JPH06173581A - Direction control method and device for shield machine - Google Patents

Abstract

PURPOSE:To facilitate direction control of a shield machine. CONSTITUTION:Tuned pressure setting valves 35, 43, 44, 45 which make tuned pressure variable are provided in a tuning circuit of a hydraulic line for driving shield jacks 9a, 9b of a shield machine so that, by selectively using these valves 35, 43, 44, 45, tuned pressure for the shield jack 9a which is to be tuned can be varied. And reverse moment is generated for rotational moment by the jack 9a to control the rotational moment.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield excavator direction control method and apparatus using a shield jack tuning circuit.

[0002]

2. Description of the Related Art Tunnels such as subways, water and sewage systems, electric power, communications, gas common ditches, 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.

An outline of the mechanical construction and operation of the mud-type shield excavator will be described with reference to FIG. As shown in FIG. 3, the excavator main body 1 has a cylindrical shape, a bulkhead 2 serving as a partition wall is attached to the front portion thereof, and a rotary cutter 3 is attached to the 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 soil is taken into the chamber 4. The kneaded soil is discharged by the screw conveyor 5.
At this time, the earth pressure on the front face of the face is detected by the earth pressure gauge 6.

At the tail of the excavator body 1, a segment 8 is built on the inner surface of the tunnel. At the rear part of the excavator body 1, a plurality of hydraulic shield jacks 9 are arranged along the circumferential direction. When propelling the excavator body 1, pressure oil is supplied to some of the shield jacks 9 to extend the shield jacks 9 and push the segments 8. As a result, the excavator body 1
The rotary cutter 3 excavates. When one segment has been dug, the excavation is stopped, the shield jack 9 of the portion where the segment 8 is to be contracted is contracted, and in the gap formed by the contraction, by the erector,
Bring in the new segment and assemble it into a ring.

The shield excavator described above is adjusted in course so as to proceed along a predetermined planned line. That is, the position of the shield excavator is actually measured using a laser measuring device, a level meter, or the like, the deviation between the measured data and the planned line is calculated by a computer, and the course is adjusted so that this deviation becomes zero. The course adjustment is performed by adjusting the pressure oil supplied to the plurality of shield jacks 9 during digging.
This is achieved by changing the turning moment that acts on the excavator body 1.

The hydraulic circuit for driving the shield jack 9 generally has a tuning function as shown in FIG. In other words, even when the shield excavator is propelled or the direction is changed, all shield jacks 9
Is not driven, and even if it has ten shield jacks 9 as shown in FIG. 4, for example, a plurality of every other one is driven, and the other shield jacks 9 are simply followed. .

This is because it is sufficient as a propulsive force without using all the shield jacks 9. Also, the reason why the other shield jacks 9 are made to follow is that when the segment 8 is assembled later, it is not the segment to be assembled. This is to prevent the shield excavator itself from being pushed back by water pressure or the like in front of the shield jack 9 so that the shield jack 9 is placed in a stretched state by hitting the already covered segment end face. In other words, since it is necessary to extend it later, it is previously extended during propulsion.

The hydraulic circuit shown in FIG.
1a and 11b are shield jack selection valves (hereinafter referred to as SJ selection valves), 12 is an expansion / conversion switching valve, 13 is a hydraulic pump, 14 is a motor, 15 is a tank, 16 is a source pressure that regulates the maximum hydraulic pressure for propulsion. Reference numeral 17 is a setting relief valve, 17 is a tuning pressure setting valve (pressure reducing valve), and 18 is a tuning switching valve. 1
Reference numerals 9 and 20 are check valves, and 21 is a relief valve for preventing hydraulic circuit damage.

Here, by driving the shield jack 9a,
Explaining the case where the shield jack 9b is made to follow, the SJ selection valve 11a is inserted and the tuning switching valve 18 is switched. The high pressure oil enters the extension side of the shield jack 9a through the expansion / conversion switching valve 12 and the SJ switching valve 11a that are switched to the extension side, and the shield jack 9a is extended and driven. Since the SJ selection valve 11b is closed, high hydraulic pressure is not supplied to the extension side of the shield jack 9b. The oil depressurized by the tuning pressure setting valve 17 is supplied to the extension side of the shield jack 9b through the tuning switching valve 12. Therefore, the shield jack 9b does not contribute during propulsion, and extends following the shield jack 9a.

[0010]

In the shield excavator provided with the drive hydraulic system for the shield jack 9 as described above, when the course is adjusted, the shield jack 9 is supplied to the shield jack 9 that contributes to propulsion, as described above. Although it is performed by adjusting the pressure oil, there is a problem that the adjustment is difficult because the high pressure oil pressure is adjusted.

In other words, the high-pressure oil pressure is not fixed at a predetermined pressure, but it is passive because it changes depending on the ground conditions in front of the shield excavator.
It had to be controlled while detecting the oil pressure. Therefore, divide the shield jack into blocks,
Although it may be possible to control each block, it is still necessary to control while detecting the hydraulic pressure, and the problem of complicated control cannot be solved.

