JPH0328492A - Method and device for controlling excavating direction for shield excavator - Google Patents
Method and device for controlling excavating direction for shield excavatorInfo
- Publication number
- JPH0328492A JPH0328492A JP1986089A JP1986089A JPH0328492A JP H0328492 A JPH0328492 A JP H0328492A JP 1986089 A JP1986089 A JP 1986089A JP 1986089 A JP1986089 A JP 1986089A JP H0328492 A JPH0328492 A JP H0328492A
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- target value
- attitude angle
- deviation
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000009412 basement excavation Methods 0.000 claims abstract description 14
- 239000012530 fluid Substances 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims abstract 2
- 230000005641 tunneling Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000010355 oscillation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000209202 Bromus secalinus Species 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
Description
本発明は、シールド掘進機の現在の位置及び姿勢角を検
出しながらその掘進方向を計画路線に正確に沿うように
自動制御する方法及びその装置に関する．The present invention relates to a method and apparatus for automatically controlling the direction of excavation of a shield tunneling machine so as to accurately follow a planned route while detecting the current position and attitude angle of the shield tunneling machine.
一Ｃに、シールド掘進機の自動による方向制御は、その
位置と姿勢角を自動位置計測装置等により常時計測し、
計画路線との偏差を修正するように推進ジャッキを自動
的に操作して行う。
従来、その操作は、推進ジャッキをＴ４磁切換弁により
作動させるか停止させるかにより行っていた．すなわち
、複数の推進ジャッキのうちから修正動作に適した作動
ジャッキを過去の掘進データ等を参照して選択し、さら
に偏差の修正には水平方向及び鉛直方向の偏差を同時に
修正できるようなジャッキを選択し、それを作動・停止
させることにより行っていた．
この方法を、第６図に示すように８台の推進ジャッキを
有するシールド掘進機を例にして説明する。いま全推進
ジャッキの作動によって直進させた結果、水平方向θＸ
．鉛直方向θｙの姿勢角偏差が生じ、これを修正するも
のとする．この場合、その修正動作に最も適したと思わ
れる第８番目の推進ジャッキを圧力解放して停止させ、
シールド掘進機の動作をｒａ認する．この結果、操作量
が少なく、希望通りの修正が行えなかったとき、例えば
水平方向θＩの修正が十分でないときは、その方向の操
作量を増加させるためにさらに第７番目または第６番目
の推進ジャッキも停止させる．逆に操作量が多く希望の
修正値を超えた場合には、停止させた第８番目の推進ジ
ャッキを再び作動させることによって操作量を減少させ
る．1C, the automatic direction control of the shield tunneling machine involves constantly measuring its position and attitude angle using an automatic position measuring device, etc.
This is done by automatically operating the propulsion jack to correct deviations from the planned route. Conventionally, this operation was performed by operating or stopping the propulsion jack using a T4 magnetic switching valve. In other words, from among a plurality of propulsion jacks, the operating jack suitable for corrective action is selected by referring to past excavation data, etc., and furthermore, for correcting deviations, a jack that can correct horizontal and vertical deviations at the same time is selected. This was done by making selections and activating and deactivating them. This method will be explained using a shield tunneling machine having eight propulsion jacks as shown in FIG. 6 as an example. Now, as a result of moving straight by operating the full propulsion jack, the horizontal direction θX
．． It is assumed that an attitude angle deviation in the vertical direction θy occurs, and this is to be corrected. In this case, the eighth propulsion jack, which seems to be the most suitable for the corrective action, is released and stopped,
Check the operation of the shield tunneling machine. As a result, when the amount of operation is small and the desired correction cannot be made, for example, when the correction in the horizontal direction θI is not sufficient, the seventh or sixth propulsion is performed to increase the amount of operation in that direction. Also stop the jack. On the other hand, if the amount of operation is large and exceeds the desired correction value, the amount of operation is reduced by restarting the stopped eighth propulsion jack.
