JPH0492094A - Directional control device of tunnel excavator - Google Patents

Abstract

PURPOSE:To increase the degree of accuracy of excavation by calculating pushing force of jacks in consideration of resistance force by earth pressure in front of a cutter head and grippers so that actual displacement becomes target displacement specified in advance, controlling an output regulating valve so that the calculated pushing force is obtained. CONSTITUTION:A displacement operating section 56 compares a position of a cutter head 16 calculated by a head position operating section 52 with a cutter head position or a reference point obtained by the head position operating section 52, and displacement of the cutter head 16 is calculated. While, a resistance operating section 58 calculates resistance force FR met in the case the cutter head 16 is advanced in consideration of moment by reaction force received by earth pressure distribution acted on the front of the cutter head 16 or grippers 19a-19m. A pushing force distribution operating section 64 calculates pushing force necessary for obtaining new target displacement obtained by a target displacement operating section 62, control signals to change setting pressure of proportional electromagnetic relief valves 38a-38n is accordance with pushing force of the calculated thrust jacks 26a-26n are inputted to an amplifier unit 66, and opening and closing control signals are transmitted to electromagnetic selector valves 34a-34n.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a tunnel excavator for excavating underground, and in particular a tunnel excavator in which the direction of excavation is controlled by advancing a cutter head with a plurality of jacks. This invention relates to a direction control device for an aircraft.

[Conventional technology]

A tunnel excavator generally has a cutter head with a plurality of cutter bits attached to the front of the cylindrical body. The cutter head is moved forward by the jack to excavate the ground, and the excavated earth and sand is transported to the rear of the excavator using a screw conveyor or the like. Further, directional control of the excavator such as curve construction and meandering correction is performed by selecting and driving a plurality of jacks arranged in the circumferential direction of the main body.

Conventional directional control is performed by emitting laser light from a transit or the like along the tunnel planning line and reading the light spot on a target attached to the excavator to determine the position of the tunnel excavator, that is, the tunnel tunnel. The operator determines the deviation of the excavator from the planned tunnel line, and if the excavator's direction of travel deviates from the planned direction, the operator selects the jack to be driven appropriately based on experience and corrects the direction. Ta.

Furthermore, in recent years, when excavating a curved section of a tunnel, an articulated tunnel excavator is used, in which the main body is divided into a plurality of parts in the axial direction and connected in a bendable manner. When excavating a curved section, the bending angle of the divided body is changed by jacking, and in order to control the direction, excavation is carried out while the gripper provided on the side of the body is in contact with the excavated wall surface. (For example, Japanese Patent Application Laid-Open No. 1-315600).

(Problems to be Solved by the Invention) As described above, the direction control of conventional tunnel excavators is performed by selecting the jack to be driven based on the operator's experience, and therefore sufficient excavation accuracy cannot be obtained. Further, conventional direction control has been based on binary control of whether each jack is driven or not, rather than adjusting the pushing force of each jack.

That is, for example, when operating a tunnel excavator upwards,
Since only the jacks on the lower half of the cross section of the main body are driven and the jacks on the upper half are not driven, directional control is difficult and excavation accuracy is reduced.

Furthermore, when tunnel excavators tunnel, they are subject to resistance from the earth pressure of the ground in front of them. Furthermore, this upper pressure not only differs in the vertical direction of the tunnel excavating machine, but also differs depending on the soil quality, which affects the propulsive force due to the pushing force of the jack and changes the direction of travel of the tunnel excavating machine.

Moreover, in articulated tunnel excavators, the gripper installed on the side of the main body is in contact with the surrounding wall during excavation, so a reaction force from the ground acts on the gripper.
This reaction force acts as resistance when moving the cutter head forward,
Changes the strength and direction of the propulsive force caused by the pushing force of the jack.

However, in the directional control of conventional excavators, the influence of excavation on the earth pressure acting on the front of the cutter head and the reaction force that the gripper receives from the ground is not taken into account, so the accuracy of directional control and excavation This was a factor that reduced accuracy.

The present invention has been made in order to eliminate the drawbacks of the prior art, and provides a tunnel that can obtain a propulsion force that takes into account the influence of forces acting on the excavator from the surrounding ground, and can improve excavation accuracy. The purpose is to provide a directional control device for excavators.

[Means to solve the problem]

In order to achieve the above object, a direction control device for a tunnel excavator according to the present invention includes a position sensor that detects the position of a cutter head that is rotatably provided on the front surface of the excavator main body, and a plurality of position sensors that move the cutter head forward. a plurality of force sensors provided corresponding to the jacks and detecting the pushing force of each jack, an earth pressure gauge attached to the cutter head and detecting the soil pressure acting on the front surface of the cutter head, and a side portion of the main body. A plurality of reaction force detection sensors are provided corresponding to each jack in the hydraulic circuit to which each jack is connected. A resistance force when moving the cutter head forward is calculated based on output signals from a plurality of output adjustment valves that adjust the force, the earth pressure gauge, and each of the reaction force detection sensors, and the calculation result and the position sensor are calculated. calculation control that calculates the relationship between the resistance force and the displacement of the cutter head based on the output signal of the output signal, and calculates the pushing force of each of the jacks that corrects the displacement of the cutter head to control each of the output adjustment valves. It is characterized by having a container.

"1 total is force...71゛ circumferential direction C,"
: Plural, 9i and name -t M 1j-1 is 3
It is preferable to use a three-directional force detection type that can detect earth pressure in different directions.

(Function) In the invention configured as described in -1-, the arithmetic controller is
Based on the output signal of the 1 meter and the reaction force detection sensor 1, the resistance force (or this resistance force) that the throat receives from the ground when the throat moves forward. The arithmetic controller calculates the change (◇) of the cutter... throat by (1/output of the position sensor). The relationship between the resistance force calculated from the signal and the displacement of the cutter throat is determined, and the front surface of the cutter head is adjusted to the actual displacement (ff is the predetermined displacement). Considering the earth pressure and the resistance force due to the gripper, calculate the push force of 4" and calculate the push force (2).

For this reason, it is possible to perform directional control without requiring any operations that depend on the operator's experience, and at the same time, taking into account the resistance force that the main body receives from the ground, the cutter can be Advance the throat) 1-, direction control can be performed accurately, and excavation accuracy Q) IiIIJ-7 can be achieved. Moreover, 1.4-, the invention provides each jar 74f' drive degree 4
-Press j2 of each shirt 4 instead of binary control of whether or not
Since the force is adjusted, directional control accuracy and excavation accuracy can be further improved.

In addition, a plurality of 1-1 meters provided on the force/vine head are arranged in the circumferential direction of the cutter head, and each 1" 4-meter and L7
L'6. The distribution of 4::x I'+ acting on the front surface of the top head F' can detect the components in three directions, and the moment acting on the main body (-n~) In addition, the pushing force of the jack can be obtained, and the accuracy of direction control can be further improved.
I can go around.

(Embodiment) A preferred embodiment of the direction control device for a tunnel excavator according to the present invention will be described in detail in reference to the attached screen.

FIG. 1 is a schematic diagram of a direction control device for a tunnel excavator according to an embodiment of the present invention.

As shown in FIG.
4, there are multiple cores in the axial direction, - division 1, and the front main body 12 and the rear storage body 14a are bendable.
and are extendably connected.

At the front end of the front body 12, a cutter knife 16 is provided at rotation 'E'J Im. Otsu no Kanta..., Nodo 1
6 (7) A cutter (not shown) is attached to the front, and the cutter 'I' is operated by a motor.
l [By rotating 3 as shown by arrow 17, it is C7'' so that you can excavate other mountains in front.
The cutter head 16 has a plurality of earth pressures ff+I8a
~18/ is the provision (see Figure 2).

These earth pressure sides 18a to 18n are three-directional force detection type earth pressure sensors 1, which are designed to detect orthogonal and three-directional components of the earth pressure acting on the front surface of the force/tahe I'' 16. For example, if the number of pressures 1 is 4·', as shown in FIG. The vertical direction of the cutter throat 16 is 7 directions, and the χ axis and 7 directions.
When the direction 4y-axis and j7 are orthogonal to the axis, it is desirable to arrange it υ on the y-axis and the 7-axis at a distance H from the origin O.

- On the sides of the front main body 12, an initial number of grippers 19a to 19m are provided in the circumferential direction. Each gripper 19a~
・The 19m cylinder is shaped like C7 so that it can move forward and backward in the radial direction by means of a cylinder, and when propelling the rear body 14, it protrudes from the side of the front storage body 12. Excavation 1. The front main body 12 is fixed by pressing L7 against the wall surface. Therefore, the cylinder number of each gripper 19a to 1.9yn is the reaction force detection center t20 of a load cell, etc.
a~□20m are provided, and grippers 19a~19yn
It is designed to be able to detect the reaction force received from the ground. Further, the tip of the gripper 19a = 19m is constituted by a row roller, and the cutter head 16 can be moved forward in two states by contacting the surrounding ground with the roller. be.

