JP2817403B2 - Cutter synchronous operation device of multiple 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 multiple shield excavator in which a plurality of rotary cutters are arranged in substantially the same plane.
The present invention relates to a cutter synchronous operation device for independently driving each rotary cutter by an electric drive device including a plurality of motors and a speed reducer, and synchronizing the rotation within an allowable deviation angle where interference between the cutters does not occur.

[0002]

2. Description of the Related Art In a multiple shield excavator, a plurality of rotary cutters are arranged in parallel so that the distance between cutter centers is larger than the excavation radius of each rotary cutter and smaller than the diameter, and excavation is performed simultaneously. In order to improve the efficiency of tunnel construction, the following two types of cutter arrangements have been considered.

(1) Adjacent rotary cutters are arranged in different planes while being shifted back and forth.

(2) The rotating cutters adjacent to each other are arranged in substantially the same plane with their phases shifted.

[0005]

According to the method (1), the cutters do not interfere with each other even if the rotations of the cutters are not synchronized. However, maintaining the attitude of the shield machine becomes a problem. On the other hand, in the method of (2), although the imbalance of the cutting resistance received by each rotary cutter is small, each rotary cutter is
It is necessary to rotate the cutters synchronously within an allowable deflection angle where interference between cutters does not occur. In particular, when each rotary cutter is independently driven using an electric drive device including a plurality of motors and a reduction gear in order to disperse the driving torque, the synchronization control is performed between the drive systems of the respective rotary cutters. Do
If the torque sharing of multiple motors that drive each rotary cutter is not equal, and there is an imbalance in the cutting resistance and rotational resistance of each rotary cutter, the declination between the cutters can be kept within the allowable declination. And interference between the cutters occurs.

According to the present invention, when a plurality of rotary cutters are arranged in the same plane, and each of the rotary cutters is independently driven by an electric driving device including a plurality of motors and a speed reducer, the cutting resistance of each rotary cutter is reduced. Even if there is an imbalance in rotational resistance, each rotary cutter is rotated synchronously within the allowable declination, and when the rotary cutter stops, the corresponding cutter is rotated so that the deviation angle becomes zero, and synchronization is achieved. It is an object of the present invention to provide a cutter synchronous operation device for a multiple shield excavator having a function of performing each time of stopping.

[0007]

According to the present invention, there is provided a cutter synchronous operating device for a multiple shield excavator, wherein a plurality of rotary cutters have a center-to-center distance larger than an excavation radius of each rotary cutter and smaller than a diameter. So that they are arranged on almost the same plane,
In a multiple shield excavator in which each rotary cutter is independently driven by an electric driving device including a plurality of motors and a speed reducer, a speed setting value and a speed detection value given to a motor driving a main rotary cutter are provided. A clutch is provided between the motor and the speed reducer to adjust the degree of coupling so that the difference between the rotational speeds becomes zero. For the secondary rotary cutter, the difference between the given speed set value and the detected speed value and the main rotary cutter And a speed control means for adjusting the supplied power so that the detected declination values of the rotary cutter and the secondary rotary cutter are both zero.

[0008]

[Function] Of the plurality of rotary cutters, the main rotary cutter is:
It is driven via a motor, a clutch, and a speed reducer, and is adjusted by the clutch so that the difference between the set speed value and the detected speed value becomes zero.

A motor for driving a secondary one of the plurality of rotary cutters has a difference between a set speed value and a detected speed value,
The supplied power is adjusted by the speed control means so that the detected declination values of the main rotary cutter and the secondary rotary cutter are both zero.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

FIGS. 2 to 4 are overall structural views of a double shield machine to which the present invention is applied. On the front surface of the shield body 1 having an eyeglass shape, two spoke-shaped rotary cutters 2-1 and 2-2 are located in the same plane, and the center distance between the cutter centers is larger than the excavation radius of each rotary cutter.
It is set smaller than the diameter. The present embodiment is an example in which each of the rotary cutters 2-1 and 2-2 has four spokes and the phase angle between the cutters is 45 °.

