Operating device for tunnel boring machine

Abstract

To make it easier to understand the operating status of the device being operated on. [Solution] The tunnel boring machine operating device 30 is an operating device 30 used by an operator to operate at least one actuator provided on the tunnel boring machine, and comprises an input device 33 that receives an operation by the operator to operate the actuator, and a notification device 34 that notifies the operator by outputting vibration, sound or light, and the notification device 34 provides notification based on the load of the actuator.

Description

Technical Field

[0001] The present invention relates to an operating device for a tunnel boring machine.

Background Art

[0002] Generally, a tunnel boring machine excavates a tunnel by rotating a cutter head and causing a plurality of cutter bits attached to the front surface of the cutter head to excavate the ground ahead to form a face. The cutter head is attached to the front end of a cylindrical boring machine body, and the tunnel is excavated as the boring machine body is advanced forward. With respect to the forward movement of the boring machine body accompanying this excavation, at the rear part inside the boring machine body, segments which are structural members of the tunnel are added to the front end of an existing segment, and the tunnel is constructed.

[0003] The work of assembling segments is performed, for example, by an erector device installed inside the boring machine body as disclosed in Patent Document 1. The segments are gripped by the gripping portion of the erector device and assembled to an existing segment.

Prior Art Documents

Patent Documents

[0004] [[ID=@27]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In tunnel excavation work using tunnel boring machines, workers operate actuators of various devices, such as the erector devices mentioned above, using control devices (for example, remotely). When operating using control devices, workers need to approach the device and directly observe it, or observe the display of an instrument indicating the device's operating status, in order to understand the operating status of the device being operated. Although proposals to make it easier to understand the operating status of the device being operated have been mentioned, for example in Patent Document 1, there is a need for new proposals that make it even easier to understand the operating status.

[0006] Therefore, in view of these problems, the present invention aims to provide an operating device for a tunnel boring machine that makes it easier to understand the operating status of the device being operated. [Means for solving the problem]

[0007] To solve the above problems, the tunnel boring machine operating device of the present invention is an operating device used by an operator to operate at least one actuator provided on the tunnel boring machine, comprising: an input device that receives an operation by the operator to operate the actuator; and a notification device that notifies the operator by outputting vibration, sound, or light, wherein the notification device provides notification based on the load of the actuator.

[0008] The notification device may increase the output of its notification as the load increases.

[0009] The notification device may provide notification based on the amount of drive of the actuator.

[0010] The notification device may temporarily change the magnitude of the notification output each time the drive amount increases by a predetermined value.

[0011] The operating device may be equipped with a center of gravity shifting device that moves the position of the center of gravity, and the center of gravity shifting device may adjust the position of the center of gravity based on the direction of movement of the actuator.

[0012] The direction in which the center of gravity is adjusted by the center of gravity shifting device may be in a direction corresponding to the direction of movement. [Effects of the Invention]

[0013] According to the present invention, it becomes possible to easily understand the operating status of the device being operated on. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic cross-sectional view showing the overall configuration of a tunnel boring machine according to an embodiment of the present invention. [Figure 2] This is a front view showing an erector device according to an embodiment of the present invention. [Figure 3] This figure shows an operator operating an erector device according to an embodiment of the present invention. [Figure 4] This is a schematic diagram showing the general configuration of an operating device according to an embodiment of the present invention. [Figure 5] This flowchart shows a first example of the processing flow performed by the control device according to an embodiment of the present invention. [Figure 6] This flowchart shows a second example of the processing flow performed by the control device according to an embodiment of the present invention. [Figure 7] This graph shows an example of the trend in output during notification by a notification device. [Figure 8] This is a schematic diagram showing the general configuration of an operating device according to a modified example of the present invention. [Figure 9] This figure shows a schematic configuration of a center of gravity shifting device according to a modified example of the present invention. [Figure 10] This figure shows a center of gravity shifting device when the actuator's direction of movement is forward. [Figure 11] This figure shows a center of gravity shifting device when the actuator's direction of movement is backward. [Modes for carrying out the invention]

[0015] Hereinafter, preferred embodiments of the present invention will be described in detail while referring to the accompanying drawings. Dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant explanations, and elements not directly related to the present invention are not shown.

[0016] First, referring to FIGS. 1 and 2, the configuration of the tunnel boring machine 1 according to an embodiment of the present invention will be described. FIG. 1 is a cross-sectional schematic view showing the overall configuration of the tunnel boring machine 1. In FIG. 1, the arrow F indicates the forward direction (i.e., the traveling direction) of the tunnel boring machine 1, and the arrow B indicates the rearward direction of the tunnel boring machine 1. That is, the arrow F in FIG. 1 faces the face side, and the arrow B faces the shaft mouth side.

[0017] The tunnel boring machine 1 is an earth pressure type (including earth pressure balance type) shield boring machine capable of excavating the ground. As shown in FIG. 1, the tunnel boring machine 1 includes a boring machine body 10. The boring machine body 10 has a cylindrical shape (for example, a cylindrical shape or a rectangular cylindrical shape, etc.). The axial direction of the boring machine body 10 coincides with the front-rear direction of the tunnel boring machine 1. Hereinafter, the axial direction of the boring machine body 10 will also be simply referred to as the axial direction, the radial direction of the boring machine body 10 will also be simply referred to as the radial direction, and the circumferential direction of the boring machine body 10 will also be simply referred to as the circumferential direction.

[0018] A cutter head 11 is provided at the front end of the boring machine body 10. The cutter head 11 is a substantially disc-shaped rotating body. The front end of a cutter center shaft 12 is fitted into the center portion of the cutter head 11, and the cutter head 11 is pivotally supported so as to be rotatable about the cutter center shaft 12.

[0019] The cutter head 11 includes an outer ring 11a, an inner ring 11b, cutter spokes 11c, a fishtail cutter 11d, and cutter bits 11e. Of these, the outer ring 11a forms the outer circumference of the cutter head 11, and the inner ring 11b is positioned radially inward from the outer ring 11a. The multiple cutter spokes 11c are arranged radially around the cutter central axis 12 on the front surface of the cutter head 11. A fishtail cutter 11d is mounted in the center of the front surface of the cutter head 11. Furthermore, numerous cutter bits 11e are mounted on the front surface of the cutter spokes 11c. The fishtail cutter 11d and cutter bits 11e may or may not be detachable.

