Tunnel Boring Machine

Abstract

To provide a tunnel excavating machine that allows a user to easily understand how much the drive of a device configured for drilling affects the generation of vibration and how much vibration can be reduced by adjusting the drive of the device configured for drilling.SOLUTION: This tunnel excavating machine 100 includes a cutter head 1 that excavates the ground by rotation, a propulsion jack 4 that propels an excavating machine main body 100a that supports the cutter head 1, a vibration measuring unit 6 provided on the excavating machine main body 100a and measuring the magnitude of vibration during excavation, and a display unit 8, and is configured to display an image P1 on the display unit 8 that allows the change in the magnitude of vibration during excavation to be visually recognized when the rotational speed of the cutter head 1 is changed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tunnel boring machine comprising a cutterhead and a propulsion jack. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a tunnel boring machine equipped with a cutter head and a propulsion jack has been known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a shield machine equipped with a cutter head and a propulsion jack. The above-mentioned tunnel boring machine is configured such that, when vibrations occur due to deformation of the propulsion jack, the propulsion jack is retracted to move the propulsion jack away from the segment, thereby mitigating the load acting on the deformed propulsion jack. As a result, vibrations caused by continuing propulsion with the propulsion jack in a deformed state are suppressed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6426571 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the field of tunnel boring machines including the shield machine described in the above Patent Document 1, there is a demand for users to understand to what extent the driving of the propulsion jack configured for excavation affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the driving (e.g., speed) of the propulsion jack configured for excavation. In particular, it is effective for users to understand to what extent the driving of the propulsion jack or other components affects the reduction of vibration when manually driving a device configured for excavation such as a propulsion jack. Also, even when automatically controlling the driving of a device configured for excavation such as a propulsion jack, it is effective for users to understand to what extent the driving of the propulsion jack or other components affects the reduction of vibration, because it is possible to adjust the control amount of the components used to reduce vibration.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a tunnel boring machine and a tunnel boring machine which enable a user to easily understand the extent to which the driving of the device configured for excavation affects the generation of vibration, and the extent to which vibration can be reduced by adjusting the driving of the device configured for excavation. [Means for solving the problem]

[0007] In order to achieve the above object, the tunnel boring machine of the present invention comprises a cutter head which excavates the ground by rotation, a propulsion jack which propels the boring machine body which supports the cutter head, a vibration measuring unit which is provided in the boring machine body and which measures the magnitude of vibration during excavation, and a display unit, and in at least one of the cases where the rotation speed of the cutter head is changed and where the propulsion speed of the boring machine body is changed, This occurs in response to at least one of the changes in the rotation speed of the cutter head and the changes in the thrust speed of the excavator body. Images that allow visual recognition of fluctuations in vibration magnitude during drilling As Display on the display In case , the magnitude of vibration in the front-back direction, the magnitude of vibration in the left-right direction, and the magnitude of vibration in the up-down direction of the excavator body The magnitude of vibration in each of the three directions are displayed on the display unit in a mutually distinguishable state.

[0008] As described above, the tunnel boring machine of the present invention is configured to display on the display unit an image that allows visual recognition of the variation in the magnitude of vibration during excavation when at least one of the rotational speed of the cutter head is changed and when the propulsion speed of the boring machine body is changed. This makes it possible to visualize, via the display unit, the effect on vibration when at least one of the rotational speed of the cutter head is changed and when the propulsion speed of the boring machine body by the propulsion jack is changed. This allows the user to easily grasp to what extent the drive of at least one of the cutter head and the propulsion jack, which are devices configured for excavation, affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the drive.

[0009] In the above-mentioned tunnel boring machine, preferably, in at least one of the cases where the rotation speed of the cutter head is changed by increasing or decreasing, and the propulsion speed of the boring machine body is changed by increasing or decreasing, This occurs in response to at least one of the changes in the rotation speed of the cutter head and the changes in the thrust speed of the excavator body. The display unit is configured to display an image that allows visible fluctuations due to increases and decreases in the magnitude of vibration during excavation. With this configuration, the resonance point that amplifies the vibration can be removed by increasing or decreasing at least one of the rotation speed of the cutter head and the propulsion speed of the excavator body, so that the vibration can be effectively reduced. If the rotation speed of the cutter head can be increased to reduce the vibration, the cutting amount can be reduced, the driving force can be reduced, and the mixing performance can be improved. Also, if the vibration can be reduced by increasing the propulsion speed of the excavator body, the vibration can be reduced without reducing the excavation efficiency.

[0010] In this case, it is preferable to provide a control unit that performs at least one of the following controls: control to reduce vibration by increasing or decreasing the rotational speed of the cutter head based on the measurement results of the vibration measuring unit, and control to reduce vibration by increasing or decreasing the advancing speed of the excavator body based on the measurement results of the vibration measuring unit. With this configuration, the control unit can automatically increase or decrease the rotational speed of the cutter head or the advancing speed of the excavator body, so that vibration can be easily reduced. In other words, the burden on the user who operates the tunnel boring machine can be reduced.

[0011] The tunnel boring machine is preferably configured to include a storage unit in which vibration information indicating the relationship between the rotation speed of the cutter head and the magnitude of vibration is stored in advance, and to display at least a vibration graph showing, as an image, the relationship between a plurality of different rotation speeds of the cutter head, which is the vibration information, and the magnitude of vibration. With this configuration, the user can more easily grasp to what extent the rotation speed of the cutter head configured for excavation affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the rotation speed, by checking the vibration graph showing, as an image, the relationship between a plurality of different rotation speeds of the cutter head, which is the vibration information, and the magnitude of vibration.

[0012] In this case, preferably, the vibration information includes information on the magnitude of vibration in the front-rear direction, the left-right direction, and the up-down direction of the excavator body relative to the rotation speed of the cutter head, and is configured to display a vibration graph on the display unit in a state in which the magnitude of vibration in the front-rear direction, the left-right direction, and the up-down direction of the excavator body can be distinguished from one another. With this configuration, the vibration graph can be displayed with vibrations separated in the three axial directions of the tunnel excavator, so that the user can obtain more detailed vibration information. For example, if the vibration in the front-rear direction is particularly large, the user can grasp the vibration state in more detail, such as the possibility that friction (peripheral friction) between the outer periphery of the excavator body and the ground is likely to occur.

[0013] In the configuration including the control unit, preferably, the vibration measuring unit is configured to be capable of measuring each of the vibrations in the front-rear direction, the left-right direction, and the up-down direction of the excavator body separately, and the control unit is configured to perform control to change the advancing speed of the excavator body when the vibrations in the front-rear direction of the excavator body measured by the vibration measuring unit become larger than the vibrations in the left-right direction and the up-down direction due to the influence of friction between the outer periphery of the excavator body and the ground (peripheral friction). With this configuration, when the vibrations caused by the peripheral friction are aggravated by resonance, the advancing speed of the excavator body is changed to avoid the resonance point that amplifies the vibrations between the ground and the outer periphery, and the vibrations can be effectively reduced.

[0014] The tunnel boring machine preferably further comprises an alarm unit which issues a warning based on the measurement results of the vibration measuring unit. With this configuration, the user can be easily notified of the occurrence of vibration by the warning from the alarm unit. Effect of the Invention

[0015] According to the present invention, as described above, a user can easily understand to what extent the driving of a device configured for excavation affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the driving of the device configured for excavation. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a cross-sectional side view of a tunnel boring machine according to a first (second) embodiment. [Diagram 2] FIG. 2 is a cross-sectional view showing the tunnel boring machine according to the first embodiment, as viewed from the rear side. [Diagram 3] FIG. 4 is a diagram showing an example of a display of an image including a vibration graph on the display unit of the tunnel boring machine according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a display of an image including a real-time vibration display model on the display unit of the tunnel boring machine according to the first embodiment. [Diagram 5]FIG. 11 is a diagram showing an example of a display of an image including a vibration graph on the display unit of the tunnel boring machine according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment will be described with reference to the drawings.

[0018] [First embodiment] (Tunnel Boring Machine Configuration) The tunnel boring machine 100 will be described with reference to FIGS.

[0019] In each drawing, the front-rear direction of the excavator body 100a is indicated by the X direction. Within the X direction, the front (excavation direction) is indicated by the X1 direction, and the rear is indicated by the X2 direction. A central axis α, which is the center of rotation of the cutter head 1, extends in the X direction. The central axis α is also the central axis of the body 3.

[0020] In each drawing, the up-down direction of the excavator body 100a is indicated as the Z direction. Within the Z direction, the upper side is indicated as the Z1 direction, and the lower side is indicated as the Z2 direction.

[0021] In each drawing, the left-right direction of the excavator body 100a is indicated by the Y direction. Within the Y direction, the right side relative to the front is indicated by the Y1 direction, and the left side is indicated by the Y2 direction. Note that the center line β in the up-down direction of the excavator body 100a extends in the Y direction. The center line γ in the left-right direction of the excavator body 100a extends in the Z direction.

[0022] As shown in Fig. 1, the tunnel boring machine 100 includes a cutter head 1 and an excavator body 100a that supports the cutter head 1 from the rear side (X2 direction side) so as to be rotatable about a central axis line α. The tunnel boring machine 100 is a mud pressure type tunnel boring machine.

[0023] (Cutter head configuration) The cutter head 1 has a plurality of cutter bits CB on the front surface and is configured to excavate the ground by rotating. The cutter head 1 is supported by a plurality of support legs 10 from the rear.

[0024] The cutter head 1 is provided with a drive motor 11 for rotating the cutter head 1 and a swivel bearing 2 .

[0025] As an example, four drive motors 11 are provided. The four drive motors 11 are arranged symmetrically with respect to the center line β and the center line γ. The drive motors 11 are configured so that the rotation speed of the drive motors 11 can be changed by increasing or decreasing it through manual operation by a user to set the rotation speed (number of rotations) of the drive motors 11 on an operation panel B described later. Furthermore, the drive motors 11 are also configured so that the rotation speed of the drive motors 11 can be automatically changed by increasing or decreasing it in order to reduce vibration.

[0026] As one example, the tunnel boring machine 100 is configured to be able to switch between manually changing the rotational speed of the drive motor 11 (manual change mode) and automatically changing the rotational speed of the drive motor 11 (automatic change mode) by a predetermined mode switching operation on the operation panel B.

