JPH05156889A - Method for controlling shield jack of shield machine - Google Patents

Abstract

PURPOSE:To achieve stable turning excavation and smooth accurate direction control. CONSTITUTION:Shield jacks 9-1-9-20 provided in a shield machine body 1 are divided into six blocks B1-B6. A valve is disposed in one block to equalize hydraulic pressure supplied to shield jacks in the same block. In turning, a point Q1 of force is obtained from a control angle. The thrust of block B1 in which the point Q1 of force is located is maximized and the thrust of the block B4 in the point of symmetry to the block B1 is minimized. Further, the thrust is stepwise reduced in the order of block B2, B6 B6, B5. The thrust is finely set to be directed toward a desired position in one stroke of the shield jack.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield jack control method for a shield excavator, which is devised so that a smooth turning excavation can be performed and a smooth and accurate direction control can be performed.

[0002]

2. Description of the Related Art Tunnels such as subways, water and sewage systems, electric power, communication, common channels for gas, and underground passageways are often constructed by a shield construction method. If you use the shield method,
It is possible to construct a tunnel while safely excavating and lining the inside of the shield while preventing the surrounding ground from collapsing.

Construction of this shield construction method is carried out by the following procedure. (1) First, prior to the shield propulsion, the location that is the base point for the assembly and promotion of the shield is dug down to the vertical shaft by a construction method such as the caisson method. (2) After that, while excavating the front surface of the shield by a length corresponding to one ring of the lining, (3) advance the shield by the shield jack, and (4) perform the lining of the tail. Dig repeatedly.

Here, the mechanical construction and operation of the mud-type shield excavator will be outlined with reference to FIG. As shown in FIG. 1, the excavator main body 1 has a tubular shape, a bulkhead 2 serving as a partition is attached to a front portion thereof, and a rotary cutter 3 is attached to a front surface of the bulkhead 2.
A space between the bulkhead 2 and the rotary cutter 3 becomes a chamber 4, and the kneaded soil generated by kneading the pressurized / injected mud material and the cut soil is taken into the chamber 4. The kneaded soil is discharged by the screw conveyor 5.
At this time, the earth pressure is detected by the earth pressure gauge 6, and the discharge capacity of the screw conveyor 5 is adjusted according to the earth pressure.

The tail of the excavator main body 1 has a tail packing 7
It is fitted to the existing segment 8 via. A plurality of hydraulic shield jacks 9 are arranged on the excavator body 1 along the circumferential direction. When propelling the excavator body 1, pressure oil is supplied to the shield jack 9 to extend the shield jack 9 and push the segment 8. By doing so, the excavator body 1 is propelled by the reaction force from the segment 8, and excavation is performed by the rotary cutter 3 during propulsion. When one ring has been dug, the excavation is stopped and the shield jack 9 is contracted, and a new segment is carried into the gap formed by the contraction and assembled by the erector. The stroke of the shield jack 9 is detected by a stroke gauge (not shown), and the pressure of the pressure oil supplied to the shield jack 9 is detected by a hydraulic gauge (not shown).

Further, inside the excavator main body 1, there are provided a detector for measuring the position, posture and direction of the main body 1, a control device for determining the position and the like, and a control of pressure oil supply to the shield jack. A shield sequencer etc. is installed.

The shield excavator described above has its course and direction adjusted so as to proceed along a predetermined planning line. That is, the position of the shield excavator is actually measured using a laser measuring device, a level meter, etc., the deviation between this measured data and the planned line is calculated by a computer, and the course and direction are adjusted so that this deviation becomes zero. .. When excavating, the course / direction is adjusted by not supplying pressure oil to a predetermined one of the plurality of shield jacks, or by adjusting the pressure of the pressure oil supplied to each shield jack. This is achieved by changing the acting rotational moment.

That is, when the shield excavator excavates straight ahead, the thrust of each shield jack is made equal, but when turning along a curved planned line, the thrust by the shield jack is biased to one side to give a turning force. There is. To be more specific, when the twelve shield jacks 9a to 9l are provided as shown in FIGS. 11A and 11B, for example, the thrust of the shield jacks 9a to 9f is set to zero and the shield jacks 9g to 9l are set. The thrust is generated as a full output to generate the turning force.

