JPH02164998A - Attitude control device for shield excavator - Google Patents

Abstract

PURPOSE:To correct a main unit for its rolling by pivotally mounting to the front end part of a shield main unit one or more pairs of movable plates and containing the paired movable plates, having a pivotal axial line in a cross section at a right angle with the axial line of the shield main unit, to be arranged in the point symmetry with respect to one point on the axial line. CONSTITUTION:A shield main unit 14 provides from its opening front end part 15 to the rear a partition 16, and a cutter head 18 is provided with a spoke 20 and a bit 22 extending in a radial direction from a point on an axial line of the main unit 14. Next the cutter head 18 rotates excavating with the main unit 14 debris stored in a cutting chamber 28 between the cutter head 18 and the partition 16 via between constitutional parts of the spoke 20. An attitude control device 10 is pivotally mounted to the front end part 15 of the main unit 14, and with respect to one point of its axial line A arranging in the point symmetry one or more pairs of movable plates 32 contained, the debris is discharged by a screw conveyer 30 having one end opened in its lower part to the cutting chamber 28 and the other end extending to the rear. In this way, rolling can be corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an attitude control device for a shield tunneling machine, in particular,
The present invention relates to a device for correcting the rolling of a shield excavator when it rotates around its axis during ground excavation, that is, when a low link occurs in the shield excavator.

(Prior Art) Conventionally, in order to correct the rolling of a shield tunneling machine, a plate-shaped stabilizer movable in a direction perpendicular to the axis of the shield tunneling machine has been arranged. The stabilizer is inclined with respect to the TFL advance direction of the shield tunneling machine so as to have an angle of attack, and when the stabilizer is placed on the surrounding ground, the above-mentioned seal]・When the thrust force is applied to the tunneling machine, the stabilizer or the receiver Due to the resistance of the surrounding ground, the shield machine is rotated about its axis, and this first causes a rolling correction i-E. Also, during the 1st floor repair, the shield tunneling machine swung toward the stabilizer due to the Jfl and progress resistance caused by the stabilizer.

By the way, the surrounding ground of a shield excavator is densest with the least disturbance near the face, so if the stabilizer is press-fitted near the face, the stabilizer will be removed from the surrounding ground compared to when it is press-fitted further back. It experiences a greater resistance force, so that the rotation angle required for seal correction can be easily and reliably obtained. It is desirable to set the stabilizer at the 111th section of the shield excavator. However, in mechanical shield excavators, both open and closed types have a stabilizer at the front. If the stabilizer was to be installed at the front of the excavator, it would have to be placed in a private room. open type tl
In the case of the r+f advance machine, in order to place q6 on the first stage of the conveyor-like conveyor that transports the grains from the private room to the rear, jun6 is scraped in the eyebrow chamber, but it is not placed in the valence chamber. There is a problem in that the stabilizer or its driving means significantly impairs the scraping efficiency of the (ilft).On the other hand, in the case of an enclosed excavator, the stabilizer (16 The problem is that it is extremely difficult to obtain a perfect seal when protruding to the outside and pulling back.

(Problems to be Solved by the Invention) The present invention is a low-link adjustable attitude control device for a shield tunneling machine, which solves the above-mentioned problems when it is disposed at the front of a mechanical shield tunneling machine. Our goal is to provide an attitude control device that does not cause

(Means for Solving the Problems, Actions and Effects of the Invention) The attitude control device for a shield tunneling machine according to the present invention includes:
at least a pair of movable plates pivotally attached to the front end of the shield body and having a pivot line in a cross section perpendicular to the axis of the shield body, the movable plates forming a point with respect to one point of the axis -t= of the shield body; arranged symmetrically.

According to the present invention, the low link produced in the shield tunneling machine moves each movable plate along its axis Ih1l from the reference position during excavation where the tip of each i'rJ moving plate is directed toward the forward force of the axial force of the shield tunneling machine. This can be corrected by swinging an equal angle around the ground to the side of the surrounding ground or to the side of the ground, and applying thrust to the shield excavator while maintaining this swing. When both rotating plates are maintained at equal angles and a tlf force is applied to the shield tunneling machine, due to the propulsive reaction force from the face against both i'il' rotating plates, the mutual forces that fall within the cross section of the shield body Forces of equal or opposite direction, ie, a couple about the axis of the shield body, act. The rotation of the shield body due to the action of this couple corrects the low link of the shield excavator.

