JPH06185286A - Shield excavating machine and direction control method thereof - Google Patents

Abstract

PURPOSE:To prevent generation of riser between a segment outer surface and a skin plate by measuring the width of clearance between the skin plate and the segment outer surface with a tail clearance meter and adjusting the amount of expansion of a jack by means of a control part and controlling the direction of a shield excavating machine in real time mode. CONSTITUTION:The amount of expansion of a jack 3 is measured with a jack stroke meter 4 so as to transmit the measured data to a control part 6 while the width of a clearance between the outside surface of a skin plate 7 and the outside surface of segments is measured with a tail clearance meter 5 so as to transmit the measured data to the control part 6 as well. The control part 6 assumes a target advancing line through which the center of an excavating machine 1 passes accompanied by the advancing movement and automatically selects a jack pattern based on a fuzzy theory so that the shield excavating machine 1 may ride on the target advancing line based on the positional deviation of the shield excavating machine 1 against the target advancing line. The direction of the shield excavating machine 1 is controlled in real time in this manner, thereby eliminating the need to stop the shield excavating machine 1 so as to measure the clearance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield excavator having a structure for controlling the direction of excavation by operating a plurality of jacks provided on the rear side of a main body.

[0002]

2. Description of the Related Art Conventionally, in a shield excavator configured to move forward while controlling the direction with a jack provided at the rear part and install a segment on the wall surface of the excavation hole, an operator operates the shield excavator, The tail clearance is manually measured during segment assembly, the skin plate and the outer surface of the segment are predicted based on the measured values, and the directional control for the next excavation is adjusted. The direction control is performed by operating the jack. That is, since a large number of jacks are lined up along the outer periphery in the rear part of the shield excavator in general, the jack located on one side is subjected to a hydraulic load, and the jacks on the opposite side in the diametrical direction corresponding to the one side are applied. By not applying a hydraulic load to the jack, the shield excavator changes its course to the side without the load.

[0003]

However, in the case of the shield excavator as described above, since the measurement of the clearance is performed after the assembly of a predetermined segment is completed, it is not possible to correspond to the installation position of the next segment in time, and the skin is cut off. Shrinkage may occur between the plate and the outer surface of the segment. That is, as shown in FIG. 4, when the excavation position course of the shield excavator M is unevenly distributed on the outer circumferential side of the curve, the skin located on the inner circumferential side of the curve is excavated especially in the curved portion. The plate P creates a shed on the segment S, which affects control of the shield excavator M in the direction of excavation. On the contrary, as shown in FIG. 5, if the excavation course is unevenly distributed on the inner peripheral side of the curve, the skin plate P and the segment S located on the outer peripheral side of the curve.
It causes sharpness, and it becomes impossible to assemble a new segment.

The present invention has been made in view of the above-mentioned problems. The clearance between the outer surface of the segment and the skin plate is automatically measured and grasped in real time so as to detect the clearance between the outer surface of the segment and the skin plate. It is an object of the present invention to provide a shield excavator that prevents the occurrence of burr.

[0005]

According to a first aspect of the present invention, there is provided a shield excavator configured to control an excavation direction by operating a plurality of jacks provided on a rear surface side of a main body, the extension stroke of the jack. A jack stroke meter for measuring, a tail clearance meter for measuring a clearance width between the outer surface of the segment assembled at the rear part of the main body and the skin plate, and a control section to which the jack, the jack stroke meter and the tail clearance meter are connected. A shield excavator characterized by comprising:

According to a second aspect of the present invention, in the shield excavator according to the first aspect, the control unit includes an interface to which the jack stroke meter, the tail clearance meter, and the gyro compass are connected. A shield excavator having a central processing unit that adjusts the expansion and contraction amount of the jack based on information from the interface is provided as a means for solving the above problems.

According to a third aspect of the present invention, there is provided the shield excavator direction control method according to the first or second aspect, wherein the control section expands and contracts the jack based on a clearance width measured by the tail clearance meter. A method for controlling the direction of a shield excavator, which is characterized by automatically controlling the amount, is used as a means for solving the above problems.

According to a fourth aspect of the invention, there is provided the method for controlling the direction of the shield excavator according to the third aspect, wherein the control section fuzzy controls the expansion / contraction amount of each jack of the shield excavator. The direction control method of the shield excavator is used as the means for solving the above problems.

[0009]

According to the present invention, the tail clearance meter automatically measures the clearance width between the skin plate and the outer surface of the segment, and the control unit adjusts the expansion and contraction amount of the jack with respect to the clearance width measured by the tail clearance meter. Control the direction of the shield excavator in real time.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In the figure, reference numeral 1 is a shield excavator of the present embodiment, 2 is an excavator main body, 3 is a jack, 4 is a jack stroke meter, 5 is a tail clearance meter, 6 is a control unit, and S is an S.
Is a segment.