[0020] Furthermore, the cutter head 11 has multiple openings formed between the outer ring 11a, the inner ring 11b, and the cutter spokes 11c. These openings function as intake ports for excavated soil generated when the cutter head 11 excavates the ground (face) and take it into the excavator body 10 (into the chamber 17, which will be described later).

[0021] A partition wall 13 is positioned behind the cutter head 11 in the excavator body 10. The partition wall 13 is a plate-shaped (for example, disc-shaped) wall positioned perpendicular to the axial direction (tunnel extension direction), and its outer edge is attached to the inner surface of the excavator body 10. The cutter head 11 and the partition wall 13 are positioned at a predetermined distance apart in the axial direction (tunnel extension direction). Various equipment of the tunnel excavator 1 is positioned behind the partition wall 13, and the partition wall 13 isolates this equipment from the excavated soil generated at the tunnel face. An outlet 13a, which is an opening for discharging excavated soil, is formed at the bottom of the partition wall 13.

[0022] A cutter central shaft 12 is rotatably supported at the center of the partition wall 13. Furthermore, an annular rotating ring 14 is rotatably supported on the partition wall 13 about the cutter central shaft 12. Multiple connecting beams 15 are provided at predetermined intervals in the circumferential direction at the front of the rotating ring 14. The multiple connecting beams 15 connect the cutter head 11 and the rotating ring 14. The front ends of the connecting beams 15 are connected to the connection between the inner circumferential ring 11b and the cutter spoke 11c of the cutter head 11. On the other hand, a ring gear 14a is provided at the rear of the rotating ring 14. The ring gear 14a may be an external gear type or an internal gear type. Furthermore, a cutter rotation motor 16 is provided behind the partition wall 13. The drive gear 16a of this cutter rotation motor 16 meshes with the ring gear 14a of the rotating ring 14.

[0023] By driving the cutter rotation motor 16, the rotation of its drive gear 16a is transmitted from the ring gear 14a to the rotating ring 14 and the connecting beam 15. This allows the cutter head 11 to rotate around the cutter central axis 12. As a result, the front surface of the rotating cutter head 11 can be pressed against the ground (work face) using the shield jack 21 described later, enabling excavation of the ground.

[0024] A chamber 17 is defined between the cutter head 11 and the partition wall 13. The chamber 17 is a space (for example, a roughly cylindrical space) partitioned by the rear surface of the cutter head 11, the front surface of the partition wall 13, and the inner circumferential surface of the excavator body 10. Excavated soil generated as a result of excavating the ground by the cutter head 11 is taken into the chamber 17 through the opening (excavated soil intake port) formed through the cutter head 11. The chamber 17 functions as a space (chamber) for temporarily storing the excavated soil. The excavated soil taken into the chamber 17 is discharged from the chamber 17 into the screw conveyor 18 through the discharge port 13a located at the bottom of the partition wall 13.

[0025] The screw conveyor 18 is installed on the rear side of the partition wall 13 within the excavator body 10. Within the excavator body 10, the screw conveyor 18 is positioned at an upward incline as it approaches the rear. The opening at the front end of the screw conveyor 18 is connected to the discharge port 13a of the partition wall 13. As a result, the internal space of the screw conveyor 18 communicates with the chamber 17 through the discharge port 13a of the partition wall 13. Inside the screw conveyor 18 is a screw-shaped rotating body with helical blades, called a screw blade 18a. By rotating the screw blade 18a, excavated soil stored in the chamber 17 can be taken into the screw conveyor 18, transported toward the rear of the excavator body 10, and discharged.

[0026] Furthermore, an erector device 19 is provided behind the bulkhead 13 of the excavator body 10. The erector device 19 is capable of gripping the segments 20, which are lining members, and assembles the gripped segments 20 along the inner wall surface (tunnel wall) of the tunnel T. The segments 20 are ring-shaped pieces with a curved shape that conforms to the inner wall surface of the excavated tunnel T. By driving the erector device 19, multiple segments 20 can be assembled in a ring shape along the circumferential direction. As a result, the inner wall surface of the tunnel T is lined with multiple segments 20, preventing the collapse of the inner wall surface.

[0027] Here, the erector device 19 will be described in more detail with reference to Figure 2 in addition to Figure 1. Figure 2 is a front view of the erector device 19. Specifically, Figure 2 is a view of the erector device 19 from the rear. As shown in Figures 1 and 2, the erector device 19 comprises a ring frame 191, support rollers 192, suspension beams 193, guide rods 194, jacks 195, and gripping parts 196.

[0028] The ring frame 191 is an annular member provided along the inner circumferential surface of the excavator body 10. The ring frame 191 extends in the circumferential direction of the excavator body 10. The central axis of the ring frame 191 is positioned coaxially with the central axis of the excavator body 10. The ring frame 191 is supported by a plurality of support rollers 192 so as to be rotatable about its central axis. The support rollers 192 are mounted on the inner circumferential surface of the excavator body 10 parallel to the central axis of the excavator body 10. As shown in Figure 2, a plurality of support rollers 192 are arranged at intervals in the circumferential direction of the excavator body 10. The rotation direction D3 of the ring frame 191 shown in Figure 2 coincides with the circumferential direction of the excavator body 10. The ring frame 191 is driven by a motor 191a (see Figure 1). The motor 191a corresponds to an actuator for moving the ring frame 191 in the rotation direction D3. The drive method for the motor 191a is not particularly limited and may be electric or hydraulic.

[0029] The suspension beam 193 is attached to the ring frame 191 via guide rods 194. Specifically, a bracket 191b projecting backward is provided at the rear of the ring frame 191. A guide rod 194 is attached to the tip of the bracket 191b so as to be able to move up and down radially. As shown in Figure 2, guide rods 194 are provided on each of two radially separated parts of the ring frame 191. The circumferential positions on the ring frame 191 where each guide rod 194 is installed are offset by, for example, approximately 180°. The two guide rods 194 extend in a direction perpendicular to the direction of separation between them and are extendable and retractable in that direction. The suspension beam 193 is stretched between the two guide rods 194.

