CN104036683B - Mole cutterhead Attitute detecting device - Google Patents
Mole cutterhead Attitute detecting device Download PDFInfo
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- CN104036683B CN104036683B CN201410212236.1A CN201410212236A CN104036683B CN 104036683 B CN104036683 B CN 104036683B CN 201410212236 A CN201410212236 A CN 201410212236A CN 104036683 B CN104036683 B CN 104036683B
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 230000001681 protective effect Effects 0.000 claims abstract description 20
- 238000009826 distribution Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 4
- 238000011161 development Methods 0.000 description 16
- 238000010276 construction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of mole cutterhead Attitute detecting device.Large ball pivot is housed respectively in the upper left bottom right being arranged on the external cylindrical surface of the cutterhead shield body axis in arm protective sleeve and respective attitude plate forms typed ball bearing pair; After six hydraulic cylinders of upper left and right are each passed through arm protective sleeve vertically, its piston rod respectively by little ball pivot and attitude plate hinged, cylinder bottom face respectively by little ball pivot and casing hinged; Under four hydraulic cylinders two be one group be each passed through arm protective sleeve vertically after, its piston rod respectively by little ball pivot and attitude plate hinged, cylinder bottom face respectively by little ball pivot and casing hinged.Each hydraulic cylinder connects respective hydraulic cylinder respectively and controls to detect oil circuit.Passing ratio surplus valve of the present invention can the pressure that initially compresses of regulator solution cylinder pressure, is realized the reset of hydraulic cylinder, switch oil inlet and outlet by electromagnetism two position and four-way reversing valve by the work of fixed displacement pump free of discontinuities, when not working, and adjustable Position of Hydraulic Cylinder; By pressure and displacement transducer, real-time test pose power and displacement.
Description
Technical field
The present invention relates to Attitute detecting device, especially relate to a kind of mole cutterhead Attitute detecting device.
Background technology
Mole is a kind of high-intelligentization, collects mechanical, electrical, the constructing tunnel important technical engineer equipment of liquid, light, computing machine etc.In developed country, rock tunnel(ling) machine construction is used to account for more than 90% of tunnel total amount.Along with the fast development of China's national economy, domestic city process is constantly accelerated, and Chinese city subway tunnel, Hydraulic Tunnel, cross-river tunnel and railway tunnel etc. will need a large amount of rock tunnel(ling) machines.
Mole is different from other engineering machinery, and because manufacturing process is complicated, technical value added is high, and the world only has a few countries enterprise to produce, and cost is high.Current China does not have large problem in designed capacity, but owing to lacking experience, improve its performance and still shoulder heavy responsibilities.Be limited to the limitation of existing mathematical computations, add the complicacy of tunnel Geotechnical Engineering, physical simulation experiment has become research development machine gordian technique progress important way.
Mole in work progress, according to Tunnel Design requirement, turning to of Existential Space direction; In order to complete the construction that tunnel turns to, necessary its attitude of active accommodation; In order to accurately control its attitude, needing power and its position of detecting adjustment attitude in real time, thus ensureing the Mass Control of its attitude, and then ensureing control accuracy and the constructing tunnel quality in tunnel piercing direction.Therefore, in the building course of mole experiment table, the research that pose adjustment controls must be carried out.In order to simulate truly and detect the steering situation of its reality, devise pose adjustment pick-up unit.
Summary of the invention
The object of the present invention is to provide a kind of mole cutterhead Attitute detecting device, one side hydraulic cylinder retrains the pose adjustment of development machine, can bear larger pose adjustment power; The casing being distributed in left and right three-dimensional in arm protective sleeve is equipped with the hydraulic cylinder of two parallel distributions in column, evenly bears the pose adjustment power by left and right three-dimensional on cutterhead; The casing be distributed under arm protective sleeve is equipped with four hydraulic cylinders, and they are parallel distribution in two separate ranks, bears by the downward pose adjustment power of cutterhead, also can be used as the moiety by weight bearing development machine cutterhead shield body place; Passing ratio surplus valve can set up the original pressure that hydraulic cylinder compresses cutterhead shield body on the other hand; By pressure and displacement transducer can detect in real time development machine adjustment attitude time each to attitude power and displacement.
