CN108222957B - A kind of control method of shield machine form regulation system - Google Patents
A kind of control method of shield machine form regulation system Download PDFInfo
- Publication number
- CN108222957B CN108222957B CN201810107933.9A CN201810107933A CN108222957B CN 108222957 B CN108222957 B CN 108222957B CN 201810107933 A CN201810107933 A CN 201810107933A CN 108222957 B CN108222957 B CN 108222957B
- Authority
- CN
- China
- Prior art keywords
- group
- jack
- thrust
- adjacent
- compensating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 18
- 239000010727 cylinder oil Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0621—Shield advancing devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The present invention is on the basis of shield machine promotes the original packet of jack, jack is compensated using an adjacent jack in adjacent jack group or multiple jack as dynamic, when shield machine needs to carry out attitude regulation, according to the difference between the actual thrust of each jack group and the default thrust of the jack group, for needing to carry out the jack group of thrust-compensating, from the adjacent jack group of the jack group compensated with the needs, one or more jack adjacent with the jack group of needs compensation are chosen to be included into the jack group of needs compensation, dynamic compensates the deviation pressure of the jack group, to realize pose adjustment.
Description
Technical field
The present invention relates to a kind of control method of form regulation system more particularly to a kind of controls of shield machine pose adjustment
Method processed.
Background technique
The propulsion of shield machine is completed by multiple hydraulic cylinders mostly, and multiple hydraulic cylinders are controlled frequently with grouping.Due to certainly
The influence of body gravity, soil pressure and cutterhead stress etc., shield machine tend not to advance according to scheduled track, it is therefore desirable to
Pose adjustment is carried out to shield machine.Existing shield machine can be by adjusting the hydraulic cylinder for participating in promoting in the same hydraulic cylinder group
Quantity realizes pose adjustment, but the hydraulic cylinder quantity in same group is fixed, when deviation is larger, hydraulic cylinder quantity in this group
Can not meet demand, bring difficulty to pose adjustment.
Summary of the invention
To solve the above problems, the present invention on the basis of original packet of shield machine propelling hydraulic cylinder, utilizes adjacent liquid
An adjacent hydraulic cylinder or multiple hydraulic cylinders are as dynamic compensating hydraulic cylinder in cylinder pressure group, when shield machine needs to carry out posture
When adjusting, according to the difference between the actual thrust of each hydraulic cylinder group and the default thrust of the hydraulic cylinder group, for needing to carry out
The hydraulic cylinder group of thrust-compensating, from the adjacent hydraulic cylinder group of the hydraulic cylinder group compensated with the needs, choose it is one or more with
The hydraulic cylinder that the hydraulic cylinder group of needs compensation is adjacent is included into the hydraulic cylinder group of needs compensation, dynamically compensates the hydraulic cylinder
The deviation pressure of group, to realize pose adjustment.
The present invention is to be achieved through the following technical solutions:
A kind of control method of shield machine form regulation system, including multiple propelling hydraulic cylinders, propelling hydraulic cylinder are divided into
Four groups, every group has odd number propelling hydraulic cylinder, further includes being arranged in parallel in electro-hydraulic reversing valve oil outlet P in control method1Place
Four pressure reducing valves, the outlet of each pressure reducing valve connect one group of hydraulic cylinder being connected in parallel, and the outlet of each pressure reducing valve and the group
The oil inlet of the hydraulic cylinder in the middle position of hydraulic cylinder is connected by switch valve, remaining propelling hydraulic cylinder symmetric parallel is set to
The two sides of the hydraulic cylinder in middle position, and the oil inlet of each propelling hydraulic cylinder is directly connected to a switch valve, it is same
It is respectively provided with a 2/2-way solenoid valve in a hydraulic cylinder group between the oil inlet pipe of two two neighboring hydraulic cylinders, adjacent two
Adjacent two hydraulic cylinder of a hydraulic cylinder group is connected to also by a 2/2-way solenoid valve, 2/2-way solenoid valve include into
Hydraulic fluid port P, oil outlet A, when 2/2-way electromagnetic valve work is in left station, oil inlet P, oil outlet A are not connected, when two two
Three-way electromagnetic valve works in right working position, and oil inlet P is connected to oil outlet A.
