JP3165508B2 - Shield jack control method for shield excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a shield jack of a shield excavator, which is designed so as to enable smooth turning excavation and smooth and accurate direction control.

[0002]

2. Description of the Related Art In many cases, tunnels such as subways, water and sewage systems, electric power, communication, gas common trenches, and underground passages are constructed by a shield method. If you adopt the shield method,
The tunnel can be constructed while excavating and lining safely inside the shield while preventing the surrounding ground from collapsing.

[0003] The construction of this shield method is performed by the following procedure. (1) Prior to the propulsion of the shield, a base for assembling and propelling the shield is dug down into a shaft using a caisson method or the like to secure it. (2) After that, while excavating the front of the shield by a length equivalent to one ring of the lining, (3) advance the shield with the shield jack, (4) lining the tail Dig repeatedly.

Here, an outline of the mechanical configuration and operation of the mud shield type excavator will be described with reference to FIG. As shown in FIG. 1, an excavator body 1 has a cylindrical shape, and 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.
The space between the bulkhead 2 and the rotary cutter 3 is a chamber chamber 4, and the kneaded soil generated by kneading the pressurized and injected muddy material and the shaved soil is taken into the chamber 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.

[0005] The tail of the excavator body 1 is provided with a tail packing 7.
And 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 the excavator body 1 is propelled, pressure oil is supplied to the shield jack 9 to extend the shield jack 9 and push the segment 8. Then, the excavator body 1 is propelled by the reaction force from the segment 8 and excavation is performed by the rotary cutter 3 during the propulsion. When the excavation for one ring is completed, the excavation is stopped, the shield jack 9 is contracted, and the new segment is loaded into the gap formed by the contraction by an erector and assembled. The slot talk 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 body 1, a detector for measuring the position, posture and direction of the body 1, a control device for judging the position and the like, and a control of supply of pressurized oil to the shield jack are provided. And a shield sequencer.

The course and direction of the above-mentioned shield excavator are adjusted so as to excavate along a predetermined planning line. In other words, the position of the shield excavator is actually measured using a laser measuring instrument, a level meter, or the like, and the deviation between the measured data and the planned line is obtained by a computer, and the course and direction are adjusted so that the deviation becomes zero. . The course / direction adjustment is performed when the excavator body 1 does not supply pressurized oil to a predetermined one of the plurality of shield jacks or adjusts the pressure of the pressurized oil supplied to each shield jack during excavation. This is achieved by changing the acting rotational moment.

That is, when the shield excavator excavates straight, the thrust of each shield jack is made equal. However, when the shield excavator is turned along a curved planning line, the thrust by the shield jack is deviated and the turning force is given by pushing one side. I have. To be more specific, when 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. Is used as the total output to generate a turning force.

[0009]

In the prior art shown in FIG. 11, on-off valves are provided in each of twelve oil paths for supplying pressure oil to the shield jacks 9a to 9l, and on-off control of each on-off valve is performed. I was Therefore, the same number of on-off valves as the number of shield jacks is required, and the number of on-off valves is large. In addition, since the thrust on one side was large and the thrust on the other side was zero, the balance of the thrust was poor and smooth turning was difficult.

[0010] In addition, since an appropriate opening / closing pattern of the on-off valve for directional control is normally 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 prior art, the present invention can reduce the number of valves for adjusting the supply of pressurized oil to the shield jack, and can perform a smooth turning, and can perform smooth and accurate direction control. An object of the present invention is to provide a shield jack control method for a shield excavator that can be used.

[0012]

According to a first aspect of the present invention, there is provided a shield excavator comprising: a plurality of shield jacks provided at a rear portion of an excavator body of a shield excavator; Divide into even blocks and seal
From the hydraulic pump to the shield jar so that the jack is extended
When the pressurized oil is supplied to the inlet side of the
Outlet valves on the outlet side of the mains jack
The method of adjusting the shield jack thrust according to the set force point position based on the hydraulic circuit that performs the discharge of the pressure oil from the shield jack in the same block through the same discharge valve, When excavating while making a turn, the power point position is determined from the control angle between the axial direction and the traveling direction of the excavator body, and a discharge valve provided on the block to maximize the thrust of the shield jack of the block where the power point is located In addition to adjusting the opening of the block, the opening of the discharge valve provided in the block is adjusted so as to minimize the thrust of the shield jack of the block located symmetrically with respect to the block where the point of force is located, and the remaining blocks are further adjusted. The opening degree of each discharge valve provided for each block is set so that the thrust of the shield jack gradually decreases from the block with the maximum thrust to the block with the minimum thrust. Characterized by an integer.