[0012]

A method for controlling the direction of a shield excavator according to the present invention, which solves the above-mentioned problems, provides a low hydraulic pressure to a shield jack other than the shield jack that contributes to the propulsion of the shield excavator. In the method of following the extension of the jack in synchronization with the shield jack that contributes to the propulsion, the low hydraulic pressure supplied to the shield jack that does not contribute to the propulsion is increased, and the reverse moment to the moment by the shield jack that contributes to the propulsion is increased. It is characterized in that it is generated to control the propulsion direction of the shield excavator.

Further, the direction control device for a shield excavator according to the present invention comprises a plurality of shield jacks provided at a rear portion of the shield excavator, and a driving hydraulic pressure for supplying high pressure oil for propelling the shield excavator to the shield jack. A direction control device for a shield excavator, comprising: a circuit part; and a tuning hydraulic circuit part that depressurizes the high-pressure oil and supplies the shield jack that does not contribute to the propulsion of the shield excavator to extend the shield jack. It is characterized in that the pressure of the hydraulic pressure reduced in the tuning hydraulic circuit section can be changed.

[0014]

[Operation] Since the hydraulic pressure of the shield jack that follows the shield jack that contributes to propulsion can be changed, when the direction is changed, a high hydraulic pressure is applied to part of the shield jacks to generate a turning moment and to synchronize, By increasing the hydraulic pressure of the shield jack that follows, the moment opposite to the turning moment can be generated, and the direction control of the shield excavator can be performed.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for controlling a direction of a shield excavator and a device therefor according to the present invention will now be described with reference to the drawings.
The mechanical structure of the shield excavator itself may be the same as the conventional one. That is, as an example thereof, as shown in FIG. 3, a rotary cutter 3 is attached to the front part of the excavator main body 1, and a screw conveyor 5 for carrying the excavated earth and sand and the like backward in the excavator main body 1. And a plurality of shield jacks 9 (for example, 10) that can extend rearward are provided on the inner periphery of the rear portion of the excavator main body 1.

FIG. 1 shows a part of a hydraulic circuit for driving the shield jack 9. The drive hydraulic circuit section for propelling the shield jack 9 in this hydraulic circuit is the same as the conventional one. In other words, 11a and 11b are SJ selection valves that select whether or not to drive the shield jacks 9a and 9b at high pressure, and 12 selects the hydraulic pressure supply destination to either the extension side or the shortening side of the shield jacks 9a and 9b. It is an expansion / contraction switching valve for selecting whether to supply or shut off the supply. 13 is a hydraulic pump that is a source of hydraulic pressure, 14 is a motor, 15 is a tank, 16 is a source pressure setting relief valve that regulates the maximum hydraulic pressure for propulsion, and 21 is a relief valve for preventing drive hydraulic circuit damage. .

The oil passage 31 constituting the tuned hydraulic circuit portion is the main oil passage 3 extending from the hydraulic pump 13 to the expansion / conversion switching valve 12.
2 is branched from the middle of the line 2 and the oil passage 31 has a tuning switching valve 18
Is provided. The oil passage 3 on the outlet side of the tuning switching valve 18
3 is connected to the extension side of the shield jacks 9a and 9b via a check valve 20.

The oil passage 33 is provided with a first tuning pressure setting valve 35 which is a pressure reducing valve. That is, the high-pressure oil passing through the oil passage 31 and the tuning switching valve 18 is depressurized here.

An oil passage 36 is provided downstream of the first tuning pressure setting valve 35.
And the oil passage 36 further branches into the oil passages 37, 38, 39, and the oil passages 37, 38, 39 have second, third, fourth
The tuning pressure selection valves 40, 41, 42 and the second, third, and fourth tuning pressure selection valves 43, 44, 45 communicating with the tank 15 are provided. The second, third and fourth tuning pressure setting valves 43, 44,
Reference numeral 45 is a relief valve. The pressure reduced by the first tuning pressure setting valve 35 is P _1, and the pressures reduced by the second, third and fourth tuning pressure setting relief valves 43, 44, 45 are P ₂ , P ₃ , Let P ₄ be, for example, P ₁ > P
_It is designed so that ₂ > P ₃ > P ₄ .

In the above structure, the shield jack 9a,
9b are arranged symmetrically, and when the shield jack 9a on the right side is driven to change the direction of the shield excavator to the left side and the shield jack 9b on the left side is made to follow, the SJ selection valve 11a is turned on. Then, the SJ selection valve 11b remains OFF. The expansion / conversion switching valve 12 is switched to the extension side.

The high pressure oil generated by the hydraulic pump 13 enters the extension side of the shield jack 11a via the expansion / conversion switching valve 12 and the SJ selection valve 11a, and drives the shield jack 9a to extend. The shield jack 9a extends by receiving the segment 8 as a reaction force and gives a counterclockwise turning moment to the shield excavator.

On the other hand, the tuning switching valve 18 is switched to the tuning side, and the fourth tuning pressure selection valve 42 for setting the original tuning pressure P ₄ is turned on. Therefore, the first tuning pressure setting valve 3
The pressure of the oil passage on the soil side of No. 5 becomes P ₄ , and the oil of this pressure enters the extension side of the shield jack 9b that does not contribute to the turning propulsion of the shield excavator, and the shield jack 9b is extended following at low pressure P _4. It

When the turning moment given by the shield jack 9a on the driving side is too large and the vehicle turns too much to the left, the direction of the shield excavator is returned to the original direction, and therefore the left turning moment must be relaxed. In this device, the first, second, and third tuning pressure setting valves 35, 43, 44
By selecting.

