JPH0489993A - Self-propelled rotary excavating underground machine - Google Patents

Abstract

PURPOSE:To make continuous excavation while correcting dislocation in the position or direction by itself by putting each rotor in pressure contact with the natural ground using a pressure contacting means, and driving the rotors by respective driving devices. CONSTITUTION:Self-mobile devices 10A, 10B, 10L, 10R are furnished in four positions of an excavator 20, i.e., above and below on the left and right. A long hole 231 is provided in a skin plate 23 of the excavator 20, and an endless track 11 as a rotor is installed so as to be capable of protruding from this long hole 231 to the natural ground 30. This endless track 11 is installed on a supporting frame 135 together with a guide ring 111, start ring 121, and drive device 12. In each of self-mobile devices 10A, 10B, 10L, 10R, the endless track 11 is put in pressure contact with the natural ground 30 by a hydraulic cylinder 131 and is rotated in regular or reverse direction by the drive device 12, or stopped. A cutter head 21 is rotated to perform excavating forward.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a self-propelled rotary excavating underground machine.

[Conventional technology]

Conventionally, as a self-propelled rotary excavation type underground excavator, one that excavates by obtaining a reaction force from the ground via a gripper is known (
Note that hereinafter, a self-propelled rotary excavation type underground excavator will simply be referred to as a self-propelled excavator, and a rotary excavation type underground excavator will simply be referred to as an excavator)0
For example, as shown in FIG.
4 and a plurality of jack cylinders 22 with which the tips of rods 221 are engaged (see figure (a)).
, fixing the gripper 24 to the ground 30 by expanding the gripper 24 and pressing against the ground 30;
There is a type of excavation that is self-propelled by extending the rod 221 after that (see FIG. 3(b)). That is, the excavation reaction force from the earth 30 is obtained and the excavation is carried out like an inchworm while shifting its own weight every cycle. Note that the skin plate 23 of the excavator 20 is generally an outer shell provided on the entire circumference like a shield type, or a main equipment installation part or an operator's seat in the excavator like a rock excavator. (not shown).

[Problem to be solved by the invention]

However, according to the above-mentioned conventional technology, the following problem occurs.

(1) It is necessary for each cycle to perform an expansion/contraction operation a of the jack cylinder 22 and a compression/expansion operation of the gripper 24, and during this period, excavation is interrupted, that is, continuous excavation cannot be performed.

(2) When excavating with the excavator 20, a certain amount of aftershock is required even when excavating in a straight line as well as in a curved line (in addition,
The aftershock is carried out by a cork cover 211 etc. which is provided on the side of the cutter head 21 so that it can be taken in and out), so when the above operation asb occurs, during this period the excavator is in a floating state due to the aftershock, Misalignment and misalignment are likely to occur. That is, in order to return the excavator to the planned line, laborious surveying and adjustment operations (the operations themselves are the same as the above-mentioned operations ASB) are forced every predetermined cycle.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, it is an object of the present invention to provide a self-propelled rotary excavation type underground excavator that can continuously excavate while correcting positional deviations and directional deviations by itself.

[Means for solving v4R] In order to achieve the above object, the self-propelled rotary excavation type underground excavation machine according to the present invention will be described with reference to FIG. 20, the skin plate 2
3, a plurality of rotating bodies 11 provided through the rotating body 3, and a drive old 12 that freely drives each of these rotating bodies 11,
Each of the rotary bodies 11 is configured to include pressure contact means 13 for freely bringing the rotating bodies 11 into contact with the earth 30.

[For production]

According to the above configuration, continuous excavation is performed by driving each rotary body 11 with each drive device 12 after each of the rotary bodies 11 is brought into pressure contact with each mountain 30 by each pressure welding means 13, and continuous excavation direction control is performed by driving each rotary body 11 with each drive device 12. , by giving a difference to the driving force of each drive device 12,
In addition, the maximum digging force fa of each rotating body 11 in the above configuration
x is the adhesion coefficient μ of the ground (varies depending on the nature of the ground, the shape and surface pressure of the rotating body 11, etc.), and the dead weight W of the excavator (varies from 0 to 0 depending on the installation position and installation direction of the rotating body 11). W) and each pressure contact force p (applied to the ground 30 by each pressure contact means 13 via the rotating body 11), given by the formula fmax=μX(w+p).

〔Example〕

An embodiment will be described below with reference to FIG. The embodiment is applied to a shield type excavator, and the segment 40 is disposed on the inner periphery of the rear tunnel. Incidentally, if I were to mention the conventional excavation method of such a shield type excavator, it is not a self-propelled type, but uses the loft tips of multiple jack cylinders separately installed on the rear inner circumference of the excavator. After making contact with the segment 40, the loft was extended to obtain digging force. Returning to the explanation, the self-propelled device 10A and 'IOB of the embodiment in the same figure
, IOL, and IOR are shown enlarged with respect to the overall configuration of the embodiment for easy understanding, and a top sectional view of the embodiment is shown in (a), and a front sectional view thereof is shown in (b). The same figure (
As shown in b), in the embodiment, one self-propelled device 10A, one IOB, and one IO are installed at four locations on the left, right, top, and bottom of the excavator 20.
It is composed of L and 10R. Therefore, with reference to FIG. 3(a), the configuration of the embodiment will be explained using the upper self-propelled device 10A. The skin plate 23 of the excavator 20 is provided with a long hole 231 on the inner periphery of which a sealing material (not shown) for preventing the intrusion of earth and sand is attached. The endless track 11, which is a rotary body, is attached to the earth 30 through this elongated hole 231 so as to be able to protrude freely.