[0027] The swivel bearing 2 is configured to transmit the driving force of the drive motor 11 to the cutter head 1. The swivel bearing 2 includes an annular fixed outer ring 2a fixed to the front body 30, and an annular movable inner ring 2b arranged on the inner peripheral side of the fixed outer ring 2a.

[0028] (Excavator body configuration) The excavator main body 100a includes a cylindrical trunk 3, a plurality of propulsion jacks 4, a screw conveyor 5, a vibration measuring unit 6, a memory unit 7, a display unit 8, a control unit 9, and an alarm unit A. As an example, the display unit 8 and the alarm unit A are provided on a common operation panel B. The operation panel B is provided on the excavator main body 100a.

[0029] (Structure of the "body" of the excavator body) The body 3 is disposed behind the cutter head 1. The body 3 includes a front body 30 and a rear body 31 disposed behind the front body 30. The swivel bearing 2, the drive motor 11, etc. are disposed inside the front body 30. In addition, a partition wall 3a is provided inside the front body 30.

[0030] The partition wall 3a extends in a direction perpendicular to the front-rear direction (X direction) and divides the chamber C1 into a chamber for storing soil excavated by the cutter head 1 and a rear space C2 located rearward of the chamber C1.

[0031] (Configuration of the "propulsion jack" of the excavator body) The multiple propulsion jacks 4 are arranged in a line at predetermined angular intervals in the rotational direction of the cutter head 1. The multiple propulsion jacks 4 are fixed to the body 3, and configured to push the excavator body 100a forward (X1 direction). In other words, the multiple propulsion jacks 4 are drive sources that propel the excavator body 100a. The propulsion jacks 4 are configured by hydraulic jacks.

[0032] The propulsion jack 4 is provided with a hydraulic pump (not shown) that adjusts the amount of hydraulic oil in the propulsion jack 4. The propulsion jack 4 is configured so that the propulsion speed of the excavator body 100a can be changed by increasing or decreasing it through manual operation of the control panel B by a user to set the propulsion speed of the excavator body 100a.

[0033] (Configuration of the "screw conveyor" of the excavator body) The screw conveyor 5 is connected to the chamber C1 and configured to discharge the soil and sand in the chamber C1 to the rear space C2 of the partition wall 3a. The screw conveyor 5 is disposed on the lower side inside the front body 30.

[0034] The screw conveyor 5 is provided with a drive motor (not shown). The drive motor of the screw conveyor 5 is configured so that the drive is adjusted so that the amount of soil discharged varies in response to fluctuations in the advancing speed of the excavator body 100a by the advancing jack 4. As a result, the tunnel boring machine 100 is configured to maintain a constant pressure in the chamber C1.

[0035] (Configuration of the "vibration measuring unit" of the excavator body) The vibration measuring unit 6 shown in Figures 1 and 2 is configured to measure the magnitude of various vibrations when the tunnel boring machine 100 excavates the ground. The vibration measuring unit 6 is configured to be able to individually measure vibrations in the front-to-rear direction (X direction), left-to-right direction (Y direction) and up-to-down direction (Z direction) of the boring machine main body 100a. As an example, the vibration measuring unit 6 is configured with a three-axis acceleration sensor.

[0036] The various types of vibrations mentioned above include, for example, excavation vibrations generated when the ground is excavated by the cutter head 1, vibrations generated by friction between the outer surface of the body 3, which is the outer periphery of the excavator main body 100a, and the ground (peripheral friction), vibrations generated by friction at each sliding contact part of the tunnel excavator 100, vibrations generated by the pulsation of the hydraulic propulsion jack 4 that moves the excavator main body 100a forward, and vibrations generated in the drive motor 11 that rotates the cutter head 1.

[0037] Here, in order to reduce the vibration of the excavator body during excavation, it is possible to reduce the rotational speed of the cutter head, and to reduce the load on the propulsion jack by reducing the propulsion speed of the excavator body by the propulsion jack, etc. Note that the vibration of the tunnel excavator during excavation has a resonance point that amplifies the vibration.

[0038] As described above, the tunnel boring machine 100 of the first embodiment is configured to adjust the rotation speed of the cutter head 1 by increasing or decreasing it when vibration occurs, rather than simply reducing the drive speed of each part uniformly, so that the rotation speed is adjusted to a rotation speed that reduces the vibration of the tunnel boring machine 100. At this time, if resonance occurs, the vibration is reduced by removing the resonance point. Note that increasing the rotation speed of the cutter head 1 is relatively unrestricted in terms of excavation of the ground, but is restricted in terms of machine capacity. When reducing the rotation speed of the cutter head 1, it is necessary to consider the limit of the amount of cutting and the mixing performance. Also, when increasing the rotation speed of the cutter head 1, it is necessary to consider the restriction due to the increase in the amount of wear of each part.

[0039] The vibration measuring unit 6 is provided in the excavator body 100a. The vibration measuring unit 6 may be installed at any position in the excavator body 100a as long as it is a position where the vibration of the excavator body 100a can be detected. As an example, a plurality of vibration measuring units 6 are provided in the excavator body 100a.

[0040] Specifically, the vibration measuring units 6 include four units: a vibration measuring unit 6a provided on the inner circumferential surface on the right side (Y1 direction) of the front body 30, a vibration measuring unit 6b provided on the inner circumferential surface on the left side (Y2 direction) of the front body 30, a vibration measuring unit 6c provided on the inner circumferential surface on the right side of the rear body 31, and a vibration measuring unit 6d provided on the inner circumferential surface on the left side of the rear body 31. The four vibration measuring units 6 (6a, 6b, 6c, 6d) are disposed at approximately the same height as the central axis α of the cutter head 1 in the vertical direction.