[0030] Furthermore, as shown in Figure 1, jacks 195 are attached to the bracket 191b near each guide rod 194 along the extending direction of each guide rod 194. The tip of each jack 195 abuts against the suspension beam 193. The suspension beam 193 moves in the direction of extension and contraction of the jack 195 as the jack 195 extends and contracts. The direction of movement D1 of the suspension beam 193 (i.e., the direction of extension and contraction of the jack 195) coincides with the radial direction of the excavator body 10. In this way, the suspension beam 193 is driven by the jack 195. The jack 195 acts as an actuator for moving the suspension beam 193 in the direction of movement D1. The driving method of the jack 195 is not particularly limited and may be electric or hydraulic, for example.

[0031] The suspension beam 193 extends circumferentially along the ring frame 191 between two guide rods 194. A support frame 193a is provided on the central side of the suspension beam 193 in the direction of its extension. The support frame 193a protrudes axially rearward from the rest of the suspension beam 193 to the excavator body 10. The support frame 193a extends on a plane substantially perpendicular to the direction of movement D1 of the suspension beam 193. A gripping portion 196 is attached to the radially outer side of the support frame 193a.

[0032] The gripping portion 196 is provided with, for example, a twist lock 196a. The twist lock 196a is provided on the radially outer side (lower side in Figure 2) of the gripping portion 196. The gripping portion 196 can grip the segment 20 by engaging the twist lock 196a with the gripping hole H of the segment 20. For example, the twist lock 196a has a substantially T-shape. The gripping hole H is formed on the inner circumferential surface of the segment 20 and has a substantially T-shape.

[0033] The gripping section 196 is supported by a support frame 193a so as to be movable in the axial direction of the excavator body 10. The gripping section 196 moves in the direction of extension and retraction of the jack 196b (see Figure 1) as the jack 196b extends and retracts. The direction of movement D2 of the gripping section 196 (i.e., the direction of extension and retraction of the jack 196b) coincides with the axial direction of the excavator body 10. Thus, the gripping section 196 is driven by the jack 196b. The jack 196b acts as an actuator for moving the gripping section 196 in the direction of movement D2. The driving method of the jack 196b is not particularly limited and may be electric or hydraulic, for example.

[0034] The orientation of the twist lock 196a relative to other parts of the gripping portion 196 can be changed. For example, the orientation of the twist lock 196a can be changed in three directions: the roll direction (i.e., the direction of rotation around the axial axis (i.e., the front-to-back direction) of the tunnel boring machine 1), the pitch direction (i.e., the direction of rotation around the circumferential axis (left-to-right direction in Figure 2) of the tunnel boring machine 1), and the yaw direction (i.e., the direction of rotation around the radial axis (up-to-down direction in Figure 2) of the tunnel boring machine 1). In this case, changing the orientation in the above three directions can be achieved, for example, by using spherical bearings and various actuators. The mechanism for changing the orientation of the twist lock 196a in each direction is not particularly limited and can be designed as appropriate. Furthermore, the orientation of the twist lock 196a may be changed in some of the above three directions.

[0035] By appropriately changing the posture and position of the twist lock 196a, the twist lock 196a can be inserted into the gripping hole H of the segment 20 and engaged with the gripping hole H. This allows the segment 20 to be gripped and moved by the twist lock 196a. While the segment 20 is gripped by the twist lock 196a, the posture and position of the segment 20 gripped by the twist lock 196a can be adjusted by adjusting the posture and position of the twist lock 196a.

[0036] Furthermore, the method of gripping the segment 20 with the gripping portion 196 is not limited to the example using the twist lock 196a. For example, a gripping fitting may be attached to the segment 20, and this gripping fitting may be gripped by the gripping portion 196. In this case, by providing the gripping portion 196 with a configuration that allows the gripped segment 20 to be changed in the roll direction, pitch direction, and yaw direction, the erector device 19 can ensure the same functionality as in the example using the twist lock 196a.

[0037] The erector device 19 can move the segment 20 to a desired position by moving the gripping part 196 (specifically, the twist lock 196a) while the segment 20 is gripped by the gripping part 196. Specifically, by moving the suspension beam 193 in the movement direction D1, the gripping part 196 and the gripped segment 20 can be moved radially to the excavator body 10. Also, by moving the gripping part 196 in the movement direction D2, the gripping part 196 and the gripped segment 20 can be moved axially to the excavator body 10. Furthermore, by rotating the ring frame 191 in the rotation direction D3, the gripping part 196 and the gripped segment 20 can be moved circumferentially to the excavator body 10. Note that the mechanism for moving the gripping part 196 in each direction is not particularly limited to the example described with reference to Figures 1 and 2, and can be designed as appropriate.

[0038] In the following, among the segments 20, the existing segments 20 that are already used to line the inner wall surface of tunnel T will be specifically referred to as segment 20a. Furthermore, among the segments 20, those that have not yet been used to line the inner wall surface of tunnel T and that are to be newly installed in addition to the existing segments 20a (i.e., the segments to be installed) will be specifically referred to as segment 20b.

[0039] As shown in Figures 1 and 2, the existing segments 20a are assembled in a ring shape along the circumferential direction. The segment 20b to be installed is transported from the tunnel entrance side to the tunnel face side and placed on the lower, face-side existing segment 20a among the multiple existing segments 20a. A segment transport device (not shown) is provided inside the excavator body 10, and the segment 20b to be installed is transported by the segment transport device. The segment 20b to be installed, transported in this manner, is gripped by the erector device 19 and attached to the existing segment 20a, thereby assembling the segment 20.