このような従来の方法によると、一旦停止させた推進ジ
ャッキは既設のセグメントから外れるため、その停止し
た推進ジャッキを再び作動させて掘進作業を続行する場
合には、その推進ジャッキが既設のセグメントに当たる
まで待ってから掘進を再開しなければならず、作業能率
が非常に悪かった．
これを改善するため、無負荷追従ジャッキ方式によるも
のが提案された．この方法は、推進ジャッキを完全に圧
力解放しないでシールド掘進機本体に対して無負荷状態
になるような低い圧力をかけた状態で停止させ、シール
ドｍｉ１機本体に迅速に追従できるようにしたものであ
る．
しかし、この方法とても、推進ジャッキをシールド掘進
機本体に対して負荷作動状態にするか無負荷作動状態に
するかの２段階の切換であり、作動・停止による場合と
同様に水平及び鉛直の両方向の操作量が同時に変化する
ため、その独立した＠御を行えず、高い掘進精度を期待
できなかった．また、操作量が単にオン・オフの２｛ａ
ｌとなるため、ＰＩＤ演３！Ｅ（比例・積分・微分）等
による円滑かつ連続的な追従制御ができず、土質等の外
乱の影響を受け易かった．
本発明は従来のこのような問題点を解決することを目的
とする。According to this conventional method, once the propulsion jack is stopped, it comes off the existing segment, so when the propulsion jack that has been stopped is activated again to continue excavation work, the propulsion jack hits the existing segment. The work efficiency was extremely poor because the excavation had to be restarted after waiting until To improve this, a no-load following jack method was proposed. This method stops the propulsion jack with a low pressure applied to the main body of the shield machine without completely releasing the pressure, so that it can quickly follow the main body of the shield machine. It is. However, this method requires two-step switching of the propulsion jack to the shield excavator body, either with a load operating state or with a no-load operating state. Since the amount of operation changes at the same time, independent @ control cannot be performed, and high excavation accuracy cannot be expected. In addition, the amount of operation is simply on/off 2{a
PID performance 3 to become l! It was not possible to perform smooth and continuous follow-up control using E (proportional, integral, differential), etc., and it was easily affected by disturbances such as soil quality. The present invention aims to solve these conventional problems.
本発明では、シールド掘進機の現在の位置及び姿勢角を
それぞれ位置センサ及び姿勢角センサによって検出し、
位置センサの検出値と位置目標値とから位置偏差を求め
た後、その偏差を修正するような姿勢角目標値を演算す
る．次にこの姿勢角目標値と姿勢角センサの検出値とか
ら姿勢角偏差を求め、その偏差を修正するような圧力目
標値を複数の推進ジャッキの個々についてまたはグルー
プごとに演算する。そしてこれら推進ジャッキに作用す
る圧力を圧力センサによって検出しながらそれに印加す
る流体圧を上記圧力目標値に従って調整する．In the present invention, the current position and attitude angle of the shield tunneling machine are detected by a position sensor and an attitude angle sensor, respectively,
After determining the positional deviation from the detected value of the position sensor and the positional target value, the attitude angle target value is calculated to correct the deviation. Next, an attitude angle deviation is obtained from this attitude angle target value and the detected value of the attitude angle sensor, and a pressure target value that corrects the deviation is calculated for each of the plurality of propulsion jacks individually or for each group. Then, while the pressure acting on these propulsion jacks is detected by a pressure sensor, the fluid pressure applied thereto is adjusted according to the above pressure target value.
本発明によれば、水平方向及び鉛直方向をそれぞれ独立
してしかも完全なフィードバック制御系により方向制御
できる。According to the present invention, the horizontal and vertical directions can be controlled independently and by a complete feedback control system.
