JP6426571B2 - Shield machine and method of controlling operation of propulsion jack in shield machine - Google Patents

Description

  The present invention relates to a shield machine used to construct a tunnel and a method of controlling the operation of its propulsion jack.

Shield tunnels, which are used as pipes for water and sewage, common grooves, roads and railways, are constructed by the shield method.
A shield machine is used in the shield method. The main body of the shield machine (boring machine main body) is, for example, a cylindrical skin plate forming the outer shell, and a cutter head provided at the front end (face side end) of the skin plate for excavating ground. And. In addition, the shield machine includes an extendable and propulsive jack disposed on the peripheral line of the machine body.

In the shield construction method, for example, a start shaft and an arrival shaft are constructed on the ground, and while the ground is excavated with a shield machine from the start shaft to the arrival shaft, inward of the rear (tail) of the skin plate The segments are sequentially assembled in the tunnel circumferential direction to construct a segment ring, and adjacent segment rings are connected in the tunnel axial direction to construct a cylindrical lining body. In this construction method, the shield drilling machine extends the propelling jack to press the existing segment ring in the rear to the rear, and advances while digging the ground by the thrust generated as the reaction force.
Such a shield machine is disclosed in Patent Document 1.

Unexamined-Japanese-Patent No. 2015-030994

  By the way, in recent years, a segment (for example, a segment with a width of 1.5 m to 2 m) having a long width (length in the tunnel axial direction) is used for the purpose of shortening the time in the assembly process of the segments. Along with the widening of this segment, the length of the propelling jack is increasing, and the expansion range of the propelling jack is also increasing. As a result, deformation (for example, elastic deformation) occurs in the propulsion jack (particularly the rod) due to a compressive load, a bending load, a torsional load, etc. acting on the propulsion jack at the time of extension of the propulsion jack. The phenomenon that the whole vibrated had occurred. Also, this vibration may be transmitted to nearby houses in the tunnel construction site, which may adversely affect the living environment of the nearby residents.

  In addition, at the time of extension of the propulsion jack, when the pressing force from the propulsion jack is transmitted to the existing segment, in order to reduce the eccentricity amount of the propulsion jack and to suppress the eccentric load acting on the segment A so-called twin jack may be employed in which two propulsion jacks are attached to one spreader (see FIG. 3 of Patent Document 1).

  However, when this twin jack is adopted, the rod diameter of the propulsion jack becomes thin, so the rigidity is reduced. Therefore, the amount of deformation of the propelling jack (particularly the rod) at the time of extension of the propelling jack may increase, which in turn may promote the overall vibration of the shield machine.

  An object of this invention is to suppress generation | occurrence | production of the vibration in the whole shield drilling machine in view of such a real condition.

  Therefore, a first aspect of the shield machine according to the present invention is a digger body and a plurality of retractable bodies which are arranged on the peripheral line of the digger body and are extendable and retractable, and which can be advanced in extension. And a control unit that controls the operation of the plurality of propulsion jacks. Several propulsion jacks are divided into several groups. The control unit causes the extension of the jacks constituting the group in a predetermined order when the measured value of the vibration of the boring machine main body becomes a predetermined value or more while all the plurality of jacks are extended. The operation of the plurality of propulsion jacks is controlled so as to perform the stopping or shortening of the and the extension of the stopped or shortened propulsion jacks.

  A second aspect of the shield machine according to the present invention is a machine main body, and a plurality of expanders which are arranged on an edge line of the machine body and extendable, and which can advance the machine body at the time of extension. It has a propelling jack, a vibration measurement part which measures a vibration of a construction machine main body, and a control part which controls operation of a plurality of propelling jacks. Several propulsion jacks are divided into several groups. The control unit first stops the extension of all the plurality of propulsion jacks when the measured value of the vibration of the digging machine main body becomes a predetermined value or more while all the plurality of propulsion jacks are extended. The operation of the plurality of propulsion jacks is controlled so as to shorten the propulsion jacks constituting the group and extend the shortened propulsion jacks in a predetermined order in each group.

  In the first aspect of the method of controlling the operation of the propelling jack in the shield machine according to the present invention, the shield machine is disposed on the periphery of the excavator body and the peripheral line of the excavator body and is extendable and retractable. And a plurality of propulsion jacks capable of advancing the excavator main body. In a first aspect of the operation control method of the propulsion jack, the plurality of propulsion jacks are divided into a plurality of groups. Further, in the first aspect of the operation control method of the propulsion jacks, when the degree of vibration of the excavator main body becomes equal to or more than a predetermined threshold during extension of all the plurality of propulsion jacks, the groups are arranged in a predetermined order. In each case, the operation of the plurality of propulsion jacks is controlled so as to stop or shorten the extension of the propulsion jacks constituting the group and to extend the stopped or shortened propulsion jacks.