The 2/2-way solenoid valve between the adjacent propelling hydraulic cylinder oil inlet pipe between adjacent sets is set to first
Left station, the 2/2-way solenoid valve between adjacent propelling hydraulic cylinder oil inlet pipe between same group are set to right working position, shield
Structure machine starts to promote forward, the posture of controller real-time detection shield machine.When the track of shield machine shifts, controller
According to the difference between real offset and desired guiding trajectory, every group of propelling hydraulic cylinder actual thrust and this group of advancing hydraulic pressure are calculated
Difference F between the default thrust of cylinder1, actual thrust is selected to be less than default thrust and the maximum propelling hydraulic cylinder group work of difference
On the basis of group, the thrust of two groups of neighbouring propelling hydraulic cylinders of benchmark group, the actual thrust for selecting neighbouring benchmark group is biggish
Propelling hydraulic cylinder group carries out thrust-compensating as thrust-compensating group.
Assuming that the thrust of each thrust hydraulic cylinder output is F, as the difference F of benchmark group1Absolute value be less than F when, no
Thrust-compensating group is needed to carry out hydraulic cylinder compensation, as the difference F of benchmark group1Absolute value be greater than F when, calculate [| F1|/F]=m,
It is compensated using thrust-compensating group, wherein [] is bracket function.It is adjacent with benchmark group in thrust-compensating group as m=1
The 2/2-way solenoid valve of thrust hydraulic cylinder upstream side is in left station, and the 2/2-way solenoid valve in downstream side is in right work
, the thrust hydraulic cylinder adjacent with benchmark group incorporates into benchmark group in thrust-compensating group, thrust-compensating is carried out, according to the specific of m
Value, can fill into corresponding push action cylinder number, and m is less than the half of the total number of the thrust hydraulic cylinder in thrust-compensating group.
Compared with prior art, the invention has the following beneficial technical effects:
Using a hydraulic cylinder or multiple hydraulic cylinders adjacent in adjacent hydraulic cylinder group as dynamic compensating hydraulic cylinder, when certain
When the thrust deficiency of group hydraulic cylinder, hydraulic cylinder adjacent with the insufficient hydraulic cylinder group of the thrust in adjacent hydraulic cylinder group is drawn
It is included into the insufficient hydraulic cylinder group of the thrust, changes the quantity of hydraulic cylinder in original hydraulic cylinder group, to provide thrust benefit
It repays, carries out pose adjustment.
Detailed description of the invention
Fig. 1 is hydraulic principle schematic diagram of the present invention.
In figure: 1 is electro-hydraulic reversing valve；2 be pressure reducing valve；3 be 2/2-way valve；4 be switch valve；5 be propelling hydraulic cylinder
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
Referring to Fig. 1, a kind of control method of shield machine pose adjustment, including multiple propelling hydraulic cylinders, propelling hydraulic cylinder
It is divided into four groups, every group has odd number propelling hydraulic cylinder, further includes being arranged in parallel in electro-hydraulic reversing valve oil outlet P in control method1
Four pressure reducing valves at place, the outlet of each pressure reducing valve 2 connect one group of hydraulic cylinder being connected in parallel, and the outlet of each pressure reducing valve 2
It is connect with the oil inlet of the hydraulic cylinder in the middle position of this group of hydraulic cylinder by switch valve 4, remaining propelling hydraulic cylinder 5 is symmetrical simultaneously
Connection is set to the two sides of the hydraulic cylinder in middle position, and the oil inlet of each propelling hydraulic cylinder 5 is straight with a switch valve 4
It connects in succession, is respectively provided with a 2/2-way electricity in the same hydraulic cylinder group between the oil inlet pipe of two two neighboring hydraulic cylinders 5
Adjacent two hydraulic cylinder 5 of magnet valve 3, two neighboring hydraulic cylinder group is connected to also by a 2/2-way solenoid valve 3, and two
Two three-way electromagnetic valves 3 include oil inlet P, oil outlet A, oil inlet P, fuel-displaced when the work of 2/2-way solenoid valve 3 is in left station
Mouth A is not connected, and when the work of 2/2-way solenoid valve 3 is in right working position, oil inlet P is connected to oil outlet A.