The technical solution used in the present invention is:
The present invention includes the cylinder part that ten structures are identical, the hydraulic cylinder control detection oil circuit parts that ten structures are identical, four large ball pivots, four blocks of attitude plates, arm protective sleeve, cutterhead shield body;
Be arranged on the plane that the external cylindrical surface of the cutterhead shield body axis in arm protective sleeve has four deciles to distribute, upper, left and right, under four planes on first ball pivot, second largest ball pivot, the third-largest ball pivot and the fourth-largest ball pivot are housed respectively, four large ball pivots form typed ball bearing pair with the first attitude plate, the second attitude plate, the 3rd attitude plate and the 4th attitude plate respectively;
Two is after six hydraulic cylinders of a group are each passed through arm protective sleeve vertically, the piston rod of the first hydraulic cylinder, the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod first and the little ball pivot of piston rod second and the first attitude plate two ends, the piston rod of the 3rd hydraulic cylinder, the 4th hydraulic cylinder forms typed ball bearing pair respectively by piston rod three games played with small balls hinge and the little ball pivot of piston rod the 4th and the second attitude plate two ends, and the piston rod of the 5th hydraulic cylinder, the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod the 5th and the little ball pivot of piston rod the 6th and the 3rd attitude plate two ends;
The cylinder body bottom surface of the first hydraulic cylinder, the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of the little ball pivot in cylinder body bottom surface first and cylinder body bottom surface second and the first tank ends bottom surface, the cylinder body bottom surface of the 3rd hydraulic cylinder, the 4th hydraulic cylinder forms typed ball bearing pair respectively by cylinder body bottom surface three games played with small balls hinge and the little ball pivot in cylinder body bottom surface the 4th and the second tank floor two ends, and the cylinder body bottom surface of the 5th hydraulic cylinder, the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 5th and the little ball pivot in cylinder body bottom surface the 6th and the 3rd tank ends bottom surface;
After two parallel four hydraulic cylinders being distributed as a group are each passed through arm protective sleeve vertically, 7th hydraulic cylinder of one group of parallel distribution, the piston rod of the 8th fluid cylinder form typed ball bearing pair respectively by one end of the little ball pivot of piston rod the 7th and the little ball pivot of piston rod the 8th and the 4th attitude plate, and another organizes the 9th hydraulic cylinder of parallel distribution, the piston rod of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the other end of the little ball pivot of piston rod the 9th and the little ball pivot of piston rod the tenth and the 4th attitude plate;
7th hydraulic cylinder of one group of parallel distribution, the cylinder body bottom surface of the 8th fluid cylinder form typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 7th and the little ball pivot in cylinder body bottom surface the 8th and the 4th bottom surface, casing one end, and another organizes the 9th hydraulic cylinder of parallel distribution, the cylinder body bottom surface of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 9th and the little ball pivot of piston/cylinder the tenth and the 4th casing other end bottom surface;
Ten hydraulic cylinders control to detect oil circuit parts respectively and are connected with respective hydraulic cylinder.
Ten hydraulic cylinders on described cutterhead shield body are symmetrical along cutterhead shield body two radial sections, i.e. on a radial section of each cutterhead shield body, left and rightly respectively have a hydraulic cylinder, under have two hydraulic cylinders of two parallel distributions.
