JPH06100067B2 - Cutter synchronous operation device for multiple shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a multiple shield excavator in which a plurality of rotary cutters are arranged in substantially the same plane, and 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 synchronously rotates within a permissible deviation angle at 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 a multiple shielded excavator that performs simultaneous excavation according to (3), 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 FIG.

In order to solve the above-mentioned problems, in the invention of Japanese Patent Application No. 63-49774 filed by the applicant of the present invention, a deceleration control means for a motor that drives a main rotary cutter and a speed control means for a motor that drives a subordinate rotary cutter. To the speed control means of the motor that drives the sub-rotary cutter as a speed correction signal, while inputting the same speed command signal to the main rotary cutter and a signal with a magnitude and polarity corresponding to the deviation angle between the main rotary cutter and the sub-rotary cutter. 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 described above, when the rotary cutter on the side that is the reference of the synchronous operation is the main and the rotary cutter on the side that follows this is the slave, it is generally desired that the slave has a larger drive torque margin than the main. (When a rotation delay occurs, the slave must catch up with the speed exceeding the master). However, the load on the cutter of the shield machine greatly depends on the nature of the ground, and the load on both cutters may differ greatly at the turn of the stratum. Therefore, when the load on the master is light and the load on the slave is heavy, the slave cannot follow the master due to lack of drive torque. Therefore, depending on the degree of load on both cutters, if the one with the heavier load is the main one and the one with the lighter load is the subordinate one,
The slave always has a drive torque margin with respect to the main, and stable synchronous operation can be expected even under high load.

In view of this point, the first object of the present invention is to provide a cutter synchronous operation device for a multiple shield excavator capable of easily switching the master-slave relationship of a rotary cutter.

On the other hand, when the main and sub rotary cutters largely deviate from the synchronized state due to some external factor or device failure,
Rather than start synchronous operation as it is, once the synchronous state is obtained by operating one rotating cutter independently,
When the synchronous operation is started, deviation of the deviation angle is small and stable control can be performed. However, when only one of the rotary cutters is operated, the positive / negative is judged from the meter display of the deviation angle, and depending on which of the main and sub rotary cutters, the rotary cutter is rotated in either direction. You need to decide what you need to do. These judgments are actually quite troublesome for the operator and are easy to make mistakes.

A second object of the present invention is to solve the above-mentioned problems and to provide a cutter synchronous operation device for a multiple shield machine, which can easily perform synchronization by independent operation of the rotary cutter.

[Means for Solving the Problems]

In order to achieve the above-mentioned first object, the present invention provides a motor control circuit for rotating a motor for driving each rotary cutter forward and backward depending on whether the polarity of a speed command signal is positive or negative, and a deviation between the rotary cutters which are synchronously operated. A deviation angle detecting means for outputting a signal having a magnitude and a polarity corresponding to the angle, and a turning cutter synchronously operated as a speed correction signal to which the output signal of the deviation angle detecting means is added to the speed specifying signal when the deviation angle detecting means is turned on. The first switch input to one of the motor control circuits and the output signal of the deviation angle detection means when the switch is turned on are synchronized as a speed correction signal to be added to the speed command signal after polarity inversion by an inverse converter. The second switch input to the other motor control circuit of the rotating cutters to be operated and the first and second switches depending on the designation of the master-slave relationship between the rotating cutters to be synchronously operated. Characterized by comprising an instruction processing means for selectively turning on only one of.

Further, in order to achieve the above-mentioned second object, according to the present invention, according to the designation of the rotary cutter to be independently operated for synchronization, the input of the speed designation signal to each motor control circuit is stopped, It is characterized in that it is provided with an instruction processing means for selectively turning on only one of the first and second switches.

[Action]

When the master-slave relationship of the rotary cutters to be synchronously operated is designated, either one of the first and second switches is selectively turned on by the control command from the command processing means corresponding thereto (at this time, the motor). The control circuit is given a forward or reverse command.) One of the cutter axes is the L axis and the other is the R axis, and when the first switch is turned on, a speed correction signal is sent to the motor control circuit on the R axis side. If it is input,
The motor control circuit on the R-axis side that received this speed correction signal
It works to rotate the shaft following the L-axis. That is,
The L axis has a main relationship and the R axis has a secondary relationship. In contrast, the second
When the switch is turned on, the speed correction signal is input to the motor control circuit on the L-axis side. Since this speed correction signal has a polarity opposite to that of the speed correction signal input to the motor control circuit on the R-axis side, the motor control circuit on the L-axis side receiving this speed correction signal sets the L-axis to the R-axis. It works to follow and rotate. That is, the R axis has a main relationship and the L axis has a secondary relationship.