[0040] As shown in Figure 1, multiple shield jacks 21 are provided inside the excavator body 10, spaced apart from each other in the circumferential direction. Each shield jack 21 is provided along the inner circumferential surface of the excavator body 10 and extends in the axial direction of the excavator body 10. The shield jacks 21 are, for example, hydraulic jacks, but other types of jacks, actuators, etc., may be used as long as they can generate thrust for the tunnel boring machine 1.

[0041] A retractable drive rod 21a is provided at the rear end of the shield jack 21. The tip of the drive rod 21a faces the front end surface of the existing segment 20a. By extending the drive rod 21a of the shield jack 21 backward and pressing against the existing segment 20a, a propulsive reaction force (i.e., thrust) can be applied to the excavator body 10. In other words, the thrust generated when the shield jack 21 presses against the existing segment 20a allows the excavator body 10 to move forward.

[0042] A tail brush 22 is provided between the inner circumference of the rear end of the excavator body 10 and the outer circumference of the existing segment 20a. The tail brush 22 is attached to the inner circumference of the rear end of the excavator body 10 and slides against the outer circumference of the existing segment 20a. The tail brush 22 is provided to prevent water, soil, or backfill material from entering the excavator body 10.

[0043] In tunnel excavation work using the tunnel boring machine 1, the worker operates (for example, remotely) the actuators of various devices such as the erector device 19 described above by using an operating device. In this embodiment, by making improvements to the operating device used by the worker, it is possible to easily grasp the operating status of the device being operated. The following mainly describes an example in which the present invention is applied to an operating device used to operate the erector device 19. However, as will be described later, the present invention may also be applied to operating devices used to operate devices other than the erector device 19.

[0044] Figure 3 shows a worker 2 operating (specifically, remotely operating) the erector device 19. As shown in Figure 3, worker 2 can operate the erector device 19 by holding the operating device 30 in their hand and performing various operations using the operating device 30 to drive the various actuators of the erector device 19. The worker 2 operating the erector device 19 operates the operating device 30 while positioned behind the erector device 19 (for example, standing on an existing segment 20a) and visually observing the erector device 19 from behind (i.e., from the tunnel entrance side).

[0045] Conventionally, when operating using the control device 30, the operator 2 had to either approach the erector device 19 and directly observe it, or observe the display of an instrument indicating the operating status of the erector device 19, in order to understand the operating status of the erector device 19 (specifically, the operating status of each actuator of the erector device 19). In contrast, in this embodiment, by making improvements to the control device 30, it is possible to make it easier to understand the operating status of each actuator of the erector device 19.

[0046] Figure 4 is a schematic diagram showing the general configuration of the operating device 30. As shown in Figure 4, the operating device 30 comprises a main body 31, a handle 32, an input device 33, a notification device 34, and a control device 35.

[0047] As described above, worker 2 grips the operating device 30 while viewing the erector device 19 from the rear. Figure 4 shows how the operating device 30 looks from the perspective of worker 2 when it is gripped and used by worker 2. Therefore, the upward direction in Figure 4 corresponds to the forward direction of the tunnel boring machine 1 (i.e., the direction toward the tunnel face), and the downward direction in Figure 4 corresponds to the rear direction of the tunnel boring machine 1 (i.e., the direction toward the tunnel entrance). Hereafter, the vertical direction in Figure 4 (i.e., the direction along arrows F and B) will be referred to as the front-to-back direction of the operating device 30, the left-to-right direction in Figure 4 will be referred to as the left-to-right direction of the operating device 30, and the direction perpendicular to the plane of the paper in Figure 4 will be referred to as the vertical direction of the operating device 30.

[0048] The main body 31 has, for example, a roughly rectangular parallelepiped shape. For example, the outer surface of the main body 31 has a face facing left, a face facing right, a face facing front, a face facing rear, a face facing upward, and a face facing downward. For example, of the lengths of the main body 31 in the left-right direction, the front-back direction, and the up-down direction, the left-right direction is the longest, and the front-back direction and the up-down direction are approximately the same. In other words, the main body 31 extends, for example, in the left-right direction. A handle 32, an input device 33, a notification device 34, and a control device 35 are attached to such a main body 31.

[0049] The handle 32 is grasped by the operator 2 when using the operating device 30. In the example shown in Figure 4, the handle 32 includes a left handle 32L and a right handle 32R. The operator 2 can hold the operating device 30 by grasping the left handle 32L with their left hand and the right handle 32R with their right hand.

[0050] For example, as shown in Figure 4, the left handle 32L is attached to the upper left end of the main body 31, and the right handle 32R is attached to the upper right end of the main body 31. The left handle 32L and the right handle 32R are elongated and curved. The ends of the left handle 32L are connected to the front and rear ends of the main body 31 at the left end, and the ends of the right handle 32R are connected to the front and rear ends of the main body 31 at the right end.

[0051] Note that the handle 32 shown in Figure 4 is merely an example, and the number, shape, and arrangement of the components constituting the handle 32 are not limited to the example above.

[0052] The input device 33 receives operations from the operator 2 to operate each actuator of the erector device 19. In the example shown in Figure 4, the input device 33 includes a first operation unit 33a, a second operation unit 33b, and a third operation unit 33c. Each of the operation units 33a, 33b, and 33c receives operations from the operator 2. For example, the types of operation units 33a, 33b, and 33c may vary, such as joysticks or push buttons. The operator 2 can operate each actuator by gripping the operating device 30 and operating each operation unit 33a, 33b, and 33c with their fingers.

[0053] For example, the first operating unit 33a receives commands to operate the jack 195 (see Figure 1) of the erector device 19. Therefore, by performing operations using the first operating unit 33a, the worker 2 can operate the jack 195 and move the suspension beam 193 in the direction of movement D1 (i.e., the radial direction of the excavator body 10).

[0054] For example, the second operating unit 33b receives commands to operate the jack 196b (see Figure 1) of the erector device 19. Therefore, by performing operations using the second operating unit 33b, the operator 2 can operate the jack 196b and move the gripping unit 196 in the movement direction D2 (i.e., in the axial direction of the excavator body 10).

[0055] For example, the third operating unit 33c receives commands to operate the motor 191a (see Figure 1) of the erector device 19. Therefore, by operating the third operating unit 33c, the operator 2 can operate the motor 191a and move the ring frame 191 in the rotational direction D3 (i.e., the circumferential direction of the excavator body 10).

