JPH10238283A - Shielding excavator and shielding excavator driving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily control respective electric motors, and prevent the occurrence of an overload by providing plural electric motors with built-in inverter, and providing a means to impart a rotating speed reference to the respective electric motors with built-in inverter. SOLUTION: Electric motors 7 with built-in inverter to drive an excavating part 2, are arranged in a plurality in a shield a machine 1, and are operated on the basis of a rotating speed reference. In the excavating part 2, plural excavating blades are arranged in a radial shape, and excavation is performed by rotating the whole excavating part. An electric motor part 3, an inverter part 4 and a rotation sensor 9 are arranged in the respective electric motors 7 with built-in inverter, and are driven by mechanically connecting plural pieces to each other. The inverter part 4 controls rotating speed by individually driving the electric motor part 3 by torque control or by monitoring it by the rotation sensor 9. An overload is prevented by a torque limit. Since the electric motor part 3 and the inverter part 4 are integrally constituted, wiring and the rotation sensor 9 are easily incorporated, and can be independently controlled by torque control, and control accuracy can be improved, and the overload can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield excavator driven by an AC motor and an inverter, and a shield excavator driving device.

[0002]

2. Description of the Related Art Conventionally, shield excavators have been widely used for tunnel excavation work and the like. This shield excavator driving device is provided with a rotary excavating unit having an entire front end on the front surface in the traveling direction, and the entire excavating unit is rotationally driven by a plurality of AC motors.

FIG. 6 is a diagram showing a configuration example of a conventional shield excavator. The shield excavator 61 shown in the figure has a plurality of (generally about a dozen or so) AC motors 63 for driving the excavation section 62, all of which are mechanically connected, and an inverter control device corresponding to each of the AC motors 63. 64 are connected. Each inverter control device 64 is further connected to a commercial power supply 65.

[0004] Further, each AC motor 63 is installed at a predetermined position in relation to driving the excavation unit 62, but the corresponding inverter control device 64 has very few installation locations in the shield excavator body. It is arranged in various empty spaces in the shield excavator 61 by devising it.

[0005] The shield excavator 61 is provided with a reference circuit 6. Based on the frequency reference from the reference circuit 6, each current-type inverter control device 64 controls the speed. In this way, the rotation speed control is performed based on the V / F reference shared by one reference circuit 6, and the AC motor 3
Speed variations due to load imbalance are minimized.

[0006]

As described above, the plurality of AC motors 63 are all mechanically connected, and perform the tunnel excavation work by rotating the entire mechanism of the excavation unit. However, the load applied to each AC motor in the excavation work is not always equal, and the AC motor 63 and the like which are overloaded due to imbalance of the load occur. Such a load imbalance occurs when the hard or soft part is mixed in the cutting object.
It is considered that a uniform load is not applied to each AC motor 63.

On the other hand, in the shield excavator 61, there is a very small installation space for each electric component, and it is required to downsize each equipment. Furthermore, since the inverter control device 64 cannot always be installed near the AC motor 63 due to installation space, when the distance between the two is large, the surge voltage becomes high and the insulation on the motor side must be strengthened. There were also problems such as.

Further, there is a demand for an excavator that has a good edge contact with an excavation portion and can more precisely cut an excavation target. The present invention has been made in view of such circumstances, and has as its object to provide a shielded excavator driving device that can reduce the load on each electric motor and reduce the space occupied in the excavator. Another object of the present invention is to provide a shield excavator that has a good edge contact with an excavation portion and can more precisely cut an excavation target.

[0009]

According to a first aspect of the present invention, there is provided a motor having a built-in inverter in which an inverter for controlling the torque of an electric motor for driving a digging means is incorporated in the electric motor. Is a shield excavator drive device provided with a plurality.

According to the present invention, since the inverter is built in the electric motor, torque control of each electric motor can be easily realized, overload of each electric motor can be prevented, and the space occupied in the excavator can be reduced. can do.

A second aspect of the present invention is the shield excavator driving apparatus according to the first aspect of the present invention, further comprising rotation reference means for giving a rotation speed reference to each of the motors with built-in inverters.

Since the present invention has such means,
The same operation and effect as the invention according to claim 1 can be obtained, and the rotation speed of each electric motor can be more reliably matched. Further, the invention according to claim 3 is the invention according to claim 1 or 2, wherein the intelligent distributed control terminal is provided in each motor with a built-in inverter and performs communication and adjustment control between the motors with a built-in inverter. It is a shield excavator driving device provided.