[0013] The structure of the present invention to achieve the above object is as follows.
A method for adjusting the thrust of a plurality of shield jacks provided at a rear portion of an excavator body of a shield excavator, wherein the shield jacks are connected to each other as a pair.
A target attitude setting unit that divides the excavator into the even-numbered blocks described above, supplies pressure oil to the shield jacks in the same block through the same valve, and calculates a target attitude of the tip of the excavator body one ring ahead. And a required stroke calculator that inputs data of a measuring device that measures the position and direction of the shield excavator, and calculates a required stroke required for each block to achieve the target posture, and a momentary stroke based on the required stroke. A jack elongation command calculation unit that calculates an elongation command for 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 amount of stroke change from the above-described required stroke calculation And the difference between the value of the extension command by the jack extension command calculator and the value of the stroke change by the actual stroke change calculator. In order to reduce the thrust of each block, a pressure setting unit for calculating a set pressure is provided, the set pressure is output to a shield sequencer, the operating pressure of the valve provided in each block is adjusted, and further until the excavation is completed. It is characterized in that the processing after the above-mentioned necessary stroke calculation section is repeated.

[0014]

In the invention according to the first aspect, when excavating while turning, the power point position is obtained from the control angle, the jack thrust of the block where the power point is located is maximized, and from this block,
It turns to a point-symmetric block and gradually reduces the jack thrust.

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

[0016]

Embodiments of the present invention will be described below. The present invention is applied to the shield excavator shown in FIG. Excavator body 1
When the shield jack 9 is extended and receives a reaction force from the segment 8, it advances, and the soil shaved by the rotary cutter 3 is discharged by the screw conveyor 5. As shown in FIG. 2, which is a view taken in the direction of arrows II-II in FIG. 1, 20 shield jacks 9 are provided (in FIG. 2, each shield jack is denoted by reference numerals "9-1" to "9-20"). Attached).

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

The control device 20 includes earth pressure data detected by an earth pressure gauge 23, position / direction data detected by a javel (product 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 meter 26, and the hydraulic pressure data supplied to the shield jack 9 detected by the pressure gauge 27 are input. Control device 2
A display 28 is connected to 0.

The shield sequencer 21 controls opening and closing of a valve 30 via a proportional valve amplifier 29. Valve 30
, The supply control of the pressure oil to the 20 shield jacks 9 (9-1 to 9-20) is performed. 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.

Here, the control operation of the shield jacks 9-1 to 9-20 by the shield sequencer 21 will be described with reference to FIG. The shield sequencer 21 includes a direction control valve 41
And the proportional valve amplifiers 29-1 to 29-2
The opening of the electromagnetic proportional valves 30-1 to 30-6 is adjusted via 9-6.

When the chamber 41a of the direction 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 electromagnetic proportional valves 30-1 to 30-6. In this case, a control system in which the electromagnetic proportional valves 30-1 to 30-6 reduce the flow rate at the outlet pipes of the shield jacks 9-1 to 9-20, that is, a meter-out control system is employed.

(A) By adjusting the opening of the electromagnetic proportional valve 30-1, the jack thrust of the shield jacks 9-1, 9-2, 9-3 can be adjusted, and (b) the electromagnetic proportional valve 30- By adjusting the opening of 2, the shield jack 9-4, 9-
5,9-6,9-7 jack thrust can be adjusted, (c)
By adjusting the opening of the electromagnetic 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 electromagnetic proportional valve 30-4 is adjusted. By doing so, the shield jacks 9-11, 9-12,
The jack thrust of 9-13 can be adjusted, and (e) the jack thrust of the shield jacks 9-14, 9-15, 9-16, and 9-17 is adjusted by adjusting the opening of the solenoid proportional valve 30-5. (F) By adjusting the opening of the electromagnetic proportional valve 30-6, the shield jacks 9-18, 9-1 can be adjusted.
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 blocks B1.
Jack block B2, and the 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.
It has become.