[0056] Note that the input device 33 shown in Figure 4 is merely an example, and the number, functions, and arrangement of the operating parts included in the input device 33 are not limited to the example above.

[0057] For example, in the example in Figure 4, the first operating unit 33a, the second operating unit 33b, and the third operating unit 33c are arranged side by side in the left-right direction, but the arrangement of each operating unit 33a, 33b, and 33c may differ from the example in Figure 4. Also, for example, in the above example, for the sake of ease of understanding, only the operating units for operating the jacks 195, jacks 196b, and motor 191a of the actuators of the erector device 19 are mentioned. However, as stated above, the erector device 19 may also include actuators other than the jacks 195, jacks 196b, and motor 191a. Therefore, the input device 33 may actually include operating units for operating actuators other than the jacks 195, jacks 196b, and motor 191a.

[0058] The notification device 34 provides notification to the worker 2 through vibration, sound, or light output. The notification device 34 is used to notify the worker 2 so that they can understand the operating status of each actuator of the erector device 19. In other words, the notification by the notification device 34 is a notification that indicates the operating status of the actuators and has the function of informing the worker 2 of the operating status of the actuators.

[0059] For example, if the notification device 34 provides notification by outputting vibration, a vibrator is provided as the notification device 34. In that case, by vibrating the vibrator, the entire operating device 30 can be vibrated, and the vibration can be transmitted to the worker 2 via the handle 32.

[0060] Furthermore, for example, if the notification device 34 provides notification by outputting sound, a speaker is provided as the notification device 34. In that case, by outputting sound from the speaker, the sound can be transmitted to the worker 2 who is gripping the operating device 30.

[0061] Furthermore, for example, if the notification device 34 provides notification by outputting light, a light is provided as the notification device 34. In that case, by outputting light from the light, the light can be transmitted to the worker 2 who is gripping the operating device 30.

[0062] The notification device 34 may perform all of the following: notification by vibration output, notification by sound output, and notification by light output. In that case, for example, the notification device 34 may be provided with a vibrator, speaker, and light. However, the notification device 34 may perform only one or two of the following types of notification: notification by vibration output, notification by sound output, and notification by light output.

[0063] The control device 35 communicates with various devices and performs various controls. The control device 35 includes a CPU (Central Processing Unit), which is an arithmetic processing unit; a ROM (Read Only Memory), which is a memory element that stores programs and calculation parameters used by the CPU; and a RAM (Random Access Memory), which is a memory element that temporarily stores parameters that change as needed during CPU execution.

[0064] Furthermore, some of the various functions of the control device 35 described below (for example, the function of outputting operation commands to the actuator) may be delegated to an external device of the operating device 30. Also, the control device 35 itself may not be provided on the operating device 30, but rather on an external device of the operating device 30.

[0065] For example, the control device 35 acquires operation information from the input device 33, which is information relating to operations performed by the operator 2 using each of the operation units 33a, 33b, and 33c. Based on the operation information, the control device 35 controls the operation of each actuator of the erector device 19.

[0066] Specifically, the operation information includes information on whether or not an operation was performed using each of the operation units 33a, 33b, and 33c, as well as information indicating the amount of operation and the direction of operation for each of the operation units 33a, 33b, and 33c. The control device 35 also outputs an operation command to the actuator corresponding to the operation unit operated by the operator 2, according to the amount of operation and the direction of operation for that operation. As a result, the actuator corresponding to the operation unit operated by the operator 2 operates in a direction corresponding to the direction of operation for that operation, with a drive amount corresponding to the amount of operation for that operation. In this specification, the drive amount of the actuator means, for example, the amount by which the actuator operates or moves in response to receiving an operation command.

[0067] Furthermore, the control device 35 controls the notification by the notification device 34 by controlling the operation of the notification device 34. Specifically, the control device 35 acquires state information, which is information about the state of each actuator, from each actuator of the erector device 19. Then, the control device 35 controls the notification by the notification device 34 based on the state information of the actuators.

[0068] Specifically, the actuator state information may include information on the actuator load, information on the actuator drive amount, and information on the actuator's direction of movement. More specifically, various state information of the actuator is detected by various instruments provided on the actuator, and the control device 35 can acquire various state information of the actuator from these instruments.

[0069] For example, if the actuator is electrically powered, the current value applied to the actuator can be detected by an instrument, and this current value information can be used as information about the actuator's load. Also, for example, if the actuator is hydraulic, the hydraulic pressure acting on the actuator can be detected by an instrument, and this hydraulic pressure information can be used as information about the actuator's load.

[0070] For example, if the actuator is of the linear motion type, a stroke sensor can be used to obtain information on the amount of drive of the actuator (in this case, the stroke amount) and information on the direction of movement of the actuator. Also, for example, if the actuator is of the rotational motion type, an encoder can be used to obtain information on the amount of drive of the actuator (in this case, the rotation amount) and information on the direction of movement of the actuator.

[0071] As described above, in this embodiment, the control device 35 controls the notification by the notification device 34 based on the state information of the actuator. This makes it possible for the worker 2 to easily understand the operating status of each actuator of the erector device 19 based on the content of the notification. The details of the processing performed by the control device 35 regarding the control of the notification by the notification device 34 will be described below. In the following, a first example and a second example will be described in order as examples of such processing.

[0072] Figure 5 is a flowchart showing a first example of the processing flow performed by the control device 35. The processing flow shown in Figure 5 is performed during tunnel excavation work when the worker 2 is operating the erector device 19 using the operating device 30 (for example, when the power to the operating device 30 is turned on). The processing flow shown in Figure 5 ends, for example, when the power to the operating device 30 is turned off.

[0073] When the processing flow shown in Figure 5 begins, in step S101, the control device 35 acquires information about the actuator load.

[0074] For example, in step S101, the control device 35 obtains load information from each actuator (in the above example, jacks 195, jacks 196b, and motor 191a) that are to be operated by the operating device 30.