The hydraulic cylinder control detection oil circuit parts that described ten structures are identical, include fuel tank, inlet port filtrator, fixed displacement pump, force feed filtrator, retaining valve, proportional pressure control valve, electromagnetism two position and four-way reversing valve, pressure transducer and displacement transducer;
The oil-in of fixed displacement pump is through inlet port filtrator connected tank, fixed displacement pump oil-out is divided into two-way after force feed filtrator and retaining valve, one tunnel connects proportional pressure control valve oil-in, another road connects the T mouth of electromagnetism two position and four-way reversing valve, the B mouth of electromagnetism two position and four-way reversing valve is connected with hydraulic cylinder rodless cavity, the A mouth of electromagnetism two position and four-way reversing valve is connected with hydraulic cylinder rod chamber, and the P mouth connected tank of electromagnetism two position and four-way reversing valve, each hydraulic cylinder is furnished with pressure transducer and displacement transducer.
The beneficial effect that the present invention has is:
The present invention can simulate the posture restraint of development machine four-way up and down, bears the pose adjustment power that mole is larger, with at present to hydraulic cylinder can also the cutterhead shield body of stable support mole; The proportional pressure control valve controlling to detect oil circuit by hydraulic cylinder can the pressure that initially compresses of regulator solution cylinder pressure, the reset of hydraulic cylinder can be realized by the work of fixed displacement pump free of discontinuities, oil inlet and outlet is switched by electromagnetism two position and four-way reversing valve, can when device work, adjustable Position of Hydraulic Cylinder; By pressure and displacement transducer, can detect in real time development machine adjustment attitude time attitude power and displacement.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is structure distribution left view of the present invention.
Fig. 3 is that the hydraulic cylinder of Figure 1A connects enlarged drawing.
Fig. 4 is that the hydraulic cylinder of Figure 1B controls to detect asphalt principle figure.
In figure: 1, casing, 2, arm protective sleeve, 3, cutterhead shield body, 4, attitude plate, 5, large ball pivot, 6, little ball pivot, 7, hydraulic cylinder, 8, displacement transducer, 9, retaining valve, 10, force feed filtrator, 11, fuel tank, 12, inlet port filtrator, 13, fixed displacement pump, 14, proportional pressure control valve, 15, electromagnetism two position and four-way reversing valve, 16, pressure transducer.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described further.
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention includes the cylinder part that ten structures are identical, the hydraulic cylinder control detection oil circuit parts that ten structures are identical, four large ball pivots 5, four blocks of attitude plates 4, arm protective sleeve 2, cutterhead shield body 3, four casings, 1, ten hydraulic cylinders, 7,20 little ball pivots 6; Be arranged on the plane that the external cylindrical surface of cutterhead shield body 3 axis in arm protective sleeve 2 has four deciles to distribute, upper, left and right, under four planes on first ball pivot, second largest ball pivot, the third-largest ball pivot and the fourth-largest ball pivot are housed respectively, four large ball pivots form typed ball bearing pair with the first attitude plate, the second attitude plate, the 3rd attitude plate and the 4th attitude plate respectively.
Two is after six hydraulic cylinders of a group are each passed through arm protective sleeve 2 vertically, the piston rod of the first hydraulic cylinder, the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod first and the little ball pivot of piston rod second and the first attitude plate two ends, the piston rod of the 3rd hydraulic cylinder, the 4th hydraulic cylinder forms typed ball bearing pair respectively by piston rod three games played with small balls hinge and the little ball pivot of piston rod the 4th and the second attitude plate two ends, and the piston rod of the 5th hydraulic cylinder, the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod the 5th and the little ball pivot of piston rod the 6th and the 3rd attitude plate two ends.
The cylinder body bottom surface of the first hydraulic cylinder, the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of the little ball pivot in cylinder body bottom surface first and cylinder body bottom surface second and the first tank ends bottom surface, the cylinder body bottom surface of the 3rd hydraulic cylinder, the 4th hydraulic cylinder forms typed ball bearing pair respectively by cylinder body bottom surface three games played with small balls hinge and the little ball pivot in cylinder body bottom surface the 4th and the second tank floor two ends, and the cylinder body bottom surface of the 5th hydraulic cylinder, the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 5th and the little ball pivot in cylinder body bottom surface the 6th and the 3rd tank ends bottom surface.
After two parallel four hydraulic cylinders being distributed as a group are each passed through arm protective sleeve 2 vertically, 7th hydraulic cylinder of one group of parallel distribution, the piston rod of the 8th fluid cylinder form typed ball bearing pair respectively by one end of the little ball pivot of piston rod the 7th and the little ball pivot of piston rod the 8th and the 4th attitude plate, and another organizes the 9th hydraulic cylinder of parallel distribution, the piston rod of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the other end of the little ball pivot of piston rod the 9th and the little ball pivot of piston rod the tenth and the 4th attitude plate.
7th hydraulic cylinder of one group of parallel distribution, the cylinder body bottom surface of the 8th fluid cylinder form typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 7th and the little ball pivot in cylinder body bottom surface the 8th and the 4th bottom surface, casing one end, and another organizes the 9th hydraulic cylinder of parallel distribution, the cylinder body bottom surface of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 9th and the little ball pivot of piston/cylinder the tenth and the 4th casing other end bottom surface.
Ten hydraulic cylinders control to detect oil circuit parts respectively and are connected with respective hydraulic cylinder.
As shown in Figure 4, ten hydraulic cylinders on described cutterhead shield body 3 are symmetrical along cutterhead shield body 3 two radial sections, i.e. on a radial section of each cutterhead shield body 3, left and rightly respectively have a hydraulic cylinder, under have two hydraulic cylinders of two parallel distributions.The hydraulic cylinder control detection oil circuit parts that described ten structures are identical, include fuel tank 11, inlet port filtrator 12, fixed displacement pump 13, force feed filtrator 10, retaining valve 9, proportional pressure control valve 14, electromagnetism two position and four-way reversing valve 15, pressure transducer 16 and displacement transducer 8; The oil-in of fixed displacement pump 13 is through inlet port filtrator 12 connected tank 11, fixed displacement pump 13 oil-out is divided into two-way after force feed filtrator 10 and retaining valve 9, one tunnel connects proportional pressure control valve 14 oil-in, another road connects the T mouth of electromagnetism two position and four-way reversing valve 15, the B mouth of electromagnetism two position and four-way reversing valve 15 is connected with hydraulic cylinder 7 rodless cavity, the A mouth of electromagnetism two position and four-way reversing valve 15 is connected with hydraulic cylinder 7 rod chamber, the P mouth connected tank of electromagnetism two position and four-way reversing valve 15, each hydraulic cylinder is furnished with pressure transducer 16 and displacement transducer 8.
Be distributed in arm protective sleeve 2, the casing of left and right three-dimensional be equipped with two hydraulic cylinders, can simulate development machine upwards, left and right three-dimensional posture adjustment state time constraint; Be distributed in arm protective sleeve 2 times to casing four hydraulic cylinders are housed, the lower to constraint during posture adjustment state of development machine can be simulated, also can be used as the moiety by weight bearing development machine cutterhead shield body place simultaneously; And upper, left and right, under hydraulic cylinder be on same cross section in circumference.
Fixed displacement pump 13 is always in running order, can realize the reset of hydraulic cylinder 7 when straight line work got back to by development machine; Electromagnetism two position and four-way reversing valve 15 switches oil inlet and outlet, can when device does not work, adjustment Position of Hydraulic Cylinder.
Pressure transducer 8 is contained in hydraulic cylinder rodless cavity oil-in, and displacement transducer 16 is contained in hydraulic cylinder piston place, by pressure transducer 8 and displacement transducer 16, can detect in real time development machine adjustment attitude time attitude power and displacement.
Principle of work of the present invention is as follows:
After mechanical part is installed according to the relation of Fig. 1, Fig. 2, after hydraulic cylinder control detection oil circuit presses Fig. 4 connection; Start fixed displacement pump 13 to work, electromagnetism two position and four-way reversing valve 15 is in power-off station, now hydraulic cylinder 7 rodless cavity oil-feed, until compress cutterhead shield body 3, oil pressure in the rodless cavity passing through selected proportional pressure control valve 14 hydraulic control cylinder 7, after reaching set initial compaction pressure, proportional pressure control valve starts overflow, and keeps this pressure; When development machine adjustment attitude, the action of cutterhead shield body 3, attitude plate 4 pressurized on adjusted direction is made by large ball pivot 5, pressure is passed to hydraulic cylinder 7 by little ball pivot 6 by attitude plate 4, ball pivot can ensure that hydraulic cylinder 7 is stressed for axial force, achieves the adjustment power of to be born by hydraulic cylinder 7 on development machine cutterhead pose adjustment direction; Pressure increase in hydraulic cylinder 7 rodless cavity of stressed moment, oil pressure in the rodless cavity that can record now by pressure transducer 16, each displacement to hydraulic cylinder up and down can be recorded by displacement transducer 8, calculated by coordinate conversion again, just can achieve attitude power when detecting development machine adjustment attitude in real time and displacement; When development machine returns to directly to work, cutterhead shield body 3 gets back to centre position, and fixed displacement pump 13 continues fuel feeding, and hydraulic cylinder 7 can be returned to initial compacted position, and hydraulic pressure in-cylinder pressure can return to original pressure.When device is not in running order, by being energized to electromagnetism two position and four-way reversing valve 15, rod chamber oil-feed can being switched to, can Position of Hydraulic Cylinder being set up.
Claims (3)
1. a mole cutterhead Attitute detecting device, is characterized in that: comprise the hydraulic cylinder that ten structures are identical, the hydraulic cylinder control detection oil circuit parts that ten structures are identical, four large ball pivots, four blocks of attitude plates, arm protective sleeve (2), cutterhead shield body (3); Be arranged on the plane that the external cylindrical surface of cutterhead shield body (3) axis in arm protective sleeve (2) has four deciles to distribute, upper, left and right, under four planes on first ball pivot, second largest ball pivot, the third-largest ball pivot and the fourth-largest ball pivot are housed respectively, four large ball pivots form typed ball bearing pair with the first attitude plate, the second attitude plate, the 3rd attitude plate and the 4th attitude plate respectively;
Two is after six hydraulic cylinders of a group are each passed through arm protective sleeve (2) vertically, first hydraulic cylinder, the piston rod of the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod first and the little ball pivot of piston rod second and the first attitude plate two ends, 3rd hydraulic cylinder, the piston rod of the 4th hydraulic cylinder forms typed ball bearing pair respectively by piston rod three games played with small balls hinge and the little ball pivot of piston rod the 4th and the second attitude plate two ends, 5th hydraulic cylinder, the piston rod of the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of piston rod the 5th and the little ball pivot of piston rod the 6th and the 3rd attitude plate two ends, the cylinder body bottom surface of the first hydraulic cylinder, the second hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot of the little ball pivot in cylinder body bottom surface first and cylinder body bottom surface second and the first tank ends bottom surface, the cylinder body bottom surface of the 3rd hydraulic cylinder, the 4th hydraulic cylinder forms typed ball bearing pair respectively by cylinder body bottom surface three games played with small balls hinge and the little ball pivot in cylinder body bottom surface the 4th and the second tank floor two ends, and the cylinder body bottom surface of the 5th hydraulic cylinder, the 6th hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 5th and the little ball pivot in cylinder body bottom surface the 6th and the 3rd tank ends bottom surface,
After two parallel four hydraulic cylinders being distributed as a group are each passed through arm protective sleeve (2) vertically, 7th hydraulic cylinder of one group of parallel distribution, the piston rod of the 8th fluid cylinder form typed ball bearing pair respectively by one end of the little ball pivot of piston rod the 7th and the little ball pivot of piston rod the 8th and the 4th attitude plate, and another organizes the 9th hydraulic cylinder of parallel distribution, the piston rod of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the other end of the little ball pivot of piston rod the 9th and the little ball pivot of piston rod the tenth and the 4th attitude plate; 7th hydraulic cylinder of one group of parallel distribution, the cylinder body bottom surface of the 8th fluid cylinder form typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 7th and the little ball pivot in cylinder body bottom surface the 8th and the 4th bottom surface, casing one end, and another organizes the 9th hydraulic cylinder of parallel distribution, the cylinder body bottom surface of the tenth hydraulic cylinder forms typed ball bearing pair respectively by the little ball pivot in cylinder body bottom surface the 9th and the little ball pivot of piston/cylinder the tenth and the 4th casing other end bottom surface;
Ten hydraulic cylinders control to detect oil circuit parts respectively and are connected with respective hydraulic cylinder.
