CN108343443B - Slurry Balance Shield Comprehensive Simulation Test Bed Driving and Attitude Simulation Test System - Google Patents

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

Slurry Balance Shield Comprehensive Simulation Test Bed Driving and Attitude Simulation Test System

technical field

The invention relates to a simulation test system, in particular to a tunneling and attitude simulation test system of a mud-water balance shield comprehensive simulation test bed.

technical background

Shield is a major equipment used for underground tunnel engineering construction, generally divided into three types: mud-water balance shield, earth pressure balance shield, and air pressure balance shield. The mud-water balance shield is suitable for the gravel and pebble formation with rich water content, and can effectively solve the problem of excavation surface stability. In the occasions where the overburden is shallow and the surface settlement control is strictly controlled, the mud-water balance shield has outstanding advantages in precise control and has been widely used. It is used in the construction of submarine tunnels, cross-river tunnels and underground projects in coastal cities.

As a key subsystem of the shield, the propulsion system not only needs to provide enough driving force to overcome the earth pressure acting on the front of the cutter head, the friction on the shield shell, the friction of the shield tail sealing brush and other resistances to drive the shield forward, but also By controlling the propelling attitude of the shield, it is ensured that the shield is driven along the design axis of the tunnel. The positional deviation between the movement trajectory of the shield machine and the design axis of the tunnel directly affects the construction quality of the tunnel. Due to the uneven stratum in the shield tunneling process and the structure of the shield itself, the misalignment of the shield tunnel trajectory is one of the many problems that plague the shield tunnel construction. Measuring and controlling the posture of the shield tunnel machine during the construction process is to ensure the shield tunnel. The key to excavating according to the design axis.

On the other hand, the size of the propulsion force provided by the propulsion system directly affects the cutting force of the excavation cutter head, so the propulsion system not only affects the posture of the shield during the construction process, but also has a profound impact on its excavation process. , which is the coupling effect of multiple systems.

The propulsion of the mud-water shield machine is realized by connecting multiple propulsion cylinders arranged along the circumference of the shield tail. , the support shoe is pressed on the assembled and spread segment lining to provide reaction force. The propulsion hydraulic cylinder of the propulsion system usually adopts the partition control method, which is divided into four groups and five groups. By controlling the stroke or propulsion force of the hydraulic cylinders in different zones, the attitude of the shield is controlled.

The mud-water balance shield has six degrees of freedom of motion in the project. In the existing mud-water shield test bench, the shield body has many constraints, which reduces the degree of freedom to less than 3, and can complete three types of pitch, deflection and propulsion at most. Attitude adjustment is quite different from the actual situation, and the attitude of most test benches cannot be measured and has certain limitations.

SUMMARY OF THE INVENTION

In order to solve the problems existing in the background technology, the present invention deeply studies the driving and attitude adjustment of the mud-water balance shield cutter head, and provides a tunneling and attitude simulation test system for a mud-water balance shield comprehensive simulation test bed, which can conveniently realize the cutter head. To restore the actual working conditions of torque, the load simulation of uneven frontal rock and soil resistance and uneven rock and soil friction can be carried out through the loading force of the loading cylinder, and the shield body can be supported by the follow-up support mechanism, and the five freedoms can be completed with it. The attitude simulation of 10 degrees can be used to measure the attitude of the shield body in real time through the Hook hinge device with incremental encoder.

The technical scheme adopted in the present invention is:

The invention includes a reaction wall, a simulation test system main body, a loading hydraulic component, a propelling hydraulic component, a follow-up support mechanism and a base plate. The reaction walls are fixedly installed on both sides of the base plate, and a simulation is arranged in the middle of the reaction walls on both sides. The main body of the test system, a follow-up support mechanism is installed at the bottom of the main body of the simulation test system, four loading hydraulic components are installed on the reaction wall on one side, and four propulsion components are installed on the reaction wall on the other side. The hydraulic components, the loading hydraulic components and the propulsion hydraulic components are connected to both sides of the main body of the simulation test system; the main body of the simulation test system is pushed through the loading hydraulic components and the propulsion hydraulic components to be vertically pitched and lifted and horizontally twisted under the support of the follow-up support mechanism Motion of five degrees of freedom with offset and forward and backward in the direction of the shield.

