CN108343443A - Slurry balance shield comprehensive simulation test platform tunnels and attitude-simulating pilot system - Google Patents
Slurry balance shield comprehensive simulation test platform tunnels and attitude-simulating pilot system Download PDFInfo
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- CN108343443A CN108343443A CN201810050290.9A CN201810050290A CN108343443A CN 108343443 A CN108343443 A CN 108343443A CN 201810050290 A CN201810050290 A CN 201810050290A CN 108343443 A CN108343443 A CN 108343443A
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- cylinder
- hydraulic
- experiment system
- attitude
- test platform
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/06—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes for surveying; for geography, e.g. relief models
Abstract
The invention discloses a kind of slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot systems.Both sides on bottom plate are installed with counter force wall, the counter force wall intermediate arrangement of both sides has simulation experiment system main body, simulation experiment system bottom part body is equipped with follow-up supporting mechanism, on counter force wall metope the both sides of simulation experiment system main body are connected to equipped with load hydraulic package and advancing hydraulic pressure component, two hydraulic packages；Five degree of freedom movements are carried out under follow-up supporting mechanism support by loading hydraulic package and advancing hydraulic pressure components drive simulation experiment system main body.The present invention realizes the simulation of digging operating mode under the different soils such as slurry shield machine is soft or hard, realizes that the front ground resistance that slurry shield machine is encountered in driving is uneven, simulation of the unequal different loads situation of surrounding ground frictional force；The deflection angle of each loading hydraulic cylinder in the horizontal direction and the vertical direction can be measured in real time.
Description
Technical field
The present invention relates to a kind of simulation experiment systems, more particularly, to a kind of slurry balance shield comprehensive simulation test
Platform tunnels and attitude-simulating pilot system.
Technical background
Shield is the Grand Equipments for underground tunnel project construction, is generally divided into slurry balance shield, soil pressure balance shielding
Structure, air pressure balance shield three classes.Slurry balance shield is adapted to the abundant sand gravel and cobble stratum of water content, can effectively solve the problem that out
Problem, and occasion shallower in earthing and stringent surface settlement control are stablized in digging face, and slurry balance shield has essence outstanding
Really control advantage, has been widely used for the construction of seabed tunnel, across river tunnel and coastal cities ground end engineering.
Propulsion system does not need only provide for enough driving forces as the key subsystem of shield and acts on cutterhead to overcome
The resistances driving shields such as positive soil pressure, the frictional force on shield shell, the frictional force of tail sealing brush advance, it is also necessary to pass through control
Shield driving posture processed ensures that shield is tunneled along Tunnel Design axis.Shield machine movement locus and the position of Tunnel Design axis are inclined
Poor size directly affects constructing tunnel quality.Due to stratum unevenness in shield tunneling process and shield self structure, shield
Track misalignment problem is one of the numerous problems for perplexing shield-tunneling construction, and the posture of shield machine in work progress is measured and controlled
System is to ensure that key of the shield by design axis driving.
On the other hand, the size for the propulsive force that propulsion system is provided directly affects the cutting force size for tunneling cutterhead,
Therefore propulsion system not only affects the posture of shield in the construction process, and to the shadow of its tunneling process also own profound
It rings, shows as the coupling of multisystem.
The propulsion of slurry shield machine is realized by being connected to multiple propulsion cylinders that shield tail is circumferentially arranged, propulsion liquid
Cylinder pressure cylinder barrel one end is fixed on by ball strand on shield tail backboard, and piston-rod end is connect with support boots flexural pivot, and support boots are pressed in assembled paving
On the good pipe-plate lining of cloth, reaction force is provided.The propelling hydraulic cylinder generally use zonal control mode of propulsion system is four groups
Subregion and five groups of two kinds of subregions.By controlling the stroke or propulsive force of different subregions hydraulic cylinder, the posture of shield is controlled.
Slurry balance shield has six degrees of freedom of motion, in existing slurry shield test platform, shield body in engineering
It constrains more so that its degree of freedom is reduced to 3 hereinafter, most multipotency completes three kinds of pose adjustments such as pitching, deflection and propulsion, with reality
Border situation difference is larger, and the posture of most of testing stands can not be calculated, and has certain limitation.
Invention content
In order to solve the problems, such as that background technology, the present invention have extensively studied slurry balance shield cutter plate driver and appearance
In terms of state adjustment, a kind of slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system are provided, it can be convenient
It realizes the reduction of cutter head torque actual condition, front ground resistance unevenness, surrounding ground can be carried out by loading the loading force of cylinder
Frictional force unequal loads are simulated, and shield body can be supported by follow-up supporting mechanism, and complete the posture of five degree of freedom with it
Simulation, can measure shield body posture in real time by the Hooke hinge device with incremental encoder.