[0013] The present invention is provided with such means.
In addition to obtaining the same operation and effect as the invention corresponding to claim 1, the intelligent decentralized control terminal enables transmission of a plurality of types of signals over one communication line, thereby reducing the number of signal lines. For example, the size of the signal line terminal block can be reduced. As a result, space can be further saved.

Further, the invention corresponding to claim 4 is:
The shield excavator is provided with a plurality of small excavating means having at least one excavating blade and performing a rotating operation, and also including the excavating means performing a rotating operation itself.

Since the present invention has such means,
It is possible to improve the vicinity of the cutting edge for the excavation target,
Excavation objects can be cut more clearly. On the other hand, an invention corresponding to claim 5 is the invention according to claim 4, wherein at least one motor with a built-in inverter, wherein the inverter for controlling the motor for driving at least one small excavating means is built in the motor. And the motor with a built-in inverter is a shielded excavator arranged in the excavating means.

According to the present invention, since such means are provided, the number of signal lines can be reduced and the space can be saved. Machine can be realized more easily and reliably.

[0017]

Embodiments of the present invention will be described below. (First Embodiment of the Invention) FIG. 1 is a configuration diagram showing an example of a shield excavator according to a first embodiment of the present invention.

The shielded excavator 1 is provided with a plurality (about ten and several) of motors 7 with built-in inverters for driving the excavating section 2. (V / F standard), and is connected to an external commercial power supply 5 to receive power.

FIG. 2 is a front view of the excavation part of the shield excavator according to the present embodiment. The excavation unit 2 is provided with a plurality of excavation blades 8 radially from the center of rotation, and excavation by the excavation blades 8 is performed by rotating the entire excavation unit.

The motors 7 with built-in inverters that drive the excavation unit 2 are mechanically connected, and rotate at the same rotation speed based on the rotation speed standard to drive the excavation unit 2. The inverter built-in type electric motor 7 includes a motor section 3 as an AC motor main body, an inverter section 4, and a rotation sensor 9 (resolver).
Is provided.

The motor unit 3 is downsized by improving a heat radiating fan and the like. The motor 7 with built-in inverter is a motor in which an inverter for controlling the motor is integrated into a vacant space generated in the motor body due to miniaturization. As a result of such a configuration,
The motor 7 with a built-in inverter can be almost the same size or slightly larger than a conventional motor having the same output (about ten and several KW). This technique is a novel technique disclosed in Japanese Patent Application No. 8-57692 previously filed by the applicant.

The inverter unit 9 individually drives the motor unit 3 by torque control. The inverter unit 9 monitors the number of rotations measured by the rotation sensor 9, and further based on the number of rotations from the reference circuit 6. 3 is controlled to a predetermined rotation speed. Further, in the torque control by the inverter unit 9, a torque limit is provided so that the motor unit 3 is not overloaded.

Next, the operation of the shield excavator constructed as above according to the embodiment of the present invention will be described. In the shield excavator 2, when excavation is started from a control panel (not shown), the rotation control of the electric motor unit 3 by the inverter unit 4 is started by the electric power supplied from the commercial power supply 5. At this time, each inverter unit 4 is connected to the reference circuit 6
The motor unit 3 at a predetermined rotation speed based on the rotation speed reference from
To rotate.

Since the motor units 3 are mechanically connected as described above, all the driving force is transmitted to the excavating unit 2, and the excavating unit 2 rotates to perform excavation. In such an excavation operation, for example, when excavating an object having a partially hard part, the rotation speed of only a part of the electric motor unit 3 is reduced, and the corresponding inverter unit 4 has a rotation speed that meets the rotation speed standard. Thus, the electric motor 3 is torque-controlled.

In this case, the motor 3 is controlled so as not to exceed the torque limit in order to obtain the required number of revolutions, so that the motor 3 is not overloaded. As described above, in the shield excavator and the driving device thereof according to the embodiment of the present invention, the electric motor unit 3 and the inverter unit 4 are integrally structured to use the electric motor 7 with a built-in inverter. The rotation speed sensor 9 can be easily
Can also be incorporated. As a result, it is possible to individually control the electric motors 7 with built-in inverters by torque control, thereby improving the control accuracy, and also performing some control to conform to the rotation speed standard. There is no load. Therefore, load imbalance can be reliably prevented, and stable excavation can be performed.

Also, when the motor unit 3 is made smaller by using a permanent magnet for the rotor to form the motor 7 with a built-in inverter, the motor 7 with a built-in inverter itself has a size that is not so different from that of a conventional motor. Therefore, first, the space can be saved for the inverter, and the space factor can be improved. Further, wiring between the electric motor and the inverter and the wiring control panel in the conventional device are not required, so that the space for the wiring can be saved, and the space can be further reduced.