Inside the front body 12, a laser measuring device 22 as a position sensor, an inclinometer 24, etc. are provided.
The position relative to the reference point, rolling, pitching, etc. can be detected.

A plurality of thrust jacks 26a to 26n are provided between the front body I2 and the rear body 14.

These thrust jacks 26a to 26n are comprised of double-acting hydraulic cylinders, are arranged in the circumferential direction of the main body, and apply a pushing force f+ to the front main body 12, as shown in FIG.
fz, .-111--f7 is applied to move the cutter head 16 forward. A stroke sensor 28 is installed in the cylinder of each thrust jack 26a to 26n.
a to 28n are provided, and thrust jacks 26a to 2
It is designed to be able to detect a stroke amount of 6n. In addition, force sensors 30a to 30n, each consisting of a load cell, a strain gauge, or a hydraulic sensor for detecting the hydraulic pressure of a cylinder, are provided in the rear main body 14 or the jack rono, corresponding to each of the thrust jacks 26a to 26n. Pushing force f of each thrust jack 26a to 26n.

f t , "-"-"' f , , can be detected.

Each thrust jack 26a to 26n is connected to a chamber 32 on the bottom side.
is connected to the 4-point/3-position electromagnetic switching valve 34a through the pipe line.
34n, and the cylinder head side chamber 36 connects ' to the value switching valves 34a to 34n via proportional electromagnetic relief valves 38a to 38n, which are output adjustment valves provided in the pipeline.
It is connected to 4n.

Each of these '@electromagnetic switching valves 4a to 34n is connected to a variable capacity pump 40 as a hydraulic power source having an unload valve, so that the supply of hydraulic oil at a predetermined pressure to each thrust jack 26a to 26n can be stopped. At the same time, the hydraulic oil in each chamber 32, 36 can be discharged into the oil tank 42. In addition, a relief valve 4 is provided in the pipe line connecting the variable displacement pump 40 and the 1i magnetic switching valves 34a to 34n.
4 is provided to prevent excessive load from being applied to the variable displacement pump 40.

Proportional IT magnetic flux valves 38a to 38n and electromagnetic switching valve 3
4a to 34n, the arithmetic controller 50 receives the output signals from the laser measuring device 22 and the inclinometer 24, and calculates the position of the cutter head 16. A memory 54 is provided for storing the line, the calculation results of the head position calculation section 52, etc., and a displacement calculation section is provided for calculating the amount of displacement of the cutter head 16 from the calculation results of the head position calculation section 52 and the contents stored in the memory 54. 56 is provided.

Furthermore, the calculation controller 40 includes a resistance force calculation section 58 into which output signals from the earth pressure gauges 18a to 18f and reaction force detection sensors 20a to 20m are input, a coefficient calculation section 60, a target displacement calculation section 62, and a pushing force distribution. The calculation unit 64 is also provided.

The resistance calculation unit 58 uses a calculation formula stored in the memory 54 based on the detection signals from the earth pressure gauges 18a to 18N and the reaction force detection sensors 20a to 20m to calculate the front body when moving the cutter head 16 forward. 12 calculates the resistance force received from the ground, and outputs the calculation result to the coefficient calculation unit 60. The coefficient calculation unit 60 includes the resistance calculation unit 58 and the displacement calculation unit 5.
Based on the calculation result of 6, a coefficient indicating the correlation between the resistance force and the displacement of the cutter head 16 and a coefficient indicating the correlation between the resistance force and the pushing force of the jack, which will be described in detail later, are calculated, and the pushing force distribution calculation unit 64 Send to. Further, the target displacement calculation unit 62
From the output signal of the displacement calculation unit 56 and the stored contents of the memory 54, a new corrected target displacement amount (or corrected displacement amount) is calculated in order to correct the deviation amount of the displacement of the canterhead 16 from the target value, It is output to the pushing force distribution calculation section 64.

The pushing force distribution calculating section 64 calculates the pushing force distribution of the thrust jacks 26a to 26n for correcting the position of the cutter head 16 from the output signals of the coefficient calculating section 60 and the target displacement calculating section 62, and performs this calculation. A control signal based on the result is output to the electromagnetic switching valves 34a to 34n and the amplifier unit 66. This amplifier unit 66 is composed of a plurality of amplifiers provided corresponding to each of the proportional electromagnetic relief valves 38a to 38n, and each amplifier amplifies the signal from the pushing force distribution calculation section 64 to calculate the corresponding proportionality. Cut relief valve 38a~
38n and changes the set pressure to adjust the pushing force of the thrust jacks 26a to 26n.