The technical solution adopted by the present invention is：
The present invention includes counter force wall, simulation experiment system main body, load hydraulic package, advancing hydraulic pressure component, servo-actuated support
Mechanism and bottom plate, the both sides on bottom plate are installed with counter force wall, and the counter force wall intermediate arrangement of both sides has simulation experiment system
Main body, simulation experiment system bottom part body are equipped with follow-up supporting mechanism, and there are four loads for installation on the counter force wall metope of side
Hydraulic package is separately installed with four advancing hydraulic pressure components on the counter force wall metope of other side side, loads hydraulic package and propulsion
Hydraulic package is connected to the both sides of simulation experiment system main body；By loading hydraulic package and the simulation examination of advancing hydraulic pressure components drive
Check system main body carries out vertical direction pitching and lifting, horizontal direction torsion and offset and shield under follow-up supporting mechanism support
The movement of five degree of freedom of the advance and retreat in structure direction.
The simulation experiment system main body includes being sequentially connected and mutually isolated disconnected pressure chamber cylinder, muddy water cabin
Cylinder and transition cover, one end of pressure chamber cylinder are connected to the counter force wall of side through advancing hydraulic pressure component, pressure chamber cylinder it is another
One end is connect with one end of muddy water cabin cylinder, and the other end of muddy water cabin cylinder is connect with one end of transition cover, transition cover it is another
End is connected to the counter force wall of the other side through loading hydraulic package；The transition cover inner face center being connect with muddy water cabin cylinder, which is fixed, to be increased
One end of fast device, load pump are fixedly connected on the other end of speed increaser, install gear-box in pressure chamber cylinder, in the cylinder of muddy water cabin
Cutterhead is installed, there are two drive motor, two drive motors are fixedly installed to be connected pressure chamber cylinder peripheral hardware with advancing hydraulic pressure component
In the pressure chamber body end surface connect；The output shaft of two drive motors is extend into across pressure chamber body end surface in pressure chamber cylinder
And connected with the input terminal of gear-box, gearbox output is extend into the cylinder of muddy water cabin across pressure chamber body end surface and and knife
The output shaft of disk one end cutterhead axis connection, speed increaser is extend into across transition cover end face in the cylinder of muddy water cabin and through torque sensor
With cutterhead other end cutterhead axis connection；Drive motor drives cutterhead to be rotated around central axis by gear-box, and load pump passes through
The cutterhead axis connection of speed increaser, torque sensor and cutterhead, torque loads are provided for cutterhead.
Outlet pressure by adjusting the load pump can generate different torques, and can pass through the torque sensor
Measure and record the different torque operating modes residing for the cutterhead, with easily realize the cutterhead slurry shield machine it is soft or hard it is equal not
When with promoting digging under soil layer, the simulation of actual condition.
The follow-up supporting mechanism is arranged in transition cover lower part.The present invention is fixed with servo-actuated support machine below transition cover
Structure, follow-up supporting mechanism lower part and contacts baseplate, can support the main body of entire load and attitude-simulating pilot system, and follow
The movement of transition cover makes main body neatly carry out vertical direction pitching, lifting, horizontal direction torsion, offset, propulsion and retrogressing etc. 5
The movement of a degree of freedom.
Circumference of four hydraulic cylinders along transition cover end face is spaced in uniformly distributed arrangement, four equal edges of advancing hydraulic pressure component
The circumference of pressure chamber body end surface is arranged uniformly at intervals.
The advancing hydraulic pressure component is identical with load hydraulic package structure, is illustrated for loading hydraulic package：It is described
Load hydraulic package include hydraulic cylinder, universal hinge measurement structure, flexural pivot and force snesor, Barrel of Hydraulic Cylinders side by bolt with
One end of universal hinge measurement structure is fixedly connected, and the other end of universal hinge measurement structure is fixedly connected by bolt with counter force wall,
Hydraulic cylinder piston bar side is connected to force snesor by flexural pivot, and force snesor is bolt-connected to simulation experiment system main body
On end face.
The universal hinge measurement structure includes hold-down support, incremental encoder, cross axle and movable bearing support, and hold-down support is solid
It is scheduled on counter force wall, movable bearing support is connected to hydraulic cylinder, hinged by cross axle between hold-down support and movable bearing support, cross axle
Both direction rotary shaft on be mounted on incremental encoder.
Two counter force wall tops of both sides are fixedly connected by reinforcing bar.
The follow-up supporting mechanism include floating roof, articulated shaft, floating support plate, supporting cylinder, support baseboard and
Heavy-duty universal ball；Floating roof bottom is by hinged at the top of articulated shaft and floating support plate, and the floating roof is around the articulated shaft
The quadrangle of the rotational motion of axis direction, floating the bottom of the support plate is connected perpendicularly to support bottom by respective supporting cylinder respectively
Plate top surface realizes vertical direction translational motion of the floating support plate with respect to support baseboard；If support baseboard bottom is uniformly distributed to be equipped with dry weight
Carry multi-directional ball.
