JP2941671B2 - Direction control method for a mid-fold tunnel excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a directional control method for a mid-bend type tunnel excavator (shield excavator), which continuously controls a directional control jack provided at a mid-bend portion during excavation, and further includes a rear trunk portion. By controlling the point of power of the propulsion jack, sharp curve construction can be controlled smoothly and accurately.

[0002]

2. Description of the Related Art A schematic configuration and a direction control method of a conventional mid-bent shield excavator will be described with reference to FIGS.

In FIG. 18, a cutter head 4 is attached to a front body 2 of a shield machine main body 1, and the cutter head 4 excavates the ground. Further, when excavating a sharp curvature, a copy cutter 5 is provided in the cutter head 4 for excavation. A direction control jack 100 is mounted between the end plate 8 of the front body 2 and the bottom plate 7 of the rear body 3. By manipulating the stroke of the direction control jack 100, the angle between the front trunk 2 and the rear trunk 3 can be controlled.

[0004] Rolling stoppers 101 are attached to the upper and lower portions of the jack arrangement. This is front 2
This is for supporting the rotational torque transmitted to the rear trunk portion 3 from the rear. Therefore, the normal bending angle operation of the normal bending type shield machine is performed on the horizontal plane. The front body 2 and the rear body 3 are sealed by a spherical bush 9. A digging jack 102 is attached to the rear trunk 3, and the digging jack 10 is
While pushing the segment 11 at 2, the shield machine body 1 is excavated.

FIG. 19 is a view taken along the line AA of FIG. 18, and shows a propulsion jack 102, a direction control jack 100, and a rolling stopper 101 arranged in a cylindrical shape. In FIG. 19, the direction control jack 100 is shown with diagonal lines.

FIG. 20 shows a schematic flow from the state of excavation of the shield machine to the operation of each jack. First, in "Understanding the excavation situation", the deviation of the shield machine from the construction plan line is confirmed. Here, the deviation and the deviation angle of the shield machine with respect to the plan line are calculated, and the magnitude of the value is evaluated. Next, the correction direction of the shield machine is set for the above-mentioned deviation by taking into consideration whether the planned line being excavated is a straight line or a curve. Then, it is determined whether the shield machine is to go straight or to curve, and the following operation is performed. The propulsion jack 102 is operated by selecting an ON / OFF pattern, and a pattern is selected such that the point of action (point of force) of all thrusts of the propulsion jack 102 is at a predetermined position. When the operation is performed by selecting the ON / OFF pattern, the thrust of the selected propulsion jack 102 becomes the entire thrust, and the thrust of the non-selected propulsion jack 102 becomes zero.

Here, the emphasis will be further described. Although the actual thrust is obtained from each propulsion jack 102, the excavation state at this time changes according to the thrust pattern of each propulsion jack 102. The action point (power point) is a point when it is assumed that all the thrusts of all the propulsion jacks 102 are concentrated on one point on the rear end face of the shield machine main body. Therefore, the thrust pattern of each propulsion jack 102 that obtains a certain excavation situation can correspond to the position on the rear end face of the shield machine main body where the power point that is assumed to apply the total thrust acts. For example, in the case of going straight, the thrust of each propulsion jack 102 becomes equal, and this state corresponds to the fact that the power point is located at the center position. Further, when the thrust of the right propulsion jack 102 becomes strong and the thrust of the left propulsion jack 102 becomes weak, it corresponds to the shift of the power point to the right from the center position.

In the case of going straight, the direction control jack 100 is locked at the intermediate position. In the case of curve excavation, the direction control jack 100 outside the curve is operated to “extend” and the direction control jack inside the curve is operated to “shrink”. Then, when a predetermined bent angle is obtained, the direction control jack 100 is locked.

A system has been developed in which the operation of the above-described propulsion jack 102 and direction control jack 100 is performed not only manually but also automatically.

[0010]

In the prior art shown in FIGS. 18 to 20, the rolling stopper 101, the direction control jack 100 and the propulsion jack 102 are mounted to control the direction of the shield machine. Therefore, there are the following problems.

When a predetermined angle of bending is obtained, the directional control jack 100 is locked, so that it is difficult to continuously control the angle of bending during excavation. In addition, due to the performance of the seal of the spherical bush 9, it is necessary to operate the directional control jack 100 so that the center of rotation of the spherical surface is always kept constant, but the above operation is difficult in manual operation.

Since the rolling stopper 101 supports the torque from the front torso portion 2 to the rear torso portion 3, the bending angle control is performed only in the horizontal direction, and it is difficult to control the bending angle in the vertical direction.

Propulsion jack 102, direction control jack 1
The propulsion function is complicated because many jacks having different functions of 00 and rolling stopper 101 are used.

