CN108343443B - Slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system - Google Patents
Slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system Download PDFInfo
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- CN108343443B CN108343443B CN201810050290.9A CN201810050290A CN108343443B CN 108343443 B CN108343443 B CN 108343443B CN 201810050290 A CN201810050290 A CN 201810050290A CN 108343443 B CN108343443 B CN 108343443B
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- 238000004088 simulation Methods 0.000 title claims abstract description 76
- 239000002002 slurry Substances 0.000 title claims abstract description 37
- 238000012360 testing method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 238000007667 floating Methods 0.000 claims description 36
- 230000007704 transition Effects 0.000 claims description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 26
- 239000002828 fuel tank Substances 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001141 propulsive effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000005641 tunneling Effects 0.000 description 3
- 239000010727 cylinder oil Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000011426 transformation method Methods 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot systems.Two sides on bottom plate are fixedly installed with counter force wall, the counter force wall intermediate arrangement of two sides has simulation experiment system main body, simulation experiment system bottom part body is equipped with follow-up supporting mechanism, the two sides of simulation experiment system main body are connected to equipped with load hydraulic package and advancing hydraulic pressure component, two hydraulic packages on counter force wall metope；Five freedom degree movements are carried out under follow-up supporting mechanism support by load hydraulic package and advancing hydraulic pressure components drive simulation experiment system main body.The present invention realizes the simulation of digging operating condition 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；It can the deflection angle of each loading hydraulic cylinder of real-time measurement in the horizontal direction and the vertical direction.
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 driving and attitude-simulating pilot system.
Technical background
Shield is to be generally divided into slurry balance shield, soil pressure balance shielding for the Grand Equipments of underground tunnel project construction
Structure, air pressure balance shield three classes.Slurry balance shield is adapted to water content sand gravel and cobble stratum abundant, 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 only need provide 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 guarantees that shield is tunneled along Tunnel Design axis.Shield machine motion profile 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 shield by the key of design axis driving.
On the other hand, the size of propulsive force provided by propulsion system 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 shield tail backboard by ball strand, and piston-rod end is connect with support boots flexural pivot, and support boots are pressed in assembled paving
On well laid pipe-plate lining, reaction force is provided.The propelling hydraulic cylinder of propulsion system generallys use zonal control mode, is four groups
Subregion and five groups two kinds of subregion.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
Constrain it is more so that its freedom degree 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.
Summary of the invention
In order to solve the problems, such as that background technique, the present invention have extensively studied slurry balance shield cutter plate driver and appearance
State adjustment aspect, provides a kind of slurry balance shield comprehensive simulation test platform driving and attitude-simulating pilot system, 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
The simulation of frictional force unequal loads can support shield body by follow-up supporting mechanism, and the posture of five degree of freedom is completed with it
Simulation, can pass through the Hooke hinge device real-time measurement shield body posture with incremental encoder.
The technical solution adopted by the present invention is that:
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 two sides on bottom plate are fixedly installed with counter force wall, and the counter force wall intermediate arrangement of two 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 two sides of simulation experiment system main body；Pass through load 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 freedom degrees 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
The counter force wall that end is connected to the other side through loading hydraulic package；The transition cover inner face center connecting with muddy water cabin cylinder is fixed to be increased
One end of fast device, load pump are fixedly connected on the other end of speed increaser, installation 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 passes through pressure chamber body end surface and extend into 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
Disk one end cutterhead axis connection, the output shaft of speed increaser pass through transition cover end face and extend into the cylinder of muddy water cabin and through torque sensor
With cutterhead other end cutterhead axis connection；Drive motor drives cutterhead to rotate around central axis by gear-box, and load pump passes through
The cutterhead axis connection of speed increaser, torque sensor and cutterhead, provides torque loads for cutterhead.
Outlet pressure by adjusting the load pump can produce different torques, and can pass through the torque sensor
Measure and record different torque operating conditions locating 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 Yu attitude-simulating pilot system, and follow
Transition cover moves, and main body is made neatly to carry out vertical direction pitching, lifting, horizontal direction torsion, offset, propulsion and retrogressing etc. 5
The movement of a freedom degree.
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: 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 two sides are fixedly connected by reinforcing bar.
