at a constant value and the propulsion direction is also set.
Similarly, each segment block (10c) (10d) ……
(10i) is FIG. 1 (E) (F) and FIG. 2 (C)-(I).
Assembled and constructed sequentially.

As shown in Fig. 2 (A) to (I), each segment block (10a) (10b) ... (10i) is assembled and installed in order, and each shield jack is marked with a black mark at the time of each block installation. The one shown by is activated (extended) to exert thrust, the other shield jacks are deactivated (shortened), and the segment block (10i) shown in FIG. Assembly and construction for one ring are completed, and each shield jack has a segment (10).
Since it is a long jack with a stroke longer than two rings, segment assembly can be smoothly performed while the shield excavator is continuously propelled, that is, excavated.

Explaining in detail the excavation control device (20), the process setting device (21) is for inputting a process signal (21a) of each segment block construction to the arithmetic controller (23),
Specifically, the data of each jack group to be decompressed (not activated) in relation to the position of the segment determined from the newly assembled segment block is input as the input value (i-2), and the operation data set value ( 22) is to input the operation data signal (22a) for each block construction to the arithmetic controller (23). Specifically, it is estimated from the actual measurement when the simultaneous excavation construction is not performed while the segment blocks are assembled. Or the required thrust (F
o), the resultant center position (δx, δy) is output as the initial value (i-1), and the arithmetic controller (23) inputs and calculates the initial value (i-1) and the input value (i-2). Then, it may be output as a predetermined jacking pattern that balances the moment and thrust of the shield excavator, and this output value may be connected to the display (25) and the recorder (26). It is converted into a control signal (24a) by way of the (24), and each shield jack (5-
1) (5-2) ... (5-38) each control valve (27-
1) (27) -2) ... Is given as an input signal, and as a result, the shield excavator continues to excavate in a predetermined jerk pattern corresponding to the newly assembled segment block.

When the excavation is meandering only by the above procedure, the initial value (i-
It is also possible to add a correction operator for the resultant force center (δx, δy) in 1).

The segment blocks (10a), (10b), ... (10i) that form the segment (10) have their assembly positions and divided shapes determined beforehand, and each shield of the shield jack group (5) equipped on the shield excavator. Correspondence with Jitsuki is almost fixed.

When straight line excavation is not performed at the same time as segment assembly, the resultant ground reaction force is usually below the center (0) of the shield excavator, so as shown in Fig. Do not use the shield jack (marked with ○),
Use the shield jack (black mark) on the lower side to drive. The center of total thrust of each jacking thrust, that is, the center of resultant force (Q) is
It is located at the position shown in the figure and δx, δ from the center (0) of the shield excavator.
It has an eccentricity of y (often δx is almost 0).

In this state, for example, if the six shield jacks (5-9) to (5-14) shown in FIG. 4 are inactivated (shortened), the thrust on the right side of the figure decreases, so shield excavation is performed. Although the moment balance of the machine is broken and the curve turns to the right as shown in the figure, propulsion is performed, but on the precondition that a total of 6 shield jacks are inoperative (shortened), a jacking operation pattern that satisfies the following conditions is calculated. .

Fo ≦ ΣF (i) (3) where δx: X-direction displacement of resultant force center δy: Y-direction displacement of resultant force center F (i): i-th shield jacking thrust lx (i): i-th shield Distance from the X axis of the jack ly (i): Distance from the Y axis of the i-th shield Fo: Total thrust required for propulsion These calculations are calculated within the pitch of the shield on the technical jack. Assuming a continuous thrust line, it is relatively easy to calculate by setting the arc lengths of a certain central angle on both sides of an inactive jacking group (for example, 5-9 to 4-14) as unknowns. It Even if it is inoperative, that is, if the unused jacking group changes for each segment block, a specific jacking operation pattern that keeps the resultant force center constant is obtained by the above calculation, and a specific pattern as shown in FIG. 2 is obtained. The operation control as described above is smoothly performed by the excavation control device (20). That is, the total thrust of the shield excavator during each block construction can be set to a constant value and the propulsion direction can be set as desired, and a curve or curve excavation can be easily set.

(Effects of the Invention) The present invention is configured as described above, and applies (extends) a shield jerk group disposed at a circumferential interval in the rear part of the machine body to the front part of the assembled segment, The shield excavator is propelled by the total thrust of each jack thrust and the thrust direction is controlled to proceed with the excavation.During the excavation, some of the jack groups corresponding to each segment block are sequentially deactivated, and each segment block is Assembled and constructed in sequence, the total thrust of each jacking thrust other than the non-operation is set to a constant value by each propulsion control pattern corresponding to each block construction, and the propulsion direction is also set for excavation control. Along with automatic control of inactivity of the jack group, the total thrust of the shield excavator during each block construction is maintained at a constant value and set in the propulsion direction. Automatic control, the moment of the shield excavator,
Thrust is balanced, meandering is prevented, regular propulsion is smoothly realized, and the required moment for curving is calculated in advance, and the center position of the total thrust corresponding to it is selected to advance the curving. The excavation control device can also be used for the construction, and the excavation control device can smoothly realize the excavation. Therefore, the simultaneous construction of the segment assembly can be smoothly performed, and the simultaneous construction performance of the shield excavation and the segment assembly can be significantly improved. There is.

[Brief description of drawings]

1 (A) to 1 (F) are longitudinal sectional views showing an embodiment of the mechanism and each step of the shield excavator of the present invention, and FIG.
Figures (A) to (I) are cross-sectional mechanical views showing inoperative and operating states of the shield jack group for each block construction, Fig. 3 is a development view of the shield jack group, and Fig. 4 is a shield jack group. FIG. 5 is a front view of the assembled segments showing the arrangement of each segment block, and FIG. 6 is a mechanism view of the excavation control device. 5: Shield jack group 5-1, 5-2, ... 5-38: Shield jack 10 ... Segment 10a, 10b, ... 10i: Segment block 20: Trench control device, 21: Process setting device 22: Data setter, 23: Arithmetic controller

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masafumi Wada 1-5-15, Kashiwa-cho, Shiki City, Saitama Prefecture (56) References JP-A-63-171995 (JP, A) JP-A-53-32931 (JP, A)

Claims (2)

(57) [Claims] Claims: 1. A shield jerk group, which is arranged in the rear portion of the machine body at a circumferential interval, is applied to the front portion of the assembled segment to operate, and the total thrust of each jack thrust is used to propel the shield excavator and the propulsion direction. Control and excavate, partially deactivate each jack group corresponding to each segment block in sequence, sequentially assemble each segment block, and perform each propulsion control pattern corresponding to each block construction. A method for controlling excavation of a shield excavator, characterized in that the excavation control is performed by setting the total thrust of each jacking thrust other than the non-operation by a constant value and setting the propulsion direction. 2. A shield jerk group, which is arranged in the rear portion of the fuselage at intervals in the circumferential direction, is applied to the front portion of the assembled segment to operate, and the propulsion direction is controlled together with the propulsion of the fuselage by the total thrust of each jack thrust. In a shield excavator that advances by the process, a process setting device that outputs a process signal of each segment block construction, an operation data setting device that outputs an operation data signal of each shield jack corresponding to each block construction, and the process signal. And the above operation data signal is input and calculated, and for each block construction, some jack groups are not activated, and the total thrust of each jack thrust other than that is set to a constant value and the propulsion direction is set. An excavation control device for a shield excavator, comprising an arithmetic controller that outputs a control signal of a control pattern.