  In the second aspect of the method of controlling the operation of the propelling jack in the shield machine according to the present invention, the shield machine is disposed on the periphery of the excavator body and the peripheral line of the excavator body and is extendable and retractable. And a plurality of propulsion jacks capable of advancing the excavator main body. In a second aspect of the operation control method of the propulsion jacks, the plurality of propulsion jacks are divided into a plurality of groups. Further, in the second aspect of the operation control method of the propulsion jack, when the degree of vibration of the excavator main body becomes equal to or more than the predetermined threshold while all the plurality of propulsion jacks are being extended, Stopping the extension of the propulsion jacks, and then shortening the propulsion jacks constituting the group and expanding the shortened propulsion jacks in a predetermined order in each group. Control the operation of the

  According to the first aspect of the present invention, it is determined that the measured vibration value of the excavator main body becomes equal to or greater than the predetermined value while all the plurality of propulsion jacks are extended (in other words, the oscillation of the excavator main body) To stop or shorten the extension of the propelling jacks constituting the group and to extend the stopped or shortened propelling jacks in a predetermined order. Control the operation of multiple propulsion jacks. As a result, since the propelling jack can be stopped or shortened for each group in a predetermined order while all the plurality of propelling jacks are being extended, the load acting on the propelling jack can be relaxed. It is possible to suppress the occurrence of overall vibration of the shield machine due to the deformation of the propulsion jack.

  According to the second aspect of the present invention, it is determined that the measured vibration value of the excavator main body becomes equal to or more than the predetermined value while all the plurality of propulsion jacks are extended (in other words, the oscillation of the excavator main body) First, stop extension of all the plurality of propulsion jacks, and then shorten the propulsion jacks constituting the group for each group in a predetermined order, and The operation of the plurality of propulsion jacks is controlled to perform the extension of the propulsion jacks. Thereby, the extension of all the plurality of propulsion jacks can be temporarily stopped, and the propulsion jacks can be shortened for each group in a predetermined order to alleviate the load acting on the propulsion jacks. It is possible to suppress the occurrence of vibration in the entire shield machine caused by the deformation of.

Schematic block diagram of a shield machine according to a first embodiment of the present invention I-I sectional view of FIG. 1 Flow chart showing operation control method of propulsion jack in same embodiment Flow chart showing operation control method of propulsion jack according to the second embodiment of the present invention

Embodiments of the present invention will be described below based on the drawings.
FIG. 1 shows a schematic configuration of a shield machine according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view taken along a line II in FIG. In addition, in FIG. 2, illustration of the elector mentioned later and a segment ring is abbreviate | omitted for the simplification of illustration.

In the present embodiment, for the sake of convenience, the forward and backward directions are defined as the forward and backward direction of the tunnel.
Further, in the present embodiment, the configuration of the shield machine will be described by taking a so-called mud pressure shield machine as an example, but the type of shield machine is not limited thereto.

  A shield machine 1 used for constructing a tunnel is configured such that a main body (boring machine body) 2 includes a cylindrical front barrel 3 and a rear barrel 4. Here, the skin plate 5 disposed on the side of the front barrel 3 and the skin plate 6 disposed on the side of the back barrel 4 respectively form the outer shell of the excavator main body 2.

The front barrel 3 has a cutter head 7 for digging and a shield bulkhead 8.
The cutter head 7 is disposed at the front end of the front barrel 3. The shield partition 8 is disposed on the front barrel 3 separately from the rear of the cutter head 7.
The cutter head 7 is rotatably supported by the shield partition 8, and excavates a ground while rotating using a drive motor 9 installed on the rear surface of the shield partition 8 as a drive source.

A cutter chamber 10 is defined between the cutter head 7 and the shield partition 8 by these and the skin plate 5.
In the cutter chamber 10, the excavated soil generated by the excavation by the cutter head 7 is retained.

In the shield machine 1, a plurality of center folding jacks 11 are arranged at intervals in the circumferential direction of the cylinder so as to connect the rear of the front cylinder 3 and the front of the rear cylinder 4.
The centering jack 11 is a hydraulic jack composed of a cylinder 11a and a rod 11b. One end of the cylinder 11a is fixed to the front of the rear barrel 4, and the rod 11b can be advanced and retracted at the other end. The tip end of the rod 11 b of the bending jack 11 is fixed to the rear of the front barrel 3. At the time of changing / adjusting the drilling direction of the shield machine 1, the amount of extension of each of the center folding jacks 11 is changed / adjusted.

The shield machine 1 includes an elector 12 in a skin plate 6 of the rear barrel 4.
The elector 12 is provided with a grip 12a. In the rear portion (tail portion) 60 of the skin plate 6, the elector 12 grips the segment 13 having an arc-shaped cross section with the gripping portion 12a, and appropriately selects the segment 13 in the tunnel axial direction, radial direction, and circumferential direction. It can be moved. The erector 12 assembles the segments 13 in the circumferential direction inward of the rear portion 60 of the skin plate 6 to construct a cylindrical segment ring 14.