Since the movable plate is disposed at the front end of the shield body and has a pivot line within the cross section of the shield body,
A driving means, such as a liquid bar jack, for applying a swinging force to the movable plate can be arranged along the inner surface of the shield body and oriented in the direction of the axial force. Therefore, when the present invention is applied to a mechanical shield excavator, it is possible to avoid the problems of the conventional equipment, such as a decrease in the scooping efficiency of the private chamber (open type) and a problem with the sealing of the private chamber (closed type). .

Each movable plate can be disposed on two opposing sides of the rectangle of the shield main body whose pivot axis has a rectangular cross-sectional shape. Furthermore, there may be two pairs of movable plates having pivot lines on opposing knees of the rectangle. According to this, the two movable plates related to one of the sides are swung from the reference position to the side of the surrounding ground, and the two movable plates related to the other side are placed at the reference position, and the state When a propulsive force is applied to the shield body while maintaining the movable plate, rotational movement occurs in the shield body about the movable plate due to the propulsive reaction force from the surrounding ground against the oscillated movable plate. Therefore, this makes it possible to correct the yawing of the shield tunneling machine.

Furthermore, if at least a pair of movable plates having pivot lines on the remaining two sides of the rectangle and facing each other are arranged,
The movable plate related to one of the two sides is swung from the reference position to the side of the surrounding ground, and the other movable plate is placed on the reference A device, and while this is being tested, 1) 1f seal [ - When a propulsion force is applied to the main body, it swings around the movable plate 11, causing rotational movement to the shield main body. Therefore, this makes it possible to correct the bitching of the shield tunneling machine.

It can be configured as a part of the hood of the shield tunneling machine. Furthermore, the 14 moving plates can be applied to a shield body having a circular cross-sectional shape.

(Actual hh Example) Referring to FIGS. 1 and 2, an attitude control device 10 according to the present invention is applied to a mechanical shield tunneling machine 12.

The illustrated shield tunneling machine 12 includes a shield main body 14 having a vertically long rectangular cross-sectional shape, and the shield main body 14 has a partition wall 1 spaced apart from the open end 15 of the shield main body 14.
6 is provided. The cutter head 18, which is disposed in front of the shield body 14 for excavating the ground, has a spoke 20 extending cross-shaped in the radial direction from a point on the axis of the shield body 14, and a plurality of humans 22 attached to the spoke. It is connected at its surface end to a rotating shaft 24 rotatably supported by the partition wall 16.

A rotating shaft 24 extending rearward through the partition wall 16 is connected at its rear end to an output shaft of a motor 28 via a speed reduction mechanism 26 .

The shield body 14 is located at the rear of the shield body,
By the operation of a propulsion jack (not shown) placed between the segment defining the wall surface of the excavated tunnel,
Alternatively, it receives thrust through a propulsion tube (not shown) that defines the tunnel wall. The earth and sand excavated by the rotation of the cutter head 18 that is propelled together with the shield body 14 passes between the constituent parts of the spokes 20 and is defined between the cutter head 18 and the partition wall 16 (JR room 28
It accumulates in The aphrodisiac in the dressing room 28 penetrates the partition wall 16 and
υF is delivered through a screw conveyor 3° having one end that opens into the sixth chamber 28 at its −F portion, and the other end that extends backward through the shield body 14. The grains in the chamber 28 are scooped up by a scooping member (not shown) attached to the rear of the cutter head 18 and rotating together with the cutter head so that the grains fall onto the one end of the screw conveyor 30.

An attitude control device 10 for a shield tunneling machine includes at least a pair of movable plates pivotally attached to a front end 15 of a shield body 14, and the movable plates are arranged point-symmetrically with respect to a point on the axis A of the shield body 14. ing.

For example, the movable plate 32 of the mouth seal (32°322.32
3.324) is provided. These movable plates are arranged at intervals from each other in the circumferential direction of the front end portion 15 of the shield main body, and cooperate with a plurality of plate members 34 (in the illustrated example, the same number of movable plates) arranged between the movable plates. cutter head 1
It forms a front hood surrounding the 8. Therefore, each movable plate 32 and each plate part 34 have substantially the same cross-sectional shape, and the proximal end adjacent to the shield body 14 has a large wall thickness and a sharp tip. Each plate member 34 is formed integrally with the shield body 14 or is fixed to the shield body 14 so that its proximal end is continuous with the shield body 14 . Therefore, the plate portion 34 is a stationary plate with respect to the moving plate 32.

