JP3307753B2 - Control method of multi-axis link type erector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a multi-axis link type erector suitable for automating segment assembly in a circular shield machine.

[0002]

2. Description of the Related Art Electors can be broadly classified into a U-shaped frame type and a link type. As shown in FIG. 7, the U-shaped frame type is mounted on a swivel ring 10 of a circular shield machine via two cylinders 11 and moves in a radial direction of the shield machine, and a U-shaped frame 25, And a segment gripper 26 attached to the tip of the U-shaped frame 25. The mechanisms for sliding, yawing, rolling, pitching and fine turning in the axial direction of the shield machine are generally provided in the segment gripper 26, but depending on the specifications, all or some of these mechanisms may be provided. I have. The erector operation such as grasping, moving, and positioning at the target position of the grasping segment 31 is performed by human power, for example, an auxiliary force of a hydraulic drive, or a combination thereof.
Both are visually inspected by workers.

[0003] Compared with the U-shaped frame type, the link type has a small operating area and a wide operating range. In general, the U-shaped frame 25 is bent at each joint by an actuator such as a hydraulic cylinder (hereinafter, referred to as a “shape excavator”).
This is replaced by a multi-axis link mechanism that is driven. Therefore, elevating (moving in the radial direction),
Rolling and fine turning are different from the U-shaped frame type in that the multi-axis link can be used. Even in the case of the multi-axis link type erector, the operation of the erector such as the positioning of the gripping segment 31 is performed by the operator visually, as in the case of the U-shaped frame type.

[0004]

As described above, the link type has an advantage that the operating range can be widened in spite of a small field area as compared with the U-type frame type, and is a structure expected in the future. However, as described above, the control method is performed by the worker visually. In particular, the operations of lifting, lowering, rolling and fine turning must be performed by simultaneously operating each axis of the multi-axis link mechanism. This not only hinders accurate segment assembly, but is also a dangerous and time-consuming operation, and rapid automation is desired.

[0005] By the way, although the same applies to the U-shaped frame type, when the gripping segment 31 is positioned to follow the existing segment 32, particularly careful work is required to prevent distortion of the segment ring. However, rapid automation is desired.

SUMMARY OF THE INVENTION It is a first object of the present invention to provide a method of controlling a multi-axis link type erector suitable for automation in view of the above-mentioned prior art. It is a second object of the present invention to provide a method of controlling a multi-axis link type erector that can automate the copying of a gripping segment to an existing segment.

[0007]

In order to achieve the first object, a method for controlling a multi-axis link type erector according to the present invention will be described with reference to FIGS. 1 and 6. It is rotatably mounted on the swing ring 10 of the excavator,
The other end is provided with at least the segment gripping means 21 to move the gripping segment 31 to an arbitrary position in a plane parallel to the swivel ring 10 and to correct the posture of the gripping segment in the multi-axis link type erector 20. 31
Are determined in advance at a target position A (Xp, Yp) and a target attitude θ.
(1) When the swivel ring 10 is stopped, the multi-axis link type erector 2
Starting from the mounting position (Xo, Yo) of the pivot ring 10 on the turning ring 10, the respective joints 22i are driven based on the change amount Δθi of each joint 22i to move the grip segment 31 to the target position A (Xp, Yp) and Install with the target posture θzp, (2)
When the turning ring 10 rotates, the mounting position (Xo, Yo) is corrected based on the center position (Xoo, Yoo) of the turning ring 10 and the rotation angle α of the turning ring 10,
Thereafter, starting from the corrected mounting position (Xo1, Yo1) as a starting point, each joint 2 is determined based on the variation Δθi of each joint 22i.
2i to move the grip segment 31 to the target position A.
(Xp, Yp) and the target attitude θzp.

In order to achieve the second object, a method of controlling a multi-axis link type erector according to the present invention will be described with reference to FIGS. The other end portion is protruded from both sides of the segment gripping means 21 so as to press at least the segment gripping means 21 and the inner diameter surface of the existing segment 32 when the gripping segment 31 follows the existing segment 32. With the guide 23i provided, the gripping segment 31 is moved to an arbitrary position in a plane parallel to the swivel ring 10 and the gripping segment 31 in the multi-axis link type erector 20 capable of correcting the posture is determined in advance. A target position A (Xp, Yp) and a target posture θzp. Scanning time, (1) first pressing force by both sides of the guide 23i to existing segment 32 Fi of
(2) and finally,
The change amount Δθi of each joint 22i is set such that each pressing force Fi becomes a predetermined pressing force Foi.
Is driven while the joints 22i are driven, the grip segment 31 is moved to the target position A (Xp, Yp).
) And the target posture θzp.