Therefore, depending on which of the first and second switches is turned on, the master-slave relationship of the rotary cutter during the synchronous operation can be switched.

Further, when a rotary cutter to be operated independently is designated for synchronization, either one of the first and the second is selectively turned on by a control command from the corresponding command processing means. At this time, since the speed command signal is not input to the motor control circuit, when the first switch is turned on, R
The motor control circuit on the axis side receives the speed correction signal input via the first switch as a speed command signal, and operates the R-axis side cutter independently until the deviation angle detection value becomes zero.
Similarly, when the second switch is turned on, the motor control circuit on the L-axis side receives the speed correction signal input via the second switch as a speed command signal, and the L-axis side until the deviation angle detection value becomes zero. Operate the cutter alone. When synchronizing by operating this one-sided cutter independently, the motor control circuit automatically determines the direction of rotation based on the polarity of the speed correction signal that was input, so the operator specifies the rotating cutter to be operated independently. You don't have to decide which way to turn the cutter.

〔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 a spectacle-shaped outer shape, and the center distance between the cutters is larger than each rotary cutter and the excavation radius. Is set smaller than. The present embodiment is an example in which X-shaped rotary cutters having an outer peripheral excavation portion are provided 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-
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, a shield jack 7, an erector 8 and the like are installed in the machine behind the partition wall 3, and the face is excavated by the rotary cutters 2-1 and 2-2 and assembled by the erector 8. The tunnel is excavated by the driving force of the shield jack 7 which receives the segment 9 as a reaction force.

FIG. 3 shows that when the rotation direction of the rotary cutter 2-1 is clockwise and the rotation direction of the rotary cutter 2-2 is counterclockwise, the cutters are rotated from a certain rotational position (shown by a solid line). 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. 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-
1, 5-2, 5-3 and pinions 10-1, 10-2, 10-3 are connected to the central axis (L axis) of the rotary cutter 2-1 to connect the motor groups 4-3, 4-4. , 4-6 are reduction gears 5-4,5-5, 5-6, pinion
It is shown that it is connected to the central axis (R axis) of the rotary cutter 2-2 via 10-4, 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, 11-5, 1
It consists of 1-6.

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 forward 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 (assuming right rotation of the L axis and left rotation of the R axis). This is a switch for commanding.When the switch RA is on, the speed command is input as a positive signal and the switch RB
When turned on, the speed command is input as a negative signal whose polarity is inverted by the inverse converter 25.

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 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 and supplied to the parent motor 4-1. By doing so, 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. Control circuits 11-2, 11-3 and
The configurations of 11-5 and 11-6 are the same as those of the control circuits 11-1 and 11-6 except that a signal corresponding to the torque current component from the control circuits 11-1 and 11-4 is used as a torque command (torque current setting value). 11-4
And a speed generator (P
G) Using the rotational angular frequency obtained from the outputs of 13-2, 13-3 and 13-5, 13-6 as a parameter, the given torque current setting value and magnetizing current setting value are vector-synthesized, and two-phase- Three
By converting the phase to 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 is the same as the torque generated by the parent motors 11-1 and 11-4. Control circuit
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 designation signal.

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

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

In this embodiment, as shown in FIG. 1, a deviation angle detecting means 26 is constituted by a known synchro oscillator 27, a synchro control transformer 28 and a signal converter 29.

In order to improve the detection sensitivity, the synchro transmitter 27 is
The synchro control transformer 28 is also connected to the L shaft via the speed increaser 30-2. As usual, the rotor of the synchro oscillator 27 is energized with an AC input, the starter stator windings are interconnected with the stator windings of the synchro control transformer 28, and the output is taken from the transformer rotation. This output signal is detected by the signal converter 29 to remove the carrier wave of the AC input frequency, and the output at the time of synchronization is set to ± 0 V by further adjusting the offset.

FIG. 4 is a diagram showing the relationship between the deviation angles on both sides of L and R and the output signal of the signal converter 29 (when the speed increasing ratio of the synchro system is set to 1.62 times). The polarity of the output becomes negative when the axis is ahead of the reference position with respect to the L axis, and the output characteristic 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 forward rotation). The zero point of the synchro system is set like this.

During synchronous operation, the output signal of the signal converter 29 is used as a speed correction signal for the subordinate cutter shaft. In the present invention, since it is possible to switch the master-slave relationship between the L and R axes, the first
Switch RC and second switch RD are provided, the L axis is the main, and the R
When the axis is used as the subordinate, the output signal of the signal converter 29 is input as it is to the motor control circuit 11-4 on the R axis side as a speed correction signal via the first switch RC so that the R axis is the main and L axes. When the axis is used as a subordinate, the output signal of the signal converter 29 is inverted in polarity by the inverse converter 31 and is then sent as a speed correction signal to the motor control circuit 11-1 on the L axis side via the second switch RD. I am trying to enter.

Fig. 5 shows the operation modes and switches RA, RB, RC, R for synchronous operation.
It is a chart showing the relationship between the on and off states of D. Specifically, as shown in FIG. 6, using the instruction processing means 32 such as a diode matrix or a sequencer, it corresponds to the input signals 33-1 and 33-4 for selecting the operation modes No. 1 to No. 4. By outputting the control signals 34-1 to 34-4 to the electromagnetic coils for driving the switches RA-RD on and off, four kinds of operation modes as shown in FIG. 6 can be realized.

For example, when the synchronous normal rotation mainly for the L axis is selected, the switches RA and RC are turned on and the RB and RD are turned off, so that the motor control circuit 11-4 on the R axis side is switched to the fourth position via the switch RC. The speed correction signal shown in the figure is input and added to the speed command signal input via the switch RA. In this case, since the polarity of the speed command signal is positive, when the R-axis advances from the reference position, the polarity of the speed correction signal becomes negative, and the motor control circuit 11-4 decelerates the R-axis to reduce the L-axis. When the R-axis lags behind the reference position, the polarity of the speed correction signal becomes positive, so that the motor control circuit 11-4 speeds up the R-axis to follow the L-axis. .

When synchronous reversal mainly for the L axis is selected, switch R
B and RC are on, RA and RD are off. In this case, switch R
Although the polarity of the speed command signal input via B becomes negative, the motor control circuit on the R-axis side via the switch RC 11-4
Since the speed correction signal input to the motor also advances from that in the normal rotation and the relationship of the delay is reversed, the motor control circuit 11-4 is also
When the axis advances from the reference position, the R axis is decelerated, and when the R axis lags the reference position, the R axis is accelerated to follow the L axis.

On the other hand, when the synchronous forward rotation with the R axis as the main is selected, the switches RA and RD are turned on and RB and RC are turned off.
4th through the switch RD to the motor control circuit 11-1 on the shaft side
A speed correction signal that is the polarity of the signal shown in the figure is input,
It is added to the speed command signal input via the switch RA. In this case, the polarity of the speed command signal is positive,
When the R-axis advances from the reference position, the polarity of the speed correction signal becomes positive, so that the motor control circuit 11-1 works to accelerate the L-axis to follow the R-axis, and the R-axis moves from the reference position. When it is delayed, the polarity of the speed correction signal becomes negative,
The motor control circuit 11-1 works to decelerate the L-axis and follow the R-axis.

Switch R is selected when synchronous reversal centering on the R axis is selected.
B, RD are on, RA, RC are off. In this case, switch RB
Although the polarity of the speed command signal input via is negative,
The speed correction signal input to the motor control circuit 11-1 on the L-axis side via the switch RD also advances with that during forward rotation, and the relationship of delay is reversed, so the motor control circuit 11-1 is also When it advances from the reference position, the L-axis is accelerated, and when the R-axis lags behind the reference position, the L-axis is decelerated to follow the R-axis.

Due to the above, stable synchronous operation can be connected regardless of which of the L and R axes is the main axis.

FIG. 7 is a chart showing the relationship between the operation mode and the on / off states of the switches RA to RD when the synchronization is performed by the independent operation of one shaft. Specifically, as shown in FIG.
Using the command processing means 35 such as a diode matrix or a sequencer, an electromagnetic drive for turning on / off the switches RA to RD corresponding to the input signals 36-1 and 36-2 for selecting the No. 1 and No. 2 operation modes. By outputting the control signals 37-1 to 37-4 to the coils, it is possible to realize two kinds of operation modes as shown in FIG.

For example, if synchronization is selected by L-axis independent operation, switch RD is turned on and RA, RB, RC are turned off.
With no input of speed command signal for both axis and R axis,
A speed correction signal obtained by inverting the polarity of the signal shown in FIG. 4 is input to the motor control circuit 11-1 on the L-axis side via the switch RD. In this case, the motor control circuit 11-1 receives the input speed correction signal as a speed command signal, and rotates the L-axis normally or reversely until the deviation angle detection value becomes zero according to the polarity of the speed correction signal.

