JPH10176484A - Method and apparatus for driving cutter of shield machine - Google Patents

Abstract

An object of the present invention is to provide a method and an apparatus for driving a cutter of a shield machine which do not generate a large starting current even at the time of rolling correction of the shield machine. . A cutter driving device (100) is provided at the tip of a shield machine (1000). Cutter driving device 1
Reference numeral 00 denotes a cutter 110 rotatably held and a plurality of electric motors 140 and 142 for driving the cutter 110 to rotate.
And the cutter 1 of the rotational driving force of the electric motors 140 and 142
By controlling the power supply to the clutches 130 and 132 and the electric motors 140 and 142 for interrupting the transmission to the
And a cutter drive control device 160 for controlling the rotation / stop of the electric motor. Here, the cutter drive control unit 160 determines that the rotation of the cutter 110 has stopped based on a signal from the rotation detector 150 that detects the rotation of the cutter 110, and disconnects the clutches 130 and 132 after the rotation has stopped. ing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for driving a cutter of a shield machine, and more particularly, to a method and an apparatus for driving a shield machine suitable for use in stopping control of a cutter.

[0002]

2. Description of the Related Art A conventional cutter driving device for a shield excavator generally has a structure in which a clutch is provided between a cutter and an electric motor for rotating the cutter. When the rotation of the cutter is started, after the electric motor is started, the clutch is connected, the driving force of the electric motor is transmitted to the cutter, and the cutter is rotated. On the other hand, when the rotation of the cutter is stopped, the power supply to the electric motor and the clutch are disconnected at the same time to stop the cutter.

[0003]

The rotation of the cutter is generally stopped when the excavation by the shield excavator is stopped. In such a case, the electric motor is stopped as described above. Even if the power supply and the clutch are disconnected at the same time, no problem occurs. However, as a case of stopping the rotation of another cutter, there is a case where the rotation of the cutter is temporarily stopped and then the rotation direction is changed to the opposite direction in order to correct the rolling of the shield machine.

In the case where the rotation direction is to be changed in the reverse direction, the conventional method described above has a problem that a large starting current is generated. That is, if the power of the electric motor is cut off and the clutch is simultaneously cut off to stop the cutter, the cutter stops due to resistance against the ground that is in contact, but the electric motor is separated from the cutter by the clutch. Keep rotating due to inertia. in this way,
If an attempt is made to rotate the electric motor in a direction opposite to the rotational direction due to the inertia during rotation, a large starting current will be generated. If the generated large starting current is larger than the power supply capacity, the breaker will be cut off.To avoid such a situation, it is necessary to take measures such as increasing the power supply capacity. Was.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and an apparatus for driving a cutter of a shield excavator which do not generate a large starting current even when the cutter is reversed when performing a rolling correction of the shield excavator. .

[0006]

In order to achieve the above object, the present invention provides a cutter rotatably held at the tip of a shield machine, a plurality of electric motors for rotating the cutter, and the cutter. A clutch disposed between the electric motor and the electric motor, for intermittently transmitting the rotational driving force of the electric motor to the cutter, and controlling power supply to the electric motor to control rotation / stop of the electric motor. And a cutter drive control device, the rotational driving force of the plurality of electric motors, via the clutch, respectively,
In the cutter driving method of the shield machine that transmits the cutter to the cutter and rotationally drives the cutter, when the rotation of the cutter is stopped, after the rotation of the cutter is stopped, the clutch is disconnected. With this method, even when the cutter is rotated in the reverse direction at the time of the rolling correction of the shield machine and the like, it is possible to prevent a large starting current from being generated.

To achieve the above object, the present invention provides a cutter which is rotatably held at the tip of a shield machine,
A plurality of electric motors that rotationally drive the cutter, a clutch disposed between the cutter and the electric motor, and a clutch that intermittently transmits the rotational driving force of the electric motor to the cutter, and a power supply to the electric motor. And a cutter drive control device for controlling rotation / stop of the electric motor.
The cutter drive control device determines that the rotation of the cutter is stopped, and disconnects the clutch after the rotation is stopped.With such a configuration, when the cutter is reversely rotated at the time of rolling correction of the shield machine, etc. In this case, a large starting current can be prevented from being generated.

Preferably, the cutter driving device of the shield machine includes a rotation detector for detecting rotation of the cutter, and the cutter driving control device controls the cutter based on an output signal of the rotation detector. Is determined to stop the rotation of the cutter, and after the rotation is stopped, the clutch is disengaged. With this configuration, the stop of the rotation of the cutter can be accurately determined.

