JPH04238996A - Cutter synchronizing operation device of multi-throw shield excavator - Google Patents

Abstract

PURPOSE:To rotate synchronously rotating cutters arranged on the same plane. CONSTITUTION:For a motor driving a principal rotating cutter 2-1, clutches 25-1, 25-2 and 25-3 adjusting a degree of connection so that a difference between a given velocity set value and a velocity detected value becomes zero are provided between motors 4-1, 4-2, 4-3 and decelerators 5-1, 5-2, 5-3. For a subordinate rotating cutter 2-2, control units 11-4, 11-5 and 11-6 adjusting supply power so that a difference between a given velocity set value and a velocity detected value becomes zero together with a detected deflection angle are provide. The subordinate rotating cutter 2-2 is rotated synchronously with the principal cutter 2-1.

Description

[Detailed description of the invention]

0001

[Industrial Field of Application] The present invention relates to a multiple shield excavator in which a plurality of rotary cutters are arranged approximately in the same plane.
The present invention relates to a cutter synchronous operation device for independently driving each rotary cutter by an electric drive device consisting of a plurality of motors and a speed reducer, and synchronizing the rotations within a permissible deviation angle at which interference between the cutters does not occur.

0002

[Prior Art] A multiple shield excavator is a machine that excavates simultaneously by arranging a plurality of rotary cutters in parallel so that the distance between the centers of the cutters is larger than the excavation radius and smaller than the diameter of each rotary cutter. This is intended to improve the efficiency of tunnel construction, but the following two methods are being considered for the arrangement of cutters used for this purpose.

(1) Adjacent rotary cutters are shifted back and forth and placed in different planes.

(2) Adjacent rotary cutters are arranged in substantially the same plane with their phases shifted.

[0005]

[Problem to be solved by the invention] The method (1) above is as follows:
Although the cutters do not interfere with each other even if the rotations of the cutters are not synchronized, maintaining the posture of the entire shield excavator becomes a problem because the cutting resistance that each rotary cutter receives is greatly unbalanced. On the other hand, in method (2), there is less imbalance in the cutting forces that each rotary cutter receives, but it is necessary to rotate each rotary cutter synchronously within an allowable deviation angle that does not cause interference between the cutters. . In particular, when each rotary cutter is driven independently using an electric drive device consisting of multiple motors and reducers in order to distribute the drive torque,
Even if synchronization control is performed between the drive systems of each rotary cutter, if the torque distribution of the multiple motors that drive each rotary cutter is not equal, the cutting resistance and rotational resistance of each rotary cutter will be unbalanced. In some cases, the declination angle between the cutters cannot be kept within the allowable declination angle, and interference between the cutters occurs.

[0006] The present invention provides a method for reducing the cutting resistance and Even if there is an imbalance in rotational resistance, each rotary cutter is rotated synchronously within the allowable deviation angle, and when a rotary cutter stops, the following cutter is rotated so that the deviation angle becomes zero, and synchronization is achieved. The object of the present invention is to provide a cutter synchronous operation device for a multiple shield excavator that has the function of performing the following operations each time it is stopped.

[0007]

[Means for Solving the Problems] The cutter synchronous operation device for a multiple shield excavator of the present invention operates a plurality of rotary cutters such that the distance between the cutter centers is larger than the excavation radius of each rotary cutter and smaller than the diameter of each rotary cutter. placed in almost the same plane,
In a multiple shield excavator in which each rotary cutter is independently driven by an electric drive device consisting of multiple motors and reducers, the motor driving the main rotary cutter has a given speed setting value and speed detection value. A clutch is provided between the motor and the reducer to adjust the coupling degree so that the difference between The present invention is characterized in that a speed control means is provided for adjusting the supplied power so that the detected values of the declination angle of the rotary cutter and the subordinate rotary cutter both become zero.

[0008]

[Operation] Among the multiple rotary cutters, the main rotary cutter is
It is driven via a motor, a clutch, and a speed reducer, and the clutch adjusts the difference between the speed setting value and the speed detection value to zero.

[0009] The motor that drives the subordinate rotary cutter among the plurality of rotary cutters is driven by the difference between the speed setting value and the speed detection value.
The supplied power is adjusted by the speed control means so that the detected values of the declination angles of the main rotary cutter and the secondary rotary cutter are both zero.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 2 to 4 are overall structural diagrams of a double shield tunneling machine to which the present invention is applied. Two spoke-shaped rotary cutters 2-1 and 2-2 are positioned in the same plane on the front surface of the shield body 1, which has a spectacle-shaped outer shape, and the distance between the centers of the cutters is larger than the excavation radius of each rotary cutter.
It is set smaller than the diameter. In this embodiment, each of the rotary cutters 2-1 and 2-2 has four spokes, and the phase angle between the cutters is 45 degrees.

