• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A boring machine (10) comprises a forward section (11), a rear section (13), a parallel link mechanism (14), stroke sensors (16a to 16f), pressure sensors (17a to 17h), and a controller (26). The parallel link mechanism (14) includes eight thrust jacks (14a to 14h) that change the position and attitude of the forward section (11) with respect to the rear section (13). The controller (26) computes a target allocation force to be allocated to eight thrust jacks (14a to 14h) on the basis of the sensing result from the stroke sensors (16a to 16f) and the pressure sensors (17a to 17h), and controls the thrust jacks 14a to 14h so as to perform stroke control on six of the thrust jacks (14a to 14f) and perform force control on two of the thrust jacks (14g and 14h).
    公开号:SE1650368A1
    申请号:SE1650368
    申请日:2014-11-05
    公开日:2016-03-18
    发明作者:Toyoshi Kuramoto
    申请人:Komatsu Mfg Co Ltd；
    IPC主号:
    专利说明:

    [1] [0001] The present invention relates to a tunnel boring device used in the excavation of a tunnel, and to a method for controlling this device.
    [2] [0002] The excavation of a tunnel is performed using a boring machine equipped with a cutter head including a cutter at the front of the machine, and grippers provided on the left and right sides at the rear of the machine.
    [3] [0003] Nevertheless, the following problem is encountered with the conventional tunnel boring device discussed above.
    [4] [0004] FIG. 1 is an overall view of the configuration of the tunnel boring device pertaining to an embodiment of the present invention; FIG. 2 is a cross section of a state in which the boring machine in FIG. 1 is used to perform tunnel excavation; FIG. 3 is a simplified diagram of the layout configuration of the thrust jacks included in the parallel link mechanism installed in the boring machine in FIG. 1; FIG. 4 is a control block diagram of the boring machine in FIG. 1; 9 FIG. 5a is a circuit diagram of a thrust jack, used to perform the stroke control shown in FIG. 4, and FIG. 5b is a circuit diagram of a thrust jack, used to perform the allocation force control shown in FIG. 4; FIG. 6 is a diagram of the display screen of a monitor on which control inputs are made for the boring machine in FIG. 1; FIG. 7 is a flowchart of allocation force control during tunnel excavation with the boring machine in FIG. 1; FIG. 8 is a diagram of the procedure for shaft boring using the tunnel boring device in FIG. 1; and FIG. 9 is a simplified diagram of the layout configuration of the thrust jacks included in the parallel link mechanism of the tunnel boring device pertaining to another embodiment of the present invention.
    [5] [0005] The tunnel boring device and its control method pertaining to an embodiment of the present invention will now be described through reference to FIGS. 1 to 8.
    [6] [0006] The tunnel boring device of the present invention comprises a parallel link mechanism that includes (6 + n) thrust jacks, wherein the effect of this tunnel boring device is that external forces of all directions and magnitudes produced during excavation can be properly handled, which means that this tunnel boring device can be broadly applied to boring machines that perform tunnel excavation.
    [7] [0007] 10 boring machine (tunnel boring device) 31 11 forward section ha gripper 12 cutter head 12a disk cutter 13 rear section 13a gripper 14 parallel link mechanism 14a to 14h thrust jacks 15 conveyor belt 16a to 16f stroke sensors 17a to 17h pressure sensors (force sensors) 17aa to 17ha head-side sensors 17ab to 17hb bottom-side sensors 20 controller 21 input component 22 jack pressure acquisition component 23 stroke amount acquisition component 24 forward section position and attitude computer 25 target allocation force computer 26 jack controller (controller) 30 counterforce receiver 32 :,nt
    权利要求:
    Claims (9)
    [1] 1. A tunnel boring device, comprising: a forward section having a plurality of cutters at an excavation-side surface; a rear section disposed to a rear of the forward section and having grippers for obtaining counterforce during excavation; a parallel link mechanism including (6 + n) thrust jacks disposed in parallel between the forward section and the rear section, link the forward section and the rear section, and change a position and attitude of the forward section with respect to the rear section (where n = 1, 2, 3, 4, 5, ...); stroke sensors attached to the thrust jacks to sense an amounts of stroke of the thrust jacks; force sensors attached to the thrust jacks to sense a load to which the thrust jacks are subjected; and a controller configured to compute a target allocation force to be allocated to the (6 + n) thrust jacks on the basis of a sensing results of the stroke sensors and the force sensors, and control the thrust jacks so that stroke control will be performed for six of the thrust jacks, and force control involving the allocation force will be performed for the other n number of thrust jacks.