In the cutter driving device for the shield machine, preferably, the cutter driving control device determines that the rotation of the cutter is stopped when a predetermined time has elapsed after the power supply to the electric motor is cut off. After stopping, the clutch is disengaged,
With this configuration, it is possible to easily determine whether the rotation of the cutter has stopped.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method and an apparatus for driving a cutter of a shield machine according to an embodiment of the present invention will be described below with reference to FIGS. First, a configuration of a mechanical system of a shield machine according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram of a mechanical system of a shield machine according to an embodiment of the present invention.

[0011] Near the tip of the shield machine 1000,
A cutter driving device 100 is provided. The cutter driving device 100 includes a cutter 110, a driving gear 120, a plurality of clutches 130 and 132, and a plurality of electric motors 14.
0, 142 and a rotation detector 150. The number of the electric motors 140 and 142 is not limited to two as shown, but can be increased or decreased according to the torque required by the cutter 110. In addition, as a configuration of the cutter driving device 100,
It also has a cutter drive control device that is a control unit,
This will be described later with reference to FIG.

The cutter 110 is a shield machine 1000
It is rotatably attached to the tip of. Cutter 110
The earth is excavated by rotating. Each of the electric motors 140 and 142 has a built-in speed reduction mechanism. The drive gear 120 collectively drives the electric motors 140 and 142 to drive the cutter 110. Clutch 1
30 and 132 are electric motors 140 and 142, respectively.
The transmission of the driving force to the cutter 110 is interrupted. The rotational driving force of the electric motors 140 and 142 is transmitted to the cutter 110 via the clutches 130 and 132 and the driving gear 120 after being reduced by the reduction mechanism. The rotation detector 150 detects rotation / stop of the cutter 110.

The shield jacks 200 and 202 attached to the shield excavator 1000 are used to push the cutter driving device 100 against the ground to be excavated, thereby excavating the ground using the rotating cutter 110. Is what you can do.

Next, the configuration of a control system of a cutter driving device of a shield machine according to an embodiment of the present invention will be described with reference to FIG. FIG. 2 is a block diagram of a control system of the cutter driving device of the shield machine according to the embodiment of the present invention.

The cutter drive control unit 160 includes a rotation / stop state signal of the cutter 110 detected by the rotation detector 150 and a signal for turning on / off the power switch of the electric motor from the power switch 170 of the electric motor. Enter. To start the electric motors 140 and 142 to start the rotation of the cutter 110, the electric motor power switch 170 is turned on. Also, the cutter 110
To stop the rotation of the motor, the electric motor power switch 170
Is to turn off.

The cutter drive control device 160 includes a clutch 1
A clutch disengagement / connection control signal is output to 30, 32, and an on / off control signal of the electric motor is output to the electric motors 140, 142. Clutch 13
The on / off state of 0, 132 is controlled by a clutch on / off control signal output by the cutter drive control unit 160.
The rotation stop of the electric motors 140 and 142 is performed by turning on / off the electric motors output from the cutter drive control device 160.
It is controlled by interrupting the supply of power by the off control signal. The cutter drive control device 160 is configured by, for example, a μ-CPU or the like.

Next, the starting control of the cutter by the cutter drive control device 160 shown in FIG. 2 will be described with reference to FIG. FIG. 3 is a flowchart illustrating a cutter rotation start control process performed by the cutter drive control device in the cutter drive device of the shield machine according to the embodiment of the present invention.

In step 302, when the rotation of the cutter 110 is started, the cutter drive control unit 160 detects that the electric motor power switch 170 is turned on.

Next, in step 304, the cutter drive controller 160 clears the variable n of the internal counter to zero. In step 306, the cutter drive control device 160 adds 1 to the variable n.

An on / off control signal for the electric motor is output.

Next, at step 308, the cutter drive control device 160 starts the n-th electric motor.
Here, for example, since the variable n is 1, an ON control signal of the electric motor is output to the first electric motor 140, and
The electric motor 140 is started.

In step 310, the cutter drive control unit 160 determines whether or not the variable n is equal to or larger than a constant N. If the variable n is equal to or larger than N, the process proceeds to step 312, and if smaller than N, the process returns to step 306. And step 30
6, 308 and 310 are repeated. Here, the constant N is the number of electric motors provided in the cutter driving device 100, and as shown in FIG.
When 0 has two electric motors 140 and 142, the constant N is 2.

Here, assuming that N is 2, the process returns to step 306 and the cutter drive control unit 160
In addition, in step 308, the cutter drive control device 160 outputs an ON control signal of the electric motor to the second electric motor 142 and starts the electric motor 142.

Next, at step 310, the cutter drive control unit 160 determines that the variable n has become equal to or greater than the constant N, and proceeds to step 312. Step 312
, The cutter drive control device 160
A clutch connection control signal is output to 0, 132 to connect the clutches 130, 132.

With the above processing, the electric motor 140,
By activating the 142 and then connecting the clutches 130 and 132, the rotational driving force of the electric motors 140 and 142 is transmitted to the cutter 110.