The propulsion jack 102 of the rear trunk 3 is ON / O.
Because of the FF selection method, it is not only difficult to accurately select the ON / OFF pattern at the target action point (target force point) of all the propulsion jacks, but in the case of the above selection method, the segment is intermittent and excessive. Because the force was applied, the segment often had an adverse effect such as aperture or stress concentration.

In view of the above-mentioned prior art, the present invention eliminates the need for a rolling stopper, allows the center bending angle to be freely operated up and down and left and right under the control of a directional control jack, and furthermore makes the propulsion jack a full-following type to target the thrust of the jack. By controlling continuously according to the power point, sharp curve construction can be performed accurately,
It is an object of the present invention to provide a direction control method of a bent-type shielded excavator that can be performed continuously and that can limit excessive force applied to a segment.

[0016]

In order to achieve the above object, the present invention provides an excavator body for a tunnel excavator, which comprises a front body having an excavation function, a rear body supporting an excavation reaction force, and a plurality of excavators. It has an extendable jack, and between the front body and the rear body, a plurality of direction control jacks assembled in an oblique truss shape are pivotally connected, and a plurality of propulsion jacks are mounted on the rear body. In the direction control method of the installed tunnel excavator, when excavating while turning to correct the direction of the tunnel excavator, the tip end surface of the front torso was set in the direction to correct the trajectory of the tunnel excavator during excavation. The stroke of the direction control jack is controlled so as to face a target posture which is a vertical plane.

According to the present invention, an excavator body of a tunnel excavator includes:
A front body having an excavation function, a rear body supporting the excavation reaction force, and a plurality of extendable jacks, and an oblique truss-like shape is provided between the front body and the rear body. A plurality of assembled directional control jacks are pivotally connected, and the plurality of propulsion jacks are used in a direction control method of a tunnel excavator installed in a rear body, wherein the position and attitude of the front body during excavation of the tunnel excavator. And a target position, which is a vertical plane during excavation of the front torso, is set from a target point provided on the planning line, and the direction control jack is set so that the front end surface of the front torso faces the target posture during excavation. Is controlled.

According to the present invention, an excavator body of a tunnel excavator includes:
A front body having an excavation function, a rear body supporting the excavation reaction force, and a plurality of extendable jacks, and an oblique truss-like shape is provided between the front body and the rear body. A plurality of assembled directional control jacks are pivotally connected, and a plurality of propulsion jacks are used in a direction control method of a tunnel excavator installed on a rear body portion, in which a position and a posture of a front body portion of the tunnel excavator at the start of excavation. To the target position / posture at the end of the excavation, are smoothly connected by an imaginary line that is a straight line with an arc that minimizes the radius of curvature determined from the maximum bending angle of the front and rear trunks, and is provided on the imaginary line. A plurality of vertical surfaces are set as target postures of the front trunk portion of the tunnel excavator during excavation, and the direction control jack is controlled so that the tip end surface of the front trunk portion faces the target posture during excavation. And

[0019]

[0020]

[0021]

According to the present invention, an excavator body of a tunnel excavator includes:
A front body having an excavation function, a rear body supporting the excavation reaction force, and a plurality of extendable jacks, and an oblique truss-like shape is provided between the front body and the rear body. A plurality of assembled directional control jacks are pivotally mounted, and the plurality of propulsion jacks are used to control the direction of the tunnel excavator installed on the rear trunk portion. The target control angle of the tunnel excavator is set from the position and orientation of the virtual front torso tip obtained by extending the torso in the front torso direction and the target point provided on the planning line, and the target for the above target control angle is set. The target power point position of the propulsion jack provided on the rear trunk is set from the function of the power point position, and the thrust of the propulsion jack is adjusted so that the power point position assumed that all the thrust of the propulsion jack is applied matches the target power point position. Characterized by controlling .

[0023]

[0024]

[Function] Since the plurality of direction control jacks are assembled in a diagonal truss shape between the front body and the rear body, the direction control jack supports the rolling torque from the front body to the rear body. And the propulsion mechanism is simplified.

Further, by continuously controlling the stroke of the directional control jack, the center bending angle can be freely operated up and down, left and right, and with high precision, so that accurate sharp curve construction can be performed.

The propulsion jack pivotally mounted on the rear trunk is of a full-following type, and the thrust of the jack is continuously controlled in accordance with the target point of force, so that the operation of the propulsion jack can be simplified, and the excessive force applied to the segment. Power can be limited, so that the segment is not adversely affected.

Further, by continuously controlling the stroke of the directional control jack, the center bending angle can be freely operated up and down, left and right and with high accuracy, so that a sharp curve with high accuracy can be constructed.