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

Next, shield jacks 9-1 to 9-20
A first embodiment according to the first aspect of the present invention will now be described in which the turning is controlled by dividing the turning into a jack block. As shown in FIG. 5, the axis direction of the excavator body 1 is the Z axis,
The three-dimensional coordinates are considered by taking the X axis in the horizontal direction and the Y axis in the vertical direction with the center O of the front surface of the as the origin O. Furthermore,
When the progress vector of the excavator main body 1 has a V, on the XZ plane, the angle between the line and the Z-axis obtained by projecting the vector V to the XZ plane and horizontal control angle theta _X, on the YZ plane, YZ vector V the angle between the line and the Z-axis obtained by projecting the plane to the vertical control angle theta _Y.

The control device 20 includes data indicating 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 referred to as a 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 power point positions H _X1 and H _Y1 is referred to as a power point position. . If the total thrust is concentrated at this point Q, the excavator body 1 will be controlled by the control angles θ _X1 , θ _Y1
Turns in the direction of the vector V defined by Note that the characteristics shown in FIGS. 6 and 7 are obtained by taking actual data during actual excavation and gradually correcting the characteristics according to the soil quality by learning control.

The control device 20 obtains the traveling vector V from the data of the preset planning line and the data of the current position, and further calculates the control angles θ _X and θ _Y. Then, the power 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 control device 20 issues a command so that the thrust of the jack blocks B1 to B6 becomes as shown in the following (i) to (iii). (I) The thrust F1 by the jack block B1 where the force point position Q1 is located, and the thrust F4 by the jack block B4 which is point-symmetric with respect to the jack block B1.
As follows. F1 = Fa + ΔF1 F4 = Fa−ΔF1 where 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 where ΔF2 <ΔF1 (iii) The thrusts F3 and F5 of the jack blocks B3 and B5 adjacent to the jack block B4 are as follows. F3 = F5 = Fa−ΔF2

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

The thrust is similarly adjusted when the point of force shifts to another position. That is, the thrust of the jack block in which the point of force is located is maximized, and the thrust of the jack block located symmetrically with respect to this jack block is minimized. Further, the thrust of the remaining jack blocks is made to decrease stepwise and linearly from the jack block having the largest thrust to the jack block having the smallest thrust.

Next, a direction control method according to a second embodiment of the present invention will be described with reference to FIGS.
FIG. 9 shows an outline of processing performed in the control device 20. The determination unit 100 in FIG. 9 determines whether the excavation starts. In the case of starting, 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 at one ring ahead (angles θ _XY0 , θ _{Z0 in the} horizontal and vertical directions).
Is set. It is also possible to obtain a posture for one ring from the target posture several rings ahead, and use that as the value of the setting unit 101. In FIG. 10, the current state of the excavator body 1 is indicated by a solid line, and the tip of the excavator body at this time is point P. The target attitude is indicated by a wavy line in the figure, and the excavator body tip point P 'is set so as to be on the planning line α. As shown in FIG. 10, the target attitude corresponds to the angles θ _XY0 and θ _Z0 of the horizontal and vertical cross sections of the excavator body tip at the excavation length L.

Next, from the current attitude of the shield excavator,
The required stroke calculation unit 102 calculates the required stroke Sr (i) (i = 1 to N, where N is the number of blocks) of each jack block required to attain the target posture.
The above calculation is based on the current position of the excavator
The data of the measuring device for detecting the direction is read by the measurement data reading unit 103, and the data is obtained by a geometric calculation with the target posture. Further, the required stroke Sr of the jack block (the j-th block) serving as a reference set in advance is set.
The ratio Ki of the required stroke of another jack block to (j) is determined 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 above ratio Ki over the 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 increments of ΔT has been calculated, the control of the other jack blocks described below is controlled by Δt (ΔT> Δ) based on the amount of change in the stroke of the reference jack block.
t) Perform 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 necessary stroke calculation. It is calculated logically. The change amount ΔSj of the reference block among the above change amounts is sent to the jack elongation command calculation unit 104.