This endless track 11 is wound around a guide wheel 111 and a starting wheel 121 that are aligned in the digging direction. The engagement between the starting wheel 121 and the endless track 11 is the starting wheel 1.
This is achieved by a sprocket 21 (not shown) and a linkage mechanism (not shown) of the endless track 11. Starting wheel 121
is driven by a drive device 12 consisting of a decelerator (not shown), a motor (not shown), and a control device (not shown) for these devices, with forward/reverse rotation, stop, and speed control. Therefore, the endless track 11 is also driven. Furthermore, these endless tracks 11, guide wheels 111, starting shafts 121, and drive equipment! !
12 is attached to a support frame 135 (the control device of the drive device 12 is connected to other self-propelled devices 10B, IOL, IO
In this embodiment, this support frame 135 is separately provided on the operation panel of the operator seat for operation in combination with
and a hydraulic cylinder 1 that moves this in the direction of the ground 30.
31 (same working hydraulic circuit) and the reaction force receiver of this hydraulic cylinder 131 constitutes the pressure contact means 13 with the member 136. Specifically, the reaction force receiving member 136 includes a soil cover/strength member 132 extending to the skin plate 23;
The support frame 135 includes a guide 134 for sliding the support frame 135 in the direction of the ground. Next, the operation will be described. First, individual self-propelled devices! EIOA, IOB, IO
L, IOR is connected to the endless track 1 by the hydraulic cylinder 131.
1 is brought into pressure contact with the earth 30, the endless track 11 is rotated forward and backward or stopped by the drive device 12.

Further, by rotating the cutter head 21, this embodiment excavates. Next, the directional excavation control of the embodiment will be explained with reference to FIG. In the same figure (b), the adhesion coefficient μ of the ground, the dead weight W of the example, each endless track 1
1, the contact area of the self-propelled device 10A (or 10B), and the maximum output of each drive device 12 are fixed values, the pressure contact force by the pressure contact means 13 of the self-propelled device 10A (or 10B) is pl, and the contact force of the self-propelled device 10R (or 10L) is
), the maximum digging force f of each self-propelled device 10A, IOB, IOL, and IOR is assumed to be p2.
If wxax is a self-propelled device 10A, f ou aX^-μXP
1. If the self-propelled device 10B, f maxB = tt X
(w+p1>, self-propelled device! If OL, IOR, fs
axL = f maxR = u x p 2, and the maximum digging force 1'' wax of this embodiment is the sum of the maximum digging forces f wxax of each of the above self-propelled devices. Therefore, in this embodiment, the maximum digging force F (2) It is not possible to excavate beyond ax (f max in the case of an individual self-propelled device). That is, the driving force of each drive device 12 has an output capable of driving within the maximum excavation force f max of each. Therefore, when performing straight excavation or excavation direction ll1vs, the driving force by each of the drive devices 12 is changed.Next, another embodiment will be described.

+l) In the above embodiment, the rotating body 11 is an endless track, but it may also be a tire. Digging power varies depending on the characteristics of the soil. If the soil is rocky, a tire would be better.Other types of tires may be used as long as they are 0-rotation bodies.

(2) In the above embodiment, the drive device is a motor, but it may be a hydraulic motor or an electric motor. You just have to decide.

(3) In the above embodiment, self-propelled devices of the same capacity are arranged at equal angles, vertically and horizontally, but this is inconvenient for diagonal excavation. Therefore, an appropriate number of self-propelled devices with different capacities or at unequal angles may be provided.

The effects of the above embodiment will be described below. This allows you to dig freely and easily, for example, just like driving a car! Since it is possible to control and control the direction, it becomes possible to carry out continuous excavation and continuous directional control excavation. Furthermore, for example, in the case of a car, its maximum traction force is determined by the product of the adhesion coefficient of the road surface and the car's own weight, but in the above embodiment, since the pressure welding means 13 is mounted, the maximum traction force of the car is The force can be increased freely (it is necessary to incorporate a driving force commensurate with this into the drive device 12).Of course, unlike the conventional technology, the expansion and contraction operation a of the jack cylinder and the gripper It is no longer necessary to perform compression and expansion operations (although it may be necessary to employ such measures when starting excavation at the starting point of the tunnel).

〔Effect of the invention〕

As explained above, according to the self-propelled rotary excavating underground excavator according to the present invention, it is possible to continue digging while correcting positional deviations and directional deviations by itself.

Moreover, since it is equipped with pressure welding means, the maximum digging force can be increased as desired.

[Brief explanation of the drawing]

Figure j81 is a cross-sectional view of a self-propelled rotary excavation type underground excavator showing the schematic configuration of the present invention, and Figure 2 is a configuration diagram of an embodiment.
(a) is a top cross-sectional view, (b) is a front cross-sectional view, and FIG. 3 is a cross-sectional view of a self-propelled rotary excavating type underground excavator according to the prior art. The figure shown in FIG. 3B is a diagram showing a self-propelled state. ... Self-propelled device ... Rotating body ... Drive device ... Pressure contact means ... Rotating excavation type underground excavator ... Skin plate ... Ground rock

Claims (1)

[Claims] A rotary excavation type underground excavator 20 includes a plurality of rotating bodies 11 provided through the skin plate 23, and a drive device 1 that freely drives each of these rotating bodies 11.
A self-propelled rotary excavating type underground excavator characterized by a configuration consisting of a pressure contact means 13 that freely presses each of these rotary bodies 11 against a rock 30.