[0028]

Embodiments of the present invention will be described below. The present invention is applied to the center-bent shield excavator shown in FIG. As shown in FIG. 1, a cutter head 4 is attached to the front body 2 of the shield machine main body 1.
Excavate the ground with. Further, when excavating a sharp curvature, a copy cutter 5 is provided in the cutter head 4 for excavation. End plate 8 of front trunk 2 and rear trunk 3
A directional control jack 6 is pivotally connected to the bottom plate 7 in an oblique truss shape. By controlling the stroke of the direction control jack 6, the angle between the front body 2 and the rear body 3 can be controlled. The front body 2 and the rear body 3 are sealed with a spherical bush 9. A propulsion jack 10 is attached to the rear trunk portion 3, and the shield machine main body 1 is propelled while pushing the segment 11 with the propulsion jack 10.

FIG. 2 is a view taken along the line AA of FIG. 1, and shows a propulsion jack 10 arranged in a circumferential shape and a direction control jack 6 arranged in an oblique truss shape. FIG. 2 shows a case where the number of the direction control jacks 6 is six, and the numbers are represented by 6-1 to 6-6.

FIG. 3 shows the arrangement of the propulsion jack 10 in a block form. Here, the propulsion jack 10 is 18
The figure shows a case where the number of blocks is eight, in which the numbers of the propulsion jacks 10 are represented by 10-1 to 10-18, and the numbers of the blocks B are represented by B-1 to B-8.

Next, based on FIG. 4, the direction control jacks 6-1 to 6-6 by the direction control / management system 22, the control device 20 and the shield sequencer 21 and the propulsion jack 10-
Control operations 1 to 10-18 will be described. The shield sequencer 21 controls the switching of the direction control valve 26 and adjusts the operation amounts of the flow control valves 29-1 to 29-6 via the control valve amplifiers 27-1 to 27-6. Pressure control valves 30-1 to 30-3 through -1 to 28-8
Adjust the working pressure of 0-8.

Data is transmitted bidirectionally between the shield sequencer 21 and the control device 20, and between the sequencer 21 and the direction control / management system 22. The directional control / management system 22 has a main function of calculating a deviation and a declination of the tip of the shield machine with respect to a construction plan line, automatic directional control, data collection / recording, and monitoring of a digging state. In general, a gyro, a level gauge, a laser transit, or the like (not shown) is used to detect the position of the shield machine body 1.

The control device 20 inputs the target attitude of the front body 2, the target force point position of the propulsion jack 10, the jack stroke, the pump pressure, etc., and inputs the direction control jack 6-1.
It outputs the amount of operation of the flow control valves 29-1 to 29-6 and the amount of operation of the pressure control valves 30-1 to 30-8 for .about.6-6. The direction control / management system 22 includes:
A monitor 23 and a keyboard 24 are connected.

It should be understood that the control device 20 and the direction control / management system 22 can be arranged either on the ground or in a mine.

When the direction control valve 26 is operated in the direction (a) and the flow control valve 29-1 is further operated in the direction (b), pressure oil is supplied in the direction in which the direction control jack 6-1 extends. The stroke of the jack 6-1 is a stroke meter 3
1-1. Other direction control jacks 6-2-6
The same applies to No. 6. When the direction control valve 26 is operated in the direction (a), the propulsion jacks 10-1 to 10-10 are operated.
Pressure oil is supplied so that -18 extends. At this time, meter-out control, in which the thrust of the propulsion jack 10 is changed by operating the operating pressures of the pressure control valves 30-1 to 30-8, becomes possible. Meter-out control is to control the jacking thrust of each propulsion jack 10 by controlling the discharge hydraulic pressure of the propulsion jack 10 with the pressure control valve 30.

That is, (1) The stroke of the direction control jacks 6-1 to 6-6 can be controlled by adjusting the operation amounts of the flow control valves 29-1 to 29-6.
-1 to 31-6. (2) By adjusting the operating pressure of the pressure control valve 30-1, the jack thrust of the propulsion jacks 10-18 and 10-1 can be adjusted. (3) Adjusting the operating pressure of the pressure control valve 30-2. By this, the jack thrust of the propulsion jacks 10-2 and 10-3 can be adjusted. (4) By adjusting the operating pressure of the pressure control valve 30-3, the propulsion jacks 10-4, 10-5 and 10-6 can be adjusted. (5) The jack thrust of the propulsion jacks 10-7 and 10-8 can be adjusted by adjusting the operating pressure of the pressure control valve 30-4. (6) The jack thrust can be adjusted. By adjusting the operating pressure, the jack thrust of the propulsion jacks 10-9, 10-10 can be adjusted. (7) By adjusting the operating pressure of the pressure control valve 30-6, the propulsion jacks 10-11, 10- 1 You can adjust the jack thrust, by adjusting the operating pressure (8) the pressure control valve 30-7, propulsion jacks 10-13,10-14,10-1
(9) The jacking force of the propulsion jacks 10-16 and 10-17 can be adjusted by adjusting the operating pressure of the pressure control valve 30-8.

