Mining or in situ disintegration of hard material – Automatic control; signaling or indicating – Of hard material disintegrating machine
Patent
1993-01-13
1994-05-17
Taylor, Dennis L.
Mining or in situ disintegration of hard material
Automatic control; signaling or indicating
Of hard material disintegrating machine
299 105, 299 31, 405138, 405143, E21D 910, E21D 906
Patent
active
053121635
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates to a system for aiding operation of an excavating type underground advancing machine which advances in the earth with excavation by means of a cutter drum.
BACKGROUND OF THE INVENTION
Conventionally, an orientation control and a torque control of a cutter drum in a small diameter pipe shielding machine or an excavating type underground advancing machine have been performed relying on perception and experience of operators.
FIG. 26 shows the conventional method of control for the advancing machine, in which steps of detecting errors in vertical and horizontal directions, pitching angle, yawing angle of an excavation head by means of a sensor group, and of determination of a rocking magnitude according to a judgement of the operator based on the detected data are performed during an interval between "rear propelling jack contraction" and "rear propelling pin insertion". The rocking magnitude of a cutter drum is controlled on the basis of the determined value.
On the other hand, at this time, a hydraulic pressure of an actuator for rotatingly driving the cutter drum is constantly monitored for performing control operation of the cutter torque while the rear propelling jack is advanced.
In the above-mentioned conventional control method, a problem is encountered in significant variation of a precision in construction of a tunnel depending upon the skill of the operator for reliance to the operators' perception and experience, as set forth above.
SUMMARY OF THE INVENTION
In view of the problem set forth above, it is an object of the present invention to provide a drive supporting system for an excavating type underground advancing machine which permits contructional operation equivalent to a qualified operator even by an unqualified operator and can reduce work load of the operator.
In order to accomplish the above-mentioned object, a system for aiding operation of an excavating type underground advancing machine, according to a primary aspect of the present invention, comprising:
a rocking actuator for controlling orientation;
an excavation cutter provided at the front face of a cutter drum positioned at the tip end;
a first sensor group for monitoring a position error magnitude and angular deflection magnitude relative to a construction planning line, and an operation magnitude of said rocking actuator;
a second sensor for monitoring a fluid pressure for a cutter torque;
wherein the system further comprising:
an automatic measurement portion for obtaining output signals of said sensors group and said cutter torque pressure sensor;
an automatic adjustment portion for adjusting said signals as input values for fuzzy inference;
a rocking magnitude control aiding portion for outputting an optimal rocking magnitude of said orientation controlling actuator for the next advancing pitch based on the adjusted input values of said first sensor group through fuzzy inference;
a cutter torque control aiding portion for outputting a control information for the excavating cutter toque based on the adjusted input value from said second sensor for cutter torque pressure control through the fuzzy inference; and
a display output device for displaying the outputs of said both system portions.
With the foregoing aspect of the drive supporting system, in a sequence of advancing operation of the excavation type advancing machine, the rocking magnitude of the excavation cutter for the next advancing pitch is derived by the rocking magnitude control aiding system portion and the result is displayed on the display output portion when the rocking magnitude for the next advancing pitch of the excavation cutter is to be determined with taking the preceding constructing condition. Also, while excavation is performed by rotating the excavation cutter, the optimal cutter torque control operation information is derived by the cutter torque control aiding system portion and the result is displayed on the display output device. The operator may perform operation with watching the disp
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Hanamoto Tadayuki
Takahashi Norio
Kabushiki Kaisha Komatsu Seisakusho
Kananen Ronald P.
Taylor Dennis L.
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