JPH072782Y2 - Attitude control device for shield machine - Google Patents

Description

[Detailed Description of the Invention] [Industrial application] The present invention relates to a posture control device for a shield machine, and particularly to a jack for propelling and moving the body of the machine, a propulsion force corresponding to the pressure and moment received from each mountain side. The present invention relates to a posture control device for a shield machine, which can generate a.

[Prior Art] Generally, in tunnel excavation work for a subway, a shield excavator is known that moves and excavates the ground simultaneously with segment assembly in order to shorten the construction period. As this type of shield machine, a configuration as shown in FIG. 6 is conceivable (unpublished).

As illustrated, the excavator body 1 is provided with a cutter 2 facing the excavation direction and excavating the natural ground. This cutter 2
A cutter chamber 3 through which muddy water is supplied and drained is formed in the rear part of the, and the inside of the cutter chamber 3 is maintained at a muddy water pressure that opposes the face earth pressure.

A shield frame 4 is connected to the cutter chamber 3, and an erector 6 is connected to the inside of the shield frame 4 via a slide jack 5. The erector 6 holds the arc-shaped segment piece S and installs the held segment piece S in the circumferential direction.

Further, in the shield frame 4, a plurality of shield jacks 8 serving as a propulsion drive source of the excavator body 1 are arranged along the circumferential direction thereof. Therefore, a plurality of long jacks 8 are arranged for one segment piece S. These jacks 8 propel the excavator body 1 in the excavation direction by locking the extended tip of the jack 8 to the segment piece S and extending and moving the same. The illustrated example shows the jack 8a located at the bottom and the jack 8b located at the top.

Specifically, the segment pieces S are sequentially assembled from the bottom to the top along the inside of the shield frame 4, and the excavator body 1 is propelled and moved during the assembly.

First, with the jack 8b located above being extended and moved, the jack 8a located below is provided with the existing segment piece S.
The new segment S ₁ gripped by the erector 6 is disposed in the space between these two. After the new segment piece S _{1 at} the bottom end is arranged, the new segment pieces are sequentially arranged above it. Accordingly, as shown in FIG. 7, the top of the jack 8b is moved backward, so that when a new segment piece S ₂ the top of which is incorporated first ring portion of the segment piece is disposed.

When the new segment pieces for one ring are arranged, the jacks 8 other than the jacks 8 corresponding to the newly arranged new segment pieces extend and move, and by the extension and movement of these jacks 8, The excavator body 1 will be propelled and moved. That is, each jack 8 has a stroke length of two rings.

Therefore, the excavator body 1 is propelled and moved at the same time as the segment pieces are assembled while the shield jacks are alternately expanded and contracted and refilled for each segment piece.
Further, the elector 6 slides in the excavation direction following the propulsion movement of the excavator body 1.

When the assembly of the segment pieces for one ring is completed in this manner, the excavation movement of the excavator body 1 is also completed as shown in FIG.

After the assembly of these new segments and the propulsion movement of the excavator main body 1 are completed, as shown in FIG.
Will be moved backward through the slide jack 5 in the digging direction.

Therefore, in order to drive the jacks 8 while alternately refilling them, a hydraulic circuit 23 as shown in FIG. 10 is adopted.

That is, the high-pressure side pump 24 and the low-pressure side pump 25 are connected to any two jacks 8 among the jacks 8 arranged in the circumferential direction along the shield frame 7. A high pressure side solenoid valve 26 and a low pressure side solenoid valve 27 are connected to the discharge sides of these pumps 24, 25. Propulsion selection valves 28 and 29 are connected to the high-pressure side solenoid valve 26, and refill selection valves 30 and 31 are connected to the low-pressure side solenoid valve 27. Further, check valves 32, 33, 34, 35 are interposed between the jacks 8 and the propulsion selection valves 28, 29 and the refill selection valves 30, 31.