The jack elongation command calculation unit 104 calculates the elongation command ΔSt (i) of the other block by the following equation based on the stroke change amount ΔSj of the reference block and the aforementioned ratio Ki. 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 variation ΔSa (i) of the other block from the actual stroke variation calculator 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 section 108 sets the pressures of the electromagnetic 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 pressure of the electromagnetic proportional valve 30 is reduced because the amount of extension of the shield jack 9 is insufficient. That is, the thrust is increased. (B) When the error δSa (i) <0, the set pressure of the electromagnetic proportional valve 30 is increased because the shield jack 9 is too elongated. That is, the thrust is reduced. (C) When the error δSa (i) = 0, the current state is maintained.
Adjust the set pressure as follows. The set pressure is sent to the shield sequencer 21 and actually set to the electromagnetic proportional valves 30-1 to 30-1.
A pressure of 30-6 is set.

The determination section 109 determines whether or not the excavation has been completed. As described above, since the thrust is adjusted by finely setting the operating pressure, smooth and accurate direction control can be performed.

[0040]

According to the first aspect of the present invention, the shield jack is divided into a plurality of blocks and the shield jack in the same block is provided.
Pressure oil is discharged through the same discharge valve,
The number of installed discharge valves is the same as the number of blocks, and the number of installed exhaust valves may be small.

Further, the thrust of the block including the power point position is maximized, the thrust of the block located symmetrically with the point is minimized, and the remaining blocks are gradually reduced from the block having the maximum thrust to the block having the minimum thrust. As a result, the distribution of thrust 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 pressure oil is supplied to the shield jacks in the same block through the same valve.
The set number of valves will be the same as the number of blocks, and the set number of valves may be small. Also, since the attitude of the machine tip one ring ahead is targeted, the operating pressure of the solenoid proportional valve is finely set to match the above attitude, and the thrust is adjusted, smooth and accurate direction control is possible.

[Brief description of the drawings]

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

FIG. 2 is an arrangement diagram showing an arrangement 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 obtain 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 illustrating a relationship between a control angle and a power point position in the first embodiment.

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

FIG. 9 is a flowchart showing processing contents in a 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]

 DESCRIPTION OF SYMBOLS 1 Excavator main body 2 Bulk head 3 Rotary 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 Javel 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 Direction 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

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Junichi Tanaka 1-1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) References JP-A-3-28492 (JP) , A) Hikaru 2-116590 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21D 9/06 302 E21D 9/06 301

Claims (2)

(57) [Claims] [Claim 1] to partition the plurality of shield jacks provided to the rear of the excavator main body of the shield excavator, the even number of 4 or more blocks at short each other as a set, Sea
Shield jack from hydraulic pump to extend
Pressure oil is discharged when pressure oil is supplied to the inlet side of the jack
The same number of discharges as the number of blocks at the exit side of the shield jack
Based on the hydraulic circuit discharge of pressurized oil from the shield jacks within the same block to be via the same exhaust valve provided with a valve, a method of adjusting the shield jacks thrust in response to the set point of effort located When excavating while making a turn, the power point position is determined from the control angle between the axial direction of the excavator body and the traveling direction, and the discharge provided in the block where the power point is located is designed to maximize the thrust of the shield jack of the block. In addition to adjusting the opening of the valve, the opening of the discharge valve provided in the block is adjusted to minimize the thrust of the shield jack of the block located symmetrically with respect to the block where the point of force is located, and the remaining Open each discharge valve provided for each block so that the thrust of the shield jack of the block gradually decreases from the block with the maximum thrust to the block with the minimum thrust. Shield jacks control method of the shield excavator, characterized in that to adjust. 2. A control method for adjusting the thrust of a plurality of shield jacks provided at a rear portion of an excavator body of a shield excavator, wherein the shield jacks are paired with nearby ones to form an even number of four or more. And a target attitude setting unit that calculates the target attitude of the tip of the excavator body at one ring ahead by supplying or discharging pressure oil to the shield jack in the same block through the same valve. A required stroke calculator for inputting data of a measuring device for measuring the position and direction of the shield excavator, and calculating a required stroke required for each block in order to attain the target posture; and A jack elongation command calculator that calculates the elongation command of the block, and calculates the actual stroke of each block from the data of the stroke meter. An actual stroke change amount calculating section for calculating the stroke change amount from the time of calculating the trooke; and a difference between the value of the extension command by the jack extension command calculating section and the value of the stroke change amount by the actual stroke change amount calculating section. A pressure setting unit for obtaining a set pressure for adjusting the thrust of each block is provided, the set pressure is output to a shield sequencer, and the operating pressure of the valve provided for each block is adjusted. A method for controlling a shield jack of a shield excavator, wherein a process after a stroke calculating unit is repeated.