Further include mainly by fuel tank, overflow valve, motor, shaft coupling, hydraulic pump, accumulator, check valve, three-way pressure reducing valve,
The follow-up hydraulic system of seat valve composition, follow-up hydraulic system are connected to supporting cylinder；The rodless cavity of supporting cylinder is through seat valve
The A mouths of three-way pressure reducing valve are connected to, rod chamber is coupled in parallel to fuel tank, and the T mouths of three-way pressure reducing valve connect fuel tank, and motor is through shaft coupling
The shaft end of device and hydraulic pump connects, and the input terminal of hydraulic pump connects fuel tank, and the output end of hydraulic pump is depressurized through check valve and threeway
The P mouths of valve connect, and overflow valve is connected in parallel on the input and output both ends of hydraulic pump, and accumulator is connected to the output end of hydraulic pump, lead to
Accumulator is crossed to P mouthfuls of-A mouthfuls of oil circuit repairings of the electric ratio three-way pressure reducing valve.
Pass through the rodless cavity pressure for controlling supporting cylinder so that the resultant force of four supporting cylinder power outputs with it is floating
The shield body gravity placed on dynamic top plate is equal, to offset shield body dead weight.The supporting cylinder is cut off without bar by seat valve control
Chamber oil circuit.
The present invention is by adjusting the hydraulic cylinder oil pressure pressure of four advancing hydraulic pressure components, to the pressure chamber cylinder
End face generates different propulsive forces；Simultaneously by adjusting the hydraulic cylinder oil pressure pressure of four loads hydraulic package, to described
The end face of transition cover generates different loading forces, realize the front ground resistance that slurry shield machine is encountered in driving it is uneven, four
The simulation of all unequal different loads situations of ground frictional force, and the attitude misalignment by load five degree of freedom caused by uneven
Simulation.
The vertical direction pitching refers to that simulation experiment system main body is parallel to water around both perpendicular to shield direction
The rotary motion of the linear axis of plane, as in Fig. 1 be simulation experiment system main body around the axis rotary motion perpendicular to paper.
The vertical direction lifting refers to simulation experiment system main body along perpendicular to shield driving direction and horizontal plane
Upper and lower translation moves, as being that simulation experiment system main body is moved along moving up and down for parallel paper in Fig. 1.
The horizontal direction torsion refers to rotation of the simulation experiment system main body around the linear axis both perpendicular to horizontal plane
Transhipment is dynamic, as being simulation experiment system main body in Fig. 1 around the vertical axes rotary motion for being parallel to paper.
The horizontal direction offset refers to the translational motion of simulation experiment system main body along the horizontal plane, as being mould in Fig. 1
Quasi- pilot system main body is along the inside and outside moving movement perpendicular to paper.
Shield direction refers to such as left and right horizontal moving direction in Fig. 1, and the advance and retreat in shield direction refer to along the flat of shield direction
Shifting movement.
The present invention changes the test simulation structure only there are one advancing hydraulic pressure, and being both provided with progress hydraulic pressure in both sides adds
It carries, and the simulation experiment system main body with the full simulations function such as load pump, speed increaser, follow-up supporting mechanism has also been devised,
And perfect driving and the attitude-simulating experiment of slurry balance shield comprehensive simulation test platform are realized jointly.
The present invention provides different torques using load pump, realizes digging operating mode under the different soils such as slurry shield machine is soft or hard
Simulation；Using the loading force of four loading hydraulic cylinders of control, the front ground resistance that slurry shield machine is encountered in driving is realized
The simulation of power unevenness, the unequal different loads situation of surrounding ground frictional force；Knot is measured using the universal hinge with incremental encoder
Structure measure each loading hydraulic cylinder deflection angle in the horizontal direction and the vertical direction in real time, it can be achieved that posture resolving.
Compared with prior art, the beneficial effects of the invention are as follows：
It is promoted under the different soils such as the present invention provides different torques by load pump, and convenient realization slurry shield machine is soft or hard
When digging, the reduction of cutterhead actual condition.
The present invention realizes the front that slurry shield machine is encountered in driving by the loading force of four loading hydraulic cylinders of control
The simulation of ground resistance unevenness, the unequal different loads situation of surrounding ground frictional force.
The present invention supports the main body of simulation experiment system by follow-up supporting mechanism, and with moving with it, keeps main body clever
Vertical direction pitching, lifting, horizontal direction torsion, offset, the movement of 5 degree of freedom such as propulsion and retrogressing are carried out livingly.
The present invention by the Hooke hinge device with incremental encoder measure in real time each loading hydraulic cylinder in the horizontal direction and
Deflection angle in vertical direction, and then obtain the current pose of simulation experiment system main body.
Description of the drawings
Fig. 1 is the instance system structural schematic diagram of the present invention.
Fig. 2 be the present invention instance system structure in it is universal hinge measurement structure schematic diagram.
Fig. 3 is the structural schematic diagram of the follow-up supporting mechanism of the present invention.
Fig. 4 is the follow-up hydraulic system schematic diagram of the follow-up supporting mechanism of the present invention.
In figure：1- counter force walls；2- reinforcing bars；The universal hinge measurement structures of 3-；4- hydraulic cylinders；5- flexural pivots；6- force snesors；7-
Load pump；8- speed increasers；9- torque sensors；10- cutterheads；11- gear-boxes；12- drive motors；13- advancing hydraulic pressure components；
14- pressure chamber cylinders；15- muddy water cabin cylinder；16- transition covers；17- follow-up supporting mechanisms；18- bottom plates；301- hold-down supports；
302- incremental encoders；303- cross axles；304- movable bearing supports；1701- floating roofs；1702- articulated shafts；1703- elasticity is kept off
Circle；1704- floating support plates；1705- supporting cylinders；1706- support baseboards；1707- heavy-duty universal balls；1709- fuel tanks,
1710- overflow valves, 1711- motors, 1712- shaft couplings, 1713- hydraulic pumps, 1714- check valves, 1715- accumulators, 1716- tri-
Logical pressure reducing valve, 1717- seat valves.
Specific implementation mode
The example of the present invention is further described below in conjunction with attached drawing：
As shown in Figure 1, present invention specific implementation includes counter force wall 1, simulation experiment system main body, load hydraulic package, pushes away
Into hydraulic package 13, follow-up supporting mechanism 17 and bottom plate 18, the both sides on bottom plate 18 are installed with counter force wall 1, both sides
1 intermediate arrangement of counter force wall has simulation experiment system main body, simulation experiment system bottom part body to be equipped with follow-up supporting mechanism 17, mould
Quasi- pilot system bottom part body is supported in by follow-up supporting mechanism 17 on bottom plate 18, is equipped on 1 metope of counter force wall of side
Four load hydraulic packages, and four advancing hydraulic pressure components are separately installed on 1 metope of counter force wall of other side side, load hydraulic pressure group
Part and advancing hydraulic pressure component are connected to the both sides of simulation experiment system main body；Simulation test system is supported by follow-up supporting mechanism 17
System main body pushes simulation experiment system main body in servo-actuated branch with moving with it, by loading hydraulic package and advancing hydraulic pressure component 13
Support mechanism 17 neatly carried out under supporting vertical direction pitching and lifting, horizontal direction torsion and offset and shield direction into
The movement for five degree of freedom moved back.
Simulation experiment system main body includes being sequentially connected and mutually isolated disconnected pressure chamber cylinder 14, muddy water cabin cylinder
15 and transition cover 16, one end of pressure chamber cylinder 14 counter force wall 1 of side, pressure chamber cylinder are connected to through advancing hydraulic pressure component 13
14 other end is connect with one end of muddy water cabin cylinder 15, and the other end of muddy water cabin cylinder 15 is connect with one end of transition cover 16,
The other end of transition cover 16 is connected to the counter force wall 1 of the other side through loading hydraulic package；Transition cover 16 and muddy water cabin cylinder 15 it
Between end face both is bolted, the one of 16 inner face center of the transition cover fixation speed increaser 8 connect with muddy water cabin cylinder 15
End, load pump 7 are fixedly connected on the other end of speed increaser 8, install gear-box 11 in pressure chamber cylinder 14, in muddy water cabin cylinder 15
Cutterhead 10 is installed, there are two drive motors 12 for 14 peripheral hardware of pressure chamber cylinder, and two drive motors 12 are fixedly installed to and propulsion liquid
On 14 end face of pressure chamber cylinder for pressing the connection of component 13；The output shaft of two drive motors 12 is stretched across 14 end face of pressure chamber cylinder
Enter into pressure chamber cylinder 14 and connected with the input terminal of gear-box 11,11 output end of gear-box passes through 14 end face of pressure chamber cylinder
It extend into muddy water cabin cylinder 15 simultaneously and 10 one end cutterhead axis connection of cutterhead, the output shaft of speed increaser 8 passes through 16 end face of transition cover
It extend into muddy water cabin cylinder 15 and through 10 other end cutterhead axis connection of torque sensor 9 and cutterhead；Drive motor 12 passes through tooth
Roller box 11 drives cutterhead 10 to be rotated around central axis, and load pump 7 passes through speed increaser 8, the cutterhead of torque sensor 9 and cutterhead 10
Axis connection, load pump 7 are placed in slurry environment, and torque loads are provided for cutterhead 10.
Outlet pressure by adjusting the load pump 7 can generate different torques, and can pass through the torque sensing
Device 9 measures and records the different torque operating modes residing for the cutterhead 10, easily to realize the cutterhead 10 in slurry shield machine
When promoting digging under the different soils such as soft or hard, the simulation of actual condition.
Advancing hydraulic pressure component 13 is identical with load hydraulic package structure, is illustrated for loading hydraulic package：Described adds
Load hydraulic component includes hydraulic cylinder 4, universal hinge measurement structure 3, flexural pivot 5 and force snesor 6, and 4 cylinder barrel side of hydraulic cylinder passes through bolt
It is fixedly connected with one end of universal hinge measurement structure 3, the other end of universal hinge measurement structure 3 is fixed by bolt and counter force wall 1
Connection, 4 piston rod side of hydraulic cylinder are connected to force snesor 6 by flexural pivot 5, and force snesor 6 is bolt-connected to simulation test
On the end face of system body, to form parallel institution between counter force wall 1 and simulation experiment system main body.Four hydraulic cylinders 4 are equal
Circumference along 16 end face of transition cover is spaced in uniformly distributed arrangement, and four advancing hydraulic pressure components 13 are along 14 end face of pressure chamber cylinder
Circumference arrange uniformly at intervals.