Therefore, in order to extend and move each jack 8 to obtain the propulsive force of the excavator main body 1, the oil supplied from the high-pressure side pump 24 is supplied from the high-pressure side solenoid valve 26 to the propulsion circuit 36 of the propulsion selection valves 28, 29. By being supplied to the propulsion side of each jack 22 and 23 via 37, each jack 8 extends and moves.

On the other hand, as described above, during the segment assembly, the jack 8 corresponding to the newly arranged segment moves backward.

Therefore, in FIG. 10, when the jack 8 is moved backward and pulled out, the propulsion selection valve 2 connected to the jack 8 is selected.
While returning 8,29 from the propulsion circuits 36,37 to the neutral circuits 38,39,
The reselection selection valves 30 and 31 are switched to the return circuits 40 and 41. As a result, oil is supplied from the low-pressure side pump 25 to the return side of the jack 8 via the reselection selection valves 30 and 31, and the jack 8 moves backward.

In this way, the reselection selection valves 30 and 31 are switched to the propulsion circuits 42 and 43 after a new segment is assembled. As a result, the jack 8 is extended and moved to the extension movement position of the other jack 8, and then the propulsion selection valves 28 and 29 are connected to the propulsion circuit 36,
Then, the reselection selection valves 30 and 31 are returned to the neutral circuits 44 and 45.

That is, when the excavator main body 1 is propelled and moved, the jack 8 is propelled and moved by the high-pressure side pump 24, and at that time, the jack 8 corresponding to the new segment is moved forward and backward by the low-pressure side pump 25.

[Problems to be Solved by the Invention] By the way, as shown in FIG. 10, in the hydraulic circuit 23 for advancing and retreating each jack 8, the advancing and retracting circuits of each jack 8 are connected to each other at the branch portion 46. Therefore, the same propulsive force acts on all the jacks 8 for the excavation movement.

On the other hand, on the cutter 2 side, the cutting blade earth pressure acts on the front surface thereof and the muddy water pressure acts on the rear surface thereof, and the combined pressure of these has a pressure distribution as shown in FIG. That is, the pressure is gradually reduced in a trapezoidal shape from the ground side. On the other hand, as described above, all the jacks 8 except the jack 8 which moves backward to dispose a new segment piece.
Since equal driving forces act on each other, a rectangular pressure distribution is formed as shown in FIG.

Therefore, in order for the excavator body 1 to move propulsively, a propulsive force of the jack 8 that opposes the combined pressure received from its natural side is generated. In this case, as in the illustrated example, the propulsive force of the jack 8 corresponding to this is overcome in the portion where the synthetic pressure on the upper side of the natural ground side is small, and the jack 8 extends. That is, the pressure balance between the natural ground side and the jack 8 side is lost, and as the combined pressure on the natural ground 2 side becomes smaller, the stroke of the jack 8 is extended as indicated by the broken line.

For this reason, there has been a problem that the posture of the excavator body 1 is conventionally collapsed.

The present invention was created to effectively solve the above problems.

It is an object of the present invention to provide an attitude control device for a shield machine that can control the digging attitude of the digging machine body during digging movement in a shield machine that digs and moves during segment assembly.

[Means for Solving the Problems] The present invention corresponds to a shield jack having a stroke of two segment rings for assembling segment pieces at the same time as excavation, and segment pieces arranged for each shield jack and assembled during excavation. Reselection valve for pulling back the shield jack, propulsion selection valve arranged for each shield jack and extending the shield jack for excavation, and propulsion shield jack extended by the operation of the propulsion selection valve. The oil pressure of the propulsion shield jack obtained from the above-mentioned oil pressure detection means, the attitude detection means for detecting the excavation attitude of the excavator main body, and the above-mentioned oil pressure detection means are set values corresponding to the pressure on the natural side. Up to the setting value obtained from the attitude detection means while operating the individual propulsion selection valves. And a control means that corrects it according to the actual pressure on the ground side by the attitude detection signal.