  In the peripheral portion of the rear barrel 4 of the shield machine 1, a plurality of (92 in FIG. 2) propulsion jacks 15 are spaced from each other in the circumferential direction of the barrel so as not to interfere with the plurality of center folding jacks 11. It is arranged. Here, the circumference C shown in FIG. 2 corresponds to the “peripheral line of the excavator main body” of the present invention. Therefore, in the present embodiment, the plurality of propulsion jacks 15 are disposed on the peripheral line (on the circumference C) of the excavator main body 2 (rear cylinder 4). In addition, although it demonstrates below that the number of the propulsion jacks 15 is 92 in this embodiment, the number of the propulsion jacks 15 is not restricted to this.

  The propulsion jack 15 is a hydraulic jack composed of a cylinder 15a and a rod 15b. One end of the cylinder 15a is fixed to the rear barrel 4, and the rod 15b can be advanced and retracted at the other end. In the present embodiment, in a normal state, all the propelling jacks 15 are extended and operated in a state in which the tips of the rods 15b of all the propelling jacks 15 are in contact with the existing segment ring 14 via the spreader 15c. The shield machine 1 (digger body 2) obtains propulsion. Therefore, the propulsion jack 15 can push out the existing segment ring 14 behind the rear portion 60 of the skin plate 6, and the reaction force can propel the shield machine 1 (the machine main body 2) forward.

  In the present embodiment, when the pressing force from the propulsion jack 15 is transmitted to the existing segment ring 14 at the time of extension of the propulsion jack 15, the amount of eccentricity of the propulsion jack 15 is reduced, and A so-called twin jack in which two propulsion jacks 15 are attached to one spreader 15 c is employed in order to suppress an offset load acting on the ring 14. Therefore, in the present embodiment, the number of spreaders 15c is 46 (see FIG. 2). However, the form of the propulsion jack 15 is not limited to this. That is, one propulsion jack 15 may be attached to one spreader 15c.

In the present embodiment, the 92 propulsion jacks 15 are divided into 12 groups (groups G1 to G12). That is, the plurality of propulsion jacks 15 are divided into a plurality of groups (groups G1 to G12). These groups G <b> 1 to G <b> 12 are arranged in the circumferential direction of the excavator main body 2.
Incidentally, with regard to grouping of the plurality of propulsion jacks 15, the total number of groups is preferably a multiple of 4, and it is further preferable that the total number of groups is any of 8, 12, 16. Thus, the groups can be distributed in a balanced manner in the vertical and horizontal directions.

As shown in FIG. 2, the groups G1 to G3, G5 to G9, G11 and G12 are each configured by eight propulsion jacks 15. The groups G4 and G10 are each configured by six propulsion jacks 15. The number of the propulsion jacks 15 in each group is not limited to this, and any number of two or more may be used.
The group G1 and the group G7 are opposed to each other with the aircraft axis MC interposed therebetween. The group G2 and the group G8 face each other with the aircraft axis MC interposed therebetween. The group G3 and the group G9 face each other with the aircraft axis MC interposed therebetween. The group G4 and the group G10 are opposed to each other across the air axis MC. The group G5 and the group G11 are opposed to each other with the aircraft axis MC interposed therebetween. The group G6 and the group G12 are opposed to each other across the aircraft axis MC.

Returning to FIG. 1, the shield machine 1 includes a screw conveyor 16 for carrying out excavated soil in the cutter chamber 10 to the rear of the shield partition 8.
The screw conveyor 16 comprises a cylindrical case 17 fixed to the shield partition 8 and an auger 18 incorporated therein, and excavated soil in the cutter chamber 10 can be made of the shield partition 8 by rotating the auger 18. Take it out backwards.

  The back trunk 4 is provided with a scaffold 20 at its central portion. The scaffold 20 extends along the axis MC. The frame portion 21 forming the main body of the scaffold 20 has a rectangular cross section as shown in FIG. 2 and extends along the machine axis MC.

  A segment supply device 22 for supplying the segments 13 to the elector 12 is disposed below the scaffold 20 (frame portion 21) and behind the elector 12. Further, in the portion of the scaffold 20 located inward of the rear portion 60 of the skin plate 6, a movable scaffold (not shown) that can be reciprocated along the axial direction is provided. This moving scaffold can be used for an operation of connecting the segments 13 with each other.

  The frame unit 21 is provided with an acceleration sensor 31 which is an example of a vibration sensor. In the present embodiment, the acceleration sensor 31 is a three-axis acceleration sensor that measures acceleration in three axial directions (x-axis direction, y-axis direction, z-axis direction) orthogonal to each other. Therefore, the acceleration sensor 31 can measure the acceleration in the three axial directions as the acceleration of the excavator main body 2, and in turn measures the vibrations in the three axial directions as the vibration of the excavator main body 2. Can. In addition, the acceleration sensor 31 can grasp the degree of acceleration of the excavator main body 2 in the three axial directions (in other words, the degree of vibration of the excavator main body 2). Therefore, the acceleration sensor 31 can function as the "vibration measurement unit" of the present invention.

