JPH06100066B2 - Cutter synchronous operation device for multiple shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a multiple shield excavator in which a plurality of rotary cutters are arranged in substantially the same plane, in which each rotary cutter is electrically driven by a motor and a speed reducer. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutter synchronous operation device that is driven independently by a device and is synchronously rotated within an allowable deviation angle in which interference between cutters does not occur.

[Conventional technology]

A plurality of rotary cutters are arranged in substantially the same plane so that the distance between the cutter centers is larger than the excavation radius of each rotary cutter and smaller than the diameter, and each rotary cutter is driven independently to provide a plurality of rotary cutters. In the multiple shield excavator that performs simultaneous excavation by, it is necessary to rotate each rotary cutter synchronously within an allowable deviation angle at which interference between the cutters does not occur, as shown in FIGS. 3 and 4. .

In order to solve the above problems, in the invention of Japanese Patent Application No. 63-49774 filed by the applicant of the present invention, the speed control means of the motor for driving the main rotary cutter and the speed control means of the motor for driving the sub rotary cutter are disclosed. The speed command signal of the same magnitude to the speed command signal of the same magnitude as the deviation angle between the main rotary cutter and the secondary rotary cutter. It is input to the speed control means of the motor that drives the rotary cutter, and the speed of each motor is controlled so that the difference between the speed setting value and the speed detection value and the deviation angle detection value are both zero.

[Problems to be Solved by the Invention]

As mentioned above, when the rotating cutter on the reference side is the main and the rotating cutter on the side following this is the slave, when the cutters are synchronously operated, the main and slave rotary cutters due to some external factor or device failure. If the deviation greatly deviates from the synchronized state, deviation of deviation angle will be smaller if the synchronous operation is started by operating one rotary cutter independently, rather than starting the synchronous operation as it is. , Stable control is possible. However, when simply trying to operate one rotary cutter at the set speed, it is judged whether it is positive or negative from the meter display of the deviation angle, and depending on whether it is the main or sub rotary cutter, which direction it is in You need to decide if you need to rotate. These judgments are actually quite troublesome for the operator and are easy to make mistakes.

Further, there are the following problems in controlling the synchronization between the cutters.

In order to control the two axes synchronously
Extract the signal of the magnitude and polarity corresponding to the deviation angle of the axis,
When using this as the deviation angle correction signal,
Generally, the speed of the mounting shafts of the synchro transmitter and the synchro control transformer, which are components of the synchro device, is increased over the shaft to be controlled. This is because, as shown in FIG. 5, it is desired to improve the output characteristics of the synchronizer in the control range (to obtain a large output change amount). The higher the target control accuracy, the more the synchronizer increases. The speed ratio tends to increase. By the way, when a cross-shaped cutter as shown in FIG. 4 is used as the rotary cutter in the multiple shield machine, the non-interference deviation angle (θ ₁ , θ ₂ ) between the cutters is ± 5 ° at the minimum. Cutter 2-1
Depending on the relative positional relationship between 2 and 2-2, it may not interfere up to ± 20 °. In addition, X as shown in FIG.
When the character-shaped cutter is used, when the cutter 2-1 is at the position shown in the figure, the cutter 2-2 can rotate without any interference. Therefore, the following problems occur.

That is, as can be seen from FIG. 5, the deviation angle signal from the accelerated synchro device has If it exceeds (11.1 ° in the illustrated example in which the speed-up ratio is 16.2 times), the polarity will be inverted and opposite to the polarity of the signal required for synchronous control, so it can function as a deviation angle correction signal. Lost and therefore out of control. From this, when synchronous control is performed using the deviation angle signal from the increased speed synchronizing device, there is no problem during synchronous operation within the normal control range, but by any chance external force or the like causes the cutters to be separated from each other. If the deviation angle exceeds the polarity reversal point of the deviation angle signal, not only will the subsequent synchronous operation be disabled, but it will not be possible to determine whether the deviation angle is positive or negative based on the polarity of the deviation angle signal. It becomes impossible to perform synchronization by independent operation.

The present invention solves the above problems, and even when the cutters largely deviate from the synchronous state and the synchronous operation becomes impossible,
An object of the present invention is to provide a cutter synchronous operation device for a multiple shield machine, which enables easy synchronization of one cutter by independent operation.