The follow-up supporting mechanism include floating roof, articulated shaft, floating supporting plate, supporting cylinder, support baseboard and
Heavy-duty universal ball；Floating roof bottom is by hinged at the top of articulated shaft and floating supporting plate, and the floating roof is around the articulated shaft
The rotational motion of axis direction, the quadrangle of floating the bottom of the support plate pass through respective supporting cylinder respectively and are connected perpendicularly to support bottom
Plate top surface realizes vertical direction translational motion of the floating supporting plate with respect to support baseboard；If support baseboard bottom is uniformly 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
It is connected to the A mouth of three-way pressure reducing valve, rod chamber is coupled in parallel to fuel tank, and the T mouth of three-way pressure reducing valve connects fuel tank, and motor is through shaft coupling
The connection of the shaft end of device and hydraulic pump, the input terminal of hydraulic pump connect fuel tank, and the output end of hydraulic pump is depressurized through check valve and threeway
The P mouth of valve connects, 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, leads to
Accumulator is crossed to P mouthfuls of-A mouthfuls of oil circuit repairings of the electric ratio three-way pressure reducing valve.
By controlling the rodless cavity pressure of 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 self weight.The supporting cylinder is cut off without bar by seat valve control
Chamber oil circuit.
The present invention passes through the hydraulic cylinder oil pressure pressure for adjusting 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 as load five freedom degrees 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 is as shown in figure 1 simulation experiment system main body around the axis rotary motion perpendicular to paper.
The described vertical direction lifting refers to simulation experiment system main body along perpendicular to shield driving direction and horizontal plane
Upper and lower translation movement, moves for simulation experiment system main body along moving up and down for parallel paper as shown in figure 1.
The horizontal direction torsion refers to simulation experiment system main body around the rotation of the linear axis both perpendicular to horizontal plane
Transhipment is dynamic, is as shown in figure 1 simulation experiment system main body 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, is as shown in figure 1 mould
Quasi- pilot system main body is along the inside and outside moving movement perpendicular to paper.
Shield direction refers to left and right horizontal moving direction as shown in figure 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 of only one advancing hydraulic pressure, is provided in two sides and carries out hydraulic add
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 test of slurry balance shield comprehensive simulation test platform are realized jointly.
The present invention provides different torques using load pump, realizes digging operating condition 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
The each loading hydraulic cylinder of structure real-time measurement deflection angle in the horizontal direction and the vertical direction, it can be achieved that posture resolving.
Compared with prior art, the beneficial effects of the present invention are:
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 freedom degrees such as propulsion and retrogressing are carried out livingly.
The present invention by each loading hydraulic cylinder of Hooke hinge device real-time measurement with incremental encoder in the horizontal direction and
Deflection angle in vertical direction, and then obtain the current pose of simulation experiment system main body.
Detailed description of the invention
Fig. 1 is instance system structural schematic diagram of the invention.
Fig. 2 is the schematic diagram of universal hinge measurement structure in instance system structure of the invention.
Fig. 3 is the structural schematic diagram of follow-up supporting mechanism of the invention.
Fig. 4 is the follow-up hydraulic system schematic diagram of follow-up supporting mechanism of the invention.
In figure: 1- counter force wall；2- reinforcing bar；The universal hinge measurement structure of 3-；4- hydraulic cylinder；5- flexural pivot；6- force snesor；7-
Load pump；8- speed increaser；9- torque sensor；10- cutterhead；11- gear-box；12- drive motor；13- advancing hydraulic pressure component；
14- pressure chamber cylinder；15- muddy water cabin cylinder；16- transition cover；17- follow-up supporting mechanism；18- bottom plate；301- hold-down support；
302- incremental encoder；303- cross axle；304- movable bearing support；1701- floating roof；1702- articulated shaft；1703- elasticity gear
Circle；1704- floating supporting plate；1705- supporting cylinder；1706- support baseboard；1707- heavy-duty universal ball；1709- fuel tank,
1710- overflow valve, 1711- motor, 1712- shaft coupling, 1713- hydraulic pump, 1714- check valve, 1715- accumulator, 1716- tri-
Logical pressure reducing valve, 1717- seat valve.
Specific embodiment
Example of the 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 two sides on bottom plate 18 are fixedly installed with counter force wall 1, two sides
1 intermediate arrangement of counter force wall has simulation experiment system main body, and simulation experiment system bottom part body is equipped with follow-up supporting mechanism 17, mould
Quasi- pilot system bottom part body is supported on bottom plate 18 by follow-up supporting mechanism 17, is equipped on 1 metope of counter force wall of side
Four load hydraulic packages are separately installed with four advancing hydraulic pressure components on 1 metope of counter force wall of other side side, load hydraulic group
Part and advancing hydraulic pressure component are connected to the two 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 load 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 freedom degrees 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 counter force wall 1 that the other end of transition cover 16 is connected to 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, installation 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 component 13 to connect；The output shaft of two drive motors 12 passes through 14 end face of pressure chamber cylinder and stretches
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 rotate 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, provide torque loads for cutterhead 10.
Outlet pressure by adjusting the load pump 7 can produce different torques, and can pass through the torque sensing
Device 9 measures and records different torque operating conditions locating 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 support 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.
Universal hinge measurement structure of the invention uses hook joint mechanism, and the axis and hold-down support rotation on cross axle connect
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 set in two revolute pairs respectively to measure relative rotation and opposite turn respectively
Angle angular speed.By each hydraulic cylinder of two 302 real-time measurements of incremental encoder 4 in universal hinge measurement structure 3 relative to anti-
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 two 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 supporting plate 1704, supporting cylinder 1705, support
Bottom plate 1706 and heavy-duty universal ball 1707 form.Floating roof 1701 is recessed cambered surface, places simulation experiment system in cambered surface
Main body, 1701 bottom of floating roof is hinged by articulated shaft 1702 and the top of floating supporting plate 1704, the floating roof 1701 around
The rotational motion of 1702 axis direction of 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 supporting plate passes through respective supporting cylinder 1705 respectively and is connected perpendicularly to the top of support baseboard 1706
Vertical direction translational motion of the floating supporting plate 1704 with respect to support baseboard 1706 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, realizes
Front and back translation, left and right translation and three kinds of 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 mouth (control mouth) of pressure valve 1716, rod chamber are coupled in parallel to fuel tank 1709, and the T mouth of three-way pressure reducing valve 1716 connects 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
The output end of pump 1713 is connected through the P mouth of check valve 1714 and three-way pressure reducing valve 1716, and overflow valve 1710 is 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 supporting plate
Rodless cavity the A mouth of three-way pressure reducing valve 1716 is 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 supporting plate is connected to three through seat valve 1717
The A mouth of logical pressure reducing valve 1716.Floating roof 1701 is recessed cambered surface, places simulation experiment system main body in cambered surface.
Concrete principle and the course of work of the invention is:
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, and the outlet pressure for adjusting load pump 7 can produce not
Same torque, and different torque operating conditions locating for cutterhead 10 can be measured and recorded by torque sensor 9, 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
Left side circumferential end surfaces arrangement four 5 junctions of flexural pivot generate different loading forces.Bolted transition cover, muddy water cabin
Load and posture mould composed by cylinder and pressure chamber cylinder and wherein fixed load pump 7, cutterhead 10, drive motor 12 etc.
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, so that main body is neatly carried out vertical direction pitching, lifting, horizontal direction
Torsion, offset, the movement of 5 freedom degrees 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, by adjusting the different pressure of 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 condition of other operating conditions 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 the simulation of the attitude misalignment as load 5DOF caused by uneven.
On the other hand, the oil liquid pressure for adjusting the hydraulic cylinder rodless cavity in four advancing hydraulic pressure components respectively, makes a left side up and down
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.Simulation experiment system main body in pose adjustment is servo-actuated also through the support of follow-up supporting mechanism 17 with flexible, realizes posture
Variation.It is hydraulic can to measure each load in real time for the bolted universal hinge measurement structure of difference 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 method, 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 supporting plate 1704, realize floating roof 1701 around the rotational motion of 1702 axis direction of articulated shaft.
Follow-up supporting mechanism is vertically bonded to support baseboard 1706 and floating supporting plate using four supporting cylinders 1705
Between 1704, vertical direction translational motion of the floating supporting 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 that the front and back of entire follow-up supporting mechanism on the horizontal level is translatable, controls
Three kinds of translation, rotation movements.
Follow-up hydraulic system uses four supporting cylinders, and rodless cavity is connected in parallel A mouthfuls of three-way pressure reducing valve (control mouth), has
Rod cavity parallel connection accesses fuel tank, is a certain value by control rodless cavity pressure, realize the resultant forces of four supporting cylinder power outputs with
Shield body gravity is equal, offsets shield body self 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 inlet-
Control mouth) it is turned off with A-T (control mouth-unloading port), the oil-free liquid inflow and outflow of rodless cavity, 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 oil liquid 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
The realization shield body of accumulator 1715 is when rapid vertical rises, the repairing of the P-A oil circuit 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 freedom degrees,
Significant technical effect is protruded with it.