[Operation] To assemble the segment during excavation, the shield jack corresponding to the segment piece to be assembled is pulled back,
Generate propulsion with another propulsion shield jack.

In order to generate thrust corresponding to the pressure of the rock mass in each of the propulsion shield jacks required for excavation, the thrust of each propulsion shield jack is field-back controlled until it reaches a set value corresponding to the pressure on the rock mass side. Detecting from the posture of the excavator whether the actual pressure on the ground side and the set thrust distribution are well balanced, the thrust of each set shield jack for propulsion is adjusted according to the actual pressure distribution on the ground. It has been modified.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

As shown in FIG. 2, the excavator main body 1 is provided with a disk-shaped cutter 2 facing the excavation direction and excavating the natural ground.
A cutter chamber 3 for supplying and discharging muddy water is formed on the back surface of the cutter 2, and the inside of the cutter chamber 3 is provided with a mud pipe 12 and a mud pipe 13 which are connected to the cutter chamber 3 so that the mud pressure against the face soil pressure is increased. Is held.

In addition, an erector 6 is connected to the inside of the shield frame 4 via a slide jack 5. The erector 6 holds the arc-shaped segment piece S and installs the held segment piece S in the circumferential direction. Therefore, the segment pieces S are arranged so as to face each other in the circumferential direction. The segment pieces S connected to each other are held by the perfect circle holding device 14.

Further, a long shield jack 8 serving as a propulsion drive source is connected in the shield frame 4. A plurality of jacks 8 are circumferentially arranged along the inside of the shield frame 4. Therefore, a plurality of shield jacks 8 are arranged for one segment piece S. These shield jacks 8 are adapted to propel the excavator main body 1 in the excavation direction by locking the extended ends of the shield jacks 8 and extending and moving the segment pieces S.

1 shows the hydraulic circuit 23 and the jack 8
9 shows an arbitrary one of the jacks 8.

The hydraulic circuit 23 includes a high-pressure side pump 24 and a low-pressure side pump 25.
The low-pressure side pump 25 is provided with a refill selection valve 30 for moving the jack 8 forward and backward when the segment piece S is disposed, as in the conventional case. The refill selection valve 30 has a propulsion circuit. 40, a return circuit 42, and a neutral circuit 44 are provided. Further, a pair of check valves 33 are provided in the refill selection valve 30,
The check valve 33 is configured such that when one valve opens, the other valve closes due to the valve opening pressure.

In particular, between the high pressure side pump 24 and the jack 8, a propulsion selection valve 51 for individually operating the jack 8 is provided.

The propulsion selection valve 51 has an operating unit 52 and is composed of a servo valve 56 having a propulsion circuit 53, a return circuit 54, and a neutral circuit 55. The servo valve 56 is connected to the jack 22 via a pair of check valves 57, and the check valve 57 is configured such that the opening pressure of one of the check valves 57 causes the other of the check valves to close.

Further, hydraulic pressure detection means 62 for detecting the hydraulic pressure of the jack 8 is connected to the propulsion side pipe 61 of the jack 8. The oil pressure detecting means 62 is composed of a pressure sensor 63. The signal 64 output from the pressure sensor 63 is input to the control means 65.

The control means 65 is provided with a CPU 66. The CPU 66 is supplied with a stroke speed detection signal 68 from a stroke speed detection means 67 for detecting the stroke speed of the jack 8, and a posture detection signal 70 from a shield posture detection means 69 for detecting the excavation posture of the excavator body 1. It is configured to be input. For example, the gyro, pitching, rolling meter, etc. provided in the excavator main body 1 constitute the shield posture detecting means 69.

Further, a preset jack set pressure and a moment set value based on the pressure received from the natural ground and the propulsive force of the jack are input to the CPU 66.