[0009]

According to the first configuration, (1) is a swing ring 10
(2) shows a control method when the turning ring 10 rotates. In particular, according to the latter method, each joint 2
By correcting the change amount Δθi of 2i, the grip segment 31 is moved, for example, in the tunnel radial direction or the circumferential direction while the posture θz of the grip segment 31 is kept constant.

According to the second configuration, the target posture θzp that is more consistent with the current state (ie, follows the existing segment ring)
Can be obtained. According to (1), the target posture θzp is determined by the balance between the pressing forces Fi of the two guides 23i against the existing segment 32. According to (2), the target position A (Xp, Yp) is determined when each pressing force Fi becomes a predetermined pressing force Foi. By doing so, as described above, the inner diameter surface of the grip segment 31 is in an optimal state following the inner diameter surface of the existing segment 32.

[0011]

First, an example of a multi-axis link type erector 20 to which the method of the embodiment is applied will be described. As shown in FIG. 1, a swivel ring 1 rotatably supported around the axis of a shield machine.
0, a boom 221 rotatably supported by a pin in the direction parallel to the tunnel axis on the revolving ring 10, and an arm 222 rotatably supported on the boom 221 by a pin in the direction parallel to the tunnel axis. The arm 222 is roughly constituted by an erector head 223 also supported by a pin in a direction parallel to the tunnel axis (for simplicity of explanation, the boom 221, the arm 222, and the erector head 2).
23 are simply referred to as joints 22i). The erector head 223 includes a yawing shaft 241 rotating around a tunnel radial axis, a sliding shaft 242 movable in a direction parallel to the tunnel axis, and a pitching rotating around an axis perpendicular to the tunnel radial axis and the tunnel center axis. The shaft 243 and the segment gripping means 21 (not shown) for gripping the segment 31 are mounted. In the above, each actuator, such as a hydraulic cylinder, for driving with each degree of freedom, each force detector for detecting each driving force, for example, a potentiometer for detecting each displacement are mounted, and these pieces of detection information are input. And a controller for providing a drive signal to each hydraulic cylinder.

As shown in FIGS. 5 and 6, in the multi-axis link type erector having the above structure, when the guides with rollers 231 and 232 follow the existing segments 32 and 32, The existing segments 32, which are arranged on the extension of the inner diameter surface of 31, project from both sides of the segment gripping means 21 so as to contact and press the inner diameter surfaces of the existing segments 32, 32. These guides 231 and 232 include
Load cells for detecting pressing forces F1, F2 of the first and second segments 32, 32 against the existing segments 32, 32 are provided.

The first embodiment will be described. In the multi-axis link type erector having the above configuration, as shown in FIG. 1, a rectangular coordinate system (x, y, θz) fixed to the shield machine is set in a plane perpendicular to the axis of the shield machine. . θz
Is the rotation angle around the tunnel axis. Further, a coordinate system (θ1, θ2, θ3) based on the angle of each joint 22i is set separately from the orthogonal coordinate system (x, y, θz). θ1 is x
The angle of the boom 221 with respect to the axis, θ2 is the relative angle of the arm 222 with respect to the boom 221, and θ3 is the relative angle of the elector head 223 with respect to the arm 222. Also,
When the rotation angle α of the swivel ring 10 is α = 0, the coordinates of the support mounting position of the boom 221 with respect to the swivel ring 10 are (Xo, Yo).

If α = 0, each coordinate system (x, y,
θz) and (θ1, θ2, θ3), the following equation 1
Holds.

[0015]

(Equation 1)

In the above equation 1, L1 is the boom 221
, L2 is the length of the arm 222, L3 is the arm 22
2 represents the length from the pin No. 2 to the position A on the erector head 223. Also, when the above equation 1 is linearized in the vicinity of θ1, θ2, and θ3, the following equation 2 is obtained.

[0017]

(Equation 2)

Assuming that the matrix of the first term on the right side of Equation 2 is J, Equation 2 can be transformed into Equation 3 below.

[0019]

(Equation 3)

Now, the orthogonal coordinate system (x, y, θz) is expressed as
As shown in FIG. 2, when expressed in a polar coordinate system (r, ψ, Θz), the following Expression 4 is established.