[0009]

In the prior art shown in FIG. 11, each of the 12 oil passages for supplying pressure oil to each of the shield jacks 9a to 9l is provided with an on-off valve, and each on-off valve is controlled to open and close. Was there. Therefore, the same number of on-off valves as the number of shield jacks is required, and the number of on-off valves installed is large. Further, since the thrust on one side is large and the thrust on the other side is zero, the balance of the thrust is poor and it is difficult to make a smooth turn.

Further, since the proper opening / closing pattern of the on-off valve for controlling the direction is usually set only at the start of excavation (or several times during excavation), it is difficult to perform smooth and accurate control. There was a problem.

In view of the above-mentioned prior art, the present invention makes it possible to reduce the number of valves for adjusting the pressure oil supply to the shield jack, to make a smooth turning, and to control the direction smoothly and accurately. An object of the present invention is to provide a shield jack control method for a shield excavator that can be used.

[0012]

The structure of the present invention for achieving the above object is a method for adjusting the thrust of a plurality of shield jacks provided on the rear portion of an excavator body of a shield excavator, wherein the shield is provided. Divide the jack into even blocks of 4 or more by grouping nearby things, supply pressure oil to the shield jacks in the same block through the same valve, and when digging while bending, A block located at a position symmetrical to the block where the power point is located while maximizing the thrust of the shield jack of the block where the power point is located by obtaining the power point position from the control angle formed between the axial direction of the excavator body and the traveling direction. The thrust of the shield jack is minimized, and the thrust of the shield jacks of the remaining blocks is gradually reduced from the block with the maximum thrust to the block with the minimum thrust. Kunar so on, and adjusts the opening degree of the valve provided in each block.

The structure of the present invention which achieves the above object is as follows.
A method for adjusting the thrust of a plurality of shield jacks provided on the rear part of the excavator body of a shield excavator, wherein the shield jacks are arranged in a group of adjacent ones.
The target posture setting unit is divided into the above even numbered blocks, the pressure oil is supplied to the shield jacks in the same block through the same valve, and the target posture of the tip of the excavator body one ring ahead is calculated. And, input the data of the measuring instrument that measures the position and direction of the shield excavator, the required stroke calculation unit that calculates the necessary stroke required for each block to reach the target posture, and the momentary stroke based on the required stroke A jack extension command calculation unit that calculates the extension command of each block, and an actual stroke change amount calculation unit that calculates the actual stroke of each block from the data of the stroke meter and calculates the stroke change amount from the time when the required stroke is calculated. And the difference between the value of the extension command calculated by the jack elongation command calculation unit and the value of the stroke change amount calculated by the actual stroke change amount calculation unit. In order to reduce the thrust of each block, a pressure setting unit that determines the set pressure is provided, the above set pressure is output to the shield sequencer, the operating pressure of the valve provided in each block is adjusted, and until the end of excavation. It is characterized in that the processes after the necessary stroke calculation unit described above are repeated.

[0014]

In the invention according to claim 1, when excavating while turning, the power point position is obtained from the control angle, and the jack thrust of the block in which the power point is located is maximized.
Suitable for point-symmetrical blocks, the jack thrust is gradually reduced.

According to the second aspect of the invention, the target posture of the tip of the shield excavator set at the start of the excavation is set to an absolute posture, and the thrust of each block is adjusted momentarily toward the target posture. Good direction control is possible.

[0016]

EXAMPLES Examples of the present invention will be described below. The present invention is applied to the shield excavator shown in FIG. Excavator body 1
Moves forward when the shield jack 9 extends and receives a reaction force from the segment 8, and the soil scraped by the rotary cutter 3 is discharged by the screw conveyor 5. Two shield jacks 9 are provided as shown in FIG. 2, which is a view taken along the line II-II in FIG. 1 (in FIG. 2, the shield jacks are designated by the symbols “9-1” to “9-20”). Attached).