A pair of spaced apart brackets 36 extend forward through the space between a pair of adjacent stationary plates 34 from the front end 15 of the shield main body, and each movable plate 32 is opened at its base end so that both brackets 36 are connected to each other. The receiver has a recess 38 into which it is placed.

Each movable plate 32 is connected to the static IF plate 34 via a pin 42 extending from one side of the movable plate 32 through a hole 40 provided in its four parts 38 and both brackets 36 and terminating on the other side thereof. There is.

The bin 42 is fixed at its ends to each movable plate 32 and is slidable relative to both bracket portions 36. each bottle 4
The axis 2 is within a cross section perpendicular to the axis A of the shield wooden body 14, and extends along each side of the rectangle within the plane.

As is clear from FIG. 4, the proximal end of the i'iJ moving plate 32 and the front end surface of the shield body have a convex surface and a concave surface of approximately the same curvature, respectively, at an angle of 1°, and there is a slight gap between them.

The front end surfaces of both brackets 36 and the bottom surfaces of the four parts 38 of the movable plate are similarly spaced slightly apart and have convex and concave surfaces, respectively, with the same curvature. As described above, each movable plate 32 can swing together with the bin 42 around its axis. The static 11-plate 34 has an outer surface that is an extension of the circumferential surface of the shield body 14. Further, the movable plate 32 has an outer surface 32a that can be aligned on the extended surface,
Excavation by the shield excavator 12 is performed with the outer surface 32a of each movable plate 32 in the extended plane, that is, each movable plate 3
2 is placed at the reference position.

Referring again to FIG. 1, two pairs of movable plates 32322 are arranged near both ends of each side of the rectangle along a pair of opposing vertical sides, and the other pairs of movable plates 323, 32
．． are arranged along a pair of horizontal sides of the rectangle and near both ends of each horizontal side. On the other hand, the stationary plates 34 are arranged at the middle part of each side of each stitch, the middle part of each horizontal side, and the corner part of the rectangle.

According to the present invention, when a low link occurs in which the shield body 14 rotates around its axis A in the clockwise direction as seen in FIG. , for example - a pair of movable plates 32. is swung from the reference position toward the surrounding ground. The swing angle is determined by considering the geology, amount of low link, etc.

Thereafter, while the movable plate 321 is maintained at a predetermined swinging position, thrust is applied to the shield body 14 by operating the propulsion jack or the like. At this time, each movable plate 32. receives a propulsive reaction force from the surrounding ground, more specifically from the face.

The propulsive reaction forces acting on both rotating plates 321 are force components that are opposite to each other and have equal magnitudes in a cross section perpendicular to the axis A of the shield body 14, that is, the nF
If the forward and reaction force is F and the angle formed between each movable plate 321 and the cross section is α, then the size is (F/2)・cos2α
It has component force of .

Further, both rotating plates 321 are connected to one point on the axis A.
They are point symmetrical and the distances from the point to the point where the linear reaction force is applied to both rotating plates 32 are equal. From this, a couple acts on the seal main body 14, and this couple rotates the C shield main body 14 in the counterclockwise direction 51 around its axis A, correcting the rolling. Further, during the rolling adjustment 11-, the yaw ink of the shield excavator due to the low link amount 11 caused by the conventional stabilizer does not occur.

When using the other pair of II) movable plates 324, the shield body 14 can also be rotated in the same direction as when using the pair of movable plates 321, that is, in the opposite direction. Therefore, in order to correct the rolling in the clockwise direction, instead of using the movable plate 321 or using the movable plate 32
．． In addition, a pair of movable plates 324 can be used.

Greater rotational force can be obtained when using two pairs of movable plates. On the other hand, each pair of movable plates 322 or 323
When using the shield body 14, the shield body 14 receives a force couple in the opposite direction and also in the clockwise direction. The use of one or both pairs of these movable plates is therefore suitable for use in correction of rotations occurring in the counterclockwise direction.