<Control Method of Direction Control Jack> Next, FIG.
An example of a method of setting a target posture of the front trunk portion 2 during excavation by using is described below. FIG. 5 shows that at the target point T on the planning line K,
It is intended that the front surface of the front body 2 of the shield machine be oriented perpendicular to the planning line K. FIG. 5A shows that the front surface AP of the front body 2 during excavation corresponds to the planning line K. (B) is a case of approaching.

In the case of FIG. 5A, a virtual line I is obtained using two radii R1 and R2 and a straight line (a straight line is not shown in FIG. 5A). The radiuses R1 and R2 have a minimum radius of curvature obtained from the maximum bending angle between the front body 2 and the rear body 3. Next, a plurality of vertical planes perpendicular to the virtual line I smoothly drawn by the radius R1, the radius R2, and the straight line are set (shown by broken lines in the figure). One of them is defined as a vertical plane AQ. The vertical plane AQ is the target posture of the tip surface AP (at the present time) during excavation. Since the target attitude is set every moment during excavation, the target attitude during excavation is updated a plurality of times.

FIG. 5B shows that the front trunk 2 is approaching the planning line K, and the imaginary line I is a straight line and a radius R3.
An example represented by a combination with a circular arc is shown. The method of setting the target posture during excavation is the same as described above.

Next, referring to FIGS. 6 to 8, a direction control jack 6-6 with respect to the vertical plane AQ which is the target posture of the front body 2 will be described.
A method of calculating the target strokes Lti of 1 to 6-6 will be described.

FIG. 6 shows a flow for calculating the target stroke Lti of the direction control jacks 6-1 to 6-6, and FIG. 7 shows the length of the direction control jacks 6-1 to 6-6 and both ends of the direction control jacks. FIG. 8 is an explanatory view of a general parallel link mechanism showing a geometric relationship with a plate. FIG. 8 shows a posture (tip surface) AP and a target posture (vertical surface) A of the front surface of the front body 2 during excavation.
It is explanatory drawing which showed the concept until the stroke of direction control jack 6-1 to 6-6 was calculated | required from the relative difference with Q.

Here, the direction control jack 6 described above is used.
Since -1 to 6-6 can be handled as a general parallel link, description will be made mainly using the latter name. Note that the attitude calculation unit 50, the conversion unit 51, the stroke calculation unit 52, and the control calculation unit 53 shown in FIG. 6 are incorporated in the direction control / management system 22. However, the calculation unit 5 described above
0, a conversion unit 51, a calculation unit 52, and a calculation unit 53 relate to functions in the direction control calculation process.
It is also possible to incorporate into.

According to the flow shown in FIG. 6, first, the center of the bottom plate 7 is defined as the origin O by each stroke of the parallel link (direction control jacks 6-1 to 6-6) in the current posture calculating section 50 of the cutter head 4. The current attitude AP of the cutter head 4 and the nodal coordinates ^O Pi of the parallel link in the coordinate system
Is calculated. Such a method of calculating a plane from each stroke is called forward kinematics.

Next, the link coordinate conversion unit 5 for the next target posture
1, the parallel link node coordinates Qi of the target attitude AQ are
The coordinate system of the bottom plate 7 is converted by the conversion formula (1) shown in the following formula (1).

[0045]

(Equation 1)

Here, ^H Qi is the attitude AQ as shown in FIG.
^O Qi are link node coordinates in a posture AQ with respect to a coordinate system having the center of the bottom plate 7 as the origin O. The origin H is the center of the coordinate system (X _H , Y _H , Z _H ) fixed to the plate in the attitude AQ as shown in FIG. 7, and the origin O is the coordinate system (X _O , Y
_O , Z _O ).

Next, in each target stroke calculation unit 52 of the parallel link, the relative link length calculation unit 52-1 calculates the link node coordinates in the current posture AP of the cutter head 4.
The relative link length Li between ^O Pi and the nodal coordinates ^O Qi of the target attitude AQ is calculated by the following equation (2). The method of calculating the stroke (length) from the coordinate system of the surface in this way is called inverse kinematics. ^{Li = O Qi - O Pi ...} (2)

The target stroke calculating section 52-2 calculates a target stroke from the above-described relative length Li and the set minimum contraction length of the cylinder. That is, in order to match the minimum value of the link length with the minimum contraction setting length of the jack, first, a deviation ΔL from the minimum link length is obtained by the following equation (3). ΔL = Lmin−min (Li) (3) where Lmin is the minimum set length of the cylinder. Then, the target stroke Lti is calculated using the equation (4). Lti = Li + ΔL (4) From equations (3) and (4), the minimum value of the target stroke is Lti = min (Li) + (Lmin−min (Li)) = Lmin (5) It becomes equal to the set length.