Next, with reference to FIG. 3, an arrangement state of each control device constituting the control system of the embodiment will be described. Excavator body 1
Inside, there is a control device 20 equipped with an automatic direction control system.
A shield sequencer 21 is provided, and a personal computer 22 equipped with an operation management system that performs user support, system startup, and data collection and recording is provided on the ground side.

The control device 20 has earth pressure data detected by an earth pressure gauge 23, position / direction data detected by a jabel (trade name) 24 incorporating a gyro and a level gauge,
The rolling data detected by the gyro 25, the slot talk data of the shield jack 9 detected by the stroke gauge 26, and the hydraulic pressure data supplied to the shield jack 9 detected by the pressure gauge 27 are input. In addition, the control device 2
A display 28 is connected to 0.

The shield sequencer 21 controls the opening / closing of the valve 30 via the proportional valve amplifier 29. Valve 30
By controlling the opening and closing of, the supply of pressure oil to the 20 shield jacks 9 (9-1 to 9-20) is controlled. Data is bidirectionally transmitted between the shield sequencer 21 and the control device 20.

A monitor 31, a printer 32 and a keyboard 33 are connected to the personal computer 22 on the ground. The personal computer 22 is connected to the control device 20 and the shield sequencer 21.

The control operation of the shield jacks 9-1 to 9-20 by the shield sequencer 21 will now be described with reference to FIG. The shield sequencer 21 includes a directional control valve 41.
Switching control and proportional valve amplifiers 29-1 to 29-2
The opening degree of the solenoid proportional valves 30-1 to 30-6 is adjusted via 9-6.

When the chamber 41a of the directional control valve 41 is selected, pressure oil is supplied so that the shield jacks 9-1 to 9-20 extend. At this time, the thrust of the jack can be changed by adjusting the opening of the solenoid proportional valves 30-1 to 30-6. In this case, a control system in which the solenoid proportional valves 30-1 to 30-6 throttle the flow rate in the outlet side conduits of the shield jacks 9-1 to 9-20, that is, a meter-out control system is adopted.

(A) By adjusting the opening of the solenoid proportional valve 30-1, the jack thrust of the shield jacks 9-1, 9-2, 9-3 can be adjusted, and (b) the solenoid proportional valve 30-. By adjusting the opening of 2, the shield jacks 9-4, 9-
5,9-6,9-7 jack thrust can be adjusted, (c)
By adjusting the opening of the solenoid proportional valve 30-3, the jack thrust of the shield jacks 9-8, 9-9, 9-10 can be adjusted, and (d) the opening of the solenoid proportional valve 30-4 is adjusted. As a result, the shield jacks 9-11, 9-12,
The jack thrust of 9-13 can be adjusted. (E) By adjusting the opening of the solenoid proportional valve 30-5, the jack thrust of the shield jacks 9-14, 9-15, 9-16, 9-17 can be adjusted. Yes, (f) By adjusting the opening of the solenoid proportional valve 30-6, the shield jacks 9-18, 9-1
The jack thrust of 9, 9-20 can be adjusted. That is, the shield jacks 9-1 to 9-3 become the first jack block B1, and the shield jacks 9-4 to 9-7 become the second jack block B1.
Jack block B2, and shield jack 9-
8 to 9-10 become the third jack block B3, the shield jacks 9-11 to 9-13 become the fourth jack block B4, and the shield jacks 9-14 to 9-1
7 is the fifth jack block B5, and the shield jacks 9-18 to 9-20 are the sixth jack block B6.
Has become.

When the chamber 41c of the directional control valve 41 is selected, pressure is supplied so that the shield jacks 9-1 to 9-20 contract.

Next, the shield jacks 9-1 to 9-20
A description will be given of a first embodiment according to the invention of claim 1 in which each of the jack blocks is controlled and turned. As shown in FIG. 5, the axial direction of the excavator body 1 is the Z axis, and the excavator body 1 is
Three-dimensional coordinates are considered by taking the center of the front surface of the origin as the origin O and taking the X axis in the horizontal direction and the Y axis in the vertical direction. Furthermore,
When the traveling vector of the excavator body 1 is V, on the XZ plane, the angle between the line projecting the vector V on the XZ plane and the Z axis is the horizontal control angle θ _X, and on the YZ plane, the vector V is YZ. The angle between the line projected on the surface and the Z axis is defined as the vertical control angle θ _Y.