[0041] The vibration measurement units 6a, 6b of the front trunk 30 are disposed on the front side of the front trunk 30. The vibration measurement units 6a, 6b of the front trunk 30 are disposed at approximately the same positions as each other in the front-rear direction. The vibration measurement units 6a, 6b of the front trunk 30 are disposed approximately symmetrically with respect to a center line γ in the left-right direction of the excavator main body 100a.

[0042] The vibration measuring units 6c, 6d of the rear trunk 31 are disposed on the front side of the rear trunk 31. The vibration measuring units 6c, 6d of the rear trunk 31 are disposed at approximately the same positions as each other in the front-rear direction. The vibration measuring units 6c, 6d of the rear trunk 31 are disposed approximately symmetrically with respect to a center line γ in the left-right direction of the excavator body 100a.

[0043] The detection signal of the vibration measuring unit 6 is acquired by the control unit 9. The detection signal of the vibration measuring unit 6 is stored in the storage unit .

[0044] (Configuration of the "memory unit" of the excavator body) The storage unit 7 prestores vibration information I1 (see FIG. 1) that indicates the relationship between the rotation speed and the magnitude of vibration of the cutter head 1. The vibration information I1 is used to display on the display unit 8 an image P1 (see FIG. 3) that allows the fluctuation in the magnitude of vibration to be visually recognized.

[0045] The vibration information I1 includes information on the magnitude of vibration in the front-to-back direction (X direction), the left-to-right direction (Y direction), and the up-to-down direction (Z direction) of the excavator body 100a relative to the rotational speed of the cutter head 1.

[0046] The vibration information I1 also includes information indicating the relationship between the rotation speed of the cutter head 1 and the XY average values ​​of the vibration magnitude in the front-back direction (X direction) and the left-right direction (Y direction) of the excavator body 100a. The vibration information I1 also includes information indicating the relationship between the rotation speed of the cutter head 1 and the XYZ average values ​​of the vibration magnitude in the front-back direction (X direction), the left-right direction (Y direction), and the up-down direction (Z direction).

[0047] (Configuration of the "display" on the excavator body) The display unit 8 is provided on the operation panel B. As an example, the display unit 8 is configured with a touch panel display.

[0048] The tunnel boring machine 100 is configured to display, on the display unit 8, an image P1 that enables visual recognition of the fluctuation in the magnitude of vibration during excavation when the rotational speed of the cutter head 1 is changed, by utilizing vibration information I1 pre-stored in the memory unit 7. In detail, the tunnel boring machine 100 is configured to display, on the display unit 8, an image P1 that enables visual recognition of the fluctuation due to an increase or decrease in the magnitude of vibration during excavation when the rotational speed of the cutter head 1 is changed by increasing or decreasing it.

[0049] More specifically, the tunnel boring machine 100 is configured to display, as the above-mentioned image P1, a vibration graph G1 (see FIG. 3) showing the relationship between a plurality of different rotational speeds of the cutter head 1, which is the vibration information I1, and the vibration magnitude, on the display unit 8. The tunnel boring machine 100 is configured to display the vibration graph G1 on the display unit 8 in a state in which the magnitude of vibration in the front-to-rear direction, the magnitude of vibration in the left-to-right direction, and the magnitude of vibration in the up-to-down direction of the boring machine body 100a are distinguishable from one another.

[0050] Specifically, the tunnel boring machine 100 displays, as the vibration graph G1, an image P1 on the display unit 8, which shows, as a bar graph, the magnitude of vibration in the front-rear direction, the magnitude of vibration in the left-right direction, and the magnitude of vibration in the up-down direction for each of a reference rotation speed of the cutter head 1 and a plurality of rotation speeds of the cutter head 1 increased or decreased from the reference rotation speed. Note that, as an example, the reference rotation speed may be the current (real-time) rotation speed of the cutter head 1. Furthermore, the reference rotation speed may be the current (real-time) rotation speed of the cutter head 1 at the time when an alarm is issued by the notification unit A. In addition, the image P1 of the vibration graph G1 displayed on the display unit 8 also shows line graphs of the XY average value (average value of the magnitude of vibration in the front-rear direction and the magnitude of vibration in the left-right direction) and the XYZ average value (average value of the magnitude of vibration in the front-rear direction, the magnitude of vibration in the left-right direction, and the magnitude of vibration in the up-down direction).

[0051] Furthermore, the tunnel boring machine 100 is configured to be able to display a separate vibration graph G1 for each vibration measuring unit 6 (6a, 6b, 6c, 6d) on the display unit 8. In Fig. 3, a vibration graph G1 corresponding to the vibration measuring unit 6 (6a, 6b) of the front body 30 is shown. Note that the user can operate the operation panel B to individually set which vibration graph G1 of the vibration measuring unit 6a, 6b, 6c, 6d is to be displayed (monitored) on the display unit 8.

[0052] Furthermore, the tunnel boring machine 100 is configured to be able to display on the display unit 8 a vibration graph G1 which indicates the average of the two vibration measuring units 6a, 6b (6c, 6d) on the front body 30 (rear body 31) side.