Signals corresponding to the accelerations (vibrations) in the three axial directions measured by the acceleration sensor 31 are transmitted to the control device 42 through signal lines (not shown). Here, the control device 42 may be disposed, for example, in the operation control room 45 provided in the scaffold 20.
The control device 42 includes a synthetic acceleration calculation unit 48 and a vibration determination unit 49. Further, the control device 42 functions as the “control unit” of the present invention, and controls the operation (specifically, the expansion and contraction operation) of all the propulsion jacks 15 for each of the aforementioned groups G1 to G12.

  The synthetic acceleration calculation unit 48 synthesizes the accelerations x, y, z in the three axial directions measured by the acceleration sensor 31 according to the following equation (1) to calculate a synthetic acceleration a. Here, the accelerations x, y, and z are accelerations in the x-axis direction, the y-axis direction, and the z-axis direction, respectively.

  Therefore, the acceleration sensor 31 and the synthetic acceleration calculation unit 48 cooperate with each other to function as the “vibration measurement unit” of the present invention, and can measure the acceleration (synthetic acceleration) of the excavator main body 2. The vibration of the excavator main body 2 can be measured. Further, the degree of the acceleration (synthetic acceleration) of the construction machine body 2 (in other words, the degree of the vibration of the construction machine body 2) can be grasped.

  The vibration determination unit 49 determines whether the vibration of the excavator main body 2 is equal to or greater than a predetermined value. In this embodiment, specifically, it is determined whether or not the synthetic acceleration a corresponding to the vibration of the excavator main body 2 is a predetermined value P or more. Here, the predetermined value P is a threshold for determining whether or not a vibration suppression control routine to be described later is to be executed, and is set in advance. Also, the predetermined value P may correspond to the "predetermined value" and the "predetermined threshold" in the present invention. Further, the synthetic acceleration a may correspond to the “measurement value of the vibration of the excavator main body” and the “degree of the vibration of the excavator main body” of the present invention.

Next, an operation control method of the propulsion jack 15 realized by the control device 42 will be described using FIG. 3 in addition to the above-described FIG. 1 and FIG. 2.
FIG. 3 is a flowchart showing an operation control method of the propulsion jack 15 in the present embodiment.

  The flow shown in FIG. 3 is a state in which all the propelling jacks 15 are extended in a state in which the tip end portions of the rods 15b of all the propelling jacks 15 are in contact with the existing segment ring 14 via the spreader 15c. (That is, while all the propelling jacks 15 are extending) is repeatedly executed at a predetermined cycle.

First, in step S1, it is determined whether the combined acceleration a is equal to or greater than a predetermined value P.
If the synthetic acceleration a is not equal to or more than the predetermined value P (that is, the synthetic acceleration a is less than the predetermined value P), the process proceeds to step S2, continues the extension operation of all the propulsion jacks 15, and ends this flow. Do.

On the other hand, when the combined acceleration a is equal to or more than the predetermined value P, the process proceeds to step S3 and the vibration suppression control of the shield machine 1 is performed. Specifically, one of the first to third examples of the vibration suppression control routine of the shield machine 1 described later is executed.
When the vibration suppression control of the shield machine 1 in step S3 is completed, the process proceeds to step S4, the extension operation of all the propulsion jacks 15 is restarted, and this flow is ended.

Here, a first example of the vibration suppression control routine of the shield machine 1 will be described.
In this example, first, the extension operation of the propulsion jacks 15 constituting the group G1 is stopped or shortened to maintain the shortened state. The period for stopping the extension operation or maintaining the shortening state is set in advance. Further, in this period, the extension operation of the propulsion jacks 15 constituting the groups G2 to G12 (that is, groups other than the group G1) is continued. Therefore, in a state where the tip end portion of the rod 15b of the propulsion jack 15 constituting the groups G2 to G12 is in contact with the existing segment ring 14 via the spreader 15c, the propulsion jacks 15 constituting the groups G2 to G12 are extended By operating the shield machine 1, the shield machine 1 (digger body 2) can obtain propulsive force. Therefore, the propulsion jacks 15 constituting the groups G2 to G12 push the existing segment ring 14 back of the rear portion 60 of the skin plate 6 and the reaction force makes the shield machine 1 (the machine main body 2) forward. It can be promoted.

  Moreover, in the above-mentioned period, the propulsion jack 15 which comprises group G1 leaves | separates from the existing segment ring 14. As shown in FIG. Therefore, since the restraint of the propulsion jack 15 is released, the load acting on the propulsion jack 15 can be relieved, and hence the amount of deformation of the propulsion jack 15 can be reduced.

After the above-mentioned period has elapsed, the propulsion jacks 15 constituting the group G1 are then extended until the expansion jacks of the propulsion jacks 15 constituting the groups G2 to G12 are caught up.
Thereafter, for the groups G2 to G12, in order from the group G2 to the group G12, for each group, as in the case of the above-mentioned group G1, stopping or shortening the extension of the propulsion jack 15 and the stopped or shortened propulsion jack And 15 extension.

