JP3020121B2 - Automatic direction 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 automatically controlling the direction of a shield excavator, which automatically controls the direction of the shield excavator and realizes excavation of a tunnel with high linear accuracy.

[0002]

2. Description of the Related Art In this type of conventional technique, a plurality of propulsion jacks (propulsion cylinders) arranged in the circumferential direction of a shield excavator are extended and contracted at the rear of a shield excavator. Direction control was performed by pushing.

[0003]

The above prior art has the following problems. (1) Direction control in selecting a propulsion jack is limited in the type of degree of single pressing that can be set according to the number of propulsion jacks. (2) In order to prevent concentrated load on the rear trunk portion or the segment of the shield machine due to ground reaction force, the steering ability is limited due to the restriction of selection of the propulsion jack. (3) In order to control the direction, it is necessary to consider the arrangement pattern of the propulsion jack once in terms of the degree of single pressing and the moment, and the operation is complicated, and the control is performed indirectly. (4) There is no method for realizing high-precision automatic direction control.

The present invention has been made in view of the above. (1) Direction control can be performed without selecting a propulsion jack, and (2) a total number of propulsion jacks can always be used, so that segments can be used. There is no fear of segment breakage due to the concentrated load of the excavator, and no concentrated load acts on the rear body of the shield excavator, which is safe. (3) Unlike the directional control by selecting the propulsion jack, the front body The operation amount and the operation direction can be determined finely because the direction is controlled by the swing amount of the head, and (4) the control is performed so as to directly reduce the deviation amount from the excavation planning line. It is an object of the present invention to provide an automatic direction control method for a shield excavator that enables direction control.

[0005]

In order to achieve the above object, a method for controlling the moving direction of a shield excavator according to the present invention comprises connecting a rear trunk portion and a front trunk portion with an articulated cylinder, and In a shielded excavator equipped with a propulsion jack on the trunk, a laser target is installed at least on the rear trunk, and a laser beam is applied to this laser target from a laser oscillator installed behind the rear trunk to position the rear trunk. Then, measure the absolute position of the front torso front center position with respect to the rear torso by the stroke sensor attached between the front torso and the rear torso at this time. The amount of deviation from the previously entered excavation plan line is obtained by calculation, and the front trunk is rocked so that the amount of deviation becomes zero.

[0006]

[Operation] When it is measured that the front trunk, the front center position, and the tunnel excavation planning line are displaced, the front trunk articulate jack is operated, and the front trunk is rearwardly moved in a direction in which the displacement becomes zero. The direction of excavation is corrected by swinging with respect to the trunk. At this time, the propulsion jack does not participate in the correction operation of the excavation direction, but performs only the propulsion operation.

[0007]

[Embodiment] An embodiment of the present invention will be described with reference to the drawings. FIGS. 1 and 2 show an example of a shield excavator used in the control method of the present invention. FIG. 1 shows a first rear fuselage, a second rear fuselage, and both rear trunks 1 and 2 are separated from each other. It is swingable and connected in the axial direction via an articulated jack 3. Further, a propulsion jack 4 is provided at the rear of the first rear trunk 1 toward the rear. A spherical seat 5 is provided at the front end of the second rear barrel 2.
The front body 6 is swingably abutted on the spherical seat 5. The front body 6 is connected to four tension jacks 7 via a front body articulated jack 8. A rotary cutter 9 is rotatably supported at the front end of the front body 6 and is rotatably driven by a rotary drive device 10.

The shield excavator having the above configuration is advanced with respect to the segment 11 by extending the propulsion jack 4 while rotating the rotary cutter 9. At this time,
By extending and contracting the articulated jack 3 and the front body articulated jack 8, the second rear body 2 and the front body 6 are swung to be steered.