If it is load hydraulic package, force snesor 6 is bolt-connected on the end face of transition cover 16, counter force wall 1 with
Parallel institution is formed between transition cover 16.If it is advancing hydraulic pressure component 13, then force snesor 6 is bolt-connected to air pressure
On the end face of cabin cylinder 14, parallel institution is formed between counter force wall 1 and pressure chamber cylinder 14.
Universal hinge measurement structure includes hold-down support 301, incremental encoder 302, cross axle 302 and movable bearing support 304, Gu
Determine bearing 301 to be fixed on counter force wall 1, movable bearing support 304 is connected to hydraulic cylinder, between hold-down support 301 and movable bearing support 304
Hinged by cross axle 302, i.e., cross axle 302 is mainly made of two direction rotary shaft interconnections, cross axle 302 wherein one
A symmetrical both ends in direction are articulated with hold-down support 301, and the symmetrical both ends of 302 other direction of cross axle are articulated with movable bearing support
304, incremental encoder 302 is mounted in the both direction rotary shaft of cross axle 302.
The universal hinge measurement structure of the present invention uses hook joint mechanism, and an axis on cross axle connects with hold-down support rotation
It connects to form a revolute pair, and another axis of cross axle is also rotatablely connected to form another revolute pair with movable bearing support, two
The axis of revolute pair intersects vertically, and an incremental encoder is respectively set in two revolute pairs to measure relative rotation and opposite turn respectively
Angle angular speed.Each hydraulic cylinder 4 is measured in real time relative to anti-by two incremental encoders 302 in universal hinge measurement structure 3
The deflection angle of power wall 1 in the horizontal direction and the vertical direction obtains the current appearance of simulation experiment system main body through attitude algorithm
State.
Two 1 tops of counter force wall of both sides are fixedly connected by reinforcing bar 2, to reinforce the constraint frame of entire pilot system
Frame.
Follow-up supporting mechanism 17 is arranged in 16 lower part of transition cover.As shown in figure 3, the servo-actuated support machine that the present invention is embodied
Structure is mainly by floating roof 1701, articulated shaft 1702, circlip 1703, floating support plate 1704, supporting cylinder 1705, support
Bottom plate 1706 and heavy-duty universal ball 1707 form.Floating roof 1701 is recessed cambered surface, and simulation experiment system is placed in cambered surface
Main body, 1701 bottom of floating roof is hinged by articulated shaft 1702 and the top of floating support plate 1704, the floating roof 1701 around
The rotational motion of 1702 axis direction of the articulated shaft, it is solid that 1702 end of articulated shaft is equipped with the progress axial limiting of circlip 1703
Fixed, the quadrangle of 1704 bottom of floating support plate is connected perpendicularly to support baseboard 1706 by respective supporting cylinder 1705 respectively and pushes up
The vertical direction translational motion of the support baseboard 1706 relatively of floating support plate 1704 is realized in face；1706 bottom of support baseboard arranges
There are several heavy-duty universal balls 1707 so that 1706 bottom of support baseboard is connected to placed horizontal plane by rolling, and realizes
Three kinds of front and back translation, left and right translation and the yaw rotation movements of entire follow-up supporting mechanism on the horizontal level.
As shown in figure 4, including follow-up hydraulic system, follow-up hydraulic system is mainly by fuel tank 1709, overflow valve 1710, motor
1711, shaft coupling 1712, hydraulic pump 1713, check valve 1714, accumulator 1715, three-way pressure reducing valve 1716, seat valve 1717 form,
Follow-up hydraulic system is connected to supporting cylinder 1705.The rodless cavity of supporting cylinder 1705 is connected to threeway through seat valve 1717 and subtracts
The A mouths (control mouth) of pressure valve 1716, rod chamber are coupled in parallel to fuel tank 1709, and the T mouths of three-way pressure reducing valve 1716 connect fuel tank, electricity
Machine 1711 is connect through shaft coupling 1712 with the shaft end of hydraulic pump 1713, and the input terminal of hydraulic pump 1713 connects fuel tank 1709, hydraulic pressure
P mouth connection of the output end of pump 1713 through check valve 1714 and three-way pressure reducing valve 1716, overflow valve 1710 are connected in parallel on hydraulic pump
On 1713 input and output both ends, accumulator 1715 is connected to the output end of hydraulic pump 1713, by accumulator 1715 to described
1716P mouthfuls of-A mouthfuls of oil circuit the repairings of electric ratio three-way pressure reducing valve.Four supporting cylinders 1705 of 1704 bottom four corners of floating support plate
Rodless cavity the A mouths of three-way pressure reducing valve 1716 are connected to through seat valve 1717.Three-way pressure reducing valve 1716 in specific implementation is electricity
Ratio three-way pressure reducing valve.