The rotary cutter 2-1 is connected to the motors 4-1, 4-2, and 4-3 installed in the machine behind the partition 3 by using clutches and reduction gears 5-1, 5-2, and 5-3 (described later). (See Fig. 1)
And a rotary cutter 2-2.
Are the motors 4-4, 4-5, 4-6 and the speed reducer 5-
The motors 4, 5-5, 5-6 are independently driven. Motor 4-
The rotation of 1, 4-2 and 4-3 is performed by a central axis (L-axis) of the rotary cutter 2-1 via a clutch, reduction gears 5-1, 5-2 and 5-3, which will be described later, and a pinion gear (not shown). ), And the rotation of the motors 4-4, 4-5, 4-6 is transmitted to the speed reducer 5
Power is transmitted to the center side (R axis) of the rotary cutter 2-2 through -4, 5-5, 5-6 and a pinion gear (not shown).
A screw conveyor 6 for discharging, a shield jack 7, an elector 8, and the like are installed in the machine behind the bulkhead 3. In addition, a face excavation by the rotary cutters 2-1 and 2-2 and an assembly by the elector 8 are performed. The tunnel 9 is excavated by the thrust of the shield jack 7 receiving the segment 9 as a reaction force.

FIG. 5 shows a case where the rotation direction of the rotary cutter 2-1 is clockwise and the rotation direction of the rotary cutter 2-2 is counterclockwise.
The declination from a certain rotation position (shown by a solid line) of each of the rotary cutters 2-1 and 2-2 to a limit position (shown by a two-dot chain line) at which the cutters do not interfere with each other is indicated by θ ₁ and θ _2. The allowable deviation angle (± θ) between the cutters is determined in consideration of a certain margin in the maximum value of the deviation angles θ ₁ and θ ₂ obtained at each rotation position while each rotation cutter makes one rotation. Therefore, if the two rotating cutters are rotated synchronously within this allowable declination, interference between the cutters does not occur.

FIG. 1 is a system configuration diagram of an embodiment of a cutter synchronous operation device according to the present invention.
4-3 are clutches 25-1, 25-2, 25-3, reducers 5-1, 5-2, 5-3, and pinions 10-1, 10-.
2, 10-3 are connected to the rotary cutter 2-1 and motors 4-4, 4-5, 4-6 are connected to the speed reducer 5--2.
4,5-5,5-6, pinion 10-4,10-5,1
It is shown that it is coupled to the rotary cutter 2-2 via 0-6. In the following description, the rotary cutter 2-1 is referred to as a main rotary cutter serving as a reference for synchronous rotation, and a secondary rotary cutter that rotates following the rotary cutter 2-2.

In this embodiment, a motor 4 for driving the cutter is used.
A cage induction motor (IM) is used as 1,4-2,4-3,4-4,4-5,4-6, and all motors have the same number of poles and the same rating.

Control of starting, stopping, and reverse rotation of the motors 4-1, 4-2, and 4-3 is performed by control units 11-1, 11-2,
11-3. The output of the speed generator (PG) 13-1 directly connected to the motor 4-1 is F
The signal is converted into a voltage proportional to the speed by the -V converter 14-1, and this signal (speed detection value) and the L-axis speed command (speed setting value) from the speed setting device 12 are input to the comparator 28-1. Thus, the difference between the detected speed value and the set speed value is detected. When there is a difference, the switch 29-1 is opened and the switch 29-2 is closed.
1 is closed and the switch 29-2 is opened.

Numeral 26 denotes a clutcher exciting current setting unit which excites and couples the clutches 25-1, 25-2, 25-3 via a switch 29-1 and a clutch acceleration / deceleration controller 27, and The rotation of 1,4-2,4-3 is transmitted to the pinions 10-1, 10-2, 10-3. When the speed difference is detected by the comparator 28-1 and the switch 29-1 is opened and the switch 29-2 is closed, the clutch 25-corresponds to the difference detected by the comparator 28-1.
The exciting currents of 1, 25-2 and 25-3 are adjusted, and the rotation speed of the rotary cutter 2-1 matches the speed setting value commanded by the speed setting device 12.

The rotation of the rotary cutter 2-1 is detected by the synchro oscillators 23-1 and 23-2, and the detection signal of the synchro oscillator 23-1 is input to the comparator 30-1.

The detection signal of the synchro oscillator is used to detect the rotation of the rotary cutter 2-2.
-3 to detect the declination between the rotary cutters 2-1 and 2-2, and the detected declination value is input to the comparator 30-2 in the control unit 11-4 via the storage circuit 24. It is supposed to be.

The output of the speed generator (PG) 13-4 directly connected to the motor 4-4 is converted into a voltage proportional to the speed by an FV converter 14-4 in the control unit 11-4.
The speed detection value is input to the comparator 30-2.

