JP3314366B2 - Pressure setting method of propulsion jack in shield machine - 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 of controlling the direction of digging of a shield machine by adjusting the pressure of a propulsion jack.
More specifically, the present invention relates to a method of setting the pressure of the propulsion jack for controlling the direction.

[0002]

2. Description of the Related Art The applicant of the present invention has already provided a method for controlling the excavation direction of a shield excavator by adjusting the pressure of a propulsion jack as described in Japanese Patent Application Laid-Open No. 3-28492. . In the method disclosed in this publication, the pressure of the propulsion jack is set as follows.

That is, as shown in FIG. 4, a posture deviation between a current posture and a target posture is detected in each of a horizontal direction and a vertical direction, and then the posture deviations (θx and θy) are corrected. As shown in FIG. 5 (A), the jack operation amount is obtained by dividing a horizontal correction component x and a vertical correction component y in the XY coordinate system. Then, by combining these two components using a matrix operation as shown in FIG. 3B, the pressure target values of four groups of propulsion jacks or four propulsion jacks are set.

[0004]

However, such a pressure setting method has the following problems. The strength of the set jack operation amount (the length of x and y) is not proportional to the strength of the bending moment actually generated. The direction of the set jack operation amount (tan ^-1 (y /
x)) does not match the direction of the bending moment actually generated. The strength of the bending moment is not uniform in all directions. For the reasons described above, since an accurate bending moment cannot be obtained in the expected direction and strength, the operability in controlling the direction is poor. Since the number of propulsion jacks or the number of groups for which the pressure target value can be set is limited to four, it cannot be applied to shield excavators of other numbers or groups.

SUMMARY OF THE INVENTION An object of the present invention is to solve such a problem, that is, to correct the attitude of a shield machine, to obtain a bending moment having a direction and a strength corresponding to the correction accurately. , Can be efficiently obtained even when a large bending moment is required,
Another object of the present invention is to provide a method for setting the pressure of a propulsion jack which can be applied to shield excavators in which the number of propulsion jacks, the number of groups, and the mounting position are different.

[0006]

SUMMARY OF THE INVENTION The method according to the present invention, when a plurality of propulsion jacks J1 to Jn are arranged on the same circumferential line R in a shield machine S as shown in FIG. Assuming that the next excavation target point required for correcting the vertical attitude deviation is the operation target point for the propulsion jack, the bending moment to the operation target point A obtained from the horizontal and vertical attitude deviation is shown in FIG. As shown in the above, the operation strength r of the polar coordinate system at the center O of the circumferential line R is represented by the operation angle θ and the operation angle θ. According to the linear gradient of the thrust determined by the operation strength r so that the thrust becomes the minimum at the point C on the circumferential line R on the opposite side by 180 degrees, the thrust distribution at each position of the propulsion jack is calculated by two points BC. Are divided by a straight line connecting Then, the target pressure value of the propulsion jack is set in accordance with the obtained thrust distribution (thrust distribution of single pushing). When the minimum thrust at the point C becomes zero, as shown in FIG. 3, in order to obtain a larger bending moment by pressure control using all the propulsion jacks without removing the propulsion jacks, The linear gradient is changed to a curve gradient determined by the operation strength r, and the thrust distribution of the propulsion jack is determined according to the gradient. Note that the operation strength r does not represent the actual amount of moment, but is the strength of a single push (half the circumference) by the thrust of the propulsion jack required for posture correction as shown in FIGS.

[0007]

According to such a pressure setting method, the pressure relationship between the propulsion jacks J1 to Jn can be set at a gentle gradient, so that all the pressure differences generate bending moments in the same direction. It is possible to accurately obtain a bending moment having a direction and strength appropriate for the posture correction, and efficiently obtain a large bending moment.

[0008]

Embodiments of the present invention will be described below. In FIG. 1, in a shield machine S, n propulsion jacks J1 to Jn are arranged on the same circumferential line R at arbitrary intervals. In this shield machine S, the bending moment required for the attitude correction to the operation target point A is determined by the operation strength r of the polar coordinate system at the center O of the circumferential line R and the operation angle θ (as shown in FIG. 2). Counterclockwise angle from horizon)
From this, the thrust distribution to be shared by the propulsion jacks J1 to Jn is obtained from the following procedure.