By the way, while swinging each pair of movable plates 32 not toward the surrounding ground side but toward the opposite side of the axis A, and while maintaining this, a thrust force is applied to the shield body 14 (・j"j'
In this case, a force couple in the opposite direction to that in the case of swinging to the side of the surrounding ground is realized. Therefore, for example, correction of rolling occurring in the clockwise direction can be performed by the movable plate 32. Instead of swinging the movable plates 322 toward the surrounding ground, the pair of movable plates 322 is pivoted toward the axis and maintained 1-
411. to the shield body 14 during the process. It can also be done by giving power. Also, when both rotating plates 321 are swung toward the surrounding ground and both swivel plates 322 are swung toward the axis A, it is possible to obtain a couple in the same direction.

In addition, when the connection line of the force application point to the pair of 11J moving plates 32 is water 2, the line of action of the component force is 111
Since it will be located at connection line 7 in 1., no couple will occur. From this, it is necessary to correct the low link by 11 while the amount of rolling is small before the connecting line becomes water.

Continuing with the valley shown in Figure 1, there are 28 sets of right and left bank 1iJ moving plates 32. ．． 322 are arranged opposite to each other in the direction of lateral force, so one moving plate 32. ,． 322 to the same angle, for example, to the side of the surrounding ground, and while maintaining the appropriate swing angle, the shield body 14 is subjected to the 11th force, the shield body 14 receives thrust resistance. A set of upper and lower movable plates 32. ．． 322. Therefore, the upper and lower movable plates 32. ．． The use of 322 allows for yaw correction. At this time, another set of upper and lower movable plates 32. ．． 32. By holding the C7+ at a proper swing angle towards the axis, more rotational force is available for yaw and ink correction.

Similarly, two sets of jutsuno and the lower left and right 11 moving plates 32
3, 324 are vertically opposed to each other. Therefore, while the left and right movable plates 323, 324 of any pair are swung toward the surrounding ground side and the swiveling angle is maintained. When thrust is applied to the main body 14, it rotates around the set of IIJ moving plates 323, 324.

This allows pitching to be corrected.

Also, for the same reason as in the yawing correction, another set of movable plates 323, 32 . 1 can be held at an appropriate angle on the side of axis A to obtain a larger rotational force for correcting pidgin'.

As is clear from the above, for rolling correction, it is sufficient to have at least one pair of movable plates that are point symmetrical, but as shown in Fig. 1, if multiple pairs of movable plates are arranged, , depending on the direction of rotation of the shield body required for rolling correction (by using the optimal I+J moving plate, it is possible to achieve a more user-friendly turning force. In addition, rolling correction - 1 [You can also perform other yaw ink and pitching modifications.

Instead of the arrangement example of the movable plate described above, for example, a movable plate may be arranged at the intermediate position of each opposing side of the rectangle 1, 2, that is, the position where the stationary plate 34 is arranged, and the stationary plate is placed at another location. can be placed.

According to the first method, it is possible to perform each correction of the low link, yaw ink, and pitching with a minimum number of movable plates. In this case, it is also desirable that the length of each movable plate in the direction of the sides of the ketone shape be adjusted.

As shown in Figures 3 and 4, each 111 moving plate 32
can be oscillated by a drive mechanism 46 including a hydraulic jack 44.

Each hydraulic jack 44 is arranged in the direction of the axis A between the skin plate 14a of the shield body 14 and a cylindrical plate 14b (see FIG. 2) arranged at a distance from the skin plate. I can do it.

The hydraulic jack 44 has a bifurcated rear end 44a that passes through the rear end, a bracket 48 fixed to the skin plate 14a and in which the rear end is received, and connects the shield body 14. The skin plate 14a is pivotally connected to the skin plate 14a via a pin 50 extending in a direction perpendicular to the axis A of the skin plate 14a.

One end of the arm member 52 is connected to the face end 44b of the hydraulic jack 44, in the illustrated example, at the end of the piston rod, via a pin 54 parallel to the pin 50. On the other hand, the other end of the arm member 52 is located between the brackets 36 which are received in the recesses 38 of the movable plate 32, and the pin 42 or the arm 11 part 52 extends over the brackets. It passes through the other end and is fixed to the other end.