Working principle of the present invention is as follows:
The 2/2-way solenoid valve 3 between the adjacent propelling hydraulic cylinder oil inlet pipe between adjacent sets is set to first
Left station, the 2/2-way solenoid valve between adjacent propelling hydraulic cylinder oil inlet pipe between same group are set to right working position, shield
Structure machine starts to promote forward, the posture of controller real-time detection shield machine.When the track of shield machine shifts, controller
According to the difference between real offset and desired guiding trajectory, every group of propelling hydraulic cylinder actual thrust and this group of advancing hydraulic pressure are calculated
Difference F between the default thrust of cylinder1, actual thrust is selected to be less than default thrust and the maximum propelling hydraulic cylinder group work of difference
On the basis of group, the thrust of two groups of neighbouring propelling hydraulic cylinders of benchmark group, the actual thrust for selecting neighbouring benchmark group is biggish
Propelling hydraulic cylinder group carries out thrust-compensating as thrust-compensating group.
Assuming that the thrust of each thrust hydraulic cylinder output is F, as the difference F of benchmark group1Absolute value be less than F when, no
Thrust-compensating group is needed to carry out hydraulic cylinder compensation, as the difference F of benchmark group1Absolute value be greater than F when, calculate [| F1|/F]=m,
It is compensated using thrust-compensating group, wherein [] is bracket function.It is adjacent with benchmark group in thrust-compensating group as m=1
The 2/2-way solenoid valve of thrust hydraulic cylinder upstream side is in left station, and the 2/2-way solenoid valve in downstream side is in right work
, the thrust hydraulic cylinder adjacent with benchmark group incorporates into benchmark group in thrust-compensating group, thrust-compensating is carried out, according to the specific of m
Value, can fill into corresponding push action cylinder number, and m is less than the half of the total number of the thrust hydraulic cylinder in thrust-compensating group.
Example given above is to realize the present invention preferably example, and the present invention is not limited to the above embodiments.This field
Technical staff's technical solution according to the present invention technical characteristic any nonessential addition, the replacement made, belong to this
The protection scope of invention.
Claims (1)
1. a kind of control method of shield machine posture, including multiple propulsion jack promote jack to be divided into four groups, every group has
Odd number promotes jack, further includes being arranged in parallel in electro-hydraulic reversing valve oil outlet P in control method1Four pressure reducing valves at place,
The outlet of each pressure reducing valve connects one group of propulsion jack being connected in parallel, and the outlet of each pressure reducing valve corresponding to its connects
The oil inlet of the propulsion jack in the middle position of jack group is connected by switch valve, the jack group accordingly connected
Remaining promote jack be symmetrically arranged in parallel in middle position propulsion jack two sides, and each promote jack into
Hydraulic fluid port is directly connected to a switch valve, in the same jack group between the oil inlet pipe of two adjacent propulsion jack
It is respectively provided with a 2/2-way solenoid valve, the adjacent two propulsion jack of two neighboring jack group is also by one two
The connection of two three-way electromagnetic valves, 2/2-way solenoid valve includes oil inlet P, oil outlet A, when 2/2-way electromagnetic valve work is in left station
When, oil inlet P, oil outlet A are not connected, and when 2/2-way electromagnetic valve work is in right working position, oil inlet P and oil outlet A connect
It is logical, the 2/2-way solenoid valve between the adjacent propulsion jack oil inlet pipe between adjacent sets is set to left work first
, the 2/2-way solenoid valve between adjacent propulsion jack oil inlet pipe between same group is set to right working position, shield machine