以下、本発明の一実施例を図面を参照して詳細に説明す
る．
第１図は本発明によるｔｉ進方向制御装置のシステム構
成図である．シールド掘進機本体１は放射状に配置した
４台以上の推進ジャッキ２（同図では２台のみ図示）に
より公知のように推進され、また従来公知の位置センサ
３及び姿勢角センサ４によって現在の位置及び姿勢角を
検知される．その検知した位置データ及び姿勢角データ
は信号変換器５により信号変換されてパーソナルコンピ
ュータ等による地上の指令部６へ伝送され、後述のよう
にデータ処理される．全推進ジャッキ２は油圧供給系を
介して共通の油圧ポンプ７に接続され、該油圧ポンプ７
からの油圧によって作動される．油圧ポンブ７からの油
圧は圧力センサ８によって検知され、流量調整器９によ
り流量調整された後、分岐して各推進ジャッキ２ごとに
圧力調整器（例えば比例電磁弁）ｌＯにより圧力調整さ
れるとともに、各推進ジャッキ２ごとの圧力を圧力セン
サｌ１によって検知される．圧力センサ８，１ｌによっ
て検知された圧力データは演算機能を有する制御部１２
を介しまた上記信号変換器５で信号変換されて指令部６
へ伝送される．制御部１２は指令部６からの指令に従い
流量調整器９及び各推進ジャッキ２ごとの圧力調整器ｌ
Ｏを制御する．各推進ジャッキ２を圧力調整ＨｆＯで調
整することによりシールド掘進機本体１の方向が制御さ
れる。
その制御にあたり本実施例では、シールド掘進機本体ｌ
に放射状に配設されたＮ個の推進ジャッキ２をシールド
掘進機本体ｌの円周方向に４つのグループに分割、すな
わちその圧力系統を４分割したものとして説明する．第
２図においてある点のＸ軸及びＹ軸の座標値（設定｛１
１１）ａ，ｂが与えられた場合、４分割されたＩＩＬ進
ジャソキ２の圧力分担Ｐｌｌ〜ｐ１ｔはこれから次の計
算によって求められる．
Ｐ＋＋＝Ｊ（ｘ ａ）ｂ
Ｐ，ｇ＝Ｊ ａ ｂ
？■＝Ｊ （ｘ − ａ）（ｙ − ｂ）Ｐｔｔ−Ｊａ
（ｙ ｂ）
第３図に示すようにＮ個の推進ジャッキ２１〜２Ｍには
、それぞれの圧力を調整する圧力調整器ｌＯ．〜１０Ｎ
及びその圧力を検知する圧力センサＨｔ〜ｌ１エが接続
され、各推進ジャッキの圧力は個別に検知されるが、圧
力制１１は指令部６からの指令に従い制御部１２によっ
て上記のように４つのグループに分けて行われる．従っ
て同じグループの推進ジャッキは同じ圧力に調整される
．以下、その圧力制御について第４図のフローチャート
を参照して説明する．
■ 位置センサ３及び姿勢角センサ４でシールド′ｍ進
機本体ｌの現在の位置及び姿勢角を検出し、そのデータ
を信号変換器５で指令部６用に変換してこれへ伝送する
．
■ 指令部６において計画路線の位置目標値と位置セン
サ３の検出位置とを比較して位置偏差を求め、その位置
偏差から水平方向及び鉛直方向の姿勢角目標値を演算す
る．
■ 指令部６において姿勢角目標値と姿勢角センサ４の
検出姿勢角とを比較し、水平方向及び鉛直方向の姿勢角
偏差を求める．
■ これら姿勢角偏差を信号変換器５で制御部ｌ２用に
変換してこれへ伝送する．
■ 制御部１２により流量調整器９を制御して流量調整
し、シールド掘進機本体ｌの掘進速度を適宜に設定する
．
■ 制御部ｌ２において姿勢角偏差からその偏差を修正
するような各推進ジャッキの圧力目標値を演算し、その
演算結果から上記の計算式に従った圧力分担により最も
大きい圧力系統の推進ジャッキを選択する．
■ その圧力系統の圧力調整器１０を制御部ｌ２によっ
て最大圧力に設定する．
■ 圧力センサ８によって油圧ポンブ７の圧力を検出し
、制御部ｌ２においてこのときのシールド掘進機本体ｌ
の推力を演算する．
■ この推力と圧力分担とから新たに他の圧力系統の推
進ジャッキの圧力目標値を演算する．［相］ 圧力セン
サ１１１−１１Ｎによって各圧力系統の圧力を検出する
．
■ その検出圧力と上記■で求めた圧力設定値とを比較
して各圧力系統ごとの圧力偏差を演算する．
■ 各圧力系統ごとに上記圧力偏差を修正するような調
整値、つまり電流値または電圧値を演算し、これに従い
、上記■で最大圧力に設定した圧力調整器以外の各圧力
調整器１０．〜ｌＯＨを操作して各推進ジャッキ２．〜
２，ｌの圧力を調整する。
■ 推進ジャッキ２，〜２Ｎの作動によりシールド掘進
機本体１に回転モーメントが生じ、その掘進方向が制御
される．
以上の動作を繰り返すことによりシールド掘進機本体１
は実時間で連続的にかつ水平及び鉛直両方向について円
滑に方向制御される．
なお、上記の実施例では、Ｎ個の推進ジャッキ２，〜２
Ｎを説明の便宜上第２図に示すようにＸ軸及びＹ軸と平
行に４分割したが、シール−ド掘進機本体１にとっては
第５図のような態様に分割した方が方向転換が容易であ
る．また分割しないでＮ個の推進ジャッキ２，〜２Ｈを
個々に圧力調整しても良い．Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a system configuration diagram of a ti advance direction control device according to the present invention. The shield tunneling machine main body 1 is propelled in a known manner by four or more propulsion jacks 2 (only two are shown in the figure) arranged radially, and the current position is detected by a conventionally known position sensor 3 and attitude angle sensor 4. and attitude angle are detected. The detected position data and attitude angle data are converted into signals by a signal converter 5, and transmitted to a command unit 6 on the ground such as a personal computer, where the data is processed as described below. All propulsion jacks 2 are connected to a common hydraulic pump 7 via a hydraulic supply system, and the hydraulic pump 7