Thus, while continuing the digging, the propulsion jacks 15 constituting each of the groups G1 to G12 sequentially separate from the existing segment ring 14. Therefore, since the restraint of the propulsion jack 15 is sequentially released, the load acting on the propulsion jack 15 can be alleviated, and in turn, the amount of deformation of the propulsion jack 15 can be reduced.
Here, in this example, the propelling jacks 15 are extended for each group in the order of progress along the circumferential direction of the excavator main body 2 (specifically, in ascending order from group G1 to group G12 shown in FIG. 2) Stop or shorten, and extend the stopped or shortened propulsion jack 15. In addition, during the period in which the extension of the propulsion jack 15 is stopped or shortened in one group, the extension of the propulsion jack 15 is continued for the other groups (that is, the digging with the shield machine 1 is performed). Continued without interruption).
In this example, the order of advancing along the circumferential direction of the main machine 2 (specifically, ascending order from group G1 to group G12 shown in FIG. 2) corresponds to the "predetermined order" of the present invention. .

Next, a second example of the vibration suppression control routine of the shield machine 1 will be described.
Points different from the first example described above will be described.
In this example, in the group G1, G7, G2, G8, G3, G9, G4, G10, G5, G11, G6, G12 in this order, the extension jacking 15 is stopped or shortened for each group, and this stop or stop The extension of the shortened propelling jack 15 is performed. In addition, during the period in which the extension of the propulsion jack 15 is stopped or shortened in one group, the extension of the propulsion jack 15 is continued for the other groups (that is, the digging with the shield machine 1 is performed). Continued without interruption).

  In the present example, the group G1 corresponds to the "first group" in the present invention. The group G7 corresponds to the "second group" of the present invention. The group G2 corresponds to the "third group" of the present invention. The group G8 corresponds to the "fourth group" of the present invention. The group G1 and the group G2 are adjacent to each other in the circumferential direction of the excavator main body 2. Further, the order of the groups G1, G7, G2, G8, G3, G4, G10, G5, G11, G6, G12 corresponds to the "predetermined order" of the present invention.

Next, a third example of the vibration suppression control routine of the shield machine 1 will be described.
Points different from the above-described second example will be described.
In this example, in the order of the groups G1, G7, G2, G8, G3, G9, G4, G10, G5, G11, G6, G12 in the second example, the groups G1 and G7 are simultaneously, Group G8 is simultaneously, group G3 and group G9 are simultaneously, group G4 and group G10 are simultaneously, group G5 and group G11 are simultaneously, and group G6 and group G12 are simultaneously .

  According to the present embodiment, the shield machine 1 is disposed on the drilling machine body 2 and the peripheral line (circumference C) of the drilling machine body 2 so as to be expandable and retractable, and at the time of extension, the drilling machine body 2 A plurality of propulsion jacks 15 capable of moving forward, a vibration measurement unit (acceleration sensor 31) for measuring the vibration of the excavator main body 2, and a control unit (control device 42) for controlling the operation of the plurality of propulsion jacks 15 And. The plurality of propulsion jacks 15 are divided into a plurality of groups G1 to G12. The control unit (control device 42) measures that the measured value (for example, the combined acceleration a) of the vibration of the main body 2 is a predetermined value or more (for example, a predetermined value or more) while all the plurality of propulsion jacks 15 are extending. Then, for each group in a predetermined order (see the first to third examples described above), stopping or shortening the extension of the propulsion jacks 15 constituting the group and extension of the stopped or shortened propulsion jacks 15 Control the operation of the plurality of propulsion jacks 15. Thereby, while all the plurality of propulsion jacks 15 are being extended, the propulsion jacks 15 may be stopped or shortened for each group in a predetermined order to reduce the load acting on the propulsion jacks 15. Since it can do, generation | occurrence | production of the vibration in the whole shield machine 1 resulting from a deformation | transformation of the propulsion jack 15 can be suppressed.

  Further, according to the present embodiment, the excavator main body 2 and the peripheral line (circumference C) of the excavator main body 2 are disposed and extendable, and the excavator main body 2 can be advanced at the time of extension. In the method of controlling the operation of the propulsion jacks 15 in the shield machine 1 having a plurality of propulsion jacks 15, the plurality of propulsion jacks 15 are divided into a plurality of groups G1 to G12, and all the plurality of propulsion jacks 15 extend. If the degree of vibration of the construction machine body 2 (for example, the combined acceleration a) becomes equal to or more than a predetermined threshold (for example, a predetermined value P or more) while traveling, the groups are arranged in a predetermined order (see the first Each time, the operation of the plurality of propulsion jacks 15 is controlled so as to stop or shorten the extension of the propulsion jacks 15 constituting the group and to extend the stopped or shortened propulsion jacks 15. Thereby, while all the plurality of propulsion jacks 15 are being extended, the propulsion jacks 15 may be stopped or shortened for each group in a predetermined order to reduce the load acting on the propulsion jacks 15. Since it can do, generation | occurrence | production of the vibration in the whole shield machine 1 resulting from a deformation | transformation of the propulsion jack 15 can be suppressed.

  Further, according to the present embodiment, the plurality of groups G <b> 1 to G <b> 12 are arranged in the circumferential direction of the excavator main body 2. Thereby, grouping of the plurality of propulsion jacks 15 can be easily performed.