2. a kind of mole cutterhead Attitute detecting device according to claim 1, it is characterized in that: ten hydraulic cylinders on described cutterhead shield body (3) are symmetrical along cutterhead shield body (3) two radial sections, on a radial section of i.e. each cutterhead shield body (3), left and rightly respectively have a hydraulic cylinder, under have two hydraulic cylinders of parallel distribution.
3. a kind of mole cutterhead Attitute detecting device according to claim 1, it is characterized in that: the hydraulic cylinder control detection oil circuit parts that described ten structures are identical, include fuel tank (11), inlet port filtrator (12), fixed displacement pump (13), force feed filtrator (10), retaining valve (9), proportional pressure control valve (14), electromagnetism two position and four-way reversing valve (15), pressure transducer (16) and displacement transducer (8);
The oil-in of fixed displacement pump (13) is through inlet port filtrator (12) connected tank (11), fixed displacement pump (13) oil-out is divided into two-way after force feed filtrator (10) and retaining valve (9), one tunnel connects proportional pressure control valve (14) oil-in, another road connects the T mouth of electromagnetism two position and four-way reversing valve (15), the B mouth of electromagnetism two position and four-way reversing valve (15) is connected with hydraulic cylinder (7) rodless cavity, the A mouth of electromagnetism two position and four-way reversing valve (15) is connected with hydraulic cylinder (7) rod chamber, the P mouth connected tank of electromagnetism two position and four-way reversing valve (15), each hydraulic cylinder is furnished with pressure transducer (16) and displacement transducer (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410212236.1A CN104036683B (en) | 2014-05-20 | 2014-05-20 | Mole cutterhead Attitute detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410212236.1A CN104036683B (en) | 2014-05-20 | 2014-05-20 | Mole cutterhead Attitute detecting device |
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| Publication Number | Publication Date |
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| CN104036683A CN104036683A (en) | 2014-09-10 |
| CN104036683B true CN104036683B (en) | 2016-04-13 |
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| CN201410212236.1A Expired - Fee Related CN104036683B (en) | 2014-05-20 | 2014-05-20 | Mole cutterhead Attitute detecting device |
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| CN104863603B (en) * | 2015-05-10 | 2017-03-08 | 浙江大学 | A kind of TBM laboratory table cutterhead constrained system |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000110489A (en) * | 1998-10-09 | 2000-04-18 | Taisei Corp | Top end deposited muck disposal device for tunnel boring machine |
| CN101696632A (en) * | 2009-10-21 | 2010-04-21 | 三一集团有限公司 | Heading machine and auxiliary device thereof |
| CN101788406B (en) * | 2010-03-31 | 2012-06-13 | 上海交通大学 | Device for testing force transmission characteristics of tunnellers |
| JP5566806B2 (en) * | 2010-07-27 | 2014-08-06 | 独立行政法人鉄道建設・運輸施設整備支援機構 | Tunnel digging machine with lining switching and lining switching method |
| CN102841030B (en) * | 2011-06-22 | 2015-06-10 | 中铁隧道集团有限公司 | Test platform used in researching tunnel boring machine tool rock breaking mechanism |
| CN103575522B (en) * | 2013-11-12 | 2015-09-23 | 浙江大学 | Mole cutterhead analog loading device |
| CN203941656U (en) * | 2014-05-20 | 2014-11-12 | 浙江大学 | A kind of mole cutterhead Attitute detecting device |
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