Here, since the electric motors 140 and 142 are started sequentially without being started at once, no large starting current is generated.
The plurality of clutches 130 and 132 are connected at the same time, whereby the electric motors 140 and 132 are connected.
The rotational driving force from 142 can be simultaneously transmitted to the cutter 110.

Next, the stop control of the cutter by the cutter drive control device 160 shown in FIG. 2 will be described with reference to FIG. FIG. 4 is a flowchart illustrating a cutter rotation stop control process by the cutter drive control device in the cutter drive device of the shield machine according to the embodiment of the present invention.

In step 402, when the rotation of the cutter 110 is stopped, the cutter drive control device 160 detects that the electric motor power switch 170 is turned off.
Next, in step 404, the cutter drive control device 1
60 outputs an electric motor off control signal to all electric motors 140 and 142,
The power supply to 142 is cut off. Note that, even when the power supply is cut off, the electric motors 140 and 142 rotate by inertia.

In step 406, the cutter drive control unit 160 determines whether the cutter 110 has stopped rotating. The stop of the rotation of the cutter 110 is determined based on a signal input from the rotation detector 150 shown in FIG. Step 40 until the cutter 110 stops rotating.
6 is repeated, and when the cutter 110 stops rotating, the process proceeds to step 408.

When the rotation of the cutter is stopped, next, at step 408, the cutter drive control device 160 disconnects the clutches 130 and 132. Here, a clutch disengagement control signal is output to all clutches 130 and 132 to disengage the clutches.

As described above, when the rotation of the cutter 110 is stopped, the clutches 130 and 132 are disconnected after confirming that the rotation of the cutter 110 has been stopped. The cutter 110 includes shield jacks 200 and 202.
As a result, the ground is excavated by being pressed against the ground, so that the resistance to the ground is large. Therefore, cutting off the power supply to the electric motors 140 and 142 causes the cutter 110 to stop immediately. The electric motors 140 and 142 are connected via clutches 130 and 132,
Since the cutter 110 is connected, the stop of the cutter 110 causes the electric motors 140 and 142 to also stop immediately.

Therefore, in order to correct the rolling of the shield machine, the rotation of the cutter is temporarily stopped.
Thereafter, even when the rotation direction is changed to the opposite direction, since the electric motor is once completely stopped, a large start-up current is generated even if the electric motor is thereafter rotated in the opposite direction to the previous rotation direction. Will be gone. As a result, it is not necessary to take measures such as increasing the capacity of the power supply.

Further, since the electric motor can be stopped immediately, the time during which the cutter is stopped can be shortened. Therefore, the stop time of excavation can be shortened, and other excavation work can be performed immediately after the cutter stops, thereby improving the efficiency of excavation work.

As described above, according to this embodiment, even at the time of rolling correction of the shield machine, etc.,
A large starting current is generated. Therefore, it is not necessary to take measures such as increasing the capacity of the power supply.

Further, the efficiency of the excavating operation is improved.

Next, a description will be given of cutter stop control by a cutter drive control device according to another embodiment of the present invention with reference to FIG. FIG. 5 is a flowchart showing a cutter rotation stop control process by the cutter drive control device in the cutter drive device of the shield machine according to another embodiment of the present invention.

Although the construction of the mechanical system of the shield machine used in this embodiment is the same as that shown in the block diagram of FIG. 1, the rotation detector 150 shown in FIG. 1 is not required. The configuration of the control system of the cutter driving device of the shield machine used in the present embodiment is the same as that shown in the block diagram shown in FIG. 2, but the rotation detector 150 shown in FIG.
Is unnecessary. Further, the cutter rotation start control process by the cutter drive control device in the cutter drive device of the shield machine according to the present embodiment is the same as that shown in the flowchart of FIG.

Hereinafter, the cutter rotation stop control process according to the present embodiment will be described with reference to FIG. The basic concept is the same as the cutter rotation stop control processing shown in FIG. 4, but the cutter stop determination processing in step 506 is different.

In step 502, when the rotation of the cutter 110 is stopped, the cutter drive control device 160 detects that the electric motor power switch 170 is turned off.
Next, in step 504, the cutter drive control device 1
60 outputs an electric motor off control signal to all electric motors 140 and 142,
The power supply to 142 is cut off. Note that, even when the power supply is cut off, the electric motors 140 and 142 rotate by inertia.

In step 506, the cutter drive control unit 160 determines whether the time T1 has elapsed.
Here, as the time T1, the electric motors 140, 142
After the power is turned off, a time sufficient for stopping the rotation of the cutter 110 is set. Therefore, when the time T1 has elapsed, it can be determined that the rotation of the cutter 110 has stopped. Time T during which the cutter 110 stops rotating
Step 506 is repeated until 1 has elapsed, and when the time T1 during which the rotation of the cutter 110 stops has elapsed, the flow proceeds to step 508. The measurement of the time T1 can be realized using a soft timer or the like inside the cutter drive control device 160.