It is operated by hydraulic pressure from. The oil pressure from the hydraulic pump 7 is detected by a pressure sensor 8, the flow rate is adjusted by a flow rate regulator 9, and then branched and the pressure is regulated by a pressure regulator (for example, a proportional solenoid valve) lO for each propulsion jack 2. , the pressure of each propulsion jack 2 is detected by a pressure sensor l1. The pressure data detected by the pressure sensors 8 and 1l is sent to a control unit 12 having a calculation function.
The signal is converted by the signal converter 5 and sent to the command unit 6.
will be transmitted to. The control unit 12 operates a flow rate regulator 9 and a pressure regulator l for each propulsion jack 2 according to instructions from the command unit 6.
Control O. The direction of the shield tunneling machine main body 1 is controlled by adjusting each propulsion jack 2 with pressure adjustment HfO. In order to control this, in this embodiment, the main body of the shield excavator is
The explanation will be given assuming that the N propulsion jacks 2 arranged radially are divided into four groups in the circumferential direction of the shield tunneling machine main body l, that is, the pressure system is divided into four. In Figure 2, the coordinate values of the X-axis and Y-axis of a certain point (setting {1
11) When a and b are given, the pressure sharing Pll to p1t of the IIL hexagonal system 2 divided into four parts can be found by the following calculation. P++=J(x a)b P,g=J a b? ■=J (x − a) (y − b) Ptt−Ja
(y b) As shown in FIG. 3, each of the N propulsion jacks 21 to 2M is equipped with a pressure regulator lO. ~10N
and pressure sensors Ht~l1d for detecting the pressure are connected, and the pressure of each propulsion jack is detected individually, but the pressure control 11 is controlled by the control unit 12 in accordance with the command from the command unit 6. This will be done in groups. Therefore, propulsion jacks in the same group are adjusted to the same pressure. The pressure control will be explained below with reference to the flowchart shown in FIG. (2) The position sensor 3 and the attitude angle sensor 4 detect the current position and attitude angle of the shield'm advancing machine main body l, and the signal converter 5 converts the data into data for the command unit 6 and transmits it thereto. ■ The command unit 6 compares the positional target value of the planned route with the detected position of the position sensor 3 to obtain a positional deviation, and calculates the horizontal and vertical attitude angle target values from the positional deviation. ■ The command unit 6 compares the attitude angle target value with the attitude angle detected by the attitude angle sensor 4, and determines attitude angle deviations in the horizontal and vertical directions. ■ These attitude angle deviations are converted by the signal converter 5 for use in