In the comparator 30-1, the synchro transmitter 23-
The rotation speed of the rotary cutter 2-1 input from the speed setting unit 1 is compared with the speed setting value input from the speed setting unit 12, and the difference is input to the comparator 30-2.

In the comparator 30-2, the speed generator 13-4
, The declination detection value from the synchro control transformer 23-3, and the speed difference from the comparator 30-1, and the difference between the speed setting value and the speed detection value and the declination detection value are calculated. A signal to make both of them zero is sent to the speed controller (ASR) 15.
Enter -4. Then, the output of the speed controller 15-4 is set as a torque current set value, and this is combined with the magnetized current set value from the magnetic flux setter 16-4 in a vector operation unit 17-4 to perform two-phase to three-phase conversion. To set the primary current.
The deviation between the primary current set value and the primary current detection value obtained by the current detector 18-4 is input to a current controller (ACR) 19-4, and the output of the current controller 19-4 is output to a PWM modulator 20.
-4, as a pulse width control signal, in addition to the inverter 22-4, converts the DC output of the rectifier 21-4 into an AC having a variable frequency and a variable voltage, and supplies the AC to the motor 4-1. Perform control.

The control units 11-5 and 11-6 use the primary current detection values of the motor 4-4 obtained by the current detector 18-4 as the primary current set values of the motors 4-5 and 4-6. , The generated torque of the motors 4-5 and 4-6 is controlled to be the same as the generated torque of the motor 4-4.

If a declination occurs between the rotary cutters 2-1 and 2-2 when the rotary cutter 2-1 stops, the declination detection value immediately before the stop from the synchro angle control transformer 23-3 is used. Is stored in the storage circuit 24, and this declination detection value is stored in the comparator 30
-2, the rotary cutter 2-2 is rotated, and the angle between the rotary cutters 2-1 and 2-2 is controlled to be zero, so that the rotary cutters 2-1 and 2-2 do not interfere with each other.

Although this embodiment is an example applied to a double shield excavator having two rotary cutters, the same applies to a multiple shield excavator having two or more subordinate rotary cutters for one main rotary cutter. Can be applied to Further, the number of motors for driving each rotary cutter may be two or more, and may be any number.

[0026]

According to the present invention, in a multiple shield excavator in which a plurality of rotary cutters are arranged in substantially the same plane,
The rotation of the cutters is synchronized by the speed control of the parent motor in the motor group that drives each rotary cutter, while the torque sharing of the child motor in the motor group is used to equalize the torque sharing between the parent and child motors. The synchronous relationship between the cutters is disturbed by the imbalance of the torque sharing of the plurality of motors that drive each of the rotary cutters. Without rotating, the plurality of rotary cutters can be synchronously rotated within an allowable declination angle where interference between the cutters does not occur.

The control unit is inexpensive, and when the main rotary cutter stops, the secondary rotary cutter has a declination of zero and does not interfere.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of an embodiment of the present invention.

FIG. 2 is a sectional view of a double shield machine to which the present invention is applied.

FIG. 3 is a front view of FIG. 2 as viewed from a direction III.

FIG. 4 is a sectional view taken along line IV-IV of FIG. 2;

FIG. 5 is an explanatory diagram of an allowable deflection angle of the rotary cutter.

[Explanation of symbols]

2-1 Main rotary cutter 2-2 Secondary rotary cutter 4-1, 4-2,4-3,4-4,4-5,4-6 Motor 5-1, 5-2,5-3,5 -4,5-5,5-6 Speed reducer 11-4,11-5,11-6 Speed control means (control unit) 12 Speed setter 13-1,13-4 Speed generator 24 Synchro control transformer 25 -1,25-2,25-3 Clutch 27 Clutch deceleration controller

Claims (1)

(57) [Claims] A plurality of rotary cutters are arranged in substantially the same plane such that a distance between cutter centers is larger than an excavation radius of each rotary cutter and smaller than a diameter thereof, and each rotary cutter is provided with a plurality of motors. In a multiple shield excavator driven independently by an electric drive device consisting of a reduction gear, the motor that drives the main rotary cutter is coupled so that the difference between the given speed set value and the detected speed value is zero. A clutch for adjusting the degree is provided between the motor and the speed reducer, and for the secondary rotary cutter, the difference between the given speed setting value and the detected speed value, and the deviation between the primary rotary cutter and the secondary rotary cutter. A cutter synchronous operating device for a multiple shield excavator, comprising speed control means for adjusting supply power so that both detected values become zero.