When it is determined that the rotation of the cutter is stopped, next, at step 508, the cutter drive controller 16
0 disconnects the clutches 130 and 132. here,
A clutch disengagement control signal is output to all clutches 130 and 132 to disengage the clutches.

As described above, when the rotation of the cutter 110 is stopped, the clutches 130 and 132 are disconnected after estimating the stop of the rotation of the cutter 110. The cutter 110 includes shield jacks 200 and 202.
As a result, the ground is excavated by being pressed against the ground, so that the resistance to the ground is large. Therefore, cutting off the power supply to the electric motors 140 and 142 causes the cutter 110 to stop immediately. The electric motors 140 and 142 are connected via clutches 130 and 132,
Since the cutter 110 is connected, the stop of the cutter 110 causes the electric motors 140 and 142 to also stop immediately.

Therefore, the rotation of the cutter is temporarily stopped to correct the rolling of the shield machine, and the like.
Thereafter, even when the rotation direction is changed to the opposite direction, since the electric motor is once completely stopped, a large start-up current is generated even if the electric motor is thereafter rotated in the opposite direction to the previous rotation direction. Will be gone. As a result, it is not necessary to take measures such as increasing the capacity of the power supply.

Further, since the rotation detector is not used as a means for determining the stop of the cutter 110 as in the above-described embodiment, the configuration of the cutter driving device can be simplified.

Furthermore, since the electric motor can be stopped immediately, the time during which the cutter is stopped can be shortened. Therefore, the stop time of excavation can be shortened, and other excavation work can be performed immediately after the cutter stops, thereby improving the efficiency of excavation work.

As described above, according to the present embodiment, even at the time of rolling correction of the shield machine, etc.,
A large starting current is generated. Therefore, it is not necessary to take measures such as increasing the capacity of the power supply.

Further, the configuration of the cutter driving device can be simplified.

Further, the efficiency of excavation work is improved.

[0049]

As described above, according to the present invention,
Even at the time of rolling correction of a shield machine, a large starting current is generated.

[Brief description of the drawings]

FIG. 1 is a block diagram of a mechanical system of a shield machine according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control system of a cutter driving device of the shield machine according to an embodiment of the present invention.

FIG. 3 is a flowchart illustrating a cutter rotation start control process performed by a cutter drive control device in the cutter drive device of the shield machine according to the embodiment of the present invention.

FIG. 4 is a flowchart showing a cutter rotation stop control process by a cutter drive control device in the cutter drive device of the shield machine according to the embodiment of the present invention.

FIG. 5 is a flowchart showing a cutter rotation stop control process by a cutter drive control device in a cutter drive device of a shield machine according to another embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 cutter drive device 110 cutter 120 drive gear 130, 132 clutch 140, 142 electric motor 150 rotation detector 160 cutter drive control device 170 electric motor power switch 200, 202 shield jack 1000 shield excavation Machine

Claims (4)

[Claims] A cutter rotatably held at a tip of a shield machine, a plurality of electric motors for driving the cutter to rotate, and a plurality of electric motors disposed between the cutter and the electric motor;
A clutch for intermittently transmitting the rotational driving force of the electric motor to the cutter, and a cutter drive control device for controlling power supply to the electric motor to control rotation / stop of the electric motor; In the cutter driving method of the shield machine that transmits the rotational driving forces of the plurality of electric motors to the cutter via the clutches and respectively rotates the cutter, the rotation of the cutter is stopped when the rotation of the cutter is stopped. And a clutch driving method for a shield machine, wherein the clutch is disengaged after stopping. 2. A cutter rotatably held at the tip of a shield machine, a plurality of electric motors for driving the cutter to rotate, and a plurality of electric motors disposed between the cutter and the electric motor for rotationally driving the electric motor. In a cutter driving device of a shield machine having a clutch for intermittently transmitting power to the cutter and a cutter driving control device for controlling power supply to the electric motor to control rotation / stop of the electric motor, The cutter drive control device for a shield excavator, wherein the cutter drive control device determines that the rotation of the cutter is stopped, and disconnects the clutch after the rotation is stopped. 3. The cutter driving device for a shield machine according to claim 2, further comprising a rotation detector for detecting rotation of the cutter, wherein the cutter driving control device is configured to output the rotation of the cutter based on an output signal of the rotation detector. A cutter driving device for a shield excavator, which determines that the rotation of the cutter has stopped, and disconnects the clutch after the rotation has stopped. 4. The cutter driving device for a shield machine according to claim 2, wherein the cutter driving control device determines that the rotation of the cutter is stopped when a predetermined time elapses after the power supply to the electric motor is cut off. And a cutter driving device for a shield machine, wherein the clutch is disengaged after the rotation is stopped.