the control unit l2 and transmitted thereto. (2) The flow rate regulator 9 is controlled by the control unit 12 to adjust the flow rate and set the excavation speed of the shield excavator main body l appropriately. ■ In the control unit l2, a pressure target value for each propulsion jack is calculated based on the attitude angle deviation to correct the deviation, and from the calculation result, the propulsion jack with the highest pressure system is selected by pressure sharing according to the above calculation formula. do. ■ The pressure regulator 10 of the pressure system is set to the maximum pressure by the control unit l2. ■ The pressure of the hydraulic pump 7 is detected by the pressure sensor 8, and the control unit l2 detects the shield excavator main body l at this time.
Calculate the thrust of. ■ New pressure target values for the propulsion jacks of other pressure systems are calculated from this thrust and pressure sharing. [Phase] The pressure of each pressure system is detected by pressure sensors 111-11N. ■ Compare the detected pressure with the pressure setting value obtained in (■) above to calculate the pressure deviation for each pressure system. ■ Calculate an adjustment value, that is, a current value or a voltage value, to correct the pressure deviation for each pressure system, and use this value for each pressure regulator 10 other than the pressure regulator set to the maximum pressure in (■) above. ~ Operate lOH to each propulsion jack 2. ~
2. Adjust the pressure of l. ■ The operation of the propulsion jacks 2 and 2N generates a rotational moment in the main body 1 of the shield excavator, and its direction of excavation is controlled. By repeating the above operations, the shield excavator main body 1
The direction is controlled continuously in real time and smoothly in both horizontal and vertical directions. In addition, in the above embodiment, N propulsion jacks 2, to 2
For convenience of explanation, N is divided into four parts parallel to the X and Y axes as shown in Fig. 2, but for the shield excavator main body 1, it is easier to change direction if it is divided into the form shown in Fig. 5. It is. Alternatively, the pressure may be adjusted individually for the N propulsion jacks 2, to 2H without dividing them.
本発明によれば次のような効果がある．（１） 水平
方向及び鉛直方向をそれぞれ独立して方向制御ができる
ため、従来よりも掘進精度が向上する．
（２）完全なフィードバック制御系によって方向制御で
きるため、従来問題になっていた土質等の外乱の影響を
受けない．
（３）自動運転の確立により人件費の削減及び出来形向
上等が図れる．According to the present invention, there are the following effects. (1) Since the horizontal and vertical directions can be controlled independently, excavation accuracy is improved compared to conventional models. (2) Since the direction can be controlled by a complete feedback control system, it is not affected by disturbances such as soil quality, which was a problem in the past. (3) Establishment of automated driving will reduce labor costs and improve performance.