The rodless cavity of four supporting cylinders 1705 of 1704 bottom four corners of floating support plate is connected to three through seat valve 1717
The A mouths of logical pressure reducing valve 1716.Floating roof 1701 is recessed cambered surface, and simulation experiment system main body is placed in cambered surface.
The present invention concrete principle and the course of work be：
When two drive motors 12 drive cutterhead 10 to rotate by gear-box 11, cutterhead 10 is by torque sensor 9 and increases
Fast device 8 drives load pump 7 to rotate, and load pump 7 at this time is in pump condition, adjusts the outlet pressure of load pump 7 and can generate not
Same torque, and can be measured by torque sensor 9 and record the different torque operating modes residing for cutterhead 10, easily to realize knife
The simulation of 10 torque actual condition of disk and accurate reduction.
On the one hand, the pressure for adjusting the hydraulic cylinder rodless cavity in four load hydraulic packages respectively, to such as Fig. 1 transition cover 16
Four 5 junctions of flexural pivot of left side circumferential end surfaces arrangement generate different loading forces.Bolted transition cover, muddy water cabin
The load and posture mould that cylinder and pressure chamber cylinder and wherein fixed load pump 7, cutterhead 10, drive motor 12 etc. are formed
The main body of quasi- pilot system generates horizontal direction deflection, offset and vertical direction pitching, offset since different loading forces applies
Etc. different attitude misalignments.
It is fixed with follow-up supporting mechanism 17, follow-up supporting mechanism lower part and contacts baseplate under transition cover 16, can support whole
The main body of a simulation experiment system, and with moving with it, main body is made neatly to carry out vertical direction pitching, lifting, horizontal direction
Torsion, offset, the movement of 5 degree of freedom such as propulsion and retrogressing.In turn, four hydraulic cylinders 4 are arranged in the upper of transition cover 16
Lower left and right directions, the pressure different by adjusting each hydraulic cylinder 4, if 4 pressure of upper cylinder is big, 4 pressure of lower cylinder
Small, the simulation of firmly lower soft geological in realization, such as left soft right hard operating mode of other operating modes can be realized with similar approach, be achieved in
Slurry shield machine is in actual condition due to front ground resistance unevenness, the mould of the unequal several loads of surrounding ground frictional force
It is quasi-, and attitude misalignment by load 5DOF caused by uneven simulation.
On the other hand, the oil liquid pressure for adjusting the hydraulic cylinder rodless cavity in four advancing hydraulic pressure components respectively, makes bottom left
The hydraulic cylinder of right different location produces four 5 junctions of flexural pivot of 14 right side circumferential end surfaces of pressure chamber cylinder as shown in Figure 1
Raw different propulsive force, and then propulsive force control when simulating slurry shield machine pose adjustment to the propelling hydraulic cylinder of different grouping
System.Support and flexibly servo-actuated, realization posture of the simulation experiment system main body also through follow-up supporting mechanism 17 in pose adjustment
Variation.The bolted universal hinge measurement structure of difference, can measure each load hydraulic pressure in real time on the left of four loading hydraulic cylinders
The deflection angle and angular acceleration of cylinder in the horizontal direction and the vertical direction, and be equipped with each loading hydraulic cylinder stretching speed and
Displacement converts through H-D coordinate transformation methods, can be obtained the pitch angle of load and attitude-simulating pilot system main body, horizontal-shift angle,
The current pose parameter of multiple slurry shield machines such as vertical offset, horizontal offset.
In addition it is for the specific work process of follow-up supporting mechanism：
Simulation experiment system main body is placed in the cambered surface on 1701 top of floating roof but without mechanical connection, is moving
In the process, floating roof 1701 follows the movement of shield body.Follow-up supporting mechanism connects floating roof 1701 using articulated shaft 1702
With floating support plate 1704, rotational motion of the floating roof 1701 around 1702 axis direction of articulated shaft is realized.
Follow-up supporting mechanism is vertically bonded to support baseboard 1706 and floating support plate using four supporting cylinders 1705
Between 1704, vertical direction translational motion of the floating support plate with respect to support baseboard is realized.
Follow-up supporting mechanism is distributed in support baseboard in the following, support baseboard is arranged on steel plate using several heavy-duty universal balls
Side, the heavy-duty universal ball steel plate small with frictional resistance contact and support entire follow-up supporting mechanism.Each heavy-duty universal ball is equal
It can roll on the steel plate, rolling member is sphere, realizes the front and back translation on the horizontal level of entire follow-up supporting mechanism, left and right
Three kinds of translation, rotation movements.
Follow-up hydraulic system uses four supporting cylinders, rodless cavity to be connected in parallel three-way pressure reducing valve A mouthfuls (control mouths), have
Rod cavity parallel connection access fuel tank, by control rodless cavity pressure be a certain value, realize four supporting cylinder power outputs resultant force with
Shield body gravity is equal, offsets shield body dead weight.