FIG. 8 conceptually shows the relative link length calculator 52-1 and the target stroke calculator 52-2.

The relative relationship between the current posture AP of the cutter head 4 and the target posture AQ is expressed as shown in FIG. (B) is an AA view when (a) is viewed from the side.
(B) further shows a diagram representing the relative relationship: AQ-AP. (C) shows a state in which the entirety is raised without changing the angle of the AQ-AP plane in (b), and the shortest link is equal to the minimum set length of the jack.

When the target stroke Lti is determined, the stroke of the direction control jack 6 is controlled by the stroke control calculation unit 53 based on the above value. The above control method can be performed by a general method such as PID control, and the above-described parallel link can be developed by a general method.

<Control Method of Propulsion Jack> Next, a control method of the propulsion jack 10 of the rear trunk 3 will be described with reference to FIGS. FIG. 9 shows an example in which a virtual front body 2 ′ obtained by extending the rear body 3 in the direction of the front body 2 as it is is applied. The shape of the virtual front torso 2 ′ is the actual front torso 2
Keep the same. Although FIG. 9 relates to the horizontal direction (X direction), the same method can be applied to the vertical direction (Y direction).

The target control angle θ _x1 of the rear trunk 3 is set from the position and orientation of the tip S of the virtual front trunk 2 ′ and the target point T ′ provided on the planning line K. The target point T 'need not be coincident with the target point T shown in FIG. The target control angle in the vertical direction is set to θ _Y1 .

By using the virtual front body 2 'as described above, it is possible to control the propulsion jack independently without interfering with the above-described middle angle control. In addition, a method of obtaining the target control angles θ _X1 and θ _{Y1 based} on the tip position and orientation of the rear body 3 without using the virtual front body 2 ′ can be easily considered.

The directional control / management system 22 has the configuration shown in FIG.
As shown in FIG. 7, data indicating the relationship between the target control angle θ _X and the force point position H _X is stored. The relationship between the target control angle θ _Y and the force point position H _Y (FIG. 11) is similarly stored.

FIG. 12 shows the rear surface of the rear trunk portion 3. For example, when the target control angles θ _X1 , θ _Y1 , the point Q defined by the power point positions H _X1 , H _Y1 is referred to as the target power point. It is called position. If the total thrust is concentrated at this point Q, the shield machine body 1 turns in the direction defined by the target control angles θ _X1 and θ _Y1 .

The characteristics shown in FIGS. 10 and 11 are obtained by taking in actual data in actual excavation and performing learning control.
It is gradually corrected according to the soil quality.

The target force point position Q is calculated from the target control angles θ _X and θ _Y , as described above, and the target force point position Q is calculated using the functions shown in FIGS. Can be calculated. This is an effective method when the propulsion jack 10 is operated because it is associated with the folding control.

The target force point position Q obtained by the direction control / management system 22 is sent to the control device 20. Control device 20
Then, the jack thrust of the propulsion jack 10 of each block B is set so as to satisfy the target force point position Q. Therefore, the controller 20 needs at least data of the target force point position and the supply pressure (pump pressure).

The control of the thrust of the propulsion jack 10 with respect to the target power point position is performed for each block B as shown in FIG. The operation unit of the thrust control is the pressure control valves 30-1 to 30-8 shown in FIG.
By controlling the set pressure of -1 to 30-8 in real time, the thrust of the propulsion jack 10 can be finely controlled.

Further, the partial thrust of the jack thrust of each block B is set to be point-symmetric as shown in FIG.
If the jack thrust at this time is fj (i), i = 1 to 8, it can be expressed as in equation (6). Symbol ± in FIG.
A, ± B, ± C, ± D are partial thrusts ± Δfa, ± Δfb, ± Δf
c, ± fd. Also, fm in equation (6)
id is the average thrust. Note that the method of obtaining equation (6) will be described later.

[0062]

(Equation 2)

The above-described method of calculating the thrust and control pressure of the jack block is described in Japanese Patent Application No. Hei.
The method shown in 199355 can be used. Next, the calculation method described in Japanese Patent Application No. 5-199355 will be described.

FIG. 14 shows the flow of processing by the jack thrust setting means set in the control device 20. Now, in the condition setting section 60 in FIG. 14, the maximum pressure set value of the pressure control valve is P2max, the minimum pressure set value is P2min, the allowable maximum thrust of the jack is fmax, and the allowable minimum thrust is fmin (> 0). .