Therefore, the trouble in arranging the equipment in the shield excavator 61 is reduced, the labor for devising and considering the equipment can be reduced, and the space for arranging other equipment is secured.

Further, as a result of the inverter section 4 and the motor section 3 being integrated and the wiring between the motor and the inverter being directly connected, the surge voltage does not increase as in the prior art, and no insulation measures on the motor side are required. can do. (Second Embodiment of the Invention) FIG. 3 is a block diagram showing an example of a shield excavator according to a second embodiment of the present invention, and the same parts as those in FIGS. The description will be omitted, and only different parts will be described here.

Each of the motors 7b with built-in inverters of the shield excavator 1b is provided with an intelligent distributed control terminal 10a.
b is provided. Each intelligent distributed control terminal 10a, 10b
Are interconnected by a signal line 10.

The intelligent distributed control terminals 10a and 10b have C
A chip conforming to the CAN standard or the LON standard (also referred to as a CAN chip or a LON chip), which includes all elements necessary for performing control operations and mutual communication of a PU and a memory, is used.

As the intelligent distributed control terminals 10a and 10b, LON chips are used, and intelligent distributed control terminals 10a and 10b are used.
10b is connected by a signal line 11 to perform distributed control by each chip, whereby each inverter unit 4 is controlled in conjunction with each other, and communication with the control device 12 is performed.

That is, each inverter unit 4 drives the motor unit 3 at the same rotation speed by communication and interlocking control by the intelligent distributed control terminal 10a. Further, the control device 12 realizes a fine load balance of each of the electric motors 7b with built-in inverters, and in some cases, sets the reference rotational speed to the intelligent distributed control terminal 10a.
For example, a command necessary for the excavation operation is given to the intelligent distributed control terminal 10a.

In the LON chip, a plurality of types of signals can be transmitted by one signal line, and one signal line 11 is used for interconnection. A data transmission medium such as a twisted pair wire, a coaxial cable, and an optical fiber cable is used for the signal line 11.

As described above, the shield excavator and its driving device according to the embodiment of the present invention have the same configuration as that of the first embodiment, and also have the intelligent distributed control terminals 10a and 10a.
Since 0b is provided and connected to each other by the signal line 11 for interlocking control, the same effect as in the first embodiment can be obtained, and more precise control can be executed.

In addition, as compared with the conventional one-signal-one-signal-line system, the number of signal lines can be significantly reduced, and the size of the terminal block in the motor 7b with a built-in inverter can also be reduced. Therefore, space can be further reduced.

Since the intelligent distributed control terminal 10a is also connected to the control device via the intelligent distributed control terminal 10b, it is possible to execute more advanced control such as load balance control.

In this embodiment, the CAN chip and the L
Although an ON chip is used, the present invention is not limited to this, and a so-called one-chip microcomputer may be used. (Third Embodiment of the Invention) FIG. 4 is a configuration diagram showing an example of a shield excavator according to a third embodiment of the present invention, and FIG. 5 is an excavator of the shield excavator according to the present embodiment. It is the figure seen from the front. 1, 2, and 3 are denoted by the same reference numerals and description thereof is omitted, and only different portions will be described.

The shield excavator 1c has a configuration in which a plurality of small cutting portions 13 are further provided in the excavating portion 2b. As shown in FIG. 5, the small cutting portion 13 is provided with a plurality of excavating blades 14 on the front surface thereof in a radial manner from the center of rotation.

When each of the small excavating portions 13 rotates, excavation is performed by the excavating blade 8, and the excavating portion 2b
The body itself rotates as a whole and contributes to efficient excavation.

An electric motor 7b with a built-in inverter is provided correspondingly to each of the small cutting sections 13, and each of the electric motors 7b with a built-in inverter is constructed in the same manner as in the second embodiment. Drive directly. Further, all the motors 7b with built-in inverters are also mechanically connected, and the driving force obtained by this connection makes the excavating section 2b
The whole is also driven to rotate.

Each of the inverter built-in motors 7b is connected to the control device 1
2 together with the excavation part 2b. Each of the inverter built-in motors 7b and the control device 12b have intelligent distributed control terminals 10a and 10b using a LON chip.
Each is connected by a signal line 11.

The control unit 12b has the same configuration as that of the second embodiment, and controls the rotation adjustment between the small excavation units 13 by instructing the motors 7b with built-in inverters.

From each inverter built-in motor 7b, a power supply line 16 is
b is drawn into the shield excavator main body and further connected to an external commercial power supply 5.

Similarly, the signal line 11 is also drawn out through the slip ring 15 and the control panel 1 provided outside is provided.
7 is connected. The control panel 17 includes an intelligent decentralized control terminal 10c such as a LON chip, and the shield excavator 1c.
To give various instructions.