[0021]

(Equation 4)

When Equation 4 is linearized near the operating point,
Equation 5 below is obtained.

[0023]

(Equation 5)

In the above polar coordinate system (r, ψ, Θz),
Now, the operator moves the multi-axis link type erector 20 to the current position and posture (r1,
ψ1, Θz1) and the target position and orientation (r2, ψ2, Θz)
Assuming that an operation command (Δr, Δψ, Δ で z) which is a difference from 2) is given, the orthogonal coordinate system (x, y,
θz) is calculated (Δx, Δy, Δθz). From the differences (Δx, Δy, Δθz) and Equation 3, the motion amounts (Δθ1, Δθ2, Δθ3) of each joint 22i are calculated. Then, the operation amounts (Δθ1, Δθ2, Δθ3)
Based on the above, as shown in FIG. 3, each actuator is driven to obtain a target position A (Xp, Yp) and a target posture (θzp).

When the swivel ring 10 is rotated by α, it can be automated by correcting the above equation (1) by the following equation (6).

[0026]

(Equation 6)

The angle θ of the boom 221 with respect to the x-axis
1 ′ is obtained by the following equation (7).

[0028]

(Equation 7)

By making such a correction, even when the turning ring 10 rotates by α, the position of the distal end position A can be correctly moved, as in the case where the turning ring 10 does not rotate (α = 0). .

A second embodiment will be described. Gripping segment 3
When the positioning of the grip segment 31 is performed (that is, when the grip segment 31 requiring the most careful movement is copied onto the existing segment 32), the posture θz of the grip segment 31 is changed in the manner described in the first embodiment. (Ie, in this case, the posture command ΔΘz during the operation command is ΔΘz = 0), and is moved in the radial direction (that is, driven only by the position command (Δr, Δψ)). As shown in FIG. 5, one of the rollers of the guides 231 and 232 comes into contact with the inner diameter surface of the existing segment 32, and the pressing force F1 or F2 is detected by the load cell. In the figure, only the roller on the right side in the figure comes into contact with the existing segment 32, and a pressing force F1 is generated. Accordingly, a moment .tau.A is generated around the point A by the pressing force F1. Of course, the force F1 is also generated at the point A by the pressing force F1. Although not shown, the roller on the left side of the figure also contacts the existing segment 32, and when the pressing force F2 is generated, a moment τA is generated around the point A due to the difference between the pressing forces F1 and F2. In this case, of course, a force F1 + F2 is generated at the point A by the pressing forces F1 and F2.
Also, at this time, the position of the point A continues to move in the radial direction as before the roller abuts, so that the two pressing forces F1 and F2 are made equal to each other, and finally each is made. The multi-axis link type erector 20 is driven such that the pressing forces F1 and F2 become the predetermined pressing force Fo. The former "multi-axis link type erector 2 such that both pressing forces F1 and F2 are equal to each other.
0 means to rotate the multi-axis link type erector 20 around the point A (that is, to grasp the segment 3).
By rolling 1), a more realistic target posture θzp is obtained. On the other hand, the latter "to control the operation of the multi-axis link type erector 20 so that the respective pressing forces F1 and F2 finally become the predetermined pressing force Fo" means that the multi-axis link type erector 20 is controlled. To move the point A in the radial direction to obtain a more practical target position A (Xp, Yp). Thus, copying of the grip segment 31 to the existing segment 32 can be performed in more actual conformity. These control methods will be described below using mathematical expressions.

Now, assuming that a force Fx in the x direction based on the pressing force Fi, a force Fy in the y direction, and a moment τA are applied to the point A, each joint 22i of the multi-axis link type erector 20 has: Moments τ1, τ2, τ3, which can be expressed by the following Expression 8, are generated.

[0032]

(Equation 8)

Here, J ^T is the matrix J in the above equation (2).
Is a transposed matrix. In Equation 8, the moment τ
If A = 0, it means that the gripping segment 31 suitably follows the existing segment 32. Therefore, it suffices to give the operation amounts (Δθ11, Δθ21, Δθ31) that make the components Δτ1, Δτ2, Δτ3 due to the moment τA expressed by the following equation 9 in the moments τ1, τ2, τ3 zero.