[Means for Solving the Problems]

In order to achieve the above object, the present invention provides a motor control circuit that rotates a motor that drives each rotary cutter forward and reverse depending on whether the polarity of the speed command signal is positive or negative, and a forward / reverse command that determines the polarity of the speed command signal. Includes a switch, an individual operation command switch that turns on and off the speed command signal for each rotary cutter, and a synchro transmitter and a synchro control transformer connected to each cutter shaft via a speed increaser. First deviation angle detecting means for outputting a signal Δθ ₁ corresponding to the deviation angle, and a rotary cutter synchronously operated as a deviation angle correction signal to which the deviation angle signal Δθ ₁ is added to the speed command signal when the deviation angle detecting means is turned on. a first deviation angle correction signal on-off switch to be input to one of the motor control circuit of the speed command on that polarity reversal by inverter the deviation angle signal [Delta] [theta] ₁ at the time of oN The second deviation angle correction signal ON / OFF switch that is input to the other motor control circuit of the rotating cutters that are synchronously operated as the deviation angle correction signal that is added to the signal, and the rotation ratio of each cutter shaft is 1: 1. Second deviation angle detecting means including a synchro oscillator and a synchro control transformer connected to each other, which outputs a signal Δθ ₂ corresponding to the deviation angle between the cutters, and the magnitude and polarity of the value of the deviation angle signal Δθ _2. And a speed increasing ratio of the first deviation angle detecting means and a signal determining means for determining The value of Δθ ₂ at an arbitrary deviation angle set within the range of
Then, based on the designation of the rotary cutter to be operated independently for synchronization and the discrimination output of the signal discrimination means,
When the value of Δθ ₂ exceeds the α value, the forward / reverse rotation command switch and the islanding operation command switch are selectively turned on, and the specified rotary cutter is set at the set speed until the value of Δθ ₂ falls within the α value. When operated independently and the value of Δθ ₂ is within the α value, the first and second deviation angle correction signal ON / OFF switches are selectively turned ON, and the designated rotary cutter is independently operated by the deviation angle correction signal. And a command processing unit for driving the vehicle.

[Action]

In the second deviation angle detecting means, since the synchro transmitter and the synchro control transformer are connected to the respective cutter shafts at a rotation ratio of 1: 1, the deviation angle signal Δθ ₂ is as shown in FIG. In addition, it has zero points at the deviation angles of 0 ° and ± 180 °, and the polarity is not reversed in the middle.

Therefore, the second deviation angle detecting means is used as a coarse synchro system, and the first deviation angle detecting means in which the synchro transmitter and the synchro control transformer are connected to the respective cutter shafts via the speed increasing mechanism is used. A command based on the designation of a rotary cutter to be used as a synchro system and discriminating the magnitude and polarity of the value of the deviation angle signal Δθ ₂ of the coarse synchro system by the signal discriminating means, and the discriminating output and synchronizing operation to perform an independent operation. According to a control command from the processing means, the value of Δθ ₂ is the α value (the operating range of the precise synchronization system). If the value exceeds the value of Δθ ₂ at any deviation angle set within, the forward / reverse rotation command switch and the islanding operation command switch are selectively turned on until the value of Δθ ₂ falls within the α value. When the specified rotary cutter is operated independently at the set speed to perform coarse synchronization and the value of Δθ ₂ falls within the α value, the
Selectively turn on the 1st and 2nd deviation angle correction signal ON / OFF switch, and operate the specified rotary cutter independently by the deviation angle correction signal based on the deviation angle signal Δθ ₁ of the precise synchronization system to achieve more accurate synchronization. If the adjustments are made, normally, while the rotary cutters are synchronously operated by the deviation angle signal Δθ ₁ of the precise synchronization system, the cutters may greatly deviate from the synchronous state due to external force, etc., and the synchronous operation is impossible. Even if
The synchronous operation can be started after the synchronous state is once taken.

At the time of synchronization by operating this one-sided cutter independently, if the value of Δθ ₂ exceeds the α value, the instruction processing means determines which of the forward and reverse rotation command switch is turned on by the polarity of Δθ _2. If the value of Δθ ₂ is within the α value, the motor control circuit automatically determines the rotation direction according to the polarity of the deviation angle correction signal that is input.
The operator only needs to specify the rotary cutter to be operated independently, and does not need to determine in which direction the cutter should be rotated.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

2 and 3 are overall structural views of a double shield machine with the present invention applied. Two rotary cutters 2-1 and 2-2 are arranged on the same plane on the front surface of the shield body 1 having an outer shape of spectacles, and the distance between the centers of the cutters is larger than the excavation radius of each rotary cutter. Is set smaller than. The present embodiment is an example in which X-shaped rotary cutters having an outer peripheral excavation portion are used only within the ranges of 60 ° on both sides of the central axis, and the phase angle between the cutters is 90 °.

The rotary cutter 2-1 includes a motor 4-1, 4-2, 4-3 and a speed reducer 5-1, 5-2, 5-
By the electric drive device composed of 3, the rotary cutter 2-
Similarly, 2 is independently driven by an electric drive device including motors 4-4, 4-5, 4-6 and speed reducers 5-4,5-5, 5-6, which will be described later. . Further, a screw conveyor 6 for earth removal, a shield jack 7, an erector 8 and the like are installed in the machine behind the partition wall 3, and the rotary cutter 2
-1, 2-2 excavate the face and excavate the tunnel by the propulsive force of the shield jack 7 that receives the reaction force from the segment 9 assembled by the erector 8.

FIG. 3 shows that when the rotating direction of the rotary cutter 2-1 is clockwise and the rotating direction of the rotary cutter 2-2 is counterclockwise, the cutters are rotated from a certain rotational position (shown by a solid line) of the rotary cutter 2-1. the deviation angles up to non-interfering limit position (shown by two-dot chain line) which was shown by ± theta _1, the deviation angle ± theta ₁ of the minimum value obtained at each rotational position between each of the rotary cutter is rotated 1 Allowable deviation angle between cutters (±
θ) is determined. Therefore, within this allowable deviation angle, 2
If the base rotary cutter is rotated synchronously, the cutters will not interfere with each other.

FIG. 4 shows another example in which the cross-shaped rotary cutters are used and the phase angle between the cutters is 45 °. In this case as well, while each rotary cutter 2-1 and 2-2 makes one rotation. The allowable deviation angle (± θ) between the cutters is determined from the minimum value of the non-interference deviation angles θ ₁ and θ ₂ at each rotation position, and the two rotary cutters may be synchronously rotated within this allowable deviation angle. .

FIG. 1 is a system configuration diagram of an embodiment of a cutter synchronous operation device according to the present invention. An outline of the system will be described with reference to this diagram. In this figure, motor groups 4-1, 4-2, and 4-3 are reduction gears 5-
The motor group 4 is connected to the central axis (L axis) of the rotary cutter 2-1 through 1,5-2,5-3, pinion 10-1,10-2,10-3.
-3,4-4,4-6 are reduction gears 5-4,5-5,5-6, pinion 10
It is shown that it is connected to the central axis (R axis) of the rotary cutter 2-2 via -4, 10-5, 10-6.

In the following description, one motor 4-1 in the motor group for driving the rotary cutter 2-1 is a parent motor, and the other two motors 4-2 and 4-3 are slave motors subordinate to the parent motor. In the motor group for driving the rotary cutter 2-2, one unit 4-4 is a parent motor, and the other two units 4-5, 4-6 are child motors subordinate to the parent motor.

In this embodiment, a 3-phase squirrel cage induction motor (IM) is used as a cutter driving motor, and all the motors have the same number of poles.
Same rating.

The motor control circuit includes control circuits 11-1, 11-4 for controlling the speeds of the parent motors 4-1, 4-4 and child motors 4-2, 4-3, 4-5,
4-6 Control circuits for torque control 11-2, 11-3, 11-
It consists of 5, 11-6.

The case where vector control with excellent dynamic control performance is used to control each motor will be described below.

The same speed command is given from the speed setter 12 to the control circuits 11-1 and 11-4. RA is a switch for instructing normal rotation of the cutter axis (assuming left rotation of the L axis and right rotation of the R axis are normal rotation), and RB is reverse rotation of the cutter axis (right rotation of the L axis, left rotation of the R axis is assumed to be reverse rotation). ) Command, switch RA
When turned on, the speed command is input as a positive signal, and when the switch RB is turned on, the speed command is input as a negative signal whose polarity is inverted by the inverse converter 25-1. RL is a switch for instructing independent operation of the L axis, and RR is a switch for instructing independent operation of the R axis, which turns on / off the speed command signal to each of the motor control circuits 11-1 and 11-4. Switches RL and RR
Are both turned on during synchronous operation of both LR axes, and are selectively turned on during independent operation of any one axis.

The control circuit 11-1 converts the output of the speed generator (PG) 13-1 connected to the parent motor 4-1 into a voltage proportional to the speed by the FV converter 14-1, and outputs this signal (speed The difference between the detected value) and the speed command signal (speed set value) is taken and input to the speed controller (ASR) 15-1. The output of the FV converter 14-1 is used as a parameter representing the rotational angular frequency, the output of the speed regulator 15-1 is used as a torque current set value, and the magnetizing current from the magnetic flux setting section 16-1 is used. A known vector operation unit 17-1 performs vector synthesis on the set value and performs 2-phase to 3-phase conversion to obtain a primary current set value. The deviation between the primary current set value and the primary current detection value obtained by the current detection unit 18-1 is input to the current regulator (ACR) 19-1 and the current regulator 1
The output of 9-1 is applied to the inverter 22-1 as a pulse width control signal by the PWM modulator 20-1, and the direct current output of the rectifier 21-1 is converted into a variable frequency / variable voltage alternating current to the parent motor 4-1. By supplying, the speed control of the parent motor 4-1 is performed. Further, the control circuit 11-1 has a function of discriminating the rotation direction based on the polarity of the input speed command signal, switching the phase rotation of a three-phase alternating current, and rotating the parent motor 4-1 forward and backward.

The control circuit 11-4 also includes the same components as the control circuit 11-1 and controls the speed and forward / reverse rotation of the parent motor 4-4.

Further, in order to obtain the torque current component from the current detection values of the parent motors 4-1 and 4-4 obtained by the current detectors 18-1 and 18-4, the control circuits 11-1 and 11-4 are respectively provided. The three-phase to two-phase converters 23-1 and 23-4 and the coordinate converters (VD) 24-1 and 24-4 are provided, and the signal (DC amount) corresponding to the obtained torque current component is , A control circuit 11-as torque commands to the child motors 4-2, 4-3 and 4-5, 4-6, respectively.
2, 11-3 and 11-5, 11-6.

In this embodiment, the torque control of each of the L-axis and R-axis child motors is also performed by vector control. The control circuits 11-2, 11-3 and 11-5, 11-6 have the same configuration as the control circuits 11-1, 11-4.
Control circuit 11-1, 11 except that the signal corresponding to the torque current component from is used as the torque command (torque current setting value)
-4, which is the same as -4, and is given with the rotational angular frequency obtained from the outputs of the speed generators (PG) 13-2, 13-3 and 13-5, 13-6 connected to each child motor as a parameter. Vector composition of torque current setting value and magnetizing current setting value
By performing three-phase conversion to obtain the primary current setting value, the torque current component in the primary current flowing through each child motor matches the torque current setting value, and the child motors 11-2, 11-3 and 11-5, 11
Torque control is performed so that the torque generated by -6 becomes the same as the torque generated by the parent motors 11-1 and 11-4. The control circuits 11-2, 11-3 and 11-5, 11-6 also have a function of rotating each motor forward and backward in accordance with the polarity of the torque command signal.

The configuration of the motor control circuit described above is an example, and the present invention is not limited to this.

Next, the synchronous control of the L axis and the R axis, which is the core of the present invention, will be described.

In FIG. 1, 26-1 is a known sync transmitter 27-1,
This is a first deviation angle detection means (fine synchronization system) composed of a synchro control transformer 28-1 and a signal converter 29-1. In order to improve detection accuracy, the synchro transmitter 27-1 is a gearbox 30.
Synchronized control transformer 28-
1 is also connected to the R shaft via a speed increaser 30-2. As usual, the rotor of the synchro transmitter 27-1 is energized with AC input, and the transmitter stator winding is synchronized with the synchro control transformer.
The output is taken from the transformer rotor by interconnecting with the stator winding of 28-1. This output signal is detected by the signal converter 29-1 to remove the carrier wave of the AC input frequency, and the offset is adjusted so that the output during synchronization becomes ± OV.

26-2 is a synchro transmitter 27-2, a synchro control transformer 28
-2 and the signal converter 29-2, the second deviation angle detecting means (coarse synchro system), and the configuration and function of each part are the same as those of the first deviation angle detecting means 26-1. To the deviation angle of ± 180 ° from the synchro oscillator 27-2 to the L axis and the synchro control transformer 28-2 to the R axis.
The shafts are connected to each other via gearboxes at different rotation ratios of 1: 1.

Fig. 5 shows the relationship between the deviation angle of both L and R axes and the output of each synchro system (deviation angle signal) on the speed-increasing side (for example, the speed-increasing ratio is 16.2).
In the figure showing the deviation angle (horizontal axis) with different scales for the case where the speed is not increased and the side where the speed is not increased, the deviation angle is on the positive side (when the R axis advances from the reference position with respect to the L axis during forward rotation). The polarity of the output becomes negative, and the zero point of each synchro system is set so that the polarity of the output becomes positive on the negative side of the deviation angle (when the R axis is behind the reference position with respect to the L axis during normal rotation). There is.

As shown in this figure, the deviation angle signal Δθ ₁ of the speed-up precise synchronization system has If it exceeds (± 11.1 ° in the illustrated example), the polarity is reversed and the synchronous control becomes impossible, but the deviation angle signal Δθ ₂ of the coarse synchro system which does not increase the speed is the same from 0 ° to ± 180 °. Polarity, no polarity reversal.

In the present invention, since the deviation angle signal Δθ ₁ of the precise synchronization system is used as the deviation angle correction signal at the time of synchronous operation and synchronization, as shown in FIG. 1, the first deviation angle correction signal ON / OFF switch RC and A second deviation angle correction signal on / off switch RD is provided, and when the switch RC is on, the deviation angle signal Δθ ₁ is input as it is to the motor control circuit 11-4 on the R-axis side as a deviation angle correction signal. Deviation angle signal Δθ ₁
Is inverted by the inverse converter 25-2 and then input as a deviation angle correction signal to the L-axis side motor control circuit 11-1.

On the other hand, the deviation angle signal Δθ ₂ of the coarse synchro system is used as the signal discriminating means.
The magnitude and polarity of the value are discriminated at 31 and the respective discrimination outputs (binary signals of "1" and "0") 32-1 and 32-2 are inputted to the instruction processing means 33 described later. The determination of the magnitude of the value of the deviation angle signal Δθ ₂ is the polarity reversal point of the deviation angle signal Δθ ₁ when the speed increasing ratio of the precise synchronization system is e. The value α of Δθ ₂ at an arbitrary deviation angle larger than the minimum non-interference angle between the cutters is used as a reference and is compared with this.

Fig. 6 shows the operating mode, the magnitude and polarity of the deviation angle signal Δθ ₂ and the switch R when synchronizing by single-axis independent operation.
The relationship between the on / off states of A, RB, RC, RD, RL, and RR is shown in the figure. Specifically, as shown in FIG. 7, a combination of a logic judgment circuit and a matrix circuit, or a command processing means 33 such as a sequencer having a function equivalent thereto is used to perform an operation mode, that is, synchronization by L axis independent operation. Input signal 34 to select whether to synchronize by R-axis independent operation
−1, 34-2 and the input signal 32-1, from the signal discriminating means 31 for discriminating the magnitude and polarity of the value of the deviation angle signal Δθ ₂ .
Corresponding to 32-2, the function shown in FIG. 6 can be realized by outputting the control signal to the electromagnetic coil that drives each of the switches RA, RB, RC, RD, RL, and RR on and off. it can.

For example, if you select the synchronizing by L axis islanding operator, the size of the value of _{Δθ 2 | Δθ 2 |> α} , when the polarity is positive (negative), the switch RB (RA) and RL is on Therefore, a negative (positive) signal for instructing the L-axis side motor control circuit 11-1 to perform reverse (positive) rotation is input as a speed command signal. In this case, the polarity of Δθ ₂ is positive (negative),
Since it means that the R-axis is behind (advanced) from the reference position, the L-axis side motor control circuit 11-1 works to bring the L-axis closer to the synchronous state by reversely (forward) rotating at the set speed. . As a result, when | Δθ ₂ | ≦ α, the switch RB (RA) and RL are turned off and the switch RD is turned on by the control command corresponding to this, and the deviation is generated without the speed command signal being input. Angle correction signal (-Δθ ₁ ) is switched
It is input to the L-axis side motor control circuit 11-1 via RD.
In this case, since the polarity of the deviation angle correction signal (-Δθ ₁ ) is negative (positive), the L-axis side motor control circuit 11-1 receives this deviation angle correction signal (-Δθ ₁ ) as a speed command signal. , The L axis is reversed (normal) until the deviation angle becomes zero,
The synchronization is completed when the value of Δθ ₁ becomes zero.

Also, if you choose the synchronous alignment by R axis islanding operator, the size of the value of _{Δθ 2 | Δθ 2 |> α} , when the polarity is positive (negative), the switch RA (RB) and RR are turned on Therefore, a positive (negative) signal for instructing the R-axis side motor control circuit 11-4 to perform forward (reverse) rotation is input as a speed command signal. Also in this case, since the polarity of Δθ ₂ is positive (negative) means that the R-axis is behind (advanced) from the reference position, the R-axis side motor control circuit 11-4 shifts the R-axis. It works so as to approach the synchronized state by rotating it in the normal (reverse) direction at the set speed. As a result, when | Δθ ₂ | ≦ α, the corresponding control command turns off the switches RA (RB) and RR, and turns on the switch RC. The correction signal (Δθ ₁ ) is input to the R-axis side motor control circuit 11-4 via the switch RC. In this case, since the polarity of the deviation angle correction signal (Δθ ₁ ) is positive (negative), the R-axis side motor control circuit 11-4 receives this deviation angle correction signal (Δθ ₁ ) as the speed command signal and Rotate the R axis forward (reverse) until the angle becomes zero, and
The synchronization is completed when the value of θ ₁ becomes zero.

Although the above description is an example of performing synchronization from the state of | Δθ ₂ |> α, it goes without saying that the synchronization can be performed from the state of | Δθ ₂ | ≦ α.

Next, the operation during synchronous operation of both L and R axes will be briefly described.

Fig. 8 shows the operation modes and switches RA, RB, RC, R during synchronous operation
This shows the relationship between the D, RL, and RR on / off states. This is a control that uses command processing means such as a matrix circuit to turn on / off each switch according to the input signal that selects the operation mode. It can be easily realized by outputting a signal.

During the synchronous operation, the switches RC and RD are selectively turned on depending on which of the L axis and the R axis is the main, and the deviation angle correction signal is input to the secondary side motor control circuit.

For example, in synchronous normal (reverse) rotation mainly on the L axis, the deviation angle correction signal (Δθ ₁ ) is input to the R axis side motor control circuit 11-4 via the switch RC, and the switches RA (RB) and RR are input. Is added to the speed command signal input via. Therefore,
The R-axis side motor control circuit 11-4 works to accelerate the R-axis when the R-axis lags behind the reference position and to decelerate the R-axis to follow the L-axis when the R-axis advances from the reference position.

Further, in synchronous normal (reverse) rotation mainly on the R axis, the deviation angle correction signal (-Δθ ₁ ) is input to the L axis side motor control circuit 11-1 via the switch RD, and the switch RA (RB) It is added to the speed command signal input via RL. Therefore, L
The axis-side motor control circuit 11-1 works to decelerate the L-axis when the R-axis lags behind the reference position and accelerate the L-axis to follow the R-axis when the R-axis advances from the reference position.

From the above, it is possible to carry out the synchronous operation, whichever is the main, depending on whether the load on the L axis or the R axis is light or heavy.

〔The invention's effect〕

According to the present invention, even when the cutters greatly deviate from the synchronized state by exceeding the operation range of the fine synchro system due to external force or the like, the polarity of the output of the coarse synchro system is used to determine whether the deviation angle is positive or negative. Coarse synchronization is performed by operating the cutter independently at the set speed, and after the deviation angle falls within the operating range of the precise synchro system, one cutter is independently operated by the output of the precise synchro system to achieve higher accuracy. Therefore, it is possible to prevent (i) the cutters from reaching the uncontrollable state while deviating from the synchronized state. (Ii) Since the synchronous operation is started after the synchronous state is once taken, the deviation angle deviation in the synchronous operation is small and the control can be stabilized. (Iii) It is possible to improve the control accuracy during normal synchronous operation by increasing the speed increasing ratio of the precise synchronization system. (Iv) Since it is possible to automatically determine in which direction the cutters should be rotated at the time of synchronization, the operator's annoyance is eliminated, and the cutters interfere with each other due to an operation error. It is effective in preventing damage due to interference.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of an embodiment of a cutter synchronous operation device according to the present invention, FIG. 2 is a vertical cross-sectional view of a double shield excavator to which the present invention is applied, and FIG. 3 is a view taken along an arrow A in FIG. Figure, 4th
FIG. 5 is a front view showing another example of the rotary cutter, FIG. 5 is a diagram showing the relationship between the deviation angle between the cutters and the deviation angle signal in the embodiment of FIG. 1, and FIG. 6 is an operation mode at the time of synchronization. And the magnitude and polarity of the deviation angle signal Δθ ₂ and switches RA, RB,
Chart showing the relationship between on / off states of RC, RD, RL, and RR, No. 7
FIG. 8 is a block diagram of an instruction processing means for realizing the function of FIG. 6, and FIG. 8 is an operation mode and switch R at the time of synchronous operation.
It is a chart showing the relationship between ON and OFF states of A, RB, RC, RD, RL, and RR. 2-1, 2-2 ... Rotary cutter, 4-1 to 4-6 ... Cutter drive motor, 5-1 to 5-6 ... Reducer, 11-1 to 11
-6 ... Motor control circuit, 12 ... Speed setter, 25-1,25
-2 ... Inverse converter, 26-1, ... First deviation angle detecting means (fine synchronization system), 26-2 ... Second deviation angle detecting means (fine synchronization system), 27-1, 27- 2 …… Synchro transmitter,
28-1, 28-2 ... Synchronized control transformer, 30-1, 30-2 ...
… Gearbox, 31 …… Signal discriminating means, 32-1, 32-2 …… Discriminating output, 33 …… Command processing means, 34-1, 34-2 …… Operating mode selection input, RA …… Forward rotation Command switch, RB ... Reverse rotation command switch, RC ... First deviation angle correction signal ON / OFF switch,
RD …… Second deviation angle correction signal ON / OFF switch, RL, RR ……
Single operation command switch.

Claims (1)

[Claims] 1. A plurality of rotary cutters are arranged in substantially the same plane so that the center distance between the cutters is larger than the excavation radius of each rotary cutter and smaller than the diameter, and each rotary cutter is provided with a motor and a speed reducer. In the multiple shield excavator independently driven by the electric drive device consisting of, the motor control circuit that rotates the motor that drives each rotary cutter forward and backward by the polarity of the speed command signal is positive and negative, and the polarity of the speed command signal. Forward / reverse command switch that determines the rotation speed, an independent operation command switch that turns on / off the speed command signal for each rotary cutter, and a synchro transmitter and a synchro control transformer that are connected to each cutter shaft via a gearbox. And a first deviation angle detecting means for outputting a signal Δθ ₁ corresponding to the deviation angle between the cutters, and the deviation angle signal Δθ ₁ is added to the speed command signal when the deviation angle detecting means is turned on. The first deviation angle correction signal ON / OFF switch that is input to one of the motor control circuits of the rotary cutters that are synchronously operated as the deviation angle correction signal, and the deviation angle signal Δθ ₁ when the switch is ON A second deviation angle correction signal ON / OFF switch that is input to the other motor control circuit of the rotating cutters that are synchronously operated as a deviation angle correction signal that is inverted and then added to the speed command signal;
Second deviation angle detecting means including a synchro oscillator and a synchro control transformer connected to each cutter shaft at a rotation ratio of 1: 1 and outputting a signal Δθ ₂ corresponding to a deviation angle between the cutters, and the deviation. The signal discriminating means for discriminating the magnitude and polarity of the value of the angle signal Δθ ₂ and the speed increasing ratio of the first deviation angle detecting means are set to e, The value of Δθ ₂ at an arbitrary deviation angle set within the range of
Then, based on the designation of the rotary cutter to be operated independently for synchronization and the discrimination output of the signal discrimination means,
When the value of Δθ ₂ exceeds the α value, the forward / reverse rotation command switch and the islanding operation command switch are selectively turned on, and the specified rotary cutter is set at the set speed until the value of Δθ ₂ falls within the α value. When operated independently and the value of Δθ ₂ is within the α value, the first and second deviation angle correction signal ON / OFF switches are selectively turned ON, and the designated rotary cutter is independently operated by the deviation angle correction signal. A cutter synchronous operation device for a multiple shield machine, comprising: a command processing unit for operating the cutter.