Start to promote forward, the posture of controller real-time detection shield machine, and assume that the thrust of each propulsion jack output is F,
When the track of shield machine shifts, controller calculates every group and pushes away according to the difference between real offset and desired guiding trajectory
The difference F between the default thrust of jack is promoted into jack actual thrust and the group1, actual thrust is selected to be less than default push away
Power and the maximum propulsion jack group of difference are as benchmark group, the thrust of two groups of neighbouring propulsion jack of benchmark group, choosing
The biggish propulsion jack group of actual thrust of fixed neighbouring benchmark group carries out thrust-compensating as thrust-compensating group；Then, work as base
The difference F of quasi- group1Absolute value be less than F when, do not need thrust-compensating group carry out jack compensation, as the difference F of benchmark group1's
When absolute value is greater than F, calculate [| F1|/F]=m, it is compensated using thrust-compensating group, wherein [] is bracket function；Work as m=1
When, the 2/2-way solenoid valve of the propulsion jack upstream side adjacent with benchmark group is in left station, downstream in thrust-compensating group
The 2/2-way solenoid valve of side is in right working position, and the propulsion jack adjacent with benchmark group incorporates into benchmark in thrust-compensating group
Group, carry out thrust-compensating, according to the occurrence of m, can fill into promote accordingly it is very heavy serve as a fill-in, m be less than thrust-compensating group in
Promote the half of the total number of jack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107933.9A CN108222957B (en) | 2018-02-02 | 2018-02-02 | A kind of control method of shield machine form regulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107933.9A CN108222957B (en) | 2018-02-02 | 2018-02-02 | A kind of control method of shield machine form regulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108222957A CN108222957A (en) | 2018-06-29 |
| CN108222957B true CN108222957B (en) | 2019-03-29 |
Family
ID=62670546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810107933.9A Active CN108222957B (en) | 2018-02-02 | 2018-02-02 | A kind of control method of shield machine form regulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108222957B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110185456B (en) * | 2019-06-05 | 2020-08-18 | 湖南科技大学 | Method for rapidly realizing unbalance loading resistance of shield propulsion system |
| CN111577297A (en) * | 2020-05-25 | 2020-08-25 | 中铁二十三局集团有限公司 | Deviation rectifying method for upward drifting of shield machine posture in upper-soft and lower-hard mudstone composite stratum |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1122381A (en) * | 1997-07-07 | 1999-01-26 | Tomen Kenki Kk | Hydraulic cutting for open shield machine |
| JP2001152781A (en) * | 1999-11-25 | 2001-06-05 | Hitachi Constr Mach Co Ltd | Apparatus and method for controlling shield machine |
| JP2002201892A (en) * | 2000-12-28 | 2002-07-19 | Taisei Corp | Hydraulic driving device of shield jack and shield machine |
| CN102278124A (en) * | 2011-06-24 | 2011-12-14 | 北京市三一重机有限公司 | Energy-saving hydraulic shield propulsion system |
| CN104196540A (en) * | 2014-05-04 | 2014-12-10 | 中铁工程装备集团有限公司 | Automatic and random grouping push control system of shield tunneling machine |
| CN106438591A (en) * | 2016-08-26 | 2017-02-22 | 辽宁三三工业有限公司 | Proportional-control high-precision propelling hydraulic system for earth pressure balance shield tunneling machine and control method |
| CN107060797A (en) * | 2017-04-10 | 2017-08-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic system |
| CN206753605U (en) * | 2017-03-24 | 2017-12-15 | 中铁工程装备集团有限公司 | A kind of shield propelling system can low speed control system |
-
2018
- 2018-02-02 CN CN201810107933.9A patent/CN108222957B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1122381A (en) * | 1997-07-07 | 1999-01-26 | Tomen Kenki Kk | Hydraulic cutting for open shield machine |