The controller 20 includes data showing the relationship between the control angle θ _X and the power point position H _X as shown in FIG. 6 and the relationship between the control angle θ _Y and the power point position H _Y as shown in FIG. Is stored in the memory. FIG. 8 shows the rear surface of the excavator body 1, and the position of the rear surface is called the power point position. For example, when the control angles are θ _X1 and θ _Y1 (see FIGS. 5 and 6), the point Q (see FIG. 8) defined by the force point positions H _X1 and H _Y1 is called the force point position. .. If the total thrust is concentrated at this point Q, the excavator body 1 will control the control angles θ _X1 , θ _Y1.
It turns in the direction of the vector V defined by. The characteristics shown in FIG. 6 and FIG. 7 are obtained by taking in actual data during actual excavation and gradually correcting it according to the soil quality through learning control.

The control device 20 obtains the traveling vector V from the preset line data and the current position data, and further calculates the control angles θ _X and θ _Y. Then, the force point position Q is obtained from the calculated control angles θ _X and θ _Y and the characteristics shown in FIGS.

When the power point position is Q1 in FIG. 2, the controller 20 issues a command so that the thrusts of the jack blocks B1 to B6 are as shown in the following (i) to (iii). That is, (i) the thrust F1 by the jack block B1 in which the force point position Q1 is located and the thrust F4 by the jack block B4 in a point symmetrical position with respect to the jack block B1.
As follows. F1 = Fa + ΔF1 F4 = Fa−ΔF1 However, Fa is a value obtained by dividing the total thrust by the number of jack blocks (6 in this example), and ΔF1 is a set value. (Ii) The thrusts F2 and F6 by the jack blocks B2 and B6 adjacent to the jack block B1 are set as follows. F2 = F6 = Fa + ΔF2 However, ΔF2 <ΔF1 (iii) The thrusts F3 and F5 by the jack blocks B3 and B5 adjacent to the jack block B4 are set as follows. F3 = F5 = Fa−ΔF2

The shield sequencer 21 is a controller 20.
Thrusts F1 to F6 in response to the commands (i) to (iii)
Proportional valve amplifiers 29-1 to 29-6 so that becomes the command value.
Is output to adjust the opening of the solenoid proportional valves 30-1 to 30-6. In this case, the opening of the solenoid proportional valve 30-1 is maximum and the solenoid proportional valve 30-1
The opening of -4 is the minimum, the openings of the solenoid proportional valves 30-2 and 30-6 are slightly narrowed, and the openings of the solenoid proportional valves 30-3 and 30-5 are considerably narrowed. Thus, the thrusts F1 to F6 become the command values.

When the position of the power point is shifted to another position, the thrust is similarly adjusted. That is, the thrust of the jack block in which the power point is located is maximized, and the thrust of the jack block in a position symmetrical with respect to this jack block is minimized. Further, the thrust of the remaining jack blocks is reduced from the jack block having the maximum thrust to the jack block having the minimum thrust in a stepwise and linear manner.

Next, the direction control method according to the second embodiment of the present invention will be described with reference to FIGS. 9 and 10.
FIG. 9 shows an outline of processing performed in the control device 20. The determination unit 100 in FIG. 9 determines whether or not to start the excavation. If it is started, the process proceeds to the next step 101. The target attitude setting unit 101 is the attitude of the tip of the excavator body 1 one ring ahead (angles θ _XY0 and θ _{Z0 in the} horizontal and vertical directions).
Is to be set. It is also possible to obtain the posture for one ring from the target posture several rings ahead and use it as the value of the setting unit 101. In FIG. 10, the current state of the excavator main body 1 is shown by a solid line, and the tip of the excavator main body at this time is set to point P. The target posture is shown by a wavy line in the figure, and the tip point P ′ of the excavator main body here is set so as to be on the planned line α. As shown in FIG. 10, the target posture corresponds to the angles θ _XY0 and θ _Z0 of the horizontal and vertical cross sections of the tip of the excavator main body when the excavation length is L.

Next, from the current attitude of the shield excavator,
The required stroke calculation unit 102 calculates a required stroke Sr (i) (i = 1 to N, where N is the number of blocks) of each jack block required to have the target posture.
The above calculation is the current position of the tip of the excavator body in steps of ΔT
The data of the measuring device for detecting the direction is read by the measurement data reading unit 103, and the geometrical calculation with the target posture is performed. Further, a required stroke Sr of a preset reference jack block (referred to as the j-th block)
The ratio Ki of the required stroke of another jack block to (j) is calculated by the following equation. Ki = Sr (i) / Sr (j) (1) where i = 1 to N, i ≠ j

If the shield jack 9 extends while maintaining the ratio Ki for ΔT time, the stroke change amount of the shield jack 9 of each jack block should match the required stroke Sr (i).

After the required stroke in steps of ΔT is calculated, the control of other jack blocks shown below is performed based on the stroke change amount of the reference jack block by Δt (ΔT> Δ).
t) Carry out in steps.

The actual stroke change amount calculation unit 105 reads the data of the stroke meter 26 installed in the shield excavator from the stroke meter data reading unit 106, and geometrically calculates the stroke change amount of each block from the above-described required stroke calculation time. It is calculated scientifically. Of the above-mentioned change amounts, the change amount ΔSj of the reference block is sent to the jack extension command calculation unit 104.

The jack elongation command calculation unit 104 calculates the elongation command ΔSt (i) of the other blocks from the stroke change amount ΔSj of the reference block and the above-mentioned ratio Ki by the following equation. ΔSt (i) = Ki · ΔSj (2) where i = 1 to N, i ≠ j

Next, the difference δSa (i) (= ΔSt) between the command ΔSt (i) and the current stroke change amount ΔSa (i) of another block from the actual stroke change amount calculation unit 105.
(I) −ΔSa (i)) is obtained by the comparator 107, and the difference is sent to the pressure setting unit 108 as an error.

The pressure setting unit 108 sets the pressures of the solenoid proportional valves 30-1 to 30-6 so as to reduce the error δSa (i). That is, (a) when the error δSa (i)> 0, the set amount of the solenoid proportional valve 30 is reduced because the amount of expansion of the shield jack 9 is insufficient. That is, the driving force is increased. (B) When the error δSa (i) <0, the set pressure of the solenoid proportional valve 30 is increased because the shield jack 9 extends too much. That is, the driving force is reduced. (C) When the error δSa (i) = 0, the current state is maintained.
Adjust the set pressure so that. The set pressure is sent to the shield sequencer 21, and the solenoid proportional valves 30-1 to 30-1 are actually used.
A pressure of 30-6 is set.

The determination unit 109 determines whether or not the excavation is completed. If not completed, the process returns to the necessary stroke calculation unit and is repeated. Since the thrust is adjusted by finely setting the operating pressure in this manner, smooth and accurate directional control can be performed.

[0040]

As has been described in detail with reference to the embodiments, the invention according to claim 1 divides the shield jack into a plurality of blocks, and the shield jacks in the same block are pressurized with oil through the same valve. Therefore, the number of installed valves is the same as the number of blocks, and the number of installed valves is small.

Further, the thrust of the block including the power point position is maximized, the thrust of the block located at the position symmetrical to this is minimized, and the remaining blocks are gradually reduced from the block of maximum thrust to the block of minimum thrust. As a result, the thrust distribution is stable and smooth turning excavation can be performed.

According to the second aspect of the present invention, the shield jack is divided into a plurality of blocks, and the pressure oil is supplied to the shield jacks in the same block through the same valve.
The number of valves set is the same as the number of blocks, and the number of valves set may be small. Further, since the attitude of the tip of the machine one ring ahead is set as a target, the operating pressure of the solenoid proportional valve is finely set so as to match the attitude, and the thrust is adjusted, so that smooth and accurate direction control is possible.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a configuration of a shield excavator.