The effects of the embodiment configured as described above are as follows.

The memory 54 contains the tunnel 3+ image obtained from input devices such as the keyboard 1' and external storage devices, as well as the target displacement of the canter 116 at the start of the start. , various arithmetic expressions, etc. for performing directional control, the details of which will be described later, are stored.

The motor (not shown) drives j12 and the cutter and throat 1 (j
is rotated as shown by arrow 17, and proportional electromagnetic relief valves 38a to 38.n are activated based on the initial push and cover turn of each thrust I and jack 26a''26n.
pressure is set. Then, the electromagnetic switching valves 34a to 3
4n is switched and each thrust jack 26a to 2
The bottom side chamber 32 of 6n is connected to the electromagnetic switching valve 34a via □ 34n to a variable displacement heavy pump 40 which is a hydraulic power source.

When the bottom side chambers 32 of the thrust jacks 26a to 26n are connected to the variable displacement heavy pump 40, hydraulic oil flows from the OT variable displacement pump 40 into the bottom side chambers 32. For this reason,
As the thrust jacks 26L3 to 26r+ extend, the C/cylinder moves forward by pushing the front main body 12, and the pressure in the cylinder head side chamber 36 increases. Then, when the pressure in the cylinder head side chamber 36 exceeds the set pressure of the proportional electromagnetic relief valves 38a to 38n, the proportional electromagnetic relief valves 38a to 38n operate and drain the hydraulic oil in the cylinder nod side chamber 36 to the oil tank 42. Discharge and set the pressure in the cylinder head side chamber 36 to JI3m! , to maintain the pushing force at a predetermined value.

On the other hand, the laser measuring device 22 detects the relative position of the front main body 12, that is, the cutter head 16, from the reference point based on the laser beam irradiated from the rear of the tunnel excavating machine IO, and outputs the information to the arithmetic controller 50. It is input to the throat position calculation section 52. In addition, the inclined side 24 detects the inclination of the front main body 12.
and inputs it to the head position calculation section 52.

Cutter head】Earth pressure gauge installed on 6 1.8a~・18r
As shown in FIG.
Ix ~F IIX ,)' direction component pHy -F+u
, y, and Z direction components FUs to Ftis are detected L7 and input to the resistance force detector 58 of the arithmetic controller 50. Furthermore, the gripper 1.20m is connected to the reaction force detection sensor 20a.
9 Reaction force F + from the ground acting on a~19rn
, F2, FP is detected and inputted to the resistance force calculation section 58&.

The force sensors 30a to 30n measure the pushing force fI, fz of each thrust jack 26a to 26n shown in FIG.
, -f, is detected and the coefficient calculation unit 6 of the 7,4 calculation controller 50
Enter 0.

The head position effect section 52 of the arithmetic controller 50 is configured to
Based on the detection signal of , the rolling, pitching, and yawing of the front main body 12 are calculated, and the output signal of the laser measuring device 22 is taken in to calculate the center position of the cutter head ]6! (hereinafter referred to as the force/interhead position 6) is calculated and stored in the memory 54, and is also input to the displacement calculation section 56.

The displacement calculation section 1 56 compares the position of the cutter head I6 calculated by the head position calculation section 52 with the cutter head position or reference point previously determined by the head position calculation section 52 stored in the memory 54, and determines the position of the cutter head I6. 】6 displacement Lノ(
U, ■, W, θ8, θ2, θ1) are calculated and output to the coefficient calculation unit 60 and target displacement calculation unit 62. However, 7, u
, v, w are displacements in the X, y, and Z directions with respect to the origin 0, θ8
, θ7, and θ2 are angular displacements in the x, y, and z directions with respect to the origin O.

On the other hand, the resistance calculation unit 58 uses the earth pressure gauges 18a to 18I! Based on the detection signals from the reaction force detection sensors 20a to 20m, the front main body 1 is stored in the memory 54, and
2 calculates the resistance force F received when moving the cutter head 16 forward considering the earth pressure distribution acting on the front surface of the cutter head 16 and the moment due to the reaction force received by the grippers 19a to 19m, and calculates the calculation result as a coefficient. Input to the calculation unit 60.

The coefficient calculation unit 60 estimates the coefficient K of the following equation, which expresses the correlation between the displacement U of the cutter head 16 and the resistance force F due to other threads, from the relationship between the displacement U and the resistance force F in the past several times. demand.