Normally, fmax is set so as not to exert an excessive jack thrust on the segment, and fmin means that the segment is pushed with the minimum jack thrust, in other words, there is no stopped jack. Using the above conditions and the pump pressure P _p , the maximum thrust fU and the minimum thrust fL that the jack can achieve are determined by the determiner 61. The contents of the above-mentioned determiner are specifically described as follows. Processing content of judgment unit 51: condition set value and pump pressure P _p
Therefore, the pressure set values P2a and P2b that the pressure control valve can take are as follows.

[0066]

(Equation 3)

[0067]

(Equation 4)

Next, an intermediate thrust fmid (= (fU + fL) / 2) is calculated by the calculator 62 in FIG. The above fmid is an intermediate value of the thrust distribution, and fmid is the total number of jacks Nt.
Multiplying the total thrust of the jack.

Next, the calculator 63 in FIG. 14 uses the target force point position (H _X , H _Y ) and the above-mentioned intermediate thrust fmid to calculate
The partial thrust Δf (i) of each block B is calculated. The partial thrust of the jack thrust of each block is set to be point symmetric as shown in FIG. The jack thrust at this time is fj (i),
If i = 1 to 8, it can be expressed as in the above-described equation (6). The symbols ± A, ± B, ± C, ± D in FIG. 13 correspond to the subscripts of the partial thrusts ± Δfa, ± Δfb, ± Δfc, ± Δfd.

FIG. 15A shows the magnitude of the partial thrust about the Y axis. As shown in the figure, the partial thrusts Δfa and Δfa
fb is set so as to be proportional to the magnitude of the X coordinate of the action point of the block (horizontal distance of the action point). Partial thrust Δfc, Δfd
Does not contribute around the Y axis.

FIG. 15B shows the magnitude of the partial thrust about the X axis. As shown in the figure, the partial thrust Δfc, Δ
fd is set to be proportional to the magnitude of the Y coordinate of the action point of the block. The partial thrusts Δfa and Δfb do not contribute around the X axis. The former proportional constant is α1, the latter proportional constant is α2
Then, the relationship between the partial thrusts Δfa and Δfb and the relationship between Δfc and Δfd are expressed as follows.

[0072]

(Equation 5)

Here, the constants α1 and α2 are functions of the coordinates of the action point of the jack block and can be obtained from the design specifications of the excavator. Further, the partial thrusts Δfb and Δfd are obtained by the following equations.

[0074]

(Equation 6)

[0075]

(Equation 7)

For example, in FIG.
When it is 1, jack thrust of jack block B-2
fj (2) becomes maximum, and the jack thrust fj (6) of the jack block B-6 which is point-symmetric with respect to the jack block B-2 becomes minimum.

In the decision unit 64 in FIG. 14, the set maximum thrust
fU and the maximum value of the thrust obtained by the equations (6) and (11) (f
mid + max (Δf (i))). fU = fmid + ma
The relationship x (Δf (i)) means that the thrust distribution is the maximum partial thrust with respect to the target force point position. fU> f
mid + max (Δf (i)) means, for example, that the thrust of the jack block B-2 to be the maximum thrust is smaller than fU as shown in the side view of the thrust distribution in FIG. It means that the brake is applied by the thrust of the part.
Therefore, in the case of the above determination, the thrust distribution is recalculated by the thrust distribution optimization calculator 65.

In the optimizing calculator 65 in FIG. 14, first, the calculator 66 calculates a new intermediate thrust fave for setting fU = max (fj (i)). In this case, the thrust distribution calculated with the intermediate thrust fmid is converted with the new intermediate thrust fave. That is, it is assumed that the following equation holds.

[0079]

(Equation 8)

[0080]

(Equation 9)

The calculator 67 in FIG. 14 uses the intermediate thrust fave obtained by the equation (13) to obtain a new partial thrust Δf ′ (i).
Is calculated. The partial thrust Δf ′ (i) is obtained by replacing fmid in equation (10) with
Instead of fave, it can be obtained from equation (11).

The calculator 68 calculates the thrust fj (i) of each block from the above-described intermediate thrust value fave and the partial thrust Δf ′ (i). The above-mentioned thrust has an optimum thrust distribution whose maximum value is equal to the set maximum thrust fU. Fig. 1 shows the thrust distribution at this time.
FIG. Both FIG. 17 and FIG. 16 satisfy the target force point position, but in FIG. 17 the total thrust is high, and it can be seen that the thrust distribution utilizes the current pump pressure most effectively.