[0034]

(Equation 9)

On the other hand, as described above, while the point A is fixed in the circumferential direction (ie, Δz = 0), the target value A (rp, Δp
) And the current value A (r, ψ), the movement amount Δθ1, Δθ2, and Δθ3 of each joint 22i obtained by using Expressions 3 and 5 based on the differences Δr and Δψ continue to move in the radial direction. Therefore, by adding the above-mentioned operation amounts (Δθ11, Δθ21, Δθ31) to the operation amounts Δθ1, Δθ2, and Δθ3, the grip segment 31 automatically follows the existing segment 32.

By incorporating the method of the above embodiment into the controller, it becomes possible to automatically control the multi-axis link type erector.

[0037]

As described above, according to the control method of the multi-axis link type erector according to the present invention, the control of the multi-axis link type erector which can obtain a wide operating range despite the small field product is automated. In addition, since it is not necessary to perform the conventional simultaneous operation of each axis, it is also possible to safely and automatically follow the existing segment of the gripping segment that requires the highest accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic view of a multi-axis link type erector in a rectangular coordinate system.

FIG. 2 is a schematic diagram of a multi-axis link type erector in a polar coordinate system.

FIG. 3 is an operation schematic diagram of a multi-axis link type erector in a rectangular coordinate system.

FIG. 4 is a schematic diagram of a rotating operation of a multi-axis link type erector in a rectangular coordinate system.

FIG. 5 is a schematic diagram of a copying operation of the multi-axis link type erector in the orthogonal coordinate system.

FIG. 6 is a perspective view of a multi-axis link type erector.

FIG. 7 is a perspective view of a U-shaped frame type erector.

[Explanation of symbols]

10 Swirl ring 20 Multi-axis link type erector 21 ········· Segment holding means 22i ······ Joints (boom, arm, and elector head) 23i ····· Guide 24i ... Joint (yaw, sliding, pitching) 31 ... Grip segment 32 ...・ ・ ・ Existing segment Δθi ・ ・ ・ Change amount α ・ ・ ・ ・ ・ ・ ・ ・ ・ Rotation Angle Fi ································································· ... Center position (Xo , Yo) Mounting position (Xo1, Yo1) Corrected mounting position A (Xp, Yp) Target position θzp ..... Target posture

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-171499 (JP, A) JP-A-4-293716 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21D 11/40

Claims (2)

(57) [Claims] 1. One end is rotatably mounted on a turning ring 10 of a shield machine, and the other end is provided with at least a segment holding means 21 to hold a holding segment 31 in a plane parallel to the turning ring 10. Move to any position,
In addition, in the multi-axis link type erector 20 whose posture can be corrected, the grip segment 31 is set at a predetermined target position A.
(Xp, Yp) and a control method for setting to the target posture θzp. (1) When the swivel ring 10 is stopped, the mounting position of the multi-axis link type erector 20 on the swivel ring 10 ( Xo, Yo), each joint 22i
The joint 22i is driven based on the change amount Δθi to set the grip segment 31 at the target position A (Xp, Yp) and the target posture θzp. (2) When the turning ring 10 rotates, the turning ring 10 center positions (Xoo, Yoo)
And the rotation angle α of the revolving ring 10 to correct the mounting position (Xo, Yo), and then, using the corrected mounting position (Xo1, Yo1) as a starting point, the change amount Δθi of each joint 22i is calculated. A method of controlling a multi-axis link type erector, characterized in that each of the joints 22i is driven based on the position to set the grip segment 31 at the target position A (Xp, Yp) and the target posture θzp. 2. One end is rotatably mounted on the swivel ring 10 of the shield machine, and the other end is provided with at least the segment gripping means 21 and the existing segment 32 when the gripping segment 31 is copied onto the existing segment 32. And guides 23i protruding from both sides of the segment gripping means 21 so as to press the inner diameter surface of the rotating ring 10 to move the gripping segment 31 to an arbitrary position in a plane parallel to the turning ring 10. This is a control method for setting the gripping segment 31 at a predetermined target position A (Xp, Yp) and a target posture θzp in the multi-axis link type erector 20 that can be corrected. At the time of copying, (1) first, the pressing forces Fi of the guides 23i on both sides against the existing segment 32 are made equal. (2) Finally, by driving each joint 22i while correcting the change amount Δθi of each joint 22i so that each pressing force Fi becomes a predetermined pressing force Foi, gripping is performed. A method for controlling a multi-axis link type erector, wherein the segment 31 is set at the target position A (Xp, Yp) and the target posture θzp.