Suffered by shield body when resultant force vertical stress component, electric ratio three-way pressure reducing valve spool is stablized in certain position, P-A (oil inlets-
Control mouth) it is turned off with A-T (control mouth-unloading port), rodless cavity oil-free liquid inflow and outflow, shield body is fixed on a certain upright position
On；When the stress of shield body has the component of vertical direction, trend, electric ratio three is decreased or increased in supporting cylinder rodless cavity pressure
Logical pressure reducing valve P-A is opened or A-T is opened, and rodless cavity has fluid to flow in or out, to meet supporting cylinder rodless cavity pressure guarantor
Hold constant, dynamic to offset shield body gravity, shield body rises or falls.
System cuts off supporting cylinder rodless cavity oil circuit using seat valve 1717, realizes the locking of shield body upright position；Using
Accumulator 1715 realizes shield body when rapid vertical rises, the repairing of the P-A oil circuits of electric ratio three-way pressure reducing valve 1716.
By above-mentioned implementation as it can be seen that the present invention provides different torques by load pump, slurry shield machine can be easily realized
When promoting digging under the different soils such as soft or hard, the reduction of cutterhead actual condition realizes that slurry shield machine encounters just in driving
The simulation of face ground resistance unevenness, the unequal different loads situation of surrounding ground frictional force, further includes the movement of five degree of freedom,
Significant technique effect is protruded with it.
Claims (10)
1. a kind of slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system, it is characterised in that：Including anti-
Power wall (1), simulation experiment system main body, load hydraulic package, advancing hydraulic pressure component (13), follow-up supporting mechanism (17) and bottom plate
(18), the both sides on bottom plate (18) are installed with counter force wall (1), and counter force wall (1) intermediate arrangement of both sides has simulation test
System body, simulation experiment system bottom part body are equipped with follow-up supporting mechanism (17), are installed on counter force wall (1) metope of side
There are four hydraulic package is loaded, it is separately installed with four advancing hydraulic pressure components on counter force wall (1) metope of other side side, loads liquid
Pressure component and advancing hydraulic pressure component are connected to the both sides of simulation experiment system main body；By loading hydraulic package and advancing hydraulic pressure group
Part (13) pushes simulation experiment system main body to carry out vertical direction pitching under follow-up supporting mechanism (17) support and lift, is horizontal
Direction is reversed and the movement of five degree of freedom of the advance and retreat in offset and shield direction.
2. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating experiment system
System, it is characterised in that：The simulation experiment system main body includes being sequentially connected and mutually isolated disconnected pressure chamber cylinder
(14), one end of muddy water cabin cylinder (15) and transition cover (16), pressure chamber cylinder (14) is connected to through advancing hydraulic pressure component (13)
The other end of the counter force wall (1) of side, pressure chamber cylinder (14) is connect with one end of muddy water cabin cylinder (15), muddy water cabin cylinder
(15) the other end is connect with the one end of transition cover (16), the other end of transition cover (16) through load hydraulic package be connected to it is another
The counter force wall (1) of side；
One end of speed increaser (8) is fixed at transition cover (16) the inner face center being connect with muddy water cabin cylinder (15), and load pump (7) is solid
Surely it is connected to the other end of speed increaser (8), gear-box (11) is installed in pressure chamber cylinder (14), is installed in muddy water cabin cylinder (15)
Cutterhead (10), there are two drive motor (12), two drive motors (12) to be fixedly installed to and push away for pressure chamber cylinder (14) peripheral hardware
On pressure chamber cylinder (14) end face connected into hydraulic package (13)；
The output shaft of two drive motors (12) extend into pressure chamber cylinder (14) across pressure chamber cylinder (14) end face and and
The input terminal of gear-box (11) connects, and gear-box (11) output end extend into muddy water cabin cylinder across pressure chamber cylinder (14) end face
(15) in and and cutterhead (10) one end cutterhead axis connection, the output shaft of speed increaser (8) extend into mud across transition cover (16) end face
In water tank cylinder (15) and through torque sensor (9) and cutterhead (10) other end cutterhead axis connection；Drive motor (12) passes through tooth
Roller box (11) driving cutterhead (10) is rotated around central axis, and load pump (7) passes through speed increaser (8), torque sensor (9) and knife
The cutterhead axis connection of disk (10) provides torque loads for cutterhead (10).
3. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 2 and attitude-simulating experiment system
System, it is characterised in that：The follow-up supporting mechanism (17) is arranged in transition cover (16) lower part.
4. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 2 and attitude-simulating experiment system
System, it is characterised in that：Circumference of four hydraulic cylinders (4) along transition cover (16) end face is spaced in uniformly distributed arrangement, and four push away
Circumference into hydraulic package (13) along pressure chamber cylinder (14) end face is arranged uniformly at intervals.
5. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating experiment system
System, it is characterised in that：The advancing hydraulic pressure component (13) is identical with load hydraulic package structure, for loading hydraulic package
Explanation：The load hydraulic package includes hydraulic cylinder (4), universal hinge measurement structure (3), flexural pivot (5) and force snesor (6),
Hydraulic cylinder (4) cylinder barrel side is fixedly connected by bolt with one end of universal hinge measurement structure (3), universal hinge measurement structure (3)
The other end is fixedly connected by bolt with counter force wall (1), and hydraulic cylinder (4) piston rod side is connected to force snesor by flexural pivot (5)
(6), force snesor (6) is bolt-connected on the end face of simulation experiment system main body.
6. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 5 and attitude-simulating experiment system
System, it is characterised in that：The universal hinge measurement structure includes hold-down support (301), incremental encoder (302), cross axle (302)
With movable bearing support (304), hold-down support (301) is fixed on counter force wall (1), and movable bearing support (304) is connected to hydraulic cylinder, fixed
It is hinged by cross axle (302) between bearing (301) and movable bearing support (304), in the both direction rotary shaft of cross axle (302)
It is mounted on incremental encoder (302).
7. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating experiment system
System, it is characterised in that：Two counter force wall (1) tops of both sides are fixedly connected by reinforcing bar (2).
8. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating experiment system
System, it is characterised in that：The follow-up supporting mechanism (17) includes floating roof (1701), articulated shaft (1702), floating support plate
(1704), supporting cylinder (1705), support baseboard (1706) and heavy-duty universal ball (1707)；Floating roof (1701) bottom is logical
It crosses articulated shaft (1702) to be hinged at the top of floating support plate (1704), the floating roof (1701) is around the articulated shaft (1702) axis
The quadrangle of the rotational motion in line direction, floating support plate (1704) bottom is vertically connected by respective supporting cylinder (1705) respectively
It is connected to support baseboard (1706) top surface, realizes vertical direction translation fortune of the floating support plate (1704) with respect to support baseboard (1706)
It is dynamic；Support baseboard (1706) bottom is uniformly equipped with several heavy-duty universal balls (1707).
9. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 8 and attitude-simulating experiment system
System, it is characterised in that：Further include mainly by fuel tank (1709), overflow valve (1710), motor (1711), shaft coupling (1712), liquid
Press pump (1713), accumulator (1715), check valve (1714), three-way pressure reducing valve (1716), seat valve (1717) composition with hydrodynamic
Pressure system, follow-up hydraulic system are connected to supporting cylinder (1705)；The rodless cavity of supporting cylinder (1705) is through seat valve
(1717) the A mouths of three-way pressure reducing valve (1716) are connected to, rod chamber is coupled in parallel to fuel tank (1709), three-way pressure reducing valve (1716)
T mouths connect fuel tank, motor (1711) connect through shaft coupling (1712) with the shaft end of hydraulic pump (1713), hydraulic pump (1713)
Input terminal connects fuel tank (1709), P of the output end through check valve (1714) and three-way pressure reducing valve (1716) of hydraulic pump (1713)
Mouth connection, overflow valve (1710) are connected in parallel on the input and output both ends of hydraulic pump (1713), and accumulator (1715) is connected to hydraulic pressure
The output end for pumping (1713), by accumulator (1715) to described electric ratio three-way pressure reducing valve (1716) P mouthfuls of-A mouthfuls of oil circuit repairings.
10. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 8 and attitude-simulating experiment system
System, it is characterised in that：By the rodless cavity pressure for controlling supporting cylinder (1705) so that four supporting cylinders
(1705) resultant force of power output is equal with the shield body gravity placed on floating roof (1701), to offset shield body dead weight.Pass through seat
Supporting cylinder (1705) the rodless cavity oil circuit is cut off in valve (1717) control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810050290.9A CN108343443B (en) | 2018-01-18 | 2018-01-18 | Slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810050290.9A CN108343443B (en) | 2018-01-18 | 2018-01-18 | Slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system |
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| CN108343443B CN108343443B (en) | 2019-07-26 |
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| CN109406389A (en) * | 2018-10-09 | 2019-03-01 | 南京林业大学 | Mud cake bond strength test device and test method on shield model test cutterhead |
| CN109882465A (en) * | 2019-03-29 | 2019-06-14 | 中铁工程装备集团有限公司 | A kind of tunnel duct piece supporting proportional and synchronous hydraulic control system and its control method |
| CN109944841A (en) * | 2019-04-23 | 2019-06-28 | 中铁工程装备集团有限公司 | The multiple groups of annular support boots are associated with the autonomous oil-supplementing system of oil-tank floating |
| CN111337278A (en) * | 2020-02-24 | 2020-06-26 | 清华大学 | TBM (tunnel boring machine) simulation test device and test method thereof |
| CN111829804A (en) * | 2020-07-24 | 2020-10-27 | 上海隧道工程有限公司 | Shield propulsion simulation test platform |
| CN113240999A (en) * | 2021-06-22 | 2021-08-10 | 腾达建设集团股份有限公司 | Test device and test method for improving muck synchronously during shield tunneling and soil cutting |
| CN114112466A (en) * | 2021-11-24 | 2022-03-01 | 盾构及掘进技术国家重点实验室 | Experimental platform for simulating tunneling state of tunnel boring machine |
| CN115493867A (en) * | 2022-11-17 | 2022-12-20 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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| CN115493867A (en) * | 2022-11-17 | 2022-12-20 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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