The rotary cutter 2-1 connects motors 4-1, 4-2, 4-3 installed in the machine behind the bulkhead 3 with clutches and reducers 5-1, 5-2, 5-3 (to be described later). (See Figure 1)
The rotary cutter 2-2 is also driven by an electric drive device consisting of motors 4-4, 4-5, 4-6 and a reducer 5-4.
, 5-5, and 5-6, each of which is independently driven. motor 4-1,
The rotations of 4-2 and 4-3 are caused by the clutch and reducer 5, which will be described later.
The rotation of the motors 4-4, 4-5, 4-6 is transmitted to the central axis (L axis) of the rotary cutter 2-1 through pinion gears (not shown). , reducer 5-4,
It is transmitted to the center side (R axis) of the rotary cutter 2-2 via pinion gears 5-5, 5-6 and not shown. In addition, a screw conveyor 6 for soil removal, a shield jack 7, an erector 8, etc. are installed inside the machine behind the bulkhead 3, and the rotary cutters 2-1 and 2-2 are used to excavate the face, and the erecta 8 is used to assemble the material. The tunnel is excavated by the thrust of the shield jack 7, which uses the segment 9 as a reaction force receiver.

FIG. 5 shows the case where the rotation direction of the rotary cutter 2-1 is clockwise and the rotation direction of the rotary cutter 2-2 is counterclockwise.
The angle of deviation from the rotational position (indicated by the solid line) of each rotary cutter 2-1, 2-2 to the limit position (indicated by the two-dot chain line) where the cutters do not interfere with each other is shown as θ1 and θ2, respectively. Allowable deviation angles (±θ) between the cutters are determined by allowing a certain margin for the maximum values of the deviation angles θ1 and θ2 obtained at each rotational position during one rotation of the rotary cutter. Therefore, if the two rotary cutters are rotated synchronously within this allowable deviation angle, interference between the cutters will not occur.

FIG. 1 is a system configuration diagram of an embodiment of a cutter synchronous operation device according to the present invention, in which motors 4-1, 4-2,
4-3 is clutch 25-1, 25-2, 25-3, reducer 5-1, 5-2, 5-3, pinion 10-1, 10-
The motors 4-4, 4-5, 4-6 are connected to the rotary cutter 2-1 via the reducer 5-4.
, 5-5, 5-6, pinion 10-4, 10-5, 10
-6 shows that it is coupled to the rotary cutter 2-2. In the following description, the rotary cutter 2-1 will be referred to as a main rotary cutter serving as a reference for synchronous rotation, and the rotary cutter 2-2 will be referred to as a secondary rotary cutter that rotates following the rotary cutter 2-2.

In this embodiment, the cutter driving motor 4-
Squirrel cage induction motors (IM) are used as 1, 4-2, 4-3, 4-4, 4-5, and 4-6, and all motors have the same number of poles and the same rating.

Starting, stopping, and reversing of the motors 4-1, 4-2, and 4-3 are controlled by control units 11-1, 11-2,
It is scheduled to be held at 11-3. The output of the speed generator (PG) 13-1 directly connected to the motor 4-1 is F.
-V converter 14-1 converts it into a voltage proportional to speed, and inputs this signal (speed detection value) and the L-axis speed command (speed setting value) from speed setting device 12 to comparator 28-1. The difference between the detected speed value and the set speed value is detected. When there is a difference, switch 29-1 is opened and switch 29-2 is closed, and when there is no difference, switch 29-1 is closed.
When the switch 29-2 is closed, the switch 29-2 is opened.

Reference numeral 26 denotes a clutch excitation current setting device, which excites and connects the clutches 25-1, 25-2, 25-3 via the switch 29-1 and the clutch acceleration/deceleration controller 27, and connects the clutches 25-1, 25-2, 25-3 to the motor 4-. The rotation of pinions 1, 4-2, and 4-3 is transmitted to pinions 10-1, 10-2, and 10-3. Comparator 28-1 detects the speed difference, and switch 2
When the switch 9-1 is opened and the switch 29-2 is closed, the clutches 25-1 and 25-1 are activated in response to the difference detected by the comparator 28-1.
The excitation currents 25-2 and 25-3 are adjusted so that the rotation speed of the rotary cutter 2-1 matches the speed setting value commanded by the speed setting device 12.

The rotation of the rotary cutter 2-1 is detected by synchro oscillators 23-1 and 23-2, and a detection signal from the synchro oscillator 23-1 is input to a comparator 30-1.

The detection signal of the synchro oscillator is transmitted to a synchro control transformer 23 that detects the rotation of the rotary cutter 2-2.
-3, the declination angle between the rotary cutters 2-1 and 2-2 is detected, and the detected declination value is inputted to the comparator 30-2 in the control unit 11-4 via the storage circuit 24. It is now possible to do so.

The output of a speed generator (PG) 13-4 directly connected to the motor 4-4 is converted into a voltage proportional to the speed by an F-V converter 14-4 in the control unit 11-4.
This speed detection value is input to a comparator 30-2.

