POSITION-AND-ATTITUDE CONTROL METHOD OF ARTICULATED FULL-FACE CUTTING MACHINE FOR SHIELD TUNNELING WORK

摘要

PURPOSE: To simply form a hydraulic circuit, by a method wherein a time of operation of opening a solenoid-operated transfer valve is kept constant, which valve is provided in the hydraulic circuit for oil jacks turning an articulated full-face cutting machine for shield tunneling work, and an interval of operation of opening and closing this valve is controlled, and thus designated turning moment is produced by the oil jacks. ;CONSTITUTION: Three dimentional data for a line S of construction plan, i.e., position data, attitude angle data θ, and articulated angle data δ, as a turning angle to be formed between a front body 2 and a rear body 3, are previously inputted in a controller 7, and a target distance for controlling is preset. Position data, attitude angle data θ and articulated angle data δ of the front body 2 and the rear body 3, which data are detected by a detector 9 provided on the side of a shield main body 1, are compared with the three dimentional data for the line S inputted previously, by a comparator 12. After that, a difference ξ between these position data, a difference Δθ between these attitude angle data, Δθ=θr-δ, and a difference Δδ between these articulated angle data, Δδ=δr-δ, are found and these values are outputted to an operation controlling part 13. A control signal whereby turning moment is produced so that the shield main body 1 can be moved along the line S on the basis of the data obtained by the comparator 12, is outputted for each of jacks 4 for turning.;COPYRIGHT: (C)1994,JPO&Japio