In decision unit 64 in FIG. 14, fU> fmid + ma
If it is determined that it is not x (Δf (i)), the calculator 69 calculates a thrust distribution fj (i) using fmid and Δf (i).
After calculating the thrust fj (i) of the jack block, the calculator 7
At 0, the set pressure Pset (i) of the pressure control valve is calculated. The calculation formula is shown below. _{Pset (i) = (P p} · A1-fj (i)) / A2, i = 1~ blocks ... (14) Here, A1, A2 is the head side pressure receiving area on the rod side of the jack

When the above calculation method is used, the jack thrust of the block where the target force point is located is maximized, and the jack thrust can be gradually reduced from this block toward the point-symmetric block, and the thrust distribution can be reduced. Stable and smooth turning excavation is possible. Further, it is possible to satisfy the minimum / maximum constraint condition of the jack thrust and to control the optimal thrust by using the current pump pressure most effectively. In addition, by setting the jack thrust continuously (at minute intervals) so as to satisfy the target force point position, accurate excavation can be performed.

The above-described direction control jacks 6-1 to 6-6
And in the case of a tunnel excavator in which the propulsion jacks 10-1 and 10-18 can be freely controlled, the power point position is maintained at the origin,
It is possible to easily cope with the basic concept of the directional control of correcting the direction of the tunnel excavator by the continuous control of only the directional control jacks 6-1 to 6-6. In the above case, the target force point position (H _x , H _y ) in FIG. 14 is set to the origin (0, 0). Further, when a digging situation in which the direction cannot be corrected by the above basic method occurs, the target force point position (H _x ,
The method of easily turning the tunnel excavator by slightly shifting H _y ) from the origin can be easily realized by the directional control jack and the power point control according to the present invention.

As described above, according to the embodiment of the present invention,
Since the plurality of direction control jacks 6 are assembled in an oblique truss shape between the front body part 2 and the rear body part 3, the jack 6
In addition, since the center bending angle can be freely operated up, down, left, and right with high accuracy while supporting the rolling torque, accurate sharp curve construction can be performed. Further, since the thrust of the propulsion jack 10 pivotally attached to the rear trunk 3 is continuously controlled in accordance with the target force point position, the control (operation) of the propulsion jack 10 can be simplified, and the excessive force applied to the segment 11 Since such force can be limited, propulsion control that does not adversely affect the segment 11 can be performed.

[0087]

According to the present invention, a plurality of directional control jacks are assembled in a diagonal truss shape between the front body and the rear body as described in detail with the above embodiments.
While supporting the rolling torque with the directional control jack, the bending angle can be freely operated up and down and left and right with high precision, and accurate sharp curve construction can be performed.

Further, since the thrust of the propulsion jack pivotally mounted on the rear trunk portion is continuously controlled in accordance with the target force point position, the control (operation) of the propulsion jack can be simplified, and the excessive force applied to the segment can be reduced. Since the restriction can be made, the propulsion control that does not adversely affect the segment can be performed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a configuration of a mid-fold type shield excavator.

FIG. 2A shows the orientation control and the arrangement of the propulsion jacks, FIG.
FIG.

FIG. 3 is an arrangement diagram showing an arrangement of a propulsion jack.

FIG. 4 is a configuration diagram showing a control system and a hydraulic system.

FIG. 5 is an explanatory diagram showing an example of setting a target posture of a front trunk portion during excavation.

FIG. 6 is an explanatory diagram showing a flow for calculating a target stroke of the direction control jack.

FIG. 7 is an explanatory diagram of a general parallel link mechanism for explaining a geometric relationship between a length of a direction control jack and plates at both ends.

FIG. 8 is an explanatory diagram showing a concept up to obtaining a stroke of a direction control jack from a current relative difference between a front posture of the front trunk portion and a target posture.

FIG. 9 is an explanatory diagram showing a method for obtaining a target control angle from the position and orientation of the virtual front trunk.

FIG. 10 is a characteristic diagram showing a relationship between a target control angle and a force point position.

FIG. 11 is a characteristic diagram showing a relationship between a target control angle and a position of a force point.

FIG. 12 is an explanatory diagram showing a power point position.

FIG. 13 is an explanatory diagram showing the partial thrust of the jack of each block.

FIG. 14 is an explanatory diagram showing a flow of a process for setting a jack thrust of each block.

FIG. 15 is an explanatory diagram showing a biased thrust about the Y axis and about the X axis.

FIG. 16 is an explanatory diagram showing a thrust distribution before performing an optimization operation in FIG. 14;

FIG. 17 is an explanatory diagram showing a thrust distribution after performing the optimization calculation in FIG. 14;

FIG. 18 is a configuration diagram showing a configuration of a conventional bent-type shield excavator.

FIG. 19 is a view taken along the line AA of FIG. 13 showing the arrangement of a conventional direction control and propulsion jack.