[0075] Following step S101, in step S102, the control device 35 determines the output (specifically, the value of the output) for notification by the notification device 34 according to the load of the actuator. If the notification device 34 provides notification by outputting light, the magnitude of the output may correspond to, for example, the intensity of the light.

[0076] The control device 35 determines the output value such that the notification device 34 activates when any actuator is driven in response to operation by the operator 2 and a load is placed on that actuator, but does not activate the notification device 34 when no load is placed on any actuator (i.e., when the load on all actuators is 0).

[0077] For example, if no load is generated in any of the actuators (i.e., the load on all actuators is 0), the control device 35 determines the output value of the notification by the notification device 34 to be 0.

[0078] On the other hand, if a load is applied to any actuator, the control device 35 determines a value greater than 0, and the value increases as the load on that actuator increases, as the output value for notification by the notification device 34. For example, the control device 35 may continuously increase the output value for notification as the load on the actuator increases, or it may increase it in steps (for example, in three steps).

[0079] Furthermore, when operating the erector device 19 using the operating device 30, if multiple actuators are operating simultaneously, the actuator load used to determine the notification output in step S102 may be, for example, the maximum value among the loads of the multiple actuators, or the average value of the loads of the multiple actuators.

[0080] Following step S102, in step S103, the control device 35 performs notification by the notification device 34 with an output corresponding to the load of the actuator (i.e., the output determined in step S102), and then returns to step S101.

[0081] As explained above, the notification device 34 provides notification based on the load of the actuator. This allows the operator 2, who is operating the erector device 19 using the operating device 30, to understand the operating status of the erector device 19 through various senses. For example, if the notification is made by vibration output, the operator 2 can understand the operating status of the erector device 19 through touch; if the notification is made by sound output, the operator 2 can understand the operating status of the erector device 19 through hearing; and if the notification is made by light output, the operator 2 can understand the operating status of the erector device 19 through sight. Therefore, it is possible to easily understand the operating status of the device being operated (in the above example, the erector device 19).

[0082] Specifically, by providing notifications based on the actuator load, operator 2 can more easily recognize, for example, that an overload has occurred due to an unexpected operation or that an incorrect operation has been performed, thereby preventing equipment damage and accidents.

[0083] Furthermore, the notification device 34 increases the output of its notification as the load on the actuator increases. This makes it easier for operator 2 to intuitively grasp the magnitude of the load acting on the actuator. Also, by making it easier to grasp the magnitude of the load acting on the actuator, the time spent investigating the cause of trouble when a problem occurs with the equipment can be shortened. In addition, even when the operating range of the actuator is photographed by a camera and operator 2 operates the device while viewing the captured images, it becomes easier to grasp the minute movements of the actuator.

[0084] Furthermore, the notification device 34 does not necessarily need to increase the magnitude of its notification output as the actuator load increases. For example, the control device 35 may stop the notification by the notification device 34 if the actuator load is excessively large.

[0085] Figure 6 is a flowchart showing a second example of the processing flow performed by the control device 35. The processing flow shown in Figure 6, like the processing flow shown in Figure 5, is performed when the worker 2 is operating the erector device 19 using the operating device 30 during tunnel excavation work (for example, when the power to the operating device 30 is turned on). The processing flow shown in Figure 6, like the processing flow shown in Figure 5, ends, for example, when the power to the operating device 30 is turned off.

[0086] The processing flow shown in Figure 6 differs from the processing flow shown in Figure 5 in that a determination process in step S201 is added after step S102, and step S202 is performed if the determination in step S201 is YES.

[0087] In the processing flow shown in Figure 6, following step S102, in step S201, the control device 35 determines whether the amount of drive of the actuator (e.g., stroke amount or rotation amount) is a multiple of a predetermined value. For example, in the case of a linear actuator, the above predetermined value may be set to, for example, 100 mm.

[0088] Specifically, the control device 35 continuously acquires information on the amount of drive of the actuator being driven in response to the operation by the worker 2, and based on this information, it determines whether the amount of drive of the actuator has reached a multiple of a predetermined value. Then, in step S201, it is determined to be YES each time the amount of drive of the actuator being driven in response to the operation by the worker 2 increases by a predetermined value.

[0089] If it is determined that the actuator's drive amount is not a multiple of a predetermined value (step S201 / NO), the process proceeds to step S103. In step S103, the control device 35 performs notification by the notification device 34 with an output corresponding to the actuator load (i.e., the output determined in step S102), and then returns to step S101.

[0090] On the other hand, if it is determined that the amount of actuator drive is a multiple of a predetermined value (step S201 / YES), the process proceeds to step S202. In step S202, the control device 35 temporarily changes the magnitude of the notification output from the notification device 34 and returns to step S101.

[0091] Figure 7 is a graph showing an example of the change in output during notification by the notification device 34. In Figure 7, the horizontal axis represents time and the vertical axis represents the notification output, showing the change in notification output. In Figure 7, the first change example is shown by the solid line L1, the second change example is shown by the dashed line L2, and the third change example is shown by the dashed line L3.

[0092] In the first transition example (solid line L1) and the second transition example (dashed line L2), in step S202, the control device 35 temporarily increases the magnitude of the notification output. In other words, each time the actuator drive amount increases by a predetermined value (i.e., each time it is determined to be YES in step S201), the magnitude of the notification output temporarily increases.

[0093] The first transition example, represented by the solid line L1, shows a transition where the actuator load is small and the actuator's operating speed (i.e., the rate of change of the drive amount) is fast. On the other hand, the second transition example, represented by the dashed line L2, shows a transition where the actuator load is large and the actuator's operating speed is slow, compared to the first transition example, represented by the solid line L1.

[0094] In the first transition example (solid line L1), the actuator load is smaller compared to the second transition example (dashed line L2), so the output determined by the load is smaller. Also, in the first transition example (solid line L1), the actuator operating speed is faster compared to the second transition example (dashed line L2), so the period during which the magnitude of the notification output temporarily increases is shorter. For example, in the example in Figure 7, the time interval T1 during which the magnitude of the notification output temporarily increases in the first transition example (solid line L1) is shorter than the time interval T2 during which the magnitude of the notification output temporarily increases in the second transition example (dashed line L2). By recognizing the period during which the magnitude of the notification output temporarily increases, operator 2 can recognize the operating speed of the actuator in both the first transition example (solid line L1) and the second transition example (dashed line L2).

[0095] On the other hand, in the third transition example of the dashed line L3, in step S202, the control device 35 temporarily sets the magnitude of the notification output to 0. In other words, the notification is interrupted each time the actuator drive amount increases by a predetermined value (i.e., each time it is determined to be YES in step S201).

[0096] The third transition example, indicated by the dashed line L3, represents a scenario where the actuator load is even greater and the actuator's operating speed is even slower, compared to the second transition example, indicated by the dashed line L2.

[0097] In the third transition example of the dashed line L3, the actuator load is even greater than in the second transition example of the dashed line L2, so the output determined according to the load is even larger. Also, the period during which the notification is interrupted in the third transition example of the dashed line L3 is longer than the period during which the magnitude of the notification output temporarily increases in the second transition example of the dashed line L2. For example, in the example in Figure 7, the time interval T3 during which the notification is interrupted in the third transition example of the dashed line L3 is longer than the time interval T2 during which the magnitude of the notification output temporarily increases in the second transition example of the dashed line L2. By recognizing the period during which the notification is interrupted, operator 2 can recognize the operating speed of the actuator in the third transition example of the dashed line L3. Note that the third transition example of the dashed line L3 is an example assuming that the notification output cannot be made larger than the output determined according to the actuator load.

[0098] As explained above, the notification device 34 provides notifications based on the amount of drive of the actuator. This allows the operator 2, who is operating the erector device 19 using the operating device 30, to grasp not only the load on the actuator but also the amount of drive of the actuator through senses other than sight. For example, in the example in Figure 7, in the first transition example of the solid line L1 and the second transition example of the dashed line L2, the operator 2 can recognize the operating speed of the actuator by recognizing the period in which the magnitude of the notification output temporarily increases. Also, in the third transition example of the dashed line L3, the operator 2 can recognize the operating speed of the actuator by recognizing the period in which the notification is interrupted. Therefore, it becomes easier to grasp the operating status of the device being operated (the erector device 19 in the above example). Furthermore, if there is no temporary change in the notification output over a long period of time, the operator 2 can also grasp that the actuator has hit an obstacle and stopped.

[0099] Furthermore, the notification device 34 temporarily changes the magnitude of the notification output each time the actuator's drive amount increases by a predetermined value. This makes it easier for the operator 2 to intuitively recognize the actuator's operating speed.

[0100] Furthermore, the notification device 34 does not necessarily have to provide notification based on the amount of actuator drive, as shown in the first processing example in Figure 5 above. Also, the notification device 34 does not necessarily have to temporarily change the magnitude of the notification output each time the amount of actuator drive increases by a predetermined value. For example, the notification device 34 may gradually increase the magnitude of the notification output as the amount of actuator drive increases.

[0101] Figure 8 is a schematic diagram showing the general configuration of the modified operating device 30A. As shown in Figure 8, the operating device 30A further includes a center of gravity shifting device 36 compared to the operating device 30 described above.

[0102] The center of gravity shifting device 36 is a device that moves the position of the center of gravity of the operating device 30A. For example, as shown in Figure 8, the center of gravity shifting device 36 is positioned in the center of the main body 31 in the left-right direction and extends in the front-rear direction. The center of gravity shifting device 36 is housed inside the main body 31. Note that the arrangement of the center of gravity shifting device 36 shown in Figure 8 is merely an example, and the arrangement of the center of gravity shifting device 36 in the main body 31 is not limited to the above example.

[0103] Figure 9 shows a schematic configuration of the center of gravity shifting device 36. As shown in Figure 9, the center of gravity shifting device 36 includes, for example, a shaft 36a, a front support portion 36b, a rear support portion 36c, and a movable body 36d.

[0104] The shaft 36a is a rod-shaped member extending in the front-rear direction. The shaft 36a has, for example, a substantially cylindrical shape. The front end of the shaft 36a is supported by the front support portion 36b and is attached to the main body 31 via the front support portion 36b. The rear end of the shaft 36a is supported by the rear support portion 36c and is attached to the main body 31 via the rear support portion 36c.

[0105] The movable body 36d functions as a weight to move the center of gravity of the operating device 30A. The movable body 36d is attached to the shaft 36a and is movable in the forward and backward directions along the shaft 36a. When the movable body 36d moves forward, the center of gravity of the operating device 30A moves forward. Conversely, when the movable body 36d moves backward, the center of gravity of the operating device 30A moves backward. The method of moving the movable body 36d is not particularly limited and may be a magnetic method such as a shaft motor, or a ball screw method.

[0106] In the operating device 30A, the control device 35 can adjust the position of the center of gravity of the operating device 30A by moving the movable body 36d in the forward and backward directions. For example, if the movable body 36d is moved using a magnetic force method such as a shaft motor, the control device 35 can control the operation of the movable body 36d by controlling the current applied to the coil that generates the magnetic field. Also, for example, if the movable body 36d is moved using a ball screw method, the control device 35 can control the operation of the movable body 36d by controlling the drive source of the ball screw (for example, an electric motor).

[0107] As described above, the operator 2 can operate the jack 196b by using the second operating unit 33b to move the gripping unit 196 in the direction of movement D2 (i.e., in the axial direction of the excavator body 10). In the operating device 30A, the control device 35 adjusts the position of the center of gravity of the operating device 30A in the front-rear direction by controlling the center of gravity moving device 36 based on the direction of movement of the jack 196b. Specifically, as described above, the control device 35 can obtain information on the direction of movement of the jack 196b from the jack 196b. Based on this information, if the control device 35 determines that the jack 196b is being driven and moving, it moves the movable body 36d in the front-rear direction from the position in Figure 9. On the other hand, if the control device 35 determines that the jack 196b is not being driven, it controls the movable body 36d to the position in Figure 9.