The main body of the simulation test system includes an air pressure cabin cylinder, a muddy water tank cylinder and a transition cover that are connected in sequence and are isolated from each other. The other end of the cylinder is connected to one end of the muddy water tank, the other end of the muddy tank is connected to one end of the transition cover, and the other end of the transition cover is connected to the reaction wall on the other side through the loading hydraulic assembly; One end of the speed increaser is fixed at the center of the inner end face of the transition cover connected to the cylinder body, and the loading pump is fixedly connected to the other end of the speed increaser. The gear box is installed in the cylinder of the air pressure chamber, the cutter head is installed in the cylinder of the muddy water tank, and the outside of the cylinder of the air pressure chamber is provided with a gear box. Two drive motors, which are fixedly installed on the end face of the air pressure chamber cylinder connected to the propulsion hydraulic assembly; the output shafts of the two drive motors extend through the end face of the air pressure chamber body into the air pressure chamber body and connect with the gear box The input end of the gearbox is connected, the output end of the gear box protrudes into the muddy water tank body through the end face of the air pressure tank and is connected with the cutter head shaft at one end of the cutter head, and the output shaft of the speed increaser passes through the end face of the transition cover and protrudes into the muddy water tank. The body is connected with the cutter head shaft at the other end of the cutter head through the torque sensor; the drive motor drives the cutter head to rotate around its central axis through the gear box, and the loading pump is connected with the cutter head shaft of the cutter head through the speed increaser, torque sensor, and provides the cutter head. torque load.

Different torques can be generated by adjusting the outlet pressure of the loading pump, and the different torque conditions of the cutter head can be measured and recorded by the torque sensor, so as to conveniently realize the cutter head in the muddy water shield tunnel Simulation of actual working conditions when excavating under different soil layers such as machine hardness and softness.

The follow-up support mechanism is arranged at the lower part of the transition cover. In the present invention, a follow-up support mechanism is fixed under the transition cover, and the lower part of the follow-up support mechanism is in contact with the bottom plate, which can support the main body of the entire load and attitude simulation test system, and follow the movement of the transition cover, so that the main body can flexibly pitch in the vertical direction, Movements with 5 degrees of freedom such as lifting, horizontal twisting, offset, advancing and retreating.

The four hydraulic cylinders are evenly spaced along the circumference of the end face of the transition hood, and the four propulsion hydraulic components are evenly spaced along the circumference of the end face of the air chamber cylinder.

The propulsion hydraulic assembly and the loading hydraulic assembly have the same structure. Taking the loading hydraulic assembly as an example, the loading hydraulic assembly includes a hydraulic cylinder, a universal joint measuring structure, a ball joint and a force sensor. The cylinder side of the hydraulic cylinder passes through bolts. It is fixedly connected to one end of the universal hinge measurement structure, the other end of the universal hinge measurement structure is fixedly connected to the reaction wall through bolts, the piston rod side of the hydraulic cylinder is connected to the force sensor through a ball joint, and the force sensor is connected to the simulation test system through bolts on the end face of the main body.

The universal joint measurement structure includes a fixed support, an incremental encoder, a cross shaft and a movable support. The fixed support is fixed on the reaction force wall, the movable support is connected to the hydraulic cylinder, and the fixed support and the movable support are connected. They are hinged through a cross shaft, and incremental encoders are installed on the rotating shafts in both directions of the cross shaft.

The upper parts of the two reaction walls on both sides are fixedly connected by reinforcing rods.

The follow-up support mechanism includes a floating top plate, a hinge shaft, a floating support plate, a supporting hydraulic cylinder, a supporting bottom plate and a heavy-duty universal ball; the bottom of the floating top plate is hinged with the top of the floating support plate through a hinge shaft, and the floating According to the rotational movement in the axial direction of the hinge shaft, the four corners of the bottom of the floating support plate are vertically connected to the top surface of the support base plate through their respective support hydraulic cylinders, so as to realize the vertical translation movement of the floating support plate relative to the support base plate; the bottom of the support base plate is evenly arranged There are several overloaded swivel balls.