FIG. 2 is a layout diagram showing a layout of a shield jack.

FIG. 3 is an explanatory diagram showing a control system of the shield excavator.

FIG. 4 is a configuration diagram showing a control system and a hydraulic system.

FIG. 5 is an explanatory diagram showing how to take three-dimensional coordinates.

FIG. 6 is a characteristic diagram showing a relationship between a control angle and a power point position in the first embodiment.

FIG. 7 is a characteristic diagram showing a relationship between a control angle and a power point position in the first embodiment.

FIG. 8 is an explanatory diagram showing power point positions in the first embodiment.

FIG. 9 is a flowchart showing processing contents in the control system of the second embodiment.

FIG. 10 is an explanatory diagram showing a target posture one ring ahead of the shield excavator in the second embodiment.

FIG. 11 is an explanatory diagram showing a conventional technique.

[Explanation of symbols]

 1 Excavator Main Body 2 Bulkhead 3 Rotating Cutter 4 Chamber Room 5 Screw Conveyor 6 Earth Pressure Gauge 7 Tail Packing 8 Segment 9, 9-1 to 9-2 Shield Jack 20 Control Device 21 Shield Sequencer 22 Personal Computer 23 Earth Pressure Gauge 24 Jabel 25 Gyro 26 Stroke gauge 27 Pressure gauge 28 Display 29,29-1 to 29-6 Proportional valve amplifier 30,30-1 to 30-6 Valve 31 Monitor 32 Printer 33 Keyboard 40 Hydraulic pump 41 Directional control valve 100,109 Judgment unit 101 Target Posture setting unit 102 Required stroke calculation unit 103 Measurement data reading unit 104 Jack extension command calculation unit 105 Actual stroke change amount calculation unit 106 Stroke measurement data reading unit 107 Comparator 108 Pressure setting unit

Claims (2)

[Claims] 1. A method for adjusting thrust of a plurality of shield jacks provided at a rear portion of a main body of an excavator of a shield excavator, wherein the shield jacks are an even number of 4 or more by combining adjacent shield jacks. It is divided into blocks and pressure oil is supplied to the shield jacks in the same block through the same valve.When excavating while bending, the control angle between the axial direction of the excavator body and the traveling direction is used. Determine the force point position, maximize the thrust of the shield jack of the block where the force point is located, minimize the thrust force of the shield jack of the block that is point-symmetric with respect to the block where the force point is located, and shield the remaining blocks. The opening of the valve provided for each block so that the thrust of the jack gradually decreases from the block of maximum thrust to the block of minimum thrust. A method for controlling a shield jack of a shield excavator, comprising: 2. A control method for adjusting thrust of a plurality of shield jacks provided on a rear portion of an excavator main body of a shield excavator, wherein the shield jacks are an even number of 4 or more in a group of adjacent ones. The block is divided into blocks, and the pressure oil is supplied to or discharged from the shield jack in the same block through the same valve, and the target posture setting unit that calculates the target posture of the tip of the excavator body one ring ahead is used. , Input the data of the measuring device that measures the position and direction of the shield excavator, and calculate the required stroke required for each block to reach the target posture, and the required stroke calculation unit based on the required stroke. The jack stretch command calculation unit that calculates the block stretch command and the actual stroke of each block are calculated from the data of the stroke meter, and the above required To reduce the difference between the actual stroke change amount calculation unit that calculates the amount of stroke change from the time when the trooke is calculated, and the value of the extension command by the jack extension command calculation unit and the value of the stroke change amount by the actual stroke change amount calculation unit. Is equipped with a pressure setting unit that determines the set pressure for adjusting the thrust of each block, outputs the set pressure to the shield sequencer, and adjusts the operating pressure of the valve provided in each block, and further the above-mentioned need until the end of excavation. A shield jack control method for a shield excavator, characterized in that the processes after the stroke calculation unit are repeated.