[0108] Figure 10 shows the center of gravity shifting device 36 when the actuator (specifically, the jack 196b) is moving in the forward direction. When the control device 35 determines that the jack 196b is moving in the forward direction, it moves the movable body 36d forward from the position shown in Figure 9, as shown in Figure 10. As a result, the position of the center of gravity of the operating device 30A is adjusted in the forward direction.

[0109] Figure 11 shows the center of gravity shifting device 36 when the actuator (specifically, the jack 196b) is moving in the rearward direction. When the control device 35 determines that the jack 196b is moving in the rearward direction, it moves the movable body 36d in the rearward direction from the position shown in Figure 9, as shown in Figure 11. As a result, the position of the center of gravity of the operating device 30A is adjusted in the rearward direction.

[0110] As explained above, the center of gravity shifting device 36 adjusts the position of the center of gravity of the operating device 30A based on the direction of movement of the actuator. As a result, the worker 2 operating the erector device 19 using the operating device 30A can grasp not only the load on the actuator but also the direction of movement of the actuator through various senses. For example, in the above example, the worker 2 can grasp the direction of movement of the jack 196b by recognizing the change in the position of the center of gravity of the operating device 30A through touch.

[0111] Furthermore, the direction in which the center of gravity of the operating device 30A is adjusted by the center of gravity shifting device 36 is the direction corresponding to the direction of movement of the actuator (for example, the direction that coincides with the direction of movement of the actuator, as in the example above). This makes it easier for the operator 2 to intuitively grasp the direction of movement of the actuator.

[0112] In the above, an example was described in which the center of gravity shifting device 36 can move the position of the center of gravity of the operating device 30A in the front-rear direction. However, the center of gravity shifting device 36 may also move the position of the center of gravity of the operating device 30A in directions other than the front-rear direction. For example, the center of gravity shifting device 36 may move the position of the center of gravity of the operating device 30A in the left-right direction, and the center of gravity shifting device 36 may also move the position of the center of gravity of the operating device 30A in both the front-rear direction and the left-right direction, respectively. Furthermore, the control device 35 may control the center of gravity shifting device 36 based on the direction of movement of actuators other than the jack 196b.

[0113] Furthermore, the control device 35 does not necessarily have to control the direction of adjustment of the center of gravity of the operating device 30A in a direction corresponding to the direction of movement of the actuator. For example, the direction of adjustment of the center of gravity of the operating device 30A by the center of gravity movement device 36 may be in the opposite direction to the direction of movement of the actuator.

[0114] Preferred embodiments of the present invention have been described above with reference to the attached drawings. However, it goes without saying that the present invention is not limited to the embodiments described above, and that various modifications or alterations within the scope of the claims also fall within the technical scope of the present invention.

[0115] For example, although the above describes a tunnel boring machine 1 of the earth pressure type (including the mud pressure type), the tunnel boring machine according to the present invention may also be of the slurry type.

[0116] Furthermore, although the above description of the components of the tunnel boring machine 1 was given with reference to the drawings, the dimensions and positional relationships of the components in the drawings are merely illustrative examples, and the dimensions and positional relationships of the components of the tunnel boring machine 1 are not limited to the examples shown in the drawings. In addition, components may be added, deleted, or modified as appropriate for the tunnel boring machine 1 illustrated in the drawings.

[0117] Furthermore, for example, the above mainly describes an example in which the present invention is applied to an operating device 30 used for operating the erector device 19. However, the present invention may also be applied to operating devices used for operating devices other than the erector device 19. For example, the present invention may be applied to an operating device used for operating a jack that presses a segment 20a from the radially inner to the radially outer direction in order to maintain the shape of an existing segment 20a that is assembled in an annular shape along the circumferential direction.

[0118] Furthermore, if the notification device 34 provides notification by outputting light, the notification device 34 may perform color adjustment control to change the color of the light based on the load of the actuator, etc. [Explanation of Symbols]

[0119] 1. Tunnel boring machine 2 Workers 10. Excavator body 11 cutter heads 12 Cutter central axis 13 Bulkhead 14 Rotating Rings 15 Linked beams 16 Cutter Swivel Motor 17 Chambers 18 Screw conveyor 19 Erecta equipment 20 segments 21 Shield Jack 22 Tail Brush 30 Operating device 30A operating device 31 Main unit 32 Handles 32L, left handle 32R Right handle 33 Input device 33a 1st operation section 33b 2nd operation section 33c 3rd operation section 34. Notification device 35 Control device 36 Center of gravity moving device 36a shaft 36b Front support part 36c Rear support part 36d movable body 191 Ring Frame 191a Motor (Actuator) 192 Support roller 193 Suspension beam 194 Guide Rod 195 Jack (actuator) 196 Gripping part 196b Jack (actuator) D1 Movement direction D2 Movement direction D3 Rotation direction L1 Solid line L2 dashed line L3 dash-dot line T Tunnel

Claims

1. An operating device used by an operator to operate at least one actuator installed on a tunnel boring machine, An input device that accepts operations by the operator to operate the actuator, An alarm device that provides notification to the worker by outputting vibration, sound, or light, Equipped with, The notification device performs the notification based on the load of the actuator. Operating device for a tunnel boring machine.

2. The notification device increases the magnitude of the output in the notification as the load increases. An operating device for a tunnel boring machine according to claim 1.

3. The notification device performs the notification based on the amount of drive of the actuator. An operating device for a tunnel boring machine according to claim 1 or 2.

4. The notification device temporarily changes the magnitude of the output in the notification each time the drive amount increases by a predetermined value. An operating device for a tunnel boring machine according to claim 3.

5. The operating device is equipped with a center of gravity shifting device for shifting the position of the center of gravity of the aforementioned operating device, The center of gravity shifting device adjusts the position of the center of gravity based on the direction of movement of the actuator. An operating device for a tunnel boring machine according to claim 1 or 2.

6. The direction in which the position of the center of gravity is adjusted by the center of gravity shifting device is the direction corresponding to the direction of movement. The operating device for a tunnel boring machine according to claim 5.

Images