第１図は本発明による掘進方向制御装置のシステム構威
図、第２図は推進ジャッキの圧力分担を説明する説明図
、第３図はそれを制御する制御系のブロック図、第４図
は本発明の方法の手順を説明するフローチャート、第５
図は上記圧力分担の念の例の説明図、第６図は従来の方
法を説明する説明図である．
ｌ・・・・・・シールド掘進機本体、２・・・・・・推
進ジャッキ、３・・・・・・位置センサ、４・・・・・
・姿勢角センサ、１０・・・・・・圧力調整器、１ｌ・
・・・・・圧力センサ．手
続
釘け
正
書
全文補正明細書
ｌ
発明の名称
シールド掘進機の掘進方向制御方法及び装置ｌ．
事件の表示
２
特許請求の範囲
特願平ｌ
１９８６０号
１．
複数の流体圧式推進ジャノキを使用して推進２．
発明の名称
させるシールド掘進機において、炎豊隻旦盪菫シールド
掘進機の掘進方向制御方法及び装置３，
補正をずる者
事件との関係Fig. 1 is a system configuration diagram of the excavation direction control device according to the present invention, Fig. 2 is an explanatory diagram explaining the pressure sharing of the propulsion jack, Fig. 3 is a block diagram of the control system that controls it, and Fig. 4 is Flowchart explaining the steps of the method of the present invention, No. 5
The figure is an explanatory diagram of an example of the above-mentioned pressure sharing concept, and Figure 6 is an explanatory diagram illustrating the conventional method. l...Shield excavator main body, 2...Propulsion jack, 3...Position sensor, 4...
・Attitude angle sensor, 10...Pressure regulator, 1l・
...Pressure sensor. Procedural nailing formal document full text amendment specification l Name of the invention Excavation direction control method and device for a shield excavator l. Case Description 2 Claims Patent Application No. 19860 1. Propulsion using multiple hydraulic propulsion tools 2. Method and device for controlling the excavation direction of the Enhosendanshi Sumire shield tunneling machine in the shield tunneling machine entitled as the invention 3. Relationship with the case of a person who cheats on amendments
Claims (1)
シールド掘進機において、その現在の位置及び姿勢角を
それぞれ位置センサ及び姿勢角センサによって検出する
過程と、位置センサの検出値と位置目標値とから位置偏
差を求める過程と、その位置偏差を修正するような姿勢
角目標値を演算する過程と、この姿勢角目標値と姿勢角
センサの検出値とから姿勢角偏差を求める過程と、その
偏差を修正するような圧力目標値を上記複数の推進ジャ
ッキの個々についてまたはグループごとに演算する過程
と、これら推進ジャッキに作用する圧力を圧力センサに
よって検出しながらにそれに印加する流体圧を上記圧力
目標値に従って調整する過程とからなることを特徴とす
るシールド掘進機の掘進方向制御方法。 ２、複数の流体圧式推進ジャッキを使用して推進させる
シールド掘進機において、その現在の位置を検出する位
置センサと、現在の姿勢角を検出する姿勢角センサと、
位置センサの検出値と与えられた位置目標値とから位置
偏差を求める演算部と、その位置偏差を修正するような
姿勢角目標値を演算する演算部と、この姿勢角目標値と
上記姿勢角センサの検出値とから姿勢角偏差を求める演
算部と、その偏差を修正するような圧力目標値を上記複
数の推進ジャッキの個々についてまたはグループごとに
演算する演算部と、これら推進ジャッキに作用する圧力
をそれぞれ検出する圧力センサと、これら推進ジャッキ
にそれぞれ印加する流体圧を上記圧力目標値に従って調
整する圧力調整器とを備えてなることを特徴とするシー
ルド掘進機の掘進方向制御装置。[Claims] 1. In a shield excavator propelled using a plurality of hydraulic propulsion jacks, a process of detecting its current position and attitude angle by a position sensor and an attitude angle sensor, respectively, and detection by the position sensor. A process of calculating the positional deviation from the positional target value and the positional target value, a process of calculating the attitude angle target value that corrects the positional deviation, and a process of calculating the attitude angle deviation from the attitude angle target value and the detected value of the attitude angle sensor. a process of calculating a pressure target value that corrects the deviation for each of the plurality of propulsion jacks individually or for each group; and applying the pressure acting on these propulsion jacks while being detected by a pressure sensor. A method for controlling the direction of excavation of a shield excavator, comprising the step of adjusting fluid pressure according to the pressure target value. 2. In a shield tunneling machine that is propelled using a plurality of hydraulic propulsion jacks, a position sensor that detects its current position, an attitude angle sensor that detects its current attitude angle,