  Further, according to the present embodiment, the “predetermined order” in the first example described above is the order of advancing along the circumferential direction of the excavator main body 2. Thus, the restraint of the propulsion jacks 15 in each group can be released in order in the circumferential direction of the excavator main body 2.

  Further, according to the present embodiment, in the above-described second example, the plurality of groups G1 to G12 are the first group (group G1), the second group (group G7), the third group (group G2), And the fourth group (group G8), wherein the first group (group G1) and the second group (group G7) face each other across the axis MC of the excavator main body 2, and the third group The (group G2) and the fourth group (group G8) face each other across the axis MC of the main machine 2, and the first group (group G1) and the third group (group G2) are parallel machines Adjacent to each other in the circumferential direction of the main body 2, "predetermined order" means the first group (group G1), the second group (group G7), the third group (group G2), the fourth group It is the order of (group G8). Thus, the restraint of the propulsion jacks 15 in each group can be released while ensuring the symmetry based on the axis MC.

  Further, according to the present embodiment, in the above-described third example, the first group (group G1) and the second group (group G7) in the “predetermined order” of the above-described second example are simultaneously processed, And, the third group (group G2) and the fourth group (group G8) are simultaneously made. Thereby, since it is possible to simultaneously release the restraint of the propulsion jacks 15 in the groups facing each other across the mechanical axis MC, it is possible to suppress the imbalance of the propulsion force of the shield machine 1 with the release of the restraint. it can.

FIG. 4 is a flow chart showing an operation control method of the propulsion jack 15 in the second embodiment of the present invention.
Points different from the first embodiment described above will be described.

In the present embodiment, when the combined acceleration a is equal to or more than the predetermined value P in step S1, the process proceeds to step S6, and all the propelling jacks 15 stop the extension operation. Thereafter, the process proceeds to step S7, and vibration suppression control of the shield machine 1 is performed. Specifically, one of fourth to sixth examples of a vibration suppression control routine of the shield machine 1 described later is executed.
When the vibration suppression control of the shield machine 1 in step S7 is completed, the process proceeds to step S8, the extension operation of all the propulsion jacks 15 is resumed, and this flow is ended.

Here, a fourth example of the vibration suppression control routine of the shield machine 1 will be described.
In the present embodiment, first, the propulsion jacks 15 constituting the group G1 are shortened to maintain the shortened state. The period for maintaining this shortened state is set in advance. Further, in this period, the extension operation of the propulsion jacks 15 constituting the groups G2 to G12 (that is, groups other than the group G1) is stopped. Therefore, in this period, the tips of the rods 15b of the propulsion jacks 15 constituting the groups G2 to G12 are in contact with the existing segment ring 14 via the spreader 15c.

  In addition, in this period, the propulsion jacks 15 constituting the group G1 are separated from the existing segment ring 14. Therefore, since the restraint of the propulsion jack 15 is released, the load acting on the propulsion jack 15 can be relieved, and hence the amount of deformation of the propulsion jack 15 can be reduced.

After this period has elapsed, next, the propulsion jacks 15 constituting the group G1 are operated to extend, and the tip of the rod 15b is brought into contact with the existing segment ring 14 via the spreader 15c.
Thereafter, for the groups G2 to G12, in order from the group G2 to the group G12, for each group, similarly to the above-mentioned group G1, shortening of the propulsion jack 15 and extension operation of the shortened propulsion jack 15 Do.

Thus, the propulsion jacks 15 constituting each of the groups G1 to G12 sequentially separate from the existing segment ring 14. Therefore, since the restraint of the propulsion jack 15 is sequentially released, the load acting on the propulsion jack 15 can be alleviated, and in turn, the amount of deformation of the propulsion jack 15 can be reduced.
Here, in this example, in order of advancing along the circumferential direction of the excavator main body 2 (specifically, in ascending order from the group G1 to the group G12 shown in FIG. 2), shortening of the propulsion jacks 15 for each group And extension of this shortened propelling jack 15.
In this example, the order of advancing along the circumferential direction of the main machine 2 (specifically, ascending order from group G1 to group G12 shown in FIG. 2) corresponds to the "predetermined order" of the present invention. .

Next, a fifth example of the vibration suppression control routine of the shield machine 1 will be described.
Points different from the above-described fourth example will be described.
In this example, in order of the groups G1, G7, G2, G8, G3, G9, G4, G10, G5, G11, G6, and G12, the propelling jacks 15 are shortened for each group and the shortened propelling jacks 15 And the extension of

  In the present example, the group G1 corresponds to the "first group" in the present invention. The group G7 corresponds to the "second group" of the present invention. The group G2 corresponds to the "third group" of the present invention. The group G8 corresponds to the "fourth group" of the present invention. The group G1 and the group G2 are adjacent to each other in the circumferential direction of the excavator main body 2. Further, the order of the groups G1, G7, G2, G8, G3, G4, G10, G5, G11, G6, G12 corresponds to the "predetermined order" of the present invention.