F Yu-ni-ichi 1J ・-(1) However,
The initial value of the coefficient, that is, the coefficient at the start of excavation from the starting shaft, is determined mechanically or by past excavation experience, taking into account the soil quality, the type of cutter bit attached to the cutter head 16, the curvature of the tunnel, etc. This value is determined in advance by means of simulation or the like.

Next, the coefficient calculation unit 60 calculates
The resistance force F, and the pushing force f (f I , f 2 , '--1-----) of the thrust jacks 26a to 26n
The correlation with f, l) is calculated from the following equation.

(Left below) 1, ■2. is shown in FIG.
And, the attachment of the rod to the rear body 14 of this jack is the distance from the point Pzi (a * b 2r - CZ□). Also, α is 2. The line segment l between the y-axis and the point of action Pli of the thrust jack is at an angle t with the xy plane. Furthermore, if β, the anti-edge of any gripper 19j is x
It is an angle with the y plane, and 7 has an arbitrary earth pressure ij 1 B
The attachment k is the angle the position makes with the y-axis, and D is the distance from the origin O to the perpendicular line F drawn from the gripper attachment position to the X-axis 1'. Note that r shown in Fig. 3 is the distance from the y-axis to the gripper.

The coefficient calculation unit 60 further calculates the correlation between the resistance force F and the pushing force f (f, , f, , ---f, ) of the thrust jacks 26a to 26n based on the following equation (3). 1. '1iru.

f ”' T ' F * 〜−〜
--(3) This coefficient '1' is the thrust jack 26
Installation position of a~・26n, earth pressure Bf 18 a~1
81 mounting IJ position, gripper 19 a~] 9n1 mounting is a 7 trinox that converts the resistance force FR determined by the position ζ into f, satisfies formula 2 (2)゛'−? Press 7 keys f, f for luck 26 a to 26 n.

f7 is within the range of the bare control value, and Ll f , −, −, f , , , l
-----(4) (However, f.

7 and 77 such that l ” f l ) is the minimum
The correlation with is a coefficient that indicates.

On the other hand, the target displacement calculation unit 62 stores the actual displacement of the cutter head 1G determined by the displacement calculation unit 56.
Compare with the target change 4;7 Llo stored in 4.

Then, the target displacement calculation unit 62 calculates a target displacement of the displacement T calculated by the displacement calculation unit 56 (when it deviates from 0〒−, a new target displacement [) to correct this deviation.

(or modified displacement) and calculate this new [1 standard displacement (☆
Uo (or corrected displacement) is stored in the memory 54 and sent to the push force distribution calculation section 64.

The pushing force distribution calculation unit 64 calculates the new target displacement V calculated by the target displacement calculation unit 62 based on (1) and (, 3).

The pushing force required to obtain Tcr, , rz , -”-””
-' r -)1, and outputs a control signal to the amplifier 1 to change the set pressure of the proportional electromagnetic relief valves 'f, 38d to 38n according to the calculated pushing forces fI and fzf7 of each thrust jack 26a to 26n. It outputs to the unit 66 and also gives an opening/closing control signal to the electromagnetic switching valves 34a to 34n. Hereinafter, the arithmetic controller 50 uses U2 as described above,
In consideration of the resistance that the front main body 12 receives from the ground when moving the cutter head 16 forward, the
Adjust the pushing force f6, fzl, --~---f of n,
Controls the direction of the cutter head 16.

Therefore, in the embodiment, the arithmetic controller 50 calculates fi, fz, and "f7 of the thrust jacks 26 a to 26 n, taking into account the resistance force from the ground acting on the front main body 12, and Since deviations from the target displacement of the The control of the thrust jacks 26a to 26n is not binary control,
Since analog control is performed in which the pushing force is increased by mv+, the accuracy of excavation control can be further improved.

The stroke sensors 28a to 28n detect the stroke amounts of the thrust jacks 26a to 26n when the cylinders of the thrust jacks 26a to 26n advance the cutter head 16 via the front body 12. When the stroke amount of any one of the thrust jacks 26a to 26n reaches a predetermined value, a propulsion stop signal is output from a main control device (not shown), and control to propel the rear main body 14 is performed.

When propelling the rear main body 14, the grippers 18a to 1
8 m is advanced in the radial direction of the front body [2] by a cylinder, and the front body 12 is fixed by pressing it against the surrounding ground. After that, each itm switching valve 34a to 34n is switched, and the proportional electromagnetic relief valve 38a to 38n is switched! Break switching valve 3
4a to 34n to the variable displacement pump 40,
The bottom side chambers 32 of the thrust jacks 26a to 26n are connected to the oil tank 42 via the electromagnetic switching valves 34a to 34n, and an articulate jack (not shown) is driven to move the rear body 14 to the front body 12 side. attract to.