A point B at which the extension line of the operation angle θ intersects the circumferential line R, and a point C on the circumferential line R 180 ° opposite to the point B
Ask for. According to the linear gradient of the thrust determined by the operation strength r so that the thrust becomes the maximum thrust at the point B and the minimum thrust at the point C, the thrust distributions P1 to Pn for each position of the propulsion jacks J1 to Jn are calculated by 2
The two sides divided by a straight line connecting two points B and C are obtained by the following formula (1). However,
When a bending moment is required even when the minimum thrust at the point C becomes zero, a linear gradient is applied as shown in FIG.
, And the thrust distribution of the propulsion jack is obtained by the following equation (2). The target pressure value for each propulsion jack or group arranged at each position on the circumferential line R is determined according to the thrust distribution at the position determined by the above. However, since the final pressure target value cannot be set without detecting the total thrust necessary for the shield machine S to propell, the relative pressure at which the propulsion jacks or the propulsion jacks of each group share the total thrust is set here. The ratio (hereinafter referred to as the thrust sharing ratio) is determined by the following equation (3).

The calculation formula is shown below. Input items and output items are as follows. <Input item> Mounting position of the propulsion jack φi (deg) (where i = 1 to n) Operation angle θ (deg) Operation strength r <Output item> Thrust sharing ratio Pi (%) (where i = 1 to n) When r ≦ 1 (thrust distribution by linear gradient) Pi ′ = 1 + [{cos (φi−θ) +1} / 2-1] · r (1) When r> 1 (thrust distribution by curve gradient) Pi ′ = [{cos (φi−θ) +1} / 2] ^r (2) Pi = Pi ′ / Pm × 100 (3) (where Pm is the largest of Pi ′)

[0011]

According to the present invention, the following effects can be obtained. Since the pressure relationship of the propulsion jack can be set with a gentle gradient, the pressure difference between them all generates a bending moment in the same direction, and the bending moment of the direction and strength suitable for the attitude correction of the shield machine can be obtained accurately. And a larger bending moment can be efficiently obtained as compared with the related art. In the system in which the excavation direction is controlled by adjusting the pressure of the propulsion jack, a larger bending moment can be efficiently obtained than in the related art, so that the power equipment of the propulsion jack system can be simplified. Since it is possible to accurately obtain a bending moment having a direction and strength commensurate with the attitude correction of the shield excavator, the direction control of the shield excavator is facilitated, and the excavation accuracy is also improved. The versatility is high because the pressure can be set by the same calculation logic regardless of the number of propulsion jacks or the mounting position.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating a method of setting a thrust distribution of a propulsion jack according to a linear gradient in a pressure setting method according to the present invention.

FIG. 2 is an explanatory diagram showing that a bending moment required for posture correction is represented by an operation strength and an operation angle in a polar coordinate system in the above.

FIG. 3 is an explanatory diagram illustrating a method of setting a thrust distribution of a propulsion jack according to a curve gradient in the method according to the present invention.

FIG. 4 is an explanatory view showing that a jack operation amount is obtained in an XY coordinate system from a posture deviation of a shield machine in the related art.

FIG. 5 is an explanatory diagram illustrating a conventional method of setting a target pressure value of a propulsion jack from a jack operation amount in an XY coordinate system.

[Explanation of symbols]

 S Shield machine J1 to Jn Propulsion jack A Operation target point r Operation strength R Circumference line O Center of circumference line B ・ C Intersection with Circumference line

Continuing from the front page (72) Inventor Akira Nishi 2 Sanbancho, Chiyoda-ku, Tokyo Tobishima Construction Co., Ltd. (56) References JP-A-5-156889 (JP, A) JP-A-59-52100 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) E21D 9/06 301-302

Claims (1)

(57) [Claims] When the pressure of a plurality of propulsion jacks arranged on a circumferential line R is adjusted for each propulsion jack or for each group and the excavation direction of a shield excavator is controlled, horizontal and vertical attitude deviations are obtained. Assuming that the next excavation target point necessary for correcting the target is the operation target point for the propulsion jack, the bending moment to the operation target point A obtained from the horizontal and vertical attitude deviations is calculated as follows. Expressed by the operation strength r of the polar coordinate system at the center O and the operation angle θ, the maximum thrust at a point B at which the extension line of the operation angle θ intersects with the circumferential line R, which is 180 ° opposite to the circumferential line R According to the linear gradient of the thrust determined by the operation strength r so that the minimum thrust is obtained at the point C above, the thrust distribution at each position of the propulsion jack is calculated by two points B
Each of the two sides divided by a straight line connecting C is obtained. When the minimum thrust at the point C becomes 0, the linear gradient is changed to a curve gradient determined by the operation strength r. A method for setting the pressure of the propulsion jack in a shield machine, wherein the pressure target value of the propulsion jack is set according to the thrust distribution.