FIG. 20 is a flowchart showing a method of operating a conventional bent-type shield excavator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shield machine main body 2 Front torso 3 Rear torso 4 Cutter head 5 Copy cutter 6-1 to 6-6 Direction control jack 7 Bottom plate 8 End plate 9 Spherical bush 10-1 to 10-18 Propulsion jack 11 Segment 20 Control Device 21 Shield sequencer 22 Direction control / management system 23 Monitor 24 Keyboard 25 Hydraulic pump 26 Direction control valve 27-1 to 27-6 Control valve amplifier 28-1 to 28-8 Control valve amplifier 29-1 to 29-6 Flow rate control Valves 30-1 to 30-8 Pressure control valves 31-1 to 31-6 Stroke gauge 50 Posture calculation unit 51 Link node coordinate conversion unit 52 Target stroke calculation unit 53 Stroke control calculation unit 60 Condition setting unit 61 Judgment unit 62 Calculator 63 Calculator 64 Judgment device 65 Optimization operation unit 66 Calculator 67 Calculator 68 Calculator 69 Calculator 70 Calculator 100 Direction control jack 101 Rolling stopper 102 Propulsion jack AP Tip surface (front position) AQ Vertical surface (target position) K Planning line I Virtual line

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Junichi Tanaka 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Inside Mitsubishi Heavy Industries, Ltd.Kobe Shipyard (72) Inventor Kunio Takeda Kanda, Chiyoda-ku, Tokyo 2-3, Obayashi-gumi, Tokyo Main Office (72) Inventor Kosaburo Tsuchiya 2-3, Kandashicho, Chiyoda-ku, Tokyo Tokyo, Main Office (56) References JP-A-6-248871 (JP, A JP-A-5-156889 (JP, A) JP-A-6-137074 (JP, A) JP-A-5-32489 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) E21D 9/06 301

Claims (4)

(57) [Claims] An excavator body of a tunnel excavator includes a front body having an excavation function, a rear body supporting an excavation reaction force, and a plurality of extendable jacks, wherein the front body is provided. A plurality of directional control jacks assembled in an oblique truss shape are pivotally connected between the rear body and the rear trunk, and the plurality of propulsion jacks are connected to a tunnel excavator installed in the rear trunk by a method for controlling the direction of a tunnel. When excavating while making a turn to correct the direction of the excavator, the direction control is performed such that the tip end surface of the front trunk portion is directed to a target posture which is a vertical plane set in a direction to correct the trajectory of the tunnel excavator during excavation. A direction control method for a mid-bend type tunnel excavator, comprising controlling a stroke of a jack. 2. The excavator body of a tunnel excavator includes a front body having an excavation function, a rear body supporting an excavation reaction force, and a plurality of extendable jacks. A plurality of directional control jacks assembled in an oblique truss shape are pivotally connected between the rear body and the rear trunk, and the plurality of propulsion jacks are connected to a tunnel excavator installed in the rear trunk by a method for controlling the direction of a tunnel. From the position / posture of the front body during excavation of the excavator and a target point provided on a planning line, a target posture which is a vertical plane during excavation of the front body is set, and during the excavation, the target posture of the front body is set. A direction control method for a mid-bend tunnel excavator, comprising: controlling a stroke of the direction control jack so that a tip end face faces the target posture. 3. An excavator body of a tunnel excavator having a front body having an excavation function, a rear body supporting an excavation reaction force, and a plurality of extensible jacks. A plurality of directional control jacks, assembled in an oblique truss shape, are pivotally connected between the hull and the rear trunk, and the plurality of propulsion jacks excavate in the direction control method of the tunnel excavator installed in the rear trunk. From the position / posture of the front trunk of the tunnel excavator at the start to the target position / posture at the end of excavation, an arc and a straight line with the minimum radius of curvature determined from the maximum bending angle of the front trunk and the rear trunk A plurality of vertical planes provided on the virtual line are used as the target posture of the front trunk portion of the tunnel excavator being excavated, and the tip end surface of the front trunk portion is the target posture during the excavation. Characterized in that the direction control jack is controlled so as to face the tunnel. Direction control method of the excavator. 4. An excavator body of a tunnel excavator, wherein :
A front body that has the ability to
Having several extendable jacks, the front trunk and the rear trunk
Multiple directional controls in a diagonal truss shape between the parts
A jack is pivoted, and multiple propulsion jacks are mounted on the rear trunk.
In the method of controlling the direction of the installed tunnel excavator, the position / posture of the rear trunk portion of the tunnel excavator or the
Virtual front torso obtained by extending the torso in the direction of the front torso
From the position / posture of the tip of the unit and the target point
Set the target control angle of the tunnel excavator, and
Above the function provided for the target
Set the target power point position of the propulsion jack,
The power point position where all thrusts are assumed to act is the target power point
The thrust of the propulsion jack should be controlled to match the
And a direction control method for a tunnel excavator.