Next, a sixth example of the vibration suppression control routine of the shield machine 1 will be described.
Points different from the fifth example described above will be described.
In this example, the groups G1 and G7 are simultaneously in the order of the groups G1, G7, G2, G8, G3, G9, G4, G10, G5, G11, G6, G12 in the fifth example, and Group G8 is simultaneously, group G3 and group G9 are simultaneously, group G4 and group G10 are simultaneously, group G5 and group G11 are simultaneously, and group G6 and group G12 are simultaneously .

  In particular, according to the present embodiment, the control unit (control device 42) measures that the measured value of the vibration of the excavator main body 2 (for example, the synthetic acceleration a) is a predetermined value while all the plurality of propulsion jacks 15 are being extended. If it becomes above (for example, more than predetermined value P), first, extension of all a plurality of propulsion jacks 15 will be stopped, and next, for every group in a predetermined order (refer the above-mentioned 4th example-the 6th example), The operation of the plurality of propulsion jacks 15 is controlled so as to shorten the propulsion jacks 15 constituting the group and extend the shortened propulsion jacks 15. Thereby, the extension of all the plurality of propulsion jacks 15 can be temporarily stopped, and the propulsion jacks 15 can be shortened for each group in a predetermined order, and the load acting on the propulsion jacks 15 can be relaxed. The generation of vibration in the entire shield machine 1 caused by the deformation of the propulsion jack 15 can be suppressed.

  Further, according to the present embodiment, in the operation control method of the propulsion jacks 15 in the shield machine 1, the plurality of propulsion jacks 15 are divided into the plurality of groups G1 to G12, and all the plurality of propulsion jacks 15 are extending. Then, when the degree of vibration of the construction machine body 2 (for example, the combined acceleration a) becomes equal to or higher than a predetermined threshold (for example, higher than a predetermined value P), first, extension of all the plurality of propulsion jacks 15 is stopped. For each group in a predetermined order (see the fourth to sixth examples described above), a plurality of propulsions are performed so as to shorten the propulsion jacks 15 constituting the group and extend the shortened propulsion jacks 15. The operation of the jack 15 is controlled. Thereby, the extension of all the plurality of propulsion jacks 15 can be temporarily stopped, and the propulsion jacks 15 can be shortened for each group in a predetermined order, and the load acting on the propulsion jacks 15 can be relaxed. The generation of vibration in the entire shield machine 1 caused by the deformation of the propulsion jack 15 can be suppressed.

  Further, according to the present embodiment, the “predetermined order” in the above-described fourth example is an order of advancing along the circumferential direction of the excavator main body 2. Thus, the restraint of the propulsion jacks 15 in each group can be released in order in the circumferential direction of the excavator main body 2.

  Further, according to the present embodiment, in the above-described fifth example, the plurality of groups G1 to G12 are the first group (group G1), the second group (group G7), the third group (group G2), And the fourth group (group G8), wherein the first group (group G1) and the second group (group G7) face each other across the axis MC of the excavator main body 2, and the third group The (group G2) and the fourth group (group G8) face each other across the axis MC of the main machine 2, and the first group (group G1) and the third group (group G2) are parallel machines Adjacent to each other in the circumferential direction of the main body 2, "predetermined order" means the first group (group G1), the second group (group G7), the third group (group G2), the fourth group It is the order of (group G8). Thus, the restraint of the propulsion jacks 15 in each group can be released while ensuring the symmetry based on the axis MC.

  Further, according to the present embodiment, in the above-described sixth example, the first group (group G1) and the second group (group G7) in the “predetermined order” of the above-described fifth example are simultaneously processed, And, the third group (group G2) and the fourth group (group G8) are simultaneously made. As a result, since it is possible to simultaneously release the restraint of the propulsion jacks 15 between the groups facing each other across the mechanical axis MC, unbalance of the pressing force on the segment ring 14 of the shield machine 1 accompanying the release of the restraint is achieved. Can be suppressed.

  In the first and second embodiments described above, the acceleration sensor 31 is described using a three-axis acceleration sensor, but the acceleration sensor 31 is not limited to this. For example, a single-axis acceleration sensor or two axes An acceleration sensor may be used.

  In the first and second embodiments described above, the acceleration sensor 31 is described as an example of the vibration sensor, but the vibration sensor is not limited to this, and may be, for example, a speed sensor or a displacement sensor. .

  Moreover, although the vibration sensor is provided in the flame | frame part 21 in above-mentioned 1st and 2nd embodiment, as long as the vibration of the excavator main body 2 can be measured, the installation place of a vibration sensor is arbitrary. For example, a vibration sensor may be provided on the rear surface of the shield partition 8. Further, the number of installed vibration sensors is not limited to one, and may be plural.

  In the first and second embodiments described above, the mud pressure shield machine 1 has been described. However, the type of the shield machine 1 is not limited to this. For example, the shield machine 1 is a mud water shield machine It is also good.