Further, each thrust jack 26a to 26n is provided with a proportional electromagnetic relief valve 38a to 38n in the cylinder head side chamber 36.
Hydraulic oil flows in from the variable displacement pump 40 through the check valve, the hydraulic oil in the bottom side chamber 32 is discharged into the oil tank 42, and the rod enters the cylinder. Then, when the rod is returned to the initial position, the cutter head 16 described above
Propulsion control is started again.

In the above embodiment, an articulated type tunnel excavator 10 with a bending main body has been described, but the present invention can also be applied to a non-articulated type tunnel excavator. Further, the main body may be divided into three or more parts in the axial direction. Furthermore, in the embodiment described above, the laser measuring device 22 and the inclinometer 24 were used to detect the position of the throat 16 to the cutter. You may also use the following. Furthermore, in the embodiment, a case has been described in which the position and displacement of the cutter head 16 are determined using the laser measuring device 22 and the inclinometer 24. It may also be used to calculate the position and displacement of the head 16.

[Effects of the Invention] As explained above, according to the present invention, the arithmetic controller calculates the actual resistance force caused by the other heap that advances the cutter head based on the output signals from the earth pressure gauge and the reaction force detection sensor. In addition, from the relationship between this resistance force and the displacement of the cutter head, each jack should be calculated taking into account the influence of the resistance force from the ground on the main body so that the actual displacement of the cutter 7D becomes the target displacement. Determine the pushing force and control the output adjustment valve so that this pushing force is obtained. Therefore, the direction control can be quickly performed without requiring operations based on the operator's experience, and the excavation accuracy can be improved.

In addition, multiple earth pressure gauges are arranged in the circumferential direction of the cutter head, and the soil pressure acting on the front surface of the cutter head can be detected in three directions perpendicular to each other. A pushing force is required that also takes into account the moment that the main body receives, and it is possible to further improve excavation accuracy.

[Brief explanation of drawings]

1 is a prong diagram of the direction control device for a tunnel excavator according to an embodiment of the present invention, FIG. 2 is a schematic diagram showing an example of the arrangement of the thrust jack, the earth pressure gauge, and the gripper of the embodiment, and FIG. 3 1 is an explanatory diagram of the relationship between the pushing force of the thrust jack and the resistance force acting on the tunnel excavator. 10---Tunnel excavator, 16...Cutter head, 18a, 18N,---1 Earth pressure gauge, 2
0a, 20m--Reaction force detection sensor, 22.24-
-1.Position sensor (laser measuring device, inclinometer), 26a,
26n thrust jack, 28a, 28n
-----One stroke sensor, 30a, 30n---
Force sensor, 38a, 38n ----One output regulating valve (
Proportional electromagnetic relief valve), 50 Arithmetic controller 1.56 Propulsion force calculation section, 60 Target change (☆ calculation section, 64 Variation angle calculation section, 58 Coefficient calculation section 1, 62 Push 7 force distribution calculation section.

Claims (2)

[Claims] (1) A position sensor that detects the position of the cutter head rotatably provided on the front surface of the excavator body, and a plurality of position sensors that are provided corresponding to the plurality of jacks that advance the cutter head and detect the pushing force of each jack. a force sensor; an earth pressure gauge that is attached to the cutter head and detects earth pressure acting on the front surface of the cutter head; and a plurality of earth pressure gauges that are attached to the cutter head and detect the reaction force of each of the plurality of grippers that are movably provided on the side of the main body. a reaction force detection sensor; a plurality of output adjustment valves provided corresponding to each jack in a hydraulic circuit to which each jack is connected to adjust the pushing force of each jack; the earth pressure gauge and each reaction force detection sensor; The resistance force when moving the cutter head forward is calculated based on the output signal from the force detection sensor, and the resistance force and the displacement of the cutter head are calculated based on the calculation result and the output signal from the position sensor. A directional control device for a tunnel excavator, comprising: a calculation controller that calculates the relationship between the following and calculates the pushing force of each of the jacks that corrects the displacement of the cutter head to control each of the output adjustment valves. (2) The direction control device for a tunnel excavator according to claim 1, wherein a plurality of the soil pressure gauges are provided in a circumferential direction of the cutter head, and each of the soil pressure gauges detects soil pressure in three directions.