The information input to these CPU66 is the pressure (propulsion) setting device 7
1 is input to the output terminal of the setting device 71, a comparator 72 for comparing the set pressure output from the setting device 71 with the actual pressure value 64 output from the pressure sensor 63 is connected.
The operating portion 52 of the servo valve 56 is connected to the output end of the servo valve via an amplifier 73.

That is, the control means 65 controls the pressure setting device 7 via the CPU 66.
Pre-set pressure output from 1 and pressure sensor 6
The servo valve 56 is configured to be switched so that the hydraulic pressure of each jack 8 reaches a set value by comparing and examining the actual pressure value 64 obtained from 3 above. In addition, the control means 65
The CPU 66 is configured to correct the set value by the posture detection signal 70 obtained from the posture detection means 69.

Therefore, the hydraulic pressure of the jack 8 is feedback-controlled so as to reach a preset initial set value, and further, the preset set value is corrected in accordance with the actual posture of the excavator body 1 and the corrected value is corrected. The hydraulic pressure of the jack 8 is feedback-controlled again so as to reach the new set value.

Next, the operation of the above embodiment will be described.

As shown in FIG. 1, first, in order to propulsively move the excavator body 1, the servo valve 56 is switched to the propulsion circuit 53, and the jack 8 is extended and moved by the oil pressure sent from the high-pressure pump 24. Propulsive force is generated to move 1 by excavation.

On the other hand, in order to assemble a new segment piece simultaneously with the propulsion movement, the jack 8 corresponding to the assembled segment piece is moved backward. Therefore, the servo valve 56 corresponding to the jack 8 to be moved backward is switched to the neutral circuit 55, and the refill selection valve 30 is switched to the return circuit 42. As a result, only the jack 8 corresponding to the assembled segment is moved backward by the oil pressure sent from the low pressure pump 25. After the assembly of the new segment pieces is completed, the reselection selection valve 30 will move to the propulsion circuit.
It is switched to 40, and the jack 8 is propelled to the extended position of the other jacks.

Therefore, only the jack 8 corresponding to the assembly segment is moved back and forth by the low pressure side pump 25, and the other jacks 8 are propelled and moved by the high pressure side pump 24.

3 and 4 show a jack for propelling and a jack for assembling during segment assembly.

FIG. 3 shows nine existing segment pieces S and 32 jacks 8 are arranged along the existing segment pieces S, and a new NO.1 is provided at the lowermost end of the existing segment piece S. NO.1 corresponding to this to assemble segment piece S ₃
Five jacks 8 from 4 to NO.18 move backward and remain
It will be propelled and moved with 27 jacks 8. Further, FIG. 4 shows the case where the new segment piece S ₆ is arranged after the new segment pieces S ₃ , S ₄ , S ₅ are arranged. In this case, it corresponds to the new segment piece S ₆ .
The five jacks 8 from No. 21 to NO. 25 are moved backward, and the remaining 27 jacks 8 are extended to move for propulsion.

Therefore, the jacks 8 that can be used for propulsion movement are determined according to the assembly order of the segments, and the jacks 8 corresponding to the force and moment that the excavator body 1 receives from the natural ground depending on which segment piece is assembled.
Required pressure is determined.

Therefore, as shown in FIG. 1, the CPU 66 of the control means 65 is preliminarily input with the jack set pressure and the moment set value, and these values are output to the comparator 72 via the pressure setter 71 as the set pressure. It In the comparator 72, the set value and the pressure detection signal 64 of each jack 8 obtained from the hydraulic pressure detection means 62 are compared and calculated. This calculated value is output to the servo valve 56, and each jack 8 corresponding to the servo valve 56 is controlled to a set pressure corresponding to the pressure and moment received from the natural ground. That is, feedback control is performed so that the hydraulic pressure of each jack 8 becomes the set pressure pre-input to the CPU 66.

Further, it is detected whether the moment distribution between the pressure distribution received from the ground and the pressure distribution by each jack 8 is balanced. That is, the CPU 66 of the control means 65 receives the actual excavation attitude signal 70 of the excavator main body 1 from the attitude detection means 69, and the actual propulsion speed 68 by the stroke speed detection means 67 provided in each jack 8. Is entered.