FIG. 3 shows a control mechanism for controlling the shield excavator having the above-mentioned construction. Numeral 12 denotes a laser target provided on the first rear body 1, and reference numeral 13 denotes a laser target provided on the back of a tunnel 14 excavated. This is a lightwave distance meter using the laser oscillator 13a. 15 is a stroke sensor provided on the front trunk articulated jack 8, 16 is a controller for controlling each jack, 17 is its input device, 1
Reference numeral 8 denotes an input / output device. Reference numeral 19 denotes a multiplex transmission master unit, and reference numeral 20 denotes a multiplex transmission slave unit. Various sensor signals of the shield excavator are input to the multiplex transmission slave unit 20. Reference numeral 21 denotes the number of valves for controlling the front trunk articulated jack 8.

A control method in the above configuration will be described with reference to a flow of direction control shown in FIG. First, a tunnel excavation plan line f (x, y, z) is input to the controller 16. Then, during excavation, the laser oscillator 13a, the optical distance meter 13 and the first rear body 1 set at the reference point in the tunnel 14 are provided.
The position and the attitude of the first rear body 1 of the shield excavator are measured by a laser target 12 provided at at least one of the jacks attached between the first rear body 1 and the front body 6. Measure the stroke of the book with a sensor,
The relative position of the front center position of the front body 6 with respect to the first rear body 1 is obtained, and the absolute position (x, y, z) of the front surface of the front body 6 is obtained by combining this relative position with the measured value. Next, a deviation (△ y, △ z) between the absolute position (x, y, z) and the planning line f (x, y, z) is obtained by calculation, and the deviation is set to zero. The front body 6 is swung. The swing of the front body 6 is performed at a predetermined propulsion stroke or at every time. In the above embodiment, the rear body is divided into the first and second parts so as to be swingable. However, an integrated rear body may be used. As a method of measuring the center position of the front surface of the front body with respect to the rear body, as shown in FIG. 5, the laser targets 12a and 12b are attached to the front body A and the rear body B, and the front body A side. Laser target 12a
A laser oscillator 13a may be arranged on the rear body B, and a laser oscillator (not shown) for the rear body B may be arranged behind the tunnel. Also, as shown in FIG. It may be attached only to the part A. Since the correcting operation in the excavation direction is performed by swinging the front body relative to the rear body as described above, the propulsion jack does not participate in the correcting operation but performs only the propulsion.

[0011]

According to the present invention, the following effects can be obtained in a shield excavator. (1) Direction control can be performed without selecting a propulsion jack. (2) All the propulsion jacks can be used for propulsion at all times, and there is no risk of segment breakage due to concentrated load on the segment. Also, concentrated load does not act on the buckling of the shield excavator, which is safe. . (3) Unlike the case where the direction is controlled by selecting the propulsion jack, since the direction is controlled by the swing amount of the front trunk, the operation amount and the operation direction can be finely determined. (4) Since the deviation from the excavation planning line is controlled so as to be directly reduced, highly accurate direction control can be performed.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an example of a shield excavator used in the method of the present invention.

FIG. 2 is a perspective view showing a direction control unit of the shield excavator shown in FIG.

FIG. 3 is a block diagram showing a control mechanism of the shield excavator.

FIG. 4 is a block diagram showing the gist of the present invention.

FIG. 5 is an explanatory diagram showing an example in which a laser oscillator is attached to a front trunk and a rear trunk.

FIG. 6 is an explanatory diagram showing an example in which a laser oscillator is attached only to a front body.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Kazuo Miyazawa 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Toru Goto 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Yukihiko Matsuura 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (56) References JP-A-5-52566 (JP, A) Jiko 3-222390 (JP) , Y2) (58) Field surveyed (Int. Cl. ⁷ , DB name) E21D 9/06 301

Claims (1)

(57) [Claims] 1. A shield excavator having a rear trunk portion and a front trunk portion connected by an articulated cylinder, and a propulsion jack on the rear trunk portion, wherein a laser target is installed at least on the rear trunk portion. A laser beam is applied to the target from a laser oscillator installed behind the rear trunk to measure the position and orientation of the rear trunk, and then to the stroke sensor attached between the front trunk and rear trunk at this time. In addition to calculating the absolute position of the front fuselage front center position with respect to the rear torso, the amount of deviation between the front fuselage front center position and the previously input excavation plan line is calculated, and this deviation amount is set to zero. An automatic directional control method for a shield excavator, characterized in that a front body part is swung.