Next, the operation of the shield excavator according to the embodiment of the present invention configured as described above will be described. First, when a command to start the excavation operation of the shield excavator 1c is input from the control panel 17, the electric motor unit 3 starts rotating and driving in each of the inverter built-in electric motors 7b.

As a result, each small excavation section 13 rotates, and the excavation section 2b also starts rotating as a whole. Since each small excavation part 13 is smaller than the excavation part 2b, the small excavation part 13 has a good contact with an excavation target and excavation with higher efficiency is performed. Further, since the excavation part 2b itself also rotates, a gap between the small excavation parts 13 is excavated, and an excessive load is prevented from being applied to a part of each small excavation part 13.

As described above, the shield excavator and its driving device according to the embodiment of the present invention have a configuration in which a plurality of small excavators 13 are further provided in the excavator 2b and both of them are rotated. Excavation with good contact with the blade 14 with respect to the object and less uncut shaving can be realized.

Further, since each small excavation section 13 is driven by the corresponding motor 7b with a built-in inverter, even if a part of the excavation object is hard, the load is dispersed by the rotation of the entire excavation section 2b. Thus, the load balance can be made uniform.

Since the shield excavator and its driving device according to the present invention use the miniaturized electric motor with built-in inverter 7b similar to that of the first embodiment, the inverter unit 4 for controlling each electric motor unit 3 is also provided. The shield excavator can be easily stored in the drive unit 2b.

Further, since the motor has the built-in inverter, the required number of wires can be reduced, and the number of wires to be transferred to the inside and outside of the excavation section 2b via the slip ring 15 can be reduced. The electrical connection can be facilitated, which contributes to the realization of such a shield excavator.

The present invention is not limited to the above embodiments, but can be variously modified without departing from the gist thereof. In addition, the method described in the embodiment may be a program that can be executed by a computer or an intelligent distributed control terminal, for example, a magnetic disk (floppy disk, hard disk, etc.), an optical disk (CD
-ROM, DVD, etc.), a storage medium such as a semiconductor memory, and the like, and can also be transmitted and distributed via a communication medium. A computer that implements the present apparatus reads a program recorded on a storage medium, and executes the above-described processing by controlling the operation of the program.

[0052]

As described above in detail, according to the present invention, since a motor with a built-in inverter is used, the load on each motor can be reduced, and a shielded excavator driving device capable of reducing the space occupied in the excavator is provided. can do.

Further, according to the present invention, the cutting portion has a double structure, so that the cutting edge in the excavation portion is good,
It is possible to provide a shield excavator capable of shaving an excavation object more clearly.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an example of a shield excavator according to a first embodiment of the present invention.

FIG. 2 is a front view of an excavation section of the shield excavator according to the embodiment.

FIG. 3 is a configuration diagram showing an example of a shield excavator according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram showing an example of a shield excavator according to a third embodiment of the present invention.

FIG. 5 is a front view of an excavation part of the shield excavator according to the embodiment.

FIG. 6 is a diagram showing a configuration example of a conventional shield excavator.

[Explanation of symbols]

 1, 1b, 1c ... shield excavator 2, 2b ... excavation unit 3 ... electric motor unit 4 ... inverter unit 5 ... commercial power supply 6 ... reference circuit 7, 7b ... inverter built-in electric motor 8 ... excavating blade 9 ... rotation sensor 10a , 10b, 10c ... Intelligent decentralized control terminal 11 ... Signal line 12 ... Control device 13 ... Small cutting part 14 ... Drilling blade 15 ... Slip ring 16 ... Power supply line 17 ... Control panel

Claims (5)

[Claims] 1. A shielded excavator driving apparatus comprising: a plurality of inverter-integrated motors each including an inverter for controlling a motor for driving the excavating means, which controls the torque of the electric motor. 2. The shield excavator driving device according to claim 1, further comprising rotation reference means for giving a rotation speed reference to each of the motors with built-in inverters. 3. The shield excavation according to claim 1, further comprising an intelligent decentralized control terminal provided in each of the motors with built-in inverters for performing communication and adjustment control between the motors with built-in inverters. Machine drive. 4. A shield excavator, comprising: a plurality of small excavating means having at least one excavating blade and performing a rotating operation, and further including excavating means which itself performs a rotating operation. 5. At least one motor with a built-in inverter, wherein the motor for controlling a motor for driving the at least one small excavating means is provided in the motor, and the motor with a built-in inverter is provided with the excavating means. The shield excavator according to claim 4, wherein the shield excavator is disposed in the inside.