That is, for example, the third tuning pressure selection valve 41 is opened and the previous fourth tuning pressure selection valve 42 is closed. As a result, the hydraulic pressure entering the shield jack 9b on the following side is increased from P ₄ to P ₃ and acts as a reverse moment accordingly, and the left turning moment by the shield jack 9a is relaxed, and the propulsion direction control of the shield excavator is controlled. It is done.

Whether or not the shield excavator is excavating along a predetermined planned line is measured by a laser measuring device, a level meter, or the like. Therefore, how much reverse moment should be applied from the deviation from the planned line. I know if it's good. Therefore,
Select valve 40 depending on the magnitude of the reverse moment required,
Select 41 or 42 or close all of them and
The highest pressure P ₁ reduced by the tuning pressure setting valve 35 is adopted.

In the above embodiment, one pressure reducing valve and three relief valves are used so that four stages of synchronized low pressures can be set, but the number of relief valves is not limited to this. One or more can be installed according to the required performance.

In the above embodiment, the low pressure applied to the shield jack to be tuned can be changed stepwise, but as another embodiment, a variable tuning pressure setting as shown in FIG. The valve (pressure reducing valve) 51 may be adopted. That is, the first tuning pressure setting valve 3 described above is provided in the oil passage 33.
The variable tuning pressure setting valve 51 is provided in place of the fifth, second, third and fourth tuning pressure setting selections 40, 41, 42 and the like.

According to this structure, the low pressure applied to the shield jack to be synchronized can be changed steplessly, and the turning moment can be adjusted with higher accuracy.

In the above embodiment, the change of direction, that is, the adjustment in the case of turning is given as an example of the work, but the same applies to the correction when the course is deviated due to the situation of the front or the surrounding ground when the vehicle is straight ahead. Applied.

The present invention is applicable not only to the shield excavator of the type shown in FIG. 3 but also to shield excavators in general.

[0031]

According to the direction control device for a shield excavator according to the present invention, it is possible to change the tuning pressure to the shield jack, which is conventionally only tuned, so that the reverse moment with respect to the moment by the shield jack that contributes to propulsion. Since it is possible to generate, the direction of the shield excavator can be easily controlled.

Since the high pressure oil pressure applied to the shield jack that contributes to propulsion is not detected and adjusted,
The control content itself is also simple.

[Brief description of drawings]

FIG. 1 is a hydraulic circuit diagram in a direction control device for a shield excavator according to an embodiment of the present invention.

FIG. 2 is a hydraulic circuit diagram in a direction control device for a shield excavator according to another embodiment of the present invention.

FIG. 3 is a sectional view schematically showing an example of a shield excavator.

FIG. 4 is a schematic diagram showing an arrangement example of shield jacks in a shield excavator.

FIG. 5 is a drive hydraulic circuit diagram of a conventional shield jack.

[Explanation of symbols]

 1 Excavator main body 3 Rotating cutter 9, 9a, 9b Shield jack 11a, 11b Shield jack selection valve 12 Expansion / contraction switching valve 18 Synchronous pressure switching valve 35 First synchronized pressure setting valve 40 Second synchronized pressure selection valve 41 Third synchronized pressure selection Valve 42 4th tuning pressure selection valve 43 2nd tuning pressure setting valve 44 3rd tuning pressure setting valve 45 4th tuning pressure setting valve 51 Variable tuning pressure setting valve

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshihiro Okumura 1-7-1, Kyobashi, Chuo-ku, Tokyo Within Toda Construction Co., Ltd. (72) Inventor Seiichi Matsushita 1-1-7, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Masayoshi Yasumoto 1-7-1, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Koichi Ito 1-1-7, Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Tadashi Higuchi 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda Construction Co., Ltd. (72) Inventor Takeshi Yagura 1-7-1 Kyobashi, Chuo-ku, Tokyo Toda Ken Inside the corporation

Claims (2)

[Claims] 1. A method of supplying a low hydraulic pressure to a shield jack other than a shield jack that contributes to the promotion of a shield excavator to follow the extension of the shield jack in synchronization with the shield jack that contributes to the promotion. A shield excavator characterized by increasing the low hydraulic pressure supplied to the shield jack that does not contribute to propulsion and generating a reverse moment to the moment by the shield jack that contributes to the propulsion to control the propulsion direction of the shield excavator. Direction control method. 2. A plurality of shield jacks provided on the rear part of the shield excavator, and a drive hydraulic circuit section for supplying high pressure oil for propelling the shield excavator to the shield jack.
A directional control device for a shield excavator, comprising: a tuning hydraulic circuit unit that decompresses the high-pressure oil and supplies it to a shield jack that does not contribute to propulsion of the shield excavator, and extends the shield jack. A direction control device for a shield excavator, characterized in that the pressure of hydraulic pressure to be reduced in is changed.