JP2941660B2 - Steering and propulsion device for tunnel machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering and propulsion device for a tunnel machine.

[0002]

2. Description of the Related Art A conventional steering and propulsion device for a tunnel machine comprises a plurality of first propulsion cylinders receiving a cutter torque reaction force by compression and a plurality of second propulsion cylinders receiving a cutter torque reaction force by tension. Are formed in a V-shape, and are installed between the rear base frame and the front base frame such that the bisector of the V-shaped included angle is parallel to the longitudinal center line of the tunnel machine. .

At the time of excavation, while rotating the cutter head frame supported by the front base frame,
Hydraulic oil control device that controls the propulsion cylinders sends hydraulic oil to all the propulsion cylinders by the same amount, extends each propulsion cylinder by the same amount in the extension direction, and applies cutter torque reaction force to the cutter head frame and front base frame. And dig through the tunnel. At the time of steering, a different amount of hydraulic oil is sent to each propulsion cylinder to steer the tunnel machine (see US Pat. No. 4,548,443 if necessary).

[0004]

In the conventional steering and propulsion device for a tunnel excavator, a plurality of first propulsion cylinders receiving a cutter torque reaction force by compression and a plurality of first propulsion cylinders receiving a cutter torque reaction force by tension. Each of the second propulsion cylinders is configured in a V-shape, and between the rear base frame and the front base frame, a V-shaped included angle bisecting line is parallel to the longitudinal center line of the tunnel machine. When propelled against the cutter torque reaction force, the plurality of first propulsion cylinders that receive the cutter torque reaction force by compression and the plurality of second propulsion cylinders that receive the cutter torque reaction force by pulling With the propulsion cylinder, the latter has a small load thrust, but the former has a large load thrust, so a large thrust cylinder is required.
The mechanism becomes larger. In addition, it is necessary to increase the strength of the rear base frame and the front base frame in addition to the narrowing of the body. Further, there is a problem that the operations of excavation and steering are complicated.

The present invention has been made in view of the above problems, and has as its object to reduce the size of the mechanism.
An object of the present invention is to provide a steering and propulsion device for a tunnel excavator that can improve excavation accuracy and operability.

[0006]

In order to achieve the above object, a steering and propulsion device for a tunnel machine according to the present invention comprises a rear base frame and a front base frame which rotatably supports a cutter head frame. A plurality of first propulsion cylinders receiving the cutter torque reaction force by compression and a plurality of second propulsion cylinders receiving the cutter torque reaction force by tension are disposed so as to be adjacent to each other in the circumferential direction. The head end of the propulsion cylinder is swingably attached to the rear base frame via a universal bearing, and the rod end of each propulsion cylinder is swingably attached to the front base frame via a universal bearing. The angle of inclination of the first propulsion cylinder in the circumferential direction is increased, and the angle of inclination of the second propulsion cylinder in the circumferential direction is reduced. Placed Hata V-shape, it is attached to the stroke position detector above the propulsion cylinder is connected to the respective stroke position detector stroke position controller.

[0007]

The steering and propulsion device for a tunnel excavator according to the present invention, as described above, receives a plurality of cutter torque reaction forces between the rear base frame and the front base frame that rotatably supports the cutter head frame. The first propulsion cylinder and a plurality of second propulsion cylinders that receive the cutter torque reaction force by pulling are disposed so as to be adjacent to each other in the circumferential direction, and the head-side end of each propulsion cylinder is connected to the rear base frame. The propulsion cylinder is mounted so as to be swingable via a universal bearing, and the rod-side end of each propulsion cylinder is swingably mounted to the front base frame via a universal bearing. Then, the tilt angle of the first propulsion cylinder in the circumferential direction is increased, and the tilt angle of the second propulsion cylinder in the circumferential direction is reduced so as to conform to the rated thrust force and cutter torque reaction force. As a result, the size of the mechanism is reduced. Each of the above-mentioned propulsion cylinders is provided with a stroke position detector and a propulsion cylinder stroke position control device, so that a coordinated stroke position of each propulsion cylinder necessary for steering and propulsion can be obtained, and excavation accuracy and operability can be improved. Is improved.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a steering and propulsion device for a tunnel machine according to the present invention will be described with reference to an embodiment shown in FIGS.
1 is a rear base frame, 102 is a front base frame that rotatably supports the cutter head frame, 103 is a plurality of universal bearings, 104 is a plurality of first propulsion cylinders that receive a cutter torque reaction force by compression, and 105 is a cutter torque. The first and second propulsion cylinders 104 and 105 are arranged between the rear base frame 101 and the front base frame 102 by a plurality of second propulsion cylinders receiving the reaction force by pulling. In this embodiment, there are a total of ten first and second propulsion cylinders 104 and 105.