| JP2001152781A (en) * | 1999-11-25 | 2001-06-05 | Hitachi Constr Mach Co Ltd | Apparatus and method for controlling shield machine |
| JP2002201892A (en) * | 2000-12-28 | 2002-07-19 | Taisei Corp | Hydraulic driving device of shield jack and shield machine |
| CN102278124A (en) * | 2011-06-24 | 2011-12-14 | 北京市三一重机有限公司 | Energy-saving hydraulic shield propulsion system |
| CN104196540A (en) * | 2014-05-04 | 2014-12-10 | 中铁工程装备集团有限公司 | Automatic and random grouping push control system of shield tunneling machine |
| CN106438591A (en) * | 2016-08-26 | 2017-02-22 | 辽宁三三工业有限公司 | Proportional-control high-precision propelling hydraulic system for earth pressure balance shield tunneling machine and control method |
| CN206753605U (en) * | 2017-03-24 | 2017-12-15 | 中铁工程装备集团有限公司 | A kind of shield propelling system can low speed control system |
| CN107060797A (en) * | 2017-04-10 | 2017-08-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108222957A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108222957B (en) | A kind of control method of shield machine form regulation system | |
| CN102094441B (en) | Hydraulic system of loader | |
| WO2016004664A1 (en) | Energy-saving control system of excavator | |
| CN103122648B (en) | Multi-way valve hydraulic control system, rectilinear walking control valve and excavator | |
| CN106762888B (en) | The electro-hydraulic propulsion system of TBM variable speed variable-displacement pump control and control method | |
| CN102425426A (en) | Energy-saving shield hydraulic feeding system for energy accumulator mounted on side of feeding oil inlet | |
| CN102213201B (en) | High-efficiency concrete or coal slurry conveying system, control method thereof, and two-position three-way hydraulically-controlled directional control valve applied to high-efficiency concrete or coal slurry conveying system | |
| CN107165874A (en) | A kind of plate stretch machine stretching cylinder synchronous power save hydraulic composite control system | |
| CN204851832U (en) | Adjustable propulsion valve unit of single bleeding pressure power | |
| CN108222956B (en) | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll | |
| CN104153786B (en) | A kind of energy-saving type shield propulsion hydraulic system adopting coaxial motor | |
| CN205154795U (en) | Controllable TBM of high -efficient high accuracy flow supports hydraulic system | |
| CN109704223A (en) | A kind of novel shield machine section of jurisdiction transport trolley hydraulic synchronous control system | |
| CN203384136U (en) | Speed exchange circuit with parallel speed control valves | |
| CN209704966U (en) | A kind of split type shield machine hydraulic drive control valve group convenient for assembling | |
| CN105329613A (en) | Leveling control device for suspended telescopic belt | |
| CN103047206A (en) | Fast synchronization hydraulic system for segment assembling lifting motion | |
| CN110671376B (en) | Engineering machinery load sensitive-inlet-outlet independent hydraulic system and control method thereof | |
| CN203516247U (en) | Bulldozer hydraulic sensing device | |
| CN108266197B (en) | A kind of Thrust System of Shield Tunneling Machines | |
| CN104948519A (en) | Hydraulic control system for cloth chute inclination positioning accuracy | |
| CN203383824U (en) | Flow saturation resistant partitioned controlled energy saving type shield thrust hydraulic system | |
| CN105545883A (en) | Electric hydraulic pump control differential cylinder device | |
| CN209668668U (en) | Novel shield machine section of jurisdiction transport trolley hydraulic synchronous control system | |
| CN209875591U (en) | Shield tunneling machine propulsion system with single-piston-rod symmetrical hydraulic oil cylinders connected in series |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Guangdong Guangzhou Nansha District Pearl River Bay starting area, industrial four road west side 2. Applicant after: China Railway Tunnel Bureau Group Co Ltd Applicant after: STATE KEY LABORATORY OF SHIELD MACHINE AND BORING TECHNOLOGY Address before: Henan province Luoyang city old town Applicant before: China Railway Tunnel Bureau Group Co Ltd Applicant before: STATE KEY LABORATORY OF SHIELD MACHINE AND BORING TECHNOLOGY |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |