CN105065012A - Automatic control system for shield tunneling excavated earth volume - Google Patents

Automatic control system for shield tunneling excavated earth volume Download PDF

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Publication number
CN105065012A
CN105065012A CN201510494323.5A CN201510494323A CN105065012A CN 105065012 A CN105065012 A CN 105065012A CN 201510494323 A CN201510494323 A CN 201510494323A CN 105065012 A CN105065012 A CN 105065012A
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China
Prior art keywords
dregs
earth
control system
conveying worm
signal
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Pending
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CN201510494323.5A
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Chinese (zh)
Inventor
成钰龙
邵成猛
梁凌
胡浩睿
张宗超
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China Railway 16th Bureau Group Co Ltd
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China Railway 16th Bureau Group Co Ltd
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Priority to CN201510494323.5A priority Critical patent/CN105065012A/en
Publication of CN105065012A publication Critical patent/CN105065012A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an automatic control system for shield tunneling excavated earth volume. The automatic control system comprises a controller, a thrusting hydraulic cylinder displacement sensor, a sealing cabin pressure sensor, a spiral conveyer speed sensor and a residue earth flow detection device. The residue earth flow detection device comprises a belt weigher and a speed sensor, the instantaneous flow of residue earth on a belt conveyer can be obtained according to the weight of a bearing area of the belt conveyer and the real-time speed of the belt conveyer, and then the instantaneous flow of a spiral conveyer (2) for outputting the residue earth can be obtained. According to the automatic control system for the shield tunneling excavated earth volume, an existing shield earth pressure balance control system is improved, in order to overcome the influence of the deviation existing between the theoretical calculation residue earth flow and the actual output flow of the spiral conveyer on the accurate control over the sealing cabin pressure, the belt weigher is installed on the belt conveyer conveying the residue earth, and therefore the instantaneous residue earth output flow of the spiral conveyer can be detected accurately in real time. Accordingly, the automatic accurate control, based on residue earth actual detection output flow feedback, over double closed-loop shield tunneling excavated earth volume can be achieved.

Description

A kind of shield driving is unearthed and is measured automatic control system
Technical field
The invention belongs to Shield Construction Technique field, particularly relate to a kind of shield driving unearthed amount automatic control system.
Background technology
Earth Pressure Balancing Type Shell Excavator is primarily of formations such as shield body, cutterhead, conveying worm, propulsion plants.The sealing plate of shield excavation machine front portion and cutterhead, otch ring and conveying worm form sealed compartment.In the course of the work, propelling hydraulic cylinder driving shield development machine is pushed ahead, dregs under knife cutting is filled with a sealing the space in cabin and screw conveyor housing, the soil pressure formed balances the Water And Earth Pressures of excavation face soil layer, to keep the stablizing of excavation face soil layer, to prevent earth's surface to be out of shape, dregs discharges shield body by conveying worm.In construction tunneling process, need to make the Water And Earth Pressures of the soil pressure in sealed compartment and excavation face keep dynamic equilibrium, if the soil pressure in sealed compartment is greater than the Water And Earth Pressures of excavation face, earth's surface will be swelled, otherwise, if the soil pressure in sealed compartment is less than the Water And Earth Pressures of excavation face, will there is depression in earth's surface.For realizing earth pressure balance, by the rotating speed of real-time adjustable screw conveyer or the thrust of regulator solution cylinder pressure, shield structure soil discharge quantity and excavated volume are kept or close balance.
But due to conveying worm, not necessarily the moment is in " being fully loaded with " state, only accurately can not be obtained the output flow of dregs by its rotating speed, and this produces certain influence to the accurate control of sealed compartment pressure.
Summary of the invention
The object of the invention is to overcome the impact that deviation that conveying worm theory calculate dregs flow and actual output flow exist accurately controls sealed compartment pressure to produce, and provides a kind of shield driving of accurate control sealed compartment pressure to be unearthed amount automatic control system.
The present invention for achieving the above object, adopts following technical scheme:
A kind of shield driving is unearthed and is measured automatic control system, comprises controller, propelling hydraulic cylinder displacement transducer, sealed compartment pressure sensor, conveying worm velocity sensor, it is characterized in that: it also comprises dregs flow detector;
Described propelling hydraulic cylinder displacement transducer for detecting propelling hydraulic cylinder fltting speed signal, and gives controller Signal transmissions;
Described sealed compartment pressure sensor for detecting the soil pressure of soil pressure signal in sealed compartment, and gives controller Signal transmissions;
Described conveying worm velocity sensor for detecting conveying worm tach signal, and gives controller Signal transmissions;
Described dregs flow detector is used for detecting dregs output flow signal in real time, and gives controller Signal transmissions;
Described controller is according to the soil pressure of soil pressure signal in the propelling hydraulic cylinder fltting speed signal received, sealed compartment, conveying worm tach signal and dregs output flow signal, export propelling hydraulic cylinder fltting speed control signal and control propelling hydraulic cylinder propelling, export conveying worm speed control signal and control conveying worm rotating speed, realization is entered the dregs flow of sealed compartment and is balanced each other by the dregs flow that conveying worm transfers out.
It is further characterized in that: described dregs flow detector is arranged on and is positioned at conveying worm rear portion for carrying the conveyor of dregs.
Further: described dregs flow detector comprises weight sensor and velocity sensor; Described weight sensor fixes dregs weight on bearing surface for measuring conveyor, and described velocity sensor is for measuring the real-time speed of conveyor.
Described weight sensor is Lever-type belt scale.
The present invention is by improving existing shield structure earth pressure balance control system, the deviation existed for overcoming conveying worm theory calculate dregs flow and actual output flow accurately controls the impact produced on sealed compartment pressure, the conveyor of conveying dregs installs belt conveyer scale, is able to the instantaneous dregs output quantity accurately recording conveying worm in real time.Thus the two close cycles shield driving amount of being unearthed realized based on dregs actual measurement output flow feedback accurately controls automatically.
Accompanying drawing explanation
Fig. 1 is control principle schematic diagram of the present invention.
Detailed description of the invention
As shown in Figure 1, Earth Pressure Balancing Type Shell Excavator is primarily of formations such as shield body, cutterhead 1, conveying worm 2, propulsion plants (propelling hydraulic cylinder 3).Sealing plate 7 and cutterhead 1, otch ring and the conveying worm 2 of shield excavation machine front portion form sealed compartment 4.In the course of the work, propelling hydraulic cylinder 3 driving shield development machine is pushed ahead, the space that dregs under cutterhead 1 cuts is filled with a sealing in cabin 4 and conveying worm 2 housing, the soil pressure formed balances the Water And Earth Pressures of excavation face soil layer, to keep the stablizing of excavation face soil layer, to prevent earth's surface to be out of shape, dregs discharges shield body by conveying worm 2.In construction tunneling process, need to make the Water And Earth Pressures of the soil pressure in sealed compartment 4 and excavation face keep dynamic equilibrium, if the soil pressure in sealed compartment 4 is greater than the Water And Earth Pressures of excavation face, earth's surface will be swelled, otherwise, if the soil pressure in sealed compartment 4 is less than the Water And Earth Pressures of excavation face, will there is depression in earth's surface.For realizing earth pressure balance, by the rotating speed of real-time adjustable screw conveyer 2 or the thrust of regulator solution cylinder pressure 3, shield structure soil discharge quantity and excavated volume are kept or close balance.
Sealed compartment 4 is regarded as a closed container, the dregs flow entering this container depends on the fltting speed of shield structure, and the dregs flow of amount discharge container depends on structural parameters and the rotating speed of conveying worm 2, and the dregs Flow continuity equation of sealed compartment 4 is:
q i = q o + C e p m ( p e - p o ) + V e β e dp e d t q i = πD 2 4 v q o = πη s 4 ( d 1 2 - d 2 2 ) T s n m i g - - - ( 1 )
In formula, q ifor the input flow rate of sealed compartment dregs, q ofor the output flow of sealed compartment dregs, C epmfor the leadage coefficient of sealed compartment, p efor sealed compartment soil pressure, p ofor ambient pressure (comprising soil pressure and the water pressure in shield body front), V efor sealed compartment volume, β efor the bulk modulus of dregs, D is shield structure external diameter, and v is shield driving speed, η sfor conveying worm casting efficiency, d 1for conveying worm blade diameter, d 2for helical axis radius, T sfor conveying worm blade pitch, n mfor conveying worm drives hydraulic motor rotary speed, i gfor conveying worm reductor speed reducing ratio.
Ignore the volume that sealed compartment leaks dregs, can obtain shield structure sealed compartment soil pressure change difference is:
Δp e = β e V e ∫ 0 t ( πD 2 4 v - q o ) d t - - - ( 2 )
In shield tunneling process, the soil pressure in sealed compartment 4 measured in real time by sealed compartment pressure sensor 41, and compares with given soil pressure value, with the rotating speed of the thrust or conveying worm 2 that adjust shield structure, complete the closed-loop control of sealed compartment 4 pressure, realize earth pressure balance.The propelling hydraulic cylinder 3 of shield structure is equipped with displacement transducer 31, feeds back to controller 5 after difference is carried out to measured displacement signal, realize the closed-loop control to shield driving speed.Conveying worm 2 is equipped with speed probe 21, the rotating speed of conveying worm can be recorded in real time.
Due to conveying worm 2, not necessarily the moment is in " being fully loaded with " state, the output flow of dregs only accurately can not be obtained by its rotating speed, in order to real-time measuring worm conveyor 2 exports the flow of dregs, as shown in Figure 1, the conveyor 6 of conveying dregs has installed belt conveyer scale 61.Belt conveyer scale 61 adopts lever principle design, below the belt of conveyor, leverage is installed, when dregs material above belt passes through the bearing surface of leverage, certain pressure can be produced to bearing surface, by leverage, this pressure is sent to weight sensor, and the instantaneous delivery of dregs on conveyor 6 can be obtained in conjunction with the real-time speed that the velocity sensor 62 on conveyor 6 is measured, thus obtain the instantaneous delivery that conveying worm 2 exports dregs.By exporting the real-time measurement of dregs flow to conveying worm 2, complete the closed-loop control to conveying worm 2 rotating speed.

Claims (5)

1. shield driving is unearthed and is measured an automatic control system, comprises controller, propelling hydraulic cylinder displacement transducer, sealed compartment pressure sensor, conveying worm velocity sensor, it is characterized in that: it also comprises dregs flow detector;
Described propelling hydraulic cylinder displacement transducer for detecting propelling hydraulic cylinder fltting speed signal, and gives controller Signal transmissions;
Described sealed compartment pressure sensor for detecting the soil pressure of soil pressure signal in sealed compartment, and gives controller Signal transmissions;
Described conveying worm velocity sensor for detecting conveying worm tach signal, and gives controller Signal transmissions;
Described dregs flow detector is used for detecting dregs output flow signal in real time, and gives controller Signal transmissions;
Described controller is according to the soil pressure of soil pressure signal in the propelling hydraulic cylinder fltting speed signal received, sealed compartment, conveying worm tach signal and dregs output flow signal, export propelling hydraulic cylinder fltting speed control signal and control propelling hydraulic cylinder propelling, export conveying worm speed control signal and control conveying worm rotating speed, realization is entered the dregs flow of sealed compartment and is balanced each other by the dregs flow that conveying worm transfers out.
2. shield driving according to claim 1 is unearthed and is measured automatic control system, it is characterized in that: described dregs flow detector is arranged on and is positioned at conveying worm rear portion for carrying the conveyor of dregs.
3. shield driving according to claim 2 is unearthed and is measured automatic control system, it is characterized in that: described dregs flow detector comprises weight sensor and velocity sensor; Described weight sensor fixes dregs weight on bearing surface for measuring conveyor, and described velocity sensor is for measuring the real-time speed of conveyor.
4. shield driving according to claim 3 is unearthed and is measured automatic control system, it is characterized in that: described weight sensor is belt conveyer scale.
5. shield driving according to claim 4 is unearthed and is measured automatic control system, it is characterized in that: described belt conveyer scale is Lever-type belt scale.
CN201510494323.5A 2015-08-12 2015-08-12 Automatic control system for shield tunneling excavated earth volume Pending CN105065012A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108267210A (en) * 2017-12-21 2018-07-10 北方重工装备（沈阳）有限公司 A kind of shield machine is unearthed measurement and early warning system
CN110306994A (en) * 2018-03-27 2019-10-08 中国铁建重工集团股份有限公司 A kind of balancing earth-pressure shielding machine, a kind of balancing earth-pressure shielding machine control system and its control method
CN110397440A (en) * 2019-07-31 2019-11-01 中国铁建重工集团股份有限公司 A kind of vertical shaft full face tunnel boring machine and its slag-draining device
CN111075463A (en) * 2020-01-10 2020-04-28 中国矿业大学(北京) Visual monitoring management method and visual monitoring management system for shield construction unearthing amount
WO2024000826A1 (en) * 2022-06-30 2024-01-04 三一重型装备有限公司 Heading machine control method and device, and heading machine

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JPS53125335A (en) * 1977-04-06 1978-11-01 Hitachi Shipbuilding Eng Co Soil quality responsive shield excavator
JPH01162628U (en) * 1988-04-28 1989-11-13
JPH05222897A (en) * 1992-02-14 1993-08-31 Sato Kogyo Co Ltd Stability control method of tunnel facing of earth-pressure type shield method
CN1707068A (en) * 2004-06-08 2005-12-14 广东工业大学 Shield earth pressure balance system and control method reutilizing inertial energy
JP2006016934A (en) * 2004-07-05 2006-01-19 Okumura Corp Shield excavator
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108267210A (en) * 2017-12-21 2018-07-10 北方重工装备（沈阳）有限公司 A kind of shield machine is unearthed measurement and early warning system
CN110306994A (en) * 2018-03-27 2019-10-08 中国铁建重工集团股份有限公司 A kind of balancing earth-pressure shielding machine, a kind of balancing earth-pressure shielding machine control system and its control method
CN110397440A (en) * 2019-07-31 2019-11-01 中国铁建重工集团股份有限公司 A kind of vertical shaft full face tunnel boring machine and its slag-draining device
CN111075463A (en) * 2020-01-10 2020-04-28 中国矿业大学(北京) Visual monitoring management method and visual monitoring management system for shield construction unearthing amount
CN111075463B (en) * 2020-01-10 2020-11-27 中国矿业大学(北京) Visual monitoring management method and visual monitoring management system for shield construction unearthing amount
WO2024000826A1 (en) * 2022-06-30 2024-01-04 三一重型装备有限公司 Heading machine control method and device, and heading machine

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Application publication date: 20151118