[0053] As shown in Fig. 4, the display unit 8 also displays a simple real-time vibration display model M that displays the magnitude of vibration measured by the vibration measuring units 6a, 6b, 6c, and 6d in real time. The real-time vibration display model M includes a model M1 that imitates the tunnel boring machine 100, a bar-shaped meter M2 that indicates the magnitude of vibration of each of the vibration measuring units 6a, 6b, 6c, and 6d, and the vibration magnitude [dB]. The bar-shaped meter has a line that indicates the vibration threshold value. When the magnitude of vibration of the vibration measuring unit 6a (6b, 6c, and 6d) becomes equal to or exceeds the threshold value of the bar-shaped meter, the display color of the bar-shaped meter changes to a predetermined warning color.

[0054] As one example, when the magnitude of vibration of the vibration measuring unit 6a is less than the threshold value of the bar meter, the display color of the bar meter is green, and when it exceeds the threshold value of the bar meter, the display color changes from green to red. Also, as one example, the display color of the bar meter may be changed only when the state in which the magnitude of vibration of the vibration measuring unit 6a exceeds the threshold value continues for a certain period of time or more.

[0055] Here, a case will be described in which the user checks the vibration graph G1 showing the average of the vibration measuring units 6a and 6b shown in Fig. 3 and manually changes the rotation speed of the cutter head 1 (drive motor 11) by increasing or decreasing it. That is, a case will be described in which the manual change mode is described above. From the line graph of the XYZ averages, it can be seen that the vibration is smallest when the rotation speed of the cutter head 1 is 0.8 [rpm]. Therefore, the user reduces the rotation speed of the cutter head 1 by 0.2 [rpm] from the reference rotation speed (current rotation speed) of 1.0 [rpm].

[0056] The user may change the rotation speed of the cutter head 1 by increasing or decreasing it, not by considering the line graph of the XY average, but by ignoring the vibration in the up and down direction, and by considering the line graph of the XY average. The user may change the rotation speed of the cutter head 1 by increasing or decreasing it, not by considering the vibration graph G1 showing the average of the vibration measuring units 6a and 6b of the front body 30, but by considering the vibration graph G1 showing the average of the vibration measuring units 6c and 6d of the rear body 31. The user may change the rotation speed of the cutter head 1 by increasing or decreasing it, not by considering the vibration graph G1 showing the average of the vibration measuring units 6a and 6b, but by considering the vibration graph G1 of the vibration measuring unit 6a (6b, 6c, 6d) alone.

[0057] Next, a case will be described in which the control unit 9 automatically changes the rotation speed of the cutter head 1 (drive motor 11) by increasing or decreasing it based on a vibration graph G1 indicating the average of the vibration measuring units 6a and 6b shown in Fig. 3. That is, the case of the above-mentioned automatic change mode will be described below. In the automatic change mode, the vibration graph G1 is displayed on the display unit 8 as the image P1, similarly to the manual change mode. Note that it is also possible to prevent the vibration graph G1 from being displayed on the display unit 8 in the automatic change mode by a predetermined setting operation of the user on the operation panel B.

[0058] (Configuration of the "control unit" of the excavator body) The control unit 9 is configured to perform control to reduce vibration by increasing or decreasing the rotation speed of the cutter head 1 based on the measurement result of the vibration measurement unit 6. In detail, the control unit 9 is configured to reduce vibration when the vibration increases based on the measurement result of the vibration measurement unit 6 and a warning is issued by the notification unit A by increasing or decreasing the rotation speed of the cutter head 1, using the rotation speed at the time of the notification as a reference rotation speed.

[0059] In detail, it is the same as in the manual change mode described above, but the control unit 9 controls the rotational speed of the cutter head 1 to be reduced by 0.2 [rpm] from the reference rotational speed (current rotational speed) of 1.0 [rpm], because the vibration is smallest when the rotational speed of the cutter head 1 is 0.8 [rpm], according to the XYZ average line graph of the vibration graph G1, which shows the average of the vibration measuring units 6a and 6b.

[0060] As an exception, when the vibration in the front-rear direction of the excavator body 100a measured by the vibration measuring unit 6 is greater than the vibration in the left-right direction and the vibration in the up-down direction due to the effect of friction (peripheral friction) with the ground at the outer periphery of the excavator body 100a, the control unit 9 is configured to control not only to decrease but also to increase the propulsion speed of the excavator body 100a by the propulsion jack 4 (control to change the propulsion speed) without increasing or decreasing the rotation speed of the cutter head 1. In this way, when the vibration due to peripheral friction is aggravated by resonance, the control unit 9 not only decreases the propulsion speed of the excavator body 100a but also increases it, thereby avoiding the resonance point that amplifies the vibration due to peripheral friction and effectively reducing the vibration.

[0061] The above-mentioned "case where, due to the influence of peripheral friction, the forward / backward vibrations of the excavator body 100a measured by the vibration measuring unit 6 are greater than each of the left / right and up / down vibrations" refers to a case where the forward / backward vibrations are not simply greater than each of the left / right and up / down vibrations, but are exceptionally greater.

[0062] In the automatic change mode, the control unit 9 can automatically change the rotation speed of the cutter head 1 by increasing or decreasing it, taking into account the XY average instead of the XYZ average, by a predetermined setting operation of the user on the operation panel B. Also, the control unit 9 can automatically change the rotation speed of the cutter head 1 by increasing or decreasing it, taking into account the vibration graph G1 of the vibration measuring unit 6a (6b, 6c, 6d) alone, instead of the vibration graph G1 showing the average of the vibration measuring units 6a and 6b, by a predetermined setting operation of the user on the operation panel B. Also, the control unit 9 can automatically change the rotation speed of the cutter head 1 by increasing or decreasing it, based on information such as taking the average of values ​​weighted for the vibration in the front-rear direction, the vibration in the left-right direction, and the vibration in the up-down direction.

[0063] (Configuration of the "alarm unit" of the excavator body) The notification unit A is provided on the operation panel B. The notification unit A is configured to issue a warning based on the measurement result of the vibration measurement unit 6. The notification unit A includes a caution lamp A1, an alarm lamp A2, and an alarm buzzer A3.

[0064] The caution lamp A1 is a lamp for alerting the user to vibration. The caution lamp A1 is configured to flash (or be continuously lit) when the magnitude of vibration is equal to or greater than a threshold based on the measurement result of the vibration measuring unit 6.

[0065] The alarm lamp A2 is a lamp for visually informing the user that vibration needs to be reduced. The alarm lamp A2 is configured to be continuously lit (or blink) when the vibration level is equal to or greater than a threshold value and continues for a certain period of time based on the measurement results of the vibration measuring unit 6. In other words, the alarm lamp A2 is configured to be continuously lit when the blinking state of the attention lamp A1 continues for a certain period of time.

[0066] The warning buzzer A3 is a buzzer that notifies the user by sound that it is necessary to reduce vibrations. The warning buzzer A3 issues a warning sound at the same timing as the warning lamp A2 lights up.

[0067] (Effects of the first embodiment) In the first embodiment, the following effects can be obtained.

[0068] In the first embodiment, as described above, when the rotation speed of the cutter head 1 is changed, the display unit 8 is configured to display an image P1 that allows visual recognition of the variation in the magnitude of vibration during excavation. This makes it possible to visualize the effect on vibration when the rotation speed of the cutter head 1 is changed as the image P1 via the display unit 8. Therefore, the user can easily grasp to what extent the drive of the cutter head 1, which is a device configured for excavation, affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the drive.

[0069] In the first embodiment, as described above, when the rotation speed of the cutter head 1 is changed by increasing or decreasing it, the display unit 8 is configured to display an image P1 that allows visual confirmation of the fluctuation due to the increase or decrease in the magnitude of vibration during excavation. This makes it possible to avoid the resonance point that amplifies the vibration by increasing or decreasing the rotation speed of the cutter head 1, thereby effectively reducing the vibration. If the vibration can be reduced by increasing the rotation speed of the cutter head 1, the amount of cutting will be smaller, the driving force can be reduced, and the stirring performance can be improved.

[0070] As described above, the first embodiment is provided with the control unit 9 that performs control to reduce vibration by increasing or decreasing the rotation speed of the cutter head 1 based on the measurement results of the vibration measurement unit 6. This allows the control unit 9 to automatically increase or decrease the rotation speed of the cutter head 1, making it possible to easily reduce vibration. In other words, the burden on the user who operates the tunnel boring machine 100 can be reduced.

[0071] In the first embodiment, as described above, the storage unit 7 is provided with the vibration information I1 indicating the relationship between the rotation speed of the cutter head 1 and the magnitude of vibration stored in advance, and the vibration graph G1 indicating the relationship between the multiple different rotation speeds of the cutter head 1, which is the vibration information I1, and the magnitude of vibration as an image P1 is displayed at least on the display unit 8. This allows the user to more easily grasp how much the rotation speed of the cutter head 1 configured for excavation affects the occurrence of vibration and how much vibration can be reduced by adjusting the rotation speed, by checking the vibration graph G1 indicating the relationship between the multiple different rotation speeds of the cutter head 1, which is the vibration information I1, and the magnitude of vibration as an image P1.

[0072] In the first embodiment, as described above, the vibration information I1 includes information on the magnitude of vibration in the front-rear direction, the left-right direction, and the up-down direction of the excavator body 100a relative to the rotation speed of the cutter head 1, and is configured to display the vibration graph G1 on the display unit 8 in a state in which the magnitude of vibration in the front-rear direction, the left-right direction, and the up-down direction of the excavator body 100a can be distinguished from one another. This allows the vibration graph G1 to be displayed in a state in which the vibration is separated in the three axial directions of the tunnel excavator 100, so that the user can obtain more detailed vibration information. For example, if the vibration in the front-rear direction is particularly large, the user can grasp the state of the vibration in more detail, such as the possibility that friction (peripheral friction) between the excavator body 100a and the ground is likely to occur at the outer periphery of the excavator body 100a.

[0073] In the first embodiment, as described above, the vibration measuring unit 6 is configured to be able to measure the vibrations in the front-rear direction, the left-right direction, and the up-down direction of the excavator body 100a separately, and the control unit 9 is configured to perform control to change the advancing speed of the excavator body 100a when the vibrations in the front-rear direction of the excavator body 100a measured by the vibration measuring unit 6 are greater than the vibrations in the left-right direction and the up-down direction due to the influence of friction between the outer periphery of the excavator body 100a and the ground (peripheral friction). As a result, when the vibrations caused by the peripheral friction are aggravated by resonance, the advancing speed of the excavator body 100a is changed to avoid the resonance point that amplifies the vibrations between the ground and the outer periphery, and the vibrations can be effectively reduced.

[0074] As described above, the first embodiment includes a notification unit A that issues a warning based on the measurement result of the vibration measurement unit 6. This makes it possible to easily notify the user of the occurrence of vibration through the warning by the notification unit A.

[0075] [Second embodiment] Next, the configuration of a tunnel boring machine 200 according to a second embodiment will be described with reference to Figures 1 and 5. In the second embodiment, unlike the above-described first embodiment in which the control unit 9 executes control to reduce vibration by increasing or decreasing the rotational speed of the cutter head 1 based on the measurement results of the vibration measurement unit 6, an example will be described in which the control unit 209 executes control to reduce vibration by increasing or decreasing the propulsion speed of the boring machine main body 100a based on the measurement results of the vibration measurement unit 6. Note that the same components as those in the above-described first embodiment are denoted by the same reference numerals and description thereof will be omitted.

[0076] As shown in FIG. 1, the tunnel boring machine 200 of the second embodiment is equipped with a control unit 209.

[0077] The control unit 209 is configured to perform control to reduce vibration by increasing or decreasing the advancing speed of the excavator body 100a by controlling the driving of the advancing jack 4 based on the measurement results of the vibration measuring unit 6. The control method of the control unit 209 to reduce vibration in the automatic change mode is similar to the control method of the control unit 9 in the first embodiment, and therefore a description thereof will be omitted.

[0078] In this case, the tunnel boring machine 200 is configured to display on the display unit 8 an image P2 (see Figure 5) in which the fluctuation in the magnitude of vibration during excavation is visible when the advancing speed of the excavator body 100a is changed, by utilizing vibration information I2 (see Figure 5) pre-stored in the memory unit 7. In particular, the tunnel boring machine 200 is configured to display on the display unit 8 an image P2 in which the fluctuation due to an increase or decrease in the magnitude of vibration during excavation is visible when the advancing speed of the excavator body 100a is changed by increasing or decreasing it.

[0079] More specifically, the tunnel boring machine 200 is configured to display, as the above-mentioned image P2, a vibration graph G2 (see FIG. 5) showing the relationship between a plurality of different advancing speeds of the excavator body 100a, which is vibration information I2, and the vibration magnitude. The tunnel boring machine 200 is configured to display the vibration graph G2 on the display unit 8 in a state in which the magnitude of vibration in the fore-and-aft direction, the magnitude of vibration in the left-and-right direction and the magnitude of vibration in the up-and-down direction of the excavator body 100a are distinguishable from one another.

[0080] Specifically, the tunnel boring machine 200 displays on the display unit 8 an image P2 as a vibration graph G2, which shows, as a bar graph, the magnitude of vibration in the forward / backward direction, the magnitude of vibration in the left / right direction and the magnitude of vibration in the up / down direction for each of the reference propulsion speed of the boring machine body 100a and a number of propulsion speeds of the boring machine body 100a which are increased or decreased from the reference propulsion speed.

[0081] (Effects of the second embodiment) In the second embodiment, the following effects can be obtained.

[0082] As described above, the second embodiment is configured to display an image P2 on the display unit 8 that allows visual confirmation of the fluctuation in the magnitude of vibration during excavation when the propulsion speed of the excavator body 100a is changed. This makes it possible to visualize, via the display unit 8, the effect on vibration when the propulsion speed of the excavator body 100a by the propulsion jack 4 is changed, as the image P2. This allows the user to easily grasp to what extent the drive of the propulsion jack 4, which is a device configured for excavation, affects the generation of vibration, and to what extent the vibration can be reduced by adjusting the drive.

[0083] In the second embodiment, as described above, when the propulsion speed of the excavator body 100a is changed by increasing or decreasing it, the display unit 8 is configured to display an image P2 that allows visual recognition of fluctuations due to an increase or decrease in the magnitude of vibration during excavation. This makes it possible to avoid the resonance point that amplifies vibration by increasing or decreasing the propulsion speed of the excavator body 100a, and therefore to effectively reduce vibration. When vibration can be reduced by increasing the propulsion speed of the excavator body 100a, it is possible to reduce vibration without reducing excavation efficiency.

[0084] As described above, the second embodiment is provided with a control unit 9 which performs control to reduce vibration by increasing or decreasing the advancing speed of the excavator body 100a based on the measurement results of the vibration measuring unit 6. This allows the control unit 9 to automatically increase or decrease the advancing speed of the excavator body 100a, making it possible to easily reduce vibration. In other words, the burden on the user operating the tunnel boring machine 200 can be reduced.

[0085] [Variations] The embodiments and modifications disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0086] For example, in the first embodiment, the control unit increases or decreases the rotation speed of the cutter head based on the measurement results of the vibration measuring unit to reduce vibration, and in the second embodiment, the control unit increases or decreases the propulsion speed of the excavator body by the propulsion jack based on the measurement results of the vibration measuring unit to reduce vibration, but the present invention is not limited to this. In the present invention, the control unit may increase or decrease the rotation speed of the cutter head based on the measurement results of the vibration measuring unit, and may also increase or decrease the propulsion speed of the excavator body by the propulsion jack to reduce vibration. In other words, control may be performed to link the drive of the cutter head and the drive of the propulsion jack.

[0087] In the above first (second) embodiment, an example was shown in which the tunnel boring machine was configured so that the rotational speed of the cutter head (the propulsion speed of the excavator body by the propulsion jack) could be varied by increasing or decreasing both manually and automatically, but the present invention is not limited to this. In the present invention, the tunnel boring machine may be configured so that the rotational speed of the cutter head (the propulsion speed of the excavator body by the propulsion jack) can be varied by increasing or decreasing only manually or only automatically.

[0088] In the above first and second embodiments, an example is shown in which the present invention is applied to a mud pressure type tunnel boring machine, but the present invention is not limited to this. The present invention may also be applied to a mud water type tunnel boring machine.

[0089] In the above first and second embodiments, examples have been shown in which the vibration measuring units are provided in both the front and rear torsos, but the present invention is not limited to this. In the present invention, the vibration measuring units may be provided only in the front torso or only in the rear torso.

[0090] In the first and second embodiments, an example in which four vibration measuring units are provided is shown, but the present invention is not limited to this. In the present invention, one, two, three, or five or more vibration measuring units may be provided.

[0091] In the above first and second embodiments, the display unit is provided on the operation panel, but the present invention is not limited to this. In the present invention, the display unit may be configured as a separate unit from the operation panel.

[0092] In the above first and second embodiments, the notification unit is provided on the operation panel, but the present invention is not limited to this. In the present invention, the notification unit may be configured as a separate unit from the operation panel.

[0093] In the first and second embodiments, the notification unit is configured with a lamp and a buzzer, but the present invention is not limited to this. In the present invention, the notification unit may be configured with only a lamp or only a buzzer.

[0094] Furthermore, the display form of the image of the present invention is not limited to those explained in the first and second embodiments above. Any form of image may be used as long as it allows visual recognition of the fluctuation in the magnitude of vibration during excavation. [Explanation of symbols]

[0095] 1 Cutter Head 4. Propulsion jack 6. Vibration measurement section 7 Memory section 8 Display 9, 209 Control section 100, 200 Tunnel Boring Machine 100a Excavator body A. Notification Department G1, G2 Vibration Graph I1, I2 vibration information P1, P2 images

Claims

1. A cutter head that excavates the ground by rotating; a propulsion jack for propelling an excavator body supporting the cutter head; A vibration measuring unit provided in the excavator body for measuring the magnitude of vibration during excavation; A display unit, A tunnel boring machine that is configured so that, when the rotational speed of the cutter head and / or the propulsion speed of the excavator body is changed, the display unit displays the fluctuations in the magnitude of vibration during excavation that occur in response to at least one of the changes in the rotational speed of the cutter head and the changes in the propulsion speed of the excavator body as a visible image, and the display unit displays the magnitude of vibration in three directions, namely the forward / backward vibration magnitude, the left / right vibration magnitude and the up / down vibration magnitude of the excavator body, in a mutually distinguishable manner.

2. 2. A tunnel boring machine as described in claim 1, wherein the display unit is configured to display the image that enables visual confirmation of fluctuations due to an increase or decrease in the magnitude of vibration during excavation that occurs in response to at least one of a change in the rotational speed of the cutter head and a change in the advancing speed of the excavator body, when the rotational speed of the cutter head is changed by increasing or decreasing and when the advancing speed of the excavator body is changed by increasing or decreasing.

3. 3. A tunnel boring machine as described in claim 2, further comprising a control unit that performs at least one of control to reduce vibration by increasing or decreasing the rotational speed of the cutter head based on the measurement results of the vibration measuring unit, and control to reduce vibration by increasing or decreasing the advancing speed of the boring machine body based on the measurement results of the vibration measuring unit.

4. A storage unit is provided in which vibration information indicating a relationship between the rotation speed of the cutter head and the magnitude of vibration is stored in advance, The tunnel boring machine according to claim 1, configured to display, at least on the display unit, a vibration graph showing the relationship between a plurality of different rotational speeds of the cutter head and the vibration magnitude, which is the vibration information, as the image.

5. The vibration information includes information on the magnitude of vibration in the front-rear direction, the magnitude of vibration in the left-right direction, and the magnitude of vibration in the up-down direction of the excavator body relative to the rotation speed of the cutter head, 5. A tunnel boring machine as described in claim 4, configured to display the vibration graph on the display unit in a state in which the magnitude of the forward / backward vibration, the magnitude of the left / right vibration, and the magnitude of the up / down vibration of the boring machine body can be distinguished from one another.

6. The vibration measuring unit is configured to be able to individually measure each of the forward / rearward vibration, the left / right vibration, and the up / down vibration of the excavator body, 4. A tunnel boring machine as described in claim 3, wherein the control unit is configured to perform control to change the advancing speed of the excavator body when the forward / backward vibration of the excavator body measured by the vibration measuring unit becomes larger than each of the left / right vibration and the up / down vibration due to the effect of friction between the outer periphery of the excavator body and the ground.

7. 2. The tunnel boring machine according to claim 1, further comprising an alarm unit that issues a warning based on a measurement result of the vibration measuring unit.

Images