In the CPU 66, the attitude detection signal 70 input thereto determines whether or not the initially set setting value is appropriate. If not, the initially set value based on the attitude detection signal 70. Will be corrected. Therefore, the corrected set value and the pressure detection signal 64 determined according to the initial set value are compared and calculated again, the servo valve 56 is switched according to the comparison calculated value, and the hydraulic pressure of the jack 8 is feedback-controlled again. It will be.

Specifically, when increasing the jack pressure, the servo valve
56 to the propulsion circuit 53, to the return circuit 54 to reduce,
In order to keep the pressures the same, the neutral circuit 55 is switched to each and the optimum propulsion pressure is set.

Therefore, when the jack 8 corresponding to the newly arranged segment piece is moved backward, the other remaining jacks 8 are feedback-controlled to the set pressure corresponding to the pressure received from the natural ground, and the set pressure is excavated. Body 1
The optimum hydraulic pressure is adjusted by the correction according to the posture of the.

FIG. 5 shows the stroke and propulsion force of the jack 8 according to the present invention with respect to the pressure distribution due to the face soil pressure and the muddy water pressure.

As shown in the figure, similarly to the conventional case, the jacks 8 extend and move with equal strokes with respect to the pressure received from the natural ground, and generate a propulsive force substantially similar to the natural pressure distribution. That is, since a propulsive force corresponding to the pressure received from the natural side is generated in each jack 8, the excavation posture is kept constant.

As described above, in the present invention, by controlling the propulsive force of each jack 8 individually, even if the jack 8 corresponding to the segment piece to be arranged is moved backward, the pressure on the natural side and the moment on the jack side The balance of balance is maintained,
The excavator main body 1 held in a fixed posture can be propelled and moved.

[Effects of the Invention] In summary, according to the present invention, the thrust of each propulsion shield jack required for excavation is feedback-controlled until it reaches a set value corresponding to the pressure on the ground side, and each set propulsion Since the thrust of the shield jack is corrected according to the actual pressure on the ground side, even if the shield jack corresponding to the segment piece assembled during the excavation is pulled back, the excavation posture can always be kept constant.

[Brief description of drawings]

FIG. 1 is a block diagram showing the control contents of the present invention, FIG. 2 is a cross-sectional view showing the excavator body, FIGS. 3 and 4 are views showing the state of segment arrangement, and FIG. 5 is the pressure of the present invention. FIG. 6 is a distribution diagram, FIG. 6 to FIG. 9 are sectional views showing the excavation state, FIG. 10 is a block diagram showing a conventional hydraulic circuit, and FIG. 11 is a conventional pressure distribution diagram. In the figure, 1 is an excavator body, 8 is a jack, 23 is a hydraulic circuit,
Reference numeral 51 is a propulsion selection valve, 62 is hydraulic pressure detection means, 65 is control means, and 69 is attitude detection means.

Claims (1)

[Scope of utility model registration request] 1. A shield jack having a stroke of two segment rings for assembling the segment pieces at the same time as the excavation and a scale for pulling back the shield jacks arranged for each shield jack and corresponding to the segment pieces assembled during the excavation. A replacement selection valve, a propulsion selection valve that is arranged for each shield jack and extends the shield jack for excavation, and a hydraulic pressure detection that detects the hydraulic pressure of the propulsion shield jack that is extended by the operation of the propulsion selection valve. Means, attitude detecting means for detecting the excavation attitude of the excavator main body, and the individual propulsion shield until the hydraulic pressure of each propulsion shield jack obtained from each of the hydraulic pressure detection means reaches a set value corresponding to the pressure on the natural side. The selection valve is operated and the set value is set by the attitude detection signal obtained from the attitude detection means. Shield machine attitude control and control means for modifying in accordance with the pressure of the earth mountain upon.