Also, when selecting synchronization by R-axis independent operation,
Since the switch RC is turned on and the switches RA, RB, RD are turned off, the speed correction signal shown in FIG. 4 is output via the switch RC without inputting the speed command signal for both the L-axis side and the R-axis side. It is input to the R-axis side motor control circuit 11-4. in this case,
The motor control circuit 11-4 receives the input speed correction signal as a speed command signal, and rotates the R-axis forward or reversely until the deviation angle detection value becomes zero according to the polarity of the speed correction signal.

Therefore, even if the deviation angle deviates from the normal control range shown in FIG. 4, synchronization can be achieved by independent operation of either the L-axis or the R-axis unless it is within the uncontrollable range with diagonal lines. is there.

In carrying out the present invention, the instruction processing means 32 shown in FIG.
The instruction processing means 35 shown in FIG. 8 and FIG. 8 may be integrated to provide both functions.

〔The invention's effect〕

 According to the present invention, the following effects can be obtained.

(I) A speed correction signal input / output first or second according to the designation of the master-slave relationship.
By providing the command processing means for selectively turning on the first and second switches, it is possible to easily switch the master-slave relationship of the cutter shaft during synchronous operation, so that the load can be changed according to the degree of load on both shafts. It is easy to stabilize the synchronous operation under high load by making the heavier one as the main and the lighter one as the subordinate. Further, as described above, the range of loads in which synchronous operation is possible can be expanded.

(Ii) A cutter is provided by adding command processing means for selectively turning on the first and second switches for turning on / off the speed correction signal in accordance with the designation of the cutter axis to be independently operated for synchronization. When the axis largely deviates from the synchronous state, the synchronous operation can be started after the synchronous state is once taken, so that deviation of the deviation angle in the synchronous operation is small and the control operation can be further stabilized. In addition, since it is possible to automatically determine in which direction the cutter axis that operates independently should be rotated, the operator's trouble is eliminated, and the interference and interference between cutters caused by operation mistakes. It is possible to prevent damage due to.

[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 diagram showing the relationship between the deviation angles of the cutters and the deviation angle detection signal in the embodiment shown in FIG. 1, and FIG. 5 is a table showing the relationship between the operation modes during synchronous operation and the ON / OFF states of the switches RA to RD. 6, FIG. 6 is a block diagram of an instruction processing means for realizing the function of FIG. 5, FIG. 7 is a chart showing a relationship between an operation mode and ON / OFF states of the switches RA to RD at the time of synchronization, and FIG. The figure is a block diagram of instruction processing means for realizing the functions of FIG. 2-1, 2-2 ... Rotary cutter, 4-1 to 4-6 ... Cutter drive motor, 5-1 to 5-6 ... Reduction gear, 11-1 to 1
11-6 …… Motor control circuit, 12 …… Speed setter, 26 ……
Deviation angle detection means, 31 ... Inverse converter, 32, 35 ... Command processing means, RA ... Switch for instructing forward rotation of the cutter axis, RB ...
... Switch for commanding reverse rotation of the cutter axis, RC ... First switch for turning on / off the speed correction signal, RD ... Second switch for turning on / off the speed correction signal.

Claims (2)

[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 a multiple shield machine that is independently driven by an electric drive device, the motor control circuit that rotates the motors that drive the rotating cutters forward and backward depending on whether the polarity of the speed command signal is positive or negative, and the cutters that are synchronously operated. A deviation angle detecting means for outputting a signal having a magnitude and a polarity corresponding to the deviation angle between the two, and a synchronous operation as a speed correction signal to which the output signal of the deviation angle detecting means is added to the speed command signal when the deviation angle detecting means is turned on. The first switch input to one motor control circuit of the rotary cutter and the polarity of the output signal of the deviation angle detection means when the switch is turned on are inverted by an inverse converter, and then the speed is changed. The second switch that is input to the other motor control circuit of the rotary cutters that are synchronously operated as a speed correction signal that is added to the command signal, and the first switch according to the designation of the master-slave relationship between the rotary cutters that are to be synchronously operated. A cutter synchronous operation device comprising: a command processing means for selectively turning on only one of the first and second switches. 2. One of the first and second switches while the input of a speed command signal to each motor control circuit is stopped in accordance with the designation of a rotary cutter to be operated independently for synchronization. 2. The cutter synchronous operation device according to claim 1, further comprising a command processing means for selectively turning on only one of the two.