Claims (9)
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 two sides on bottom plate (18) are fixedly installed with counter force wall (1), and counter force wall (1) intermediate arrangement of two 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 two sides of simulation experiment system main body；Pass through load 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 go up and down, is horizontal
The movement of five freedom degrees of the advance and retreat in direction torsion and offset and shield direction；
The 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) are connected to the counter force wall of side through advancing hydraulic pressure component (13)
(1), the other end of pressure chamber cylinder (14) is connect with one end of muddy water cabin cylinder (15), the other end of muddy water cabin cylinder (15) with
One end of transition cover (16) connects, the counter force wall (1) that the other end of transition cover (16) is connected to the other side through loading hydraulic package；
The one end at transition cover (16) the inner face center fixed speed increaser (8) connecting with muddy water cabin cylinder (15), load pump (7) are solid
Surely it is connected to the other end of speed increaser (8), gear-box (11) are installed in pressure chamber cylinder (14), installation 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
Into on pressure chamber cylinder (14) end face of hydraulic package (13) connection；
The output shaft of two drive motors (12) pass through pressure chamber cylinder (14) end face extend into pressure chamber cylinder (14) and and
The input terminal of gear-box (11) connects, and gear-box (11) output end passes through pressure chamber cylinder (14) end face and extend into muddy water cabin cylinder
(15) it passes through transition cover (16) end face in and with cutterhead (10) one end cutterhead axis connection, the output shaft of speed increaser (8) and extend into mud
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).
2. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating test system
System, it is characterised in that: the follow-up supporting mechanism (17) is arranged in transition cover (16) lower part.
3. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating test 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.
4. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating test system
System, it is characterised in that: the advancing hydraulic pressure component (13) the load hydraulic package identical, described with load hydraulic package structure
Including hydraulic cylinder (4), universal hinge measurement structure (3), flexural pivot (5) and force snesor (6), hydraulic cylinder (4) cylinder barrel side 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) passes through bolt and counter force wall
(1) it is fixedly connected, hydraulic cylinder (4) piston rod side is connected to force snesor (6) by flexural pivot (5), and force snesor (6) passes through bolt
It is connected on the end face of simulation experiment system main body.
5. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 4 and attitude-simulating test system
System, it is characterised in that: the universal hinge measurement structure includes hold-down support (301), incremental encoder (302), cross axle (303)
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
Between support (301) and movable bearing support (304) hingedly by cross axle (303), in the both direction rotary shaft of cross axle (303)
It is mounted on incremental encoder (302).
6. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating test system
System, it is characterised in that: two counter force wall (1) tops of two sides are fixedly connected by reinforcing bar (2).
7. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 1 and attitude-simulating test system
System, it is characterised in that: the follow-up supporting mechanism (17) includes floating roof (1701), articulated shaft (1702), floating supporting plate
(1704), supporting cylinder (1705), support baseboard (1706) and heavy-duty universal ball (1707)；Floating roof (1701) bottom is logical
It crosses at the top of articulated shaft (1702) and floating supporting plate (1704) hingedly, the floating roof (1701) is around the articulated shaft (1702) axis
The rotational motion in line direction, the quadrangle of floating supporting plate (1704) bottom pass through respective supporting cylinder (1705) respectively and vertically connect
It is connected to support baseboard (1706) top surface, realizes that floating supporting plate (1704) are translatable with respect to the vertical direction of support baseboard (1706) and transports
It is dynamic；Support baseboard (1706) bottom is uniformly equipped with several heavy-duty universal balls (1707).
8. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 7 and attitude-simulating test 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) it is connected to the A mouth of three-way pressure reducing valve (1716), rod chamber is coupled in parallel to fuel tank (1709), three-way pressure reducing valve (1716)
T mouth 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 of hydraulic pump (1713) through check valve (1714) and three-way pressure reducing valve (1716)
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
The output end for pumping (1713), by accumulator (1715) to P mouthfuls of-A mouthfuls of oil circuit repairings of the three-way pressure reducing valve (1716).
9. a kind of slurry balance shield comprehensive simulation test platform driving according to claim 7 and attitude-simulating test system
System, it is characterised in that: by controlling the rodless cavity pressure of supporting cylinder (1705), so that four supporting cylinders
(1705) the shield body gravity placed on the resultant force of power output and floating roof (1701) is equal, to offset shield body self weight, passes through seat
Supporting cylinder (1705) the rodless cavity oil circuit is cut off in valve (1717) control.
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| CN109406389B (en) * | 2018-10-09 | 2021-11-19 | 南京林业大学 | Device and method for testing bonding strength of mud cake on cutter head of shield model test |
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| CN111337278B (en) * | 2020-02-24 | 2022-11-01 | 清华大学 | TBM (tunnel boring machine) simulation test device and test method thereof |
| CN111829804B (en) * | 2020-07-24 | 2023-03-24 | 上海隧道工程有限公司 | Shield propulsion simulation test platform |
| CN113240999B (en) * | 2021-06-22 | 2023-03-14 | 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 |
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| CN115095340A (en) * | 2022-07-12 | 2022-09-23 | 中国铁建重工集团股份有限公司 | Method, device and medium for adjusting thrust load of shield tunneling machine |
| CN115493867B (en) * | 2022-11-17 | 2023-01-31 | 沈阳建筑大学 | Simulation experiment equipment for double-shield TBM hydraulic propulsion system |
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