A calculation section that calculates a positional deviation from the detected value of the position sensor and a given positional target value, a calculation section that calculates a posture angle target value that corrects the positional deviation, and a calculation section that calculates the posture angle target value and the above posture angle. a calculation unit that calculates the attitude angle deviation from the detected value of the sensor; a calculation unit that calculates a pressure target value for correcting the deviation for each of the plurality of propulsion jacks individually or for each group; and a calculation unit that operates on the propulsion jacks. An excavation direction control device for a shield excavator, comprising: a pressure sensor that detects pressure, and a pressure regulator that adjusts the fluid pressure applied to each of the propulsion jacks according to the pressure target value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1019860A JPH0696943B2 (en) | 1989-01-31 | 1989-01-31 | Method and device for controlling excavation direction of shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1019860A JPH0696943B2 (en) | 1989-01-31 | 1989-01-31 | Method and device for controlling excavation direction of shield machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0328492A true JPH0328492A (en) | 1991-02-06 |
| JPH0696943B2 JPH0696943B2 (en) | 1994-11-30 |
Family
ID=12010980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1019860A Expired - Lifetime JPH0696943B2 (en) | 1989-01-31 | 1989-01-31 | Method and device for controlling excavation direction of shield machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0696943B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02116590U (en) * | 1989-03-07 | 1990-09-18 | ||
| DE112011102635T5 (en) | 2010-11-17 | 2013-06-27 | The Yokohama Rubber Co., Ltd. | tire |
| CN104632239A (en) * | 2015-01-12 | 2015-05-20 | 天津大学 | Method for determining vertical partitioning pressure matching ratio of shield machine propulsion cylinders in stratified geology |
| CN114135300A (en) * | 2021-11-22 | 2022-03-04 | 中铁工程装备集团有限公司 | Method, device, equipment and medium for distributing thrust of synchronous pushing and splicing system of shield tunneling machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5332931A (en) * | 1976-09-08 | 1978-03-28 | Hitachi Construction Machinery | Shield excavator |
| JPS5833695A (en) * | 1981-08-25 | 1983-02-26 | 鹿島建設株式会社 | Automatic drilling method of tunnel by shield machine |
| JPS61104219A (en) * | 1984-10-27 | 1986-05-22 | Sato Kogyo Kk | Posture controller of tunnel excavator |
| JPS6389796A (en) * | 1986-09-30 | 1988-04-20 | 鉄建建設株式会社 | Method and device for controlling direction of shield excavator |
-
1989
- 1989-01-31 JP JP1019860A patent/JPH0696943B2/en not_active Expired - Lifetime
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5332931A (en) * | 1976-09-08 | 1978-03-28 | Hitachi Construction Machinery | Shield excavator |
| JPS5833695A (en) * | 1981-08-25 | 1983-02-26 | 鹿島建設株式会社 | Automatic drilling method of tunnel by shield machine |
| JPS61104219A (en) * | 1984-10-27 | 1986-05-22 | Sato Kogyo Kk | Posture controller of tunnel excavator |
| JPS6389796A (en) * | 1986-09-30 | 1988-04-20 | 鉄建建設株式会社 | Method and device for controlling direction of shield excavator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02116590U (en) * | 1989-03-07 | 1990-09-18 | ||
| DE112011102635T5 (en) | 2010-11-17 | 2013-06-27 | The Yokohama Rubber Co., Ltd. | tire |
| CN104632239A (en) * | 2015-01-12 | 2015-05-20 | 天津大学 | Method for determining vertical partitioning pressure matching ratio of shield machine propulsion cylinders in stratified geology |
| CN114135300A (en) * | 2021-11-22 | 2022-03-04 | 中铁工程装备集团有限公司 | Method, device, equipment and medium for distributing thrust of synchronous pushing and splicing system of shield tunneling machine |
| CN114135300B (en) * | 2021-11-22 | 2024-04-12 | 中铁工程装备集团有限公司 | Method, device, equipment and medium for distributing propelling force of synchronous pushing and splicing system of shield machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0696943B2 (en) | 1994-11-30 |
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