    [2] 2. The tunnel boring device according to Claim 1, wherein the controller computes an external force to which the forward section is subjected on the basis of a relative position and attitude of the forward section with respect to the rear section from the stroke amounts for the six thrust jacks, and a load to which the (6 + n) thrust jacks are subjected as sensed by the force sensors, and computes a target allocation force for each of the thrust jacks in order to resist this external force.
    [3] 3. The tunnel boring device according to Claim 1 or 2, wherein the force sensors are provided to (6 + n) of the thrust jacks, and the stroke sensors are provided to six of the thrust jacks.
    [4] 4. The tunnel boring device according to Claim 1 or 2, wherein (6 + n) of the thrust jacks are disposed in a substantially circular pattern around an outer peripheral portion of faces where the forward section and the rear section are opposite each other.
    [5] 5. The tunnel boring device according to Claim 1 or 2, wherein the controller controls each of the thrust jacks so as to control an attitude of the forward section three-dimensionally.
    [6] 6. The tunnel boring device according to Claim 1 or 2, further comprising an input component configured to receive control inputs related to a movement direction of the forward section from an operator, wherein the controller controls a stroke of each of the six of the thrust jacks so that excavation will be performed along a desired radius of curvature set on the basis of this control input when the input component receives a control input from the operator.
    [7] 7. The tunnel boring device according to Claim 6, wherein the input component is a touch panel type of monitor.
    [8] 8. The tunnel boring device according to Claim 7, 36 wherein the monitor has directional keys for setting a movement direction of the forward section, and a display component for displaying a relative position of the forward section with respect to the rear section.
    [9] 9. A method for controlling a tunnel boring device comprising a forward section having a plurality of cutters on an excavation-side surface, a rear section disposed to a rear of the forward section and has grippers for obtaining counterforce during excavation, and a parallel link mechanism including (6 + n) thrust jacks (where n is a natural number) that link the forward section and the rear section and change a position of the forward section with respect to the rear section, the method comprising steps of: sensing a load to which the thrust jacks are subjected; sensing a stroke amounts of the thrust jacks; calculating an external force to which the forward section is subjected on the basis of the sensed stroke amounts and the load to which the thrust jacks are subjected; calculating a target allocation force allocated to the (6 + n) thrust jacks on the basis of the external force; and controlling the thrust jacks so that stroke control will be performed for six of the thrust jacks, and force control involving the target allocation force will be performed for the other n number of thrust jacks. 37 Patentansokan nr / Patent application No: 1650368-2 1 fOljande bilaga finns en oversattning av patentkraven till svenska. Observera att det är patentkravens lydelse pa engelska som galler. A Swedish translation of the patent claims is enclosed. Please note that only the English claims have legal effect.
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    同族专利:
    公开号 | 公开日
    DE112014004022T5|2016-07-21|
    CN105518253A|2016-04-20|
    CA2924216A1|2015-06-04|
    AU2014355695A1|2016-04-07|
    AU2014355695B2|2017-03-02|
    SE541739C2|2019-12-03|
    CN105518253B|2018-10-26|
    JP6239356B2|2017-11-29|
    US20160230552A1|2016-08-11|
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    JP2015105511A|2015-06-08|
    CA2924216C|2018-01-02|
    US10006285B2|2018-06-26|
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    CN111810171B|2020-07-24|2021-12-24|上海隧道工程有限公司|Shield propulsion system control method and system based on three partitions|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP2013247695A|JP6239356B2|2013-11-29|2013-11-29|Tunnel excavator and control method thereof|
    PCT/JP2014/079331|WO2015079877A1|2013-11-29|2014-11-05|Tunnel excavation device, and control method therefor|
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