The shield excavator 1 comprises the excavator body 2, the jack 3, the jack stroke gauge 4, and a cylindrical skin plate 7 forming the outermost portion of the shield excavator 1.
And a cutter mechanism 8 provided on the front surface of the excavator main body 2. Inside the shield excavator 1,
The jack stroke meter 4, the tail clearance meter 5, the gyro compass 9, the pitching meter 10, the rolling meter 11, and the level sensor 12 are provided.
Each of the jack stroke meter 4, tail clearance meter 5, pitching meter 10, rolling meter 11, and level sensor 12 is a CPU (central processing unit) 13 in a control unit 6 provided in a management building on the ground. To the first interface 14 or the second interface 15.

The jack stroke meter 4 is provided in each jack 3 of the shield excavator 1, and measures the expansion / contraction amount of the jack 3 and transmits it to the control section 6. The tail clearance meter 5 is a non-contact sensor that uses ultrasonic waves and the like, and is installed near the rearmost end of the skin plate 7. And the tail clearance meter 5
The clearance width between the outer surface of the skin plate 7 and the outer surface of the segment is measured and continuously transmitted to the control unit 6. Gyro compass 9 and pitching meter 1
The 0, the rolling gauge 11 and the level sensor 12 are provided in the excavator main body 2 and transmit the respective measurement data to the control unit 6.

The control unit 6 includes the CPU 13 and the CPU
13 and a first interface 14 and a second interface 15 interposed between the jack 3, the jack stroke gauge 4, the tail clearance gauge 5, and the other instruments. The CPU 13 receives a signal transmitted from the first interface 14 or the second interface 15 and transmits an operation signal of the jack 3 suitable for this signal to each jack 3. The CPU 13 fuzzy controls the hydraulic operation of the jacks 3 to control the excavation direction of the shield excavator 1. First interface 14
A jack stroke meter 4, a tail clearance meter 5, a pitching meter 10, and a rolling meter 11 are connected to the second interface 15, and a gyro compass 9 and a level sensor 12 are connected to the second interface 15. The combination of the connection between the interface 14 and the second interface 15 and each instrument may be different.

The control of the excavation direction in the shield excavator 1 of the present invention will be described below. As shown in FIGS. 1 to 3, in the shield excavator 1, the horizontal coordinates (M of the shield excavator 1 given by the jack stroke meter 4, the tail clearance meter 5, and the gyrocompass 9 (M
x, My), left and right jack stroke (Sl, S)
r), the left and right tail clearances (tl, tr), and the direction angle θM of the shield excavator 1 are controlled by the control unit 6.

The direction control of the shield excavator 1 by the control unit 6 will be described below. The direction control of the shield excavator 1 by the control unit 6 virtualizes a target excavation line through which the center of the shield excavator 1 passes along with excavation, and shield excavation is performed based on the positional deviation of the shield excavator 1 with respect to the target excavation line. The jack pattern is automatically selected by using the fuzzy theory so that the machine 1 can be placed on the target excavation line.
The direction control is based on the positional deviation of the shield excavator 1 detected by each instrument including the tail clearance meter 5, as shown in FIG. 2, from the center of the shield excavator 1 of the total thrust of the shield excavator 1. With respect to the one-sided push degree indicating the center of gravity position of, the amount of increase or decrease (horizontal direction Δ
EH, vertical direction ΔEv) is calculated by fuzzy theory.
Therefore, the pushing degree corresponding to the detected position deviation is EH + ΔEH, Ev in the horizontal direction and the vertical direction, respectively.
Calculated as + ΔEv. The CPU 13 collates with a separately defined database of the relationship between the jack pattern and the one-sided pressing degree to select the optimum jack pattern.

As shown in FIG. 3, the coordinate position of the center of the most recently installed final segment S and its azimuth angle (θs)
Is mathematically given by the following equation from the jack stroke (Sl, Sr), the left and right tail clearances (tl, tr), and the direction angle (θM) of the shield excavator 1.

[0017]

## EQU1 ## Sx = Mx + F (Sl, Sr, tl, tr, θM)

[0018]

## EQU00002 ## Sy = My + F (Sl, Sr, tl, tr, .theta.M)

[0019]

[Equation 3] θs = θM + F (Sl, Sr)

Next, at the obtained coordinate position (Sx, Sy) of the final segment S and its azimuth angle (θs),
Based on the shape of the segment S currently being dug, the predicted coordinate position (Snx, Sny) of the center of the next segment S to be installed
Is obtained mathematically as the following equation.

[0021]

## EQU00004 ## Snx = F (Sx, Sy, .theta.s)

[0022]

[Formula 5] Sny = F (Sx, Sy, θs)

The final segment S coordinate position (Sx,
Sy), its azimuth (θs), and past segment S
From the shape of, the coordinate position (Slx, Sly) of the center of the segment S in the tail portion of the shield excavator 1 is mathematically obtained.

[0024]

[Equation 6] Slx = F (Sx, Sy, θs)

[0025]

(7) Sly = F (Sx, Sy, θs)

Therefore, the segment S to be installed next is
Segment S at center (Snx, Sny) and tail
The center (Slx, Sly) and the axial center coordinates (Mnx, Mny) and (Ml) at the respective locations of the current shield excavator 1
x, Mly) reference value d separately defining the distance between each other
Compare with n and dl. That is, the separation distance en between the coordinate position of the segment S scheduled to be installed and the axial center coordinate of the shield excavator 1 calculated by the following formula 8 is compared with the reference value dn.

[0027]

[Equation 8]

Further, the separation distance el between the coordinate position of the segment S located at the tail portion and the axial center coordinate of the shield excavator 1 calculated by the following formula 9 is defined as the reference value de.
Compare with.

[0029]

[Equation 9]

In the above comparison, en ≧ dn and el ≦
If it is de, the automatic control by the control unit 6 is continued. e
At least one of n and el is dn or de
If it becomes smaller, there is a possibility that a heap will occur, so C
The PU 13 activates a warning buzzer, displays a warning on the monitor to inform the operator, and automatically switches from automatic operation to manual operation. After switching to the manual operation, if the operator does not change the jack pattern while the shield excavator 1 moves 40 mm, the calculated horizontal one-sided push degree EH + ΔEH is automatically set to zero and the excavation is completed.

In the excavation direction control of the shield excavator 1 by the control section 6, the tail clearance is automatically measured by the tail clearance meter 5 during the excavation to predict the occurrence of the agitation in advance. Then, when the tail clearance becomes equal to or less than the separately set reference value, the increase / decrease amounts ΔEH and ΔEv of the one-sided push degree of the jack 3 calculated by the fuzzy theory are automatically adjusted to prevent the occurrence of the slack. By changing the course of the shield excavator 1 in the connecting direction of the curve, it is possible to prevent the segment S from being unable to be installed due to the occurrence of a sledge.

Therefore, according to the present invention, the tail clearance during excavation is automatically measured by the tail clearance meter 5, and the one-sided pushing degree calculated by the fuzzy theory based on the measured value by the tail clearance meter 5 is increased or decreased. Amount Δ
Since the excavation direction of the shield excavator 1 is controlled in real time by automatically adjusting EH and ΔEv, it is of course unnecessary to stop the shield excavator 1 for clearance measurement, and it is also performed when the direction is corrected. It is possible to reduce the excavation etc. and improve the work efficiency of excavation,
The connection is smooth even when the excavation direction is changed, and the influence of the excavation direction change is small.

[0033]

As described above, according to the shield excavator and its direction control method of the present invention, the tail clearance of the shield excavator during the excavation is automatically measured by the tail clearance meter and the tail clearance meter is also used. By automatically adjusting the increase / decrease amount of the one-sided pushing degree of the jack calculated by the fuzzy theory based on the measured value at
Since the excavation direction of the shield excavator is controlled in real time, it is possible to reduce the number of excavations that are not in the original plan when changing the direction without stopping the shield excavator when changing the excavation direction. The work efficiency is significantly improved, and the connection is smooth, and the effect of changing the excavation direction is small.

[Brief description of drawings]

FIG. 1 is an overall schematic view showing a shield excavator of the present invention.

FIG. 2 is a rear view showing a rear surface of the shield excavator.

FIG. 3 is a schematic plan view showing excavation direction control of the shield excavator.

FIG. 4 is a diagram showing a case where the shield excavator is biased toward the inner peripheral side of the curved portion.

FIG. 5 is a diagram showing a case where the shield excavator is biased toward the outer peripheral side of the curved portion.

[Explanation of symbols]

 1 Shield Excavator 2 Excavator Main Body 3 Jack 4 Jack Stroke Meter 5 Tail Clearance Meter 6 Controller 13 CPU 14 First Interface 15 Second Interface

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toru Goto 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Hiroaki Shikata 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Incorporated (72) Inventor Yoshihiko Susuda 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Master Tsujigami 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd.

Claims (4)

[Claims] 1. A shield excavator configured to control a direction of excavation by operating a plurality of jacks provided on a rear surface side of a main body, which is assembled at a rear portion of the main body with a jack stroke meter for measuring expansion / contraction stroke of the jack. A shield excavator, comprising: a tail clearance meter for measuring a clearance width between an outer surface of the segment and a skin plate; and a control unit to which the jack, the jack stroke meter, and the tail clearance meter are connected. 2. The shield excavator according to claim 1, wherein the control unit includes an interface to which the jack stroke meter, a tail clearance meter, and a gyro compass are connected, and information from the interface. A central processing unit that adjusts the expansion and contraction amount of the jack based on the shield excavator. 3. The shield excavator direction control method according to claim 1, wherein the control unit automatically controls the amount of extension and contraction of the jack based on the clearance width measured by the tail clearance meter. A method for controlling the direction of a shield excavator, comprising: 4. The direction control method for a shield excavator according to claim 3, wherein the control unit fuzzy controls the expansion / contraction amount of each jack of the shield excavator. Control method.