According to this example, when the hydraulic jack 44 is extended, the hydraulic jack swings at its rear end, and the axis of the hydraulic jack 44, which was parallel to the axis A of the shield body, gradually becomes inclined. , during which its front end moves forward. As the arm member 52 stiffens, the one end of the arm member 52 swings around the bottle 42. Since the other end of the arm member 52 is fixed to the bin 42, and the bin 42 is fixed to the moving member 32, the arm member 52, the bin 42, and This causes rotational movement around the axis of the bottle 42. As a result, the movable member 32
It can be swung at any angle or swung from one position to the side of the surrounding ground. On the contrary, hydraulic jack 44
By contracting, the screaming part 32 can be swung in the opposite direction toward the axis A of the shield main body 14 by an arbitrary angle.

As shown in FIG. 5, the present invention can be placed at the 1) f1 end of the shield body 14 having a circular cross-sectional shape. The difference from the above example applied to the shield main body 14 having a rectangular cross-sectional shape is that the movable plate 32 and the stationary plate 3
4 extends linearly along the outline of the cross-section of the shield body in the example shown in Figure 1 (except for plate 1 (,!1.u, static placed at the corner of the rectangle)). On the other hand, in the example of Fig. 5, the points extend in an arc shape.Therefore, in order to avoid duplication of explanation, we will explain the movable plate and the stationary plate in the example of Fig. 1.
iiJ moving plate and stationary plate in the example of FIG. Rolling, yawing, and biting corrections can be made in accordance with the example shown in FIG.

In the example shown in FIG. 5 as well, instead of the stationary plates 34 arranged at 90 degree angle intervals at the top, bottom, left and right locations, this is used as a movable plate, and the stationary plates 11-1 are placed at all other locations. This makes it possible to correct the rolling, yawing, and biting of the shield tunneling machine with the minimum number of movable plates required. The movement of the movable plate can also be performed using the mechanism shown in FIGS. 3 and 4.

Regarding the attitude control device of the present invention, the application to what is called an open type of mechanical shield excavator has been explained, but for example, a closed type having a mechanism for sending muddy water into the 1i16 chamber and collecting it with a charm. It can also be applied to things that are called ``skilled''. Of course, it is possible to apply it to a manual shield excavator. Further, the present invention can be applied to a shield excavator including a shield body having a cross-sectional shape other than the illustrated cross-sectional shape, such as an elliptical shape or other shapes.

[Brief explanation of the drawing]

FIG. 1 is a front view of a shield tunneling machine having a rectangular cross-sectional shape to which the present invention is applied, FIG. 2 is a side view with the side of the shield tunneling machine cut away, and FIG. 3 is a movable plate drive mechanism. is a plan view when viewed from the axial side of the shield body in the direction of radial force, and FIG. 4 is a longitudinal cross-sectional view taken along line 4-4 in FIG. 3.
FIG. 5 shows the iT aspect of a shield tunneling machine having a circular cross-sectional shape to which the present invention is applied. Attitude control device ρ, : Shield excavator, ゛Shield main body, 321.327.323.324 : Movable plate. Axis of stationary plate, drive mechanism, and shield body. Agent Patent Attorney Nobu Matsunaga District No.

Claims (6)

[Claims] (1) At least a pair of movable plates are pivotally attached to the front end of the shield body of the shield excavator and have pivot axes in a cross section perpendicular to the axis of the shield body, and the movable plates are attached to the front end of the shield body of the shield body. An attitude control device for a shield tunneling machine that is arranged symmetrically with respect to a point on the axis. (2) Attitude control for a shield tunneling machine according to claim (1), wherein the shield main body has a rectangular cross-sectional shape, and the axis of each movable plate is on each opposing side of the rectangle. Device. (3) The shield excavator according to claim (1), wherein the shield main body has a rectangular cross-sectional shape and includes two pairs of movable plates having pivot lines on two opposing sides of the rectangle. Attitude control device for. (4) Claim (4) comprising at least a pair of mutually opposing movable plates having pivot lines on the remaining two sides of the rectangle.
Attitude control device for a shield excavator according to 2) or (3). (5) The attitude control device for a shield tunneling machine according to claim 1, wherein the movable plate forms a part of a front hood of the shield tunneling machine. (6) the shield body has a circular cross-sectional shape;
An attitude control device for a shield tunneling machine according to claim (1).