The first and second propulsion cylinders 104 and 105 have a large inclination angle in the circumferential direction and a small inclination angle in the second propulsion cylinder 105 in the circumferential direction. The head-side end and the rod-side end of the rear base frame 101
And a front base frame 102, and are arranged in a C-shape or a V-shape.

Next, the operation of the steering and propulsion device of the tunnel machine will be described in detail. Each first propulsion cylinder 104
And each second propulsion cylinder 105 is arranged as described above. In FIG. 4, in order to simplify the description, the first propulsion sinder 104 and the second propulsion sinder 105 are each one, and the universal bearings 103a to 103d are arranged on the same plane. The longitudinal center line 7 is arranged in parallel. The first propulsion cylinder 104 increases the inclination angle 10α in the circumferential direction, and the second propulsion cylinder 105
The inclination angle 12β in the circumferential direction is reduced. The thrust of the first propulsion cylinder 104 is F1, the second propulsion cylinder 105
Assuming that the thrust force of the first and second propulsion cylinders 104 and 105 is F2, the cutter torque reaction force applied to the front base frame 102 by the first and second propulsion cylinders 104 and 105 is as follows. By arranging the propulsion cylinder group so that F2 · SINβ · R and α> β, the cutter torque reaction force acts more on the front base frame 102.

At this time, the position control of each propulsion cylinder is performed as follows.
It is done in the way. That is, the target position of the center of the cutter head
-Attitude Pr [Xr, Yr, Zr, Δr, θr, φr]^T
Solve reverse kinematics from
Loke position Lr [1₁r, 1 _Twor, 1_Threer ... 1
_nr]^T(N: Number of propulsion cylinders installed) in real time
Since the calculation is performed, the target position / posture Pr and each propulsion cylinder
Feedback signal from the stroke position detector
Necessary for steering and propulsion by building a position servo system with
The cooperative operation of each propulsion synd is performed.

Next, the above operation will be described more specifically.
The first propulsion cylinder 104 and the second propulsion cylinder
Compatible with 105 rated thrust force and cutter torque reaction force
The angle of inclination in the circumferential direction is calculated by the static equation
Was found through computer simulation based on
is there. C = J^#F ..... where C [C₁, C_Two, ... C_Ten]^TAre each promotion system.
Linda's required thrust, J^#Is the pseudo-reverse of the Jacobi matrix
Row, F [F_x, F_y, F_z, T_x, T_y, T_z] ^TIs
Rated thrust force and cutter received by the front base frame
Represents six components of torque reaction force and gravity.

FIG. 3 shows the details of a stroke position control device for each of the propulsion cylinders 104 and 105, and a stroke position detector 201 attached to each of the propulsion cylinders 104 and 105.
Is fed back to the servo amplifier 202,
It is taken into the control computing unit (stroke position control device) 204 via the interface 203, and the position and position of the cutter head are determined based on the selected representative six propulsion cylinder link lengths La.
Since the posture is uniquely determined, the approximate calculation is repeatedly performed using the following expression, and forward kinematics (see 205)
, The initial position / posture Pa of the cutter head is obtained from the link length.

[0014] δL = JδX ···· _{here, δL (δ1 1, δ1 2} , ··· δ1 6 ] ^T is,
Selected representative six propulsion cylinder link length of minute displacement, J is the Jacobian matrix, [delta] X _{[δ x, δ y, δ z} , δ
ψ _x , δθ, δφ] ^T indicates a minute displacement of the position / posture of the cutter head. The position control is started from the obtained initial position / posture Pa of the cutter head (see 206), and the target position / posture Pr at the center of the cutter head is obtained every control sampling.
(See 207), solve the reverse kinematics (see 208), find the target link length of the 10 propulsion cylinders, output a command position control signal to the servo amplifier via the interface (see 203), The servo valve is driven to control the position, and the propulsion cylinders necessary for steering and propulsion operate in a coordinated manner.

[0015]

As described above, the steering and propulsion device for a tunnel excavator according to the present invention receives a cutter torque reaction force between the rear base frame and the front base frame that rotatably supports the cutter head frame. A plurality of first propulsion cylinders and a plurality of second propulsion cylinders that receive the cutter torque reaction force by pulling are disposed so as to be adjacent to each other in a circumferential direction,
The head side end of each propulsion cylinder is swingably attached to the rear base frame via a universal bearing,
The rod-side end of each propulsion cylinder is swingably attached to the front base frame via a universal bearing. Then, the tilt angle of the first propulsion cylinder in the circumferential direction is increased, and the tilt angle of the second propulsion cylinder in the circumferential direction is reduced so as to conform to the rated thrust force and cutter torque reaction force. As a result, the size of the mechanism can be reduced.

Each propulsion cylinder is provided with a stroke position detector and a propulsion cylinder stroke position control device, so that a coordinated stroke position of each propulsion cylinder necessary for steering and propulsion can be obtained, and excavation accuracy and Operability can be improved.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional side view showing an embodiment of a steering and propulsion device for a tunnel machine according to the present invention.

FIG. 2 is a longitudinal rear view taken along line AA of FIG. 1;

FIG. 3 is a system diagram showing a stroke position detector of a steering and propulsion device of the tunnel machine and a stroke position control device of a propulsion cylinder.

FIG. 4 is an operation explanatory view of the steering / propelling device of the tunnel machine.

[Explanation of symbols]

7 Longitudinal center line of tunnel machine 8 Cutter rotation direction 10α Circular angle of first propulsion cylinder 104 in the circumferential direction 12β Cline angle of second propulsion cylinder 105 in the circumferential direction 101 Rear base frame 102 Front base frame 103 Swivel bearing 104 First propulsion cylinder 105 Second propulsion cylinder 201 Stroke position detector 202 Servo amplifier 204 Stroke position control device (control calculator) 205 Forward kinematics calculation 206 Initial position / posture of cutter head (Pa) 207 Cutter head Target position / posture (Pr) 208 Reverse kinematics calculation

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takeshi Matsuura 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Pref. Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) References , A) JP-A-3-158597 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 9/06 301

Claims (1)

(57) [Claims] 1. A plurality of first propulsion cylinders receiving a cutter torque reaction force by compression between a rear base frame and a front base frame rotatably supporting a cutter head frame, and a plurality of cutter cylinders receiving a cutter torque reaction force by tension. Book second
The propulsion cylinders are disposed adjacent to each other in the circumferential direction, and the head-side end of each propulsion cylinder is swingably attached to the rear base frame via a universal bearing. A side end portion is swingably attached to the front base frame via a universal bearing to increase a tilt angle of the first propulsion cylinder in a circumferential direction,
The inclination angle of the second propulsion cylinder in the circumferential direction is reduced, adjacent propulsion cylinders are arranged in a C-shape or a V-shape, and a stroke position detector is attached to each of the propulsion cylinders. A steering and propulsion device for a tunnel excavator, wherein each of the stroke position detectors is connected to a stroke position control device.