Reference Signs List 1 shield drilling machine 2 digging machine main body 3 front barrel 4 rear barrel 5, 6 skin plate 7 cutter head 8 shield partition wall 9 drive motor 10 cutter chamber 11 bending jack 11a cylinder 11b rod 12 elector 12a grip 13 segment 14 segment ring Reference Signs List 15 propulsion jack 15a cylinder 15b rod 15c spreader 16 screw conveyor 17 case 18 auger 20 scaffolding 21 frame portion 22 segment supply device 31 acceleration sensor (vibration sensor)
42 Control Device 45 Operation Control Room 48 Synthetic Acceleration Calculation Unit 49 Vibration Determination Unit 60 Rear

Claims (12)

With the main machine,
A plurality of propulsion jacks disposed on the peripheral line of the excavator body and extendable and capable of advancing the excavator body at the time of extension;
A vibration measurement unit that measures the vibration of the excavator main body;
A control unit that controls the operation of the plurality of propulsion jacks;
A shield machine having
The plurality of propulsion jacks are divided into a plurality of groups,
The control unit configures the group for each group in a predetermined order when the measured value of the vibration of the excavator main body becomes a predetermined value or more while all the plurality of propulsion jacks are extended. Controlling the operation of the plurality of propulsion jacks to stop or shorten the extension of the propulsion jacks and extend the stopped or shortened propulsion jacks;
Shield machine. With the main machine,
A plurality of propulsion jacks disposed on the peripheral line of the excavator body and extendable and capable of advancing the excavator body at the time of extension;
A vibration measurement unit that measures the vibration of the excavator main body;
A control unit that controls the operation of the plurality of propulsion jacks;
A shield machine having
The plurality of propulsion jacks are divided into a plurality of groups,
The control unit is configured to stop the extension of all the plurality of propulsion jacks when the measured value of the vibration of the excavator main body becomes equal to or more than a predetermined value while all the plurality of propulsion jacks are extended. Control the operation of the plurality of propulsion jacks so as to shorten the propulsion jacks constituting the group and extend the shortened propulsion jacks, in a predetermined order, for each of the groups,
Shield machine.   The shield machine according to claim 1, wherein the plurality of groups are arranged in the circumferential direction of the excavator main body.   The shield construction machine according to claim 3, wherein the predetermined order is an order of traveling along a circumferential direction of the construction machine body. The plurality of groups include a first group, a second group, a third group, and a fourth group,
The first group and the second group are opposed to each other across the axis of the excavator main body,
The third group and the fourth group are opposed to each other across the axis of the excavator main body,
The first group and the third group are adjacent to each other in the circumferential direction of the excavator main body,
The shield machine according to claim 3, wherein the predetermined order is an order of the first group, the second group, the third group, and the fourth group.   The shield digging according to claim 5, wherein the first group and the second group are simultaneously in the predetermined order, and the third group and the fourth group are simultaneously. Machine. A propulsion jack in a shield construction machine having a construction machine body, and a plurality of propulsion jacks which are arranged on the peripheral line of the construction machine body so as to be extendable and retractable, and which can advance the construction machine body at the time of extension. Operation control method of
Divide the plurality of propulsion jacks into a plurality of groups,
When the degree of vibration of the excavator main body becomes equal to or more than a predetermined threshold while all the plurality of propulsion jacks are being extended, the extension of the propulsion jacks constituting the group in each group in a predetermined order Controlling the actuation of the plurality of propulsion jacks to effect a stop or shortening and an extension of the stopped or shortened propulsion jacks;
Method of controlling operation of propulsion jack in shield machine. A propulsion jack in a shield construction machine having a construction machine body, and a plurality of propulsion jacks which are arranged on the peripheral line of the construction machine body so as to be extendable and retractable, and which can advance the construction machine body at the time of extension. Operation control method of
Divide the plurality of propulsion jacks into a plurality of groups,
During the extension of all the plurality of propulsion jacks, when the degree of vibration of the excavator main body becomes equal to or more than a predetermined threshold value, the extension of all the plurality of propulsion jacks is stopped first, and then, The operation of the plurality of propulsion jacks is controlled so as to shorten the propulsion jacks constituting the group and extend the shortened propulsion jacks in the predetermined order.
Method of controlling operation of propulsion jack in shield machine.   The method of controlling operation of a propulsion jack in a shield machine according to claim 7 or 8, wherein the plurality of groups are arranged in the circumferential direction of the main machine.   The method of controlling operation of a propulsion jack in a shield machine according to claim 9, wherein the predetermined order is an order of advancing along a circumferential direction of the main machine. The plurality of groups include a first group, a second group, a third group, and a fourth group,
The first group and the second group are opposed to each other across the axis of the excavator main body,
The third group and the fourth group are opposed to each other across the axis of the excavator main body,
The first group and the third group are adjacent to each other in the circumferential direction of the excavator main body,
The operation control of a propulsion jack in a shield machine according to claim 9, wherein the predetermined order is an order of the first group, the second group, the third group, and the fourth group. Method.   The shield digging according to claim 11, wherein in the predetermined order, the first group and the second group are simultaneously, and the third group and the fourth group are simultaneously. Control method of propulsion jacks in aircraft.