In the comparator 30-1, the synchro transmitter 23-
The rotation speed of the rotary cutter 2-1 input from the rotary cutter 1 and the speed setting value input from the speed setter 12 are compared, and the difference is input to the comparator 30-2.

In the comparator 30-2, the speed generator 13-4
Input the speed detection value from the synchro control transformer 23-3, the declination detection value from the synchro control transformer 23-3, and the speed difference from the comparator 30-1, and calculate the difference between the speed setting value and the speed detection value and the declination detection value. A speed regulator (ASR) 15-
Enter 4. Then, the output of the speed regulator 15-4 is set as the torque current set value, and this and the magnetizing current set value from the magnetic flux setter 16-4 are vector-combined in the vector calculation unit 17-4, and 2-phase to 3-phase conversion is performed. and use it as the primary current setting value. The deviation between this primary current setting value and the primary current detection value obtained by the current detector 18-4 is input to the current regulator (ACR) 19-4, and the output of the current regulator 19-4 is input to the PWM modulator 20.
-4, in addition to the inverter 22-4 as a pulse width control signal, converts the DC output of the rectifier 21-4 into variable frequency/variable voltage AC and supplies it to the motor 4-1, thereby increasing the speed of the motor 4-1. Take control.

The control units 11-5 and 11-6 perform current control using the primary current detection value of the motor 4-4 obtained by the current detector 18-4 as the primary current set value of the motors 4-5 and 4-6. By doing this, the torque generated by the motors 4-5 and 4-6 is controlled to be the same as the torque generated by the motor 4-4.

If a deviation angle occurs between the rotary cutters 2-1 and 2-2 when the rotary cutter 2-1 stops, the deviation angle detection value immediately before the stop is sent from the synchro angle control transformer 23-3. is stored in the storage circuit 24, and this declination detected value is sent to the comparator 30.
-2, the rotary cutter 2-2 is rotated, and the deflection angle between the rotary cutters 2-1 and 2-2 is controlled to be zero, so that they do not interfere with each other.

Although this embodiment is an example applied to a dual shield excavator having two rotary cutters, the same applies to a multiple shield excavator having one main rotary cutter and two or more secondary rotary cutters. It can be applied to Moreover, the number of motors that drive each rotary cutter may be two or more, and any number of motors may be used.

[0026]

[Effects of the Invention] According to the present invention, in a multiple shield excavator in which a plurality of rotary cutters are arranged in substantially the same plane,
The rotation of the cutters is synchronized by controlling the speed of the parent motor in the motor group that drives each rotary cutter, while the torque sharing between the parent motor and the child motor is equalized by controlling the torque of the child motor in the motor group. This makes it possible to avoid being affected by imbalances in the cutting resistance or rotational resistance of each rotary cutter, and the synchronous relationship between the cutters is not affected by imbalances in the torque sharing of the multiple motors that drive each rotary cutter. A plurality of rotary cutters can be synchronously rotated within an allowable deviation angle at which interference between the cutters does not occur.

The control unit is inexpensive, and when the main rotary cutter stops, the deflection angle of the secondary rotary cutter becomes zero and there is no interference.

[Brief explanation of the drawing]

FIG. 1 is a system configuration diagram of an embodiment of the present invention.

FIG. 2 is a sectional view of a double shield tunneling machine to which the present invention is applied.

FIG. 3 is a front view of FIG. 2 viewed from direction III.

FIG. 4 is a sectional view taken along line IV-IV in FIG. 2;

FIG. 5 is an explanatory diagram of an allowable deviation angle of a rotary cutter.

[Explanation of symbols]

2-1 Main rotary cutter 2-2 Secondary rotary cutter 4-1, 4-2, 4-3, 4-4, 4-5, 4-6
Motor 5-1, 5-2, 5-3, 5-4, 5-5, 5-
6 Speed reducer 11-4, 11-5, 11-6 Speed control means (control unit) 12 Speed setter 13-1, 13-4 Speed generator 24 Synchro control transformer 25-1, 25-2, 25- 3 Clutch 27
clutch deceleration controller

Claims (1)

[Claims] 1. A plurality of rotary cutters are arranged in substantially the same plane such that the distance between cutter centers is larger than the cutting radius of each rotary cutter and smaller than the diameter of each rotary cutter, and each rotary cutter is connected to a plurality of motors. In a multiple shield excavator that is independently driven by an electric drive device consisting of a speed reducer, the motor that drives the main rotary cutter is coupled so that the difference between the given speed setting value and the detected speed value is zero. A clutch is provided between the motor and the reducer to adjust the speed, and for the secondary rotary cutter, the difference between the given speed setting value and the detected speed value, and the deviation angle between the main rotary cutter and the secondary rotary cutter. A cutter synchronous operation device for a multiple shield excavator, characterized in that a speed control means is provided for adjusting the power supply so that the detected values are both zero.