It also includes a follow-up hydraulic system mainly composed of a fuel tank, a relief valve, a motor, a coupling, a hydraulic pump, an accumulator, a one-way valve, a three-way pressure reducing valve, and a seat valve. The follow-up hydraulic system is connected to the supporting hydraulic system. Cylinder; the rodless cavity of the supporting hydraulic cylinder is connected to the A port of the three-way pressure reducing valve through the seat valve, the rod cavity is connected to the oil tank in parallel, the T port of the three-way pressure reducing valve is connected to the oil tank, and the motor is connected to the hydraulic pressure through the coupling. The shaft end of the pump is connected, the input end of the hydraulic pump is connected to the oil tank, the output end of the hydraulic pump is connected through the one-way valve and the P port of the three-way pressure reducing valve, and the relief valve is connected in parallel with the input and output ends of the hydraulic pump to store energy. The device is connected to the output end of the hydraulic pump, and oil is supplied to the P port-A port oil circuit of the electric proportional three-way pressure reducing valve through the accumulator.

By controlling the rodless cavity pressure of the supporting hydraulic cylinders, the resultant force of the output forces of the four supporting hydraulic cylinders is equal to the weight of the shield body placed on the floating roof, so as to offset the self-weight of the shield body. The oil circuit of the rodless cavity of the support hydraulic cylinder is cut off through the control of the seat valve.

The present invention generates different propulsion forces on the end face of the air chamber cylinder by adjusting the hydraulic cylinder oil pressure of the four propulsion hydraulic components; meanwhile, by adjusting the hydraulic cylinder oil pressure of the four loading hydraulic components, Different loading forces are generated on the end face of the transition cover, so as to realize the simulation of different load situations such as uneven frontal rock and soil resistance and uneven surrounding rock and soil friction encountered by the mud-water shield machine during tunneling, as well as the different loads caused by uneven loads. A simulation of the attitude deviation of the five degrees of freedom.

The vertical pitch refers to the rotational movement of the main body of the simulated test system around a linear axis that is both perpendicular to the shield direction and parallel to the horizontal plane.

The vertical lift refers to the up-and-down translation movement of the main body of the simulation test system along the shield driving direction and the horizontal plane.

The horizontal torsion refers to the rotational movement of the main body of the simulated test system around a linear axis that is also perpendicular to the horizontal plane. As shown in Figure 1, the main body of the simulated test system rotates around a vertical axis parallel to the paper plane.

The horizontal offset refers to the translational movement of the main body of the simulated test system along the horizontal plane, as shown in FIG.

The direction of the shield refers to the horizontal movement direction as shown in Figure 1, and the advance and retreat of the shield direction refers to the translational movement along the direction of the shield.

The invention changes the test simulation structure with only one propulsion hydraulic pressure, and is provided with hydraulic loading on both sides, and also designs a simulation test system main body with complete simulation functions such as a loading pump, a speed increaser, a follow-up support mechanism, etc. And jointly realize the perfect excavation and attitude simulation test of the mud-water balance shield comprehensive simulation test bench.

The invention utilizes the loading pump to provide different torques, and realizes the simulation of the excavation conditions of the muddy water shield machine under different soil layers such as softness and hardness; by controlling the loading force of the four loading hydraulic cylinders, the muddy water shield machine realizes Simulation of different load conditions such as uneven frontal geotechnical resistance and uneven geotechnical friction around; using the universal joint measurement structure with incremental encoder to measure the deflection angle of each loading hydraulic cylinder in the horizontal and vertical directions in real time, Attitude can be calculated.

Compared with the prior art, the beneficial effects of the present invention are:

The present invention provides different torques through the loading pump, and conveniently realizes the restoration of the actual working conditions of the cutter head when the mud-water shield machine is propelled and excavated under different soil layers such as soft and hard.

By controlling the loading force of the four loading hydraulic cylinders, the present invention realizes the simulation of different load conditions, such as uneven frontal rock-soil resistance and uneven surrounding rock-soil frictional force encountered by the mud-water shield machine during excavation.

The present invention supports the main body of the simulation test system through the follow-up support mechanism, and follows its movement, so that the main body can flexibly perform five degrees of freedom movements such as vertical direction pitching, lifting, horizontal direction twisting, offsetting, advancing and retreating.

The present invention measures the deflection angle of each loading hydraulic cylinder in the horizontal direction and the vertical direction in real time through a Hooke hinge device with an incremental encoder, thereby obtaining the current posture of the main body of the simulated test system.

Description of drawings

FIG. 1 is a schematic diagram of an example system structure of the present invention.

FIG. 2 is a schematic diagram of a gimbal measurement structure in an example system structure of the present invention.

FIG. 3 is a schematic structural diagram of the follow-up support mechanism of the present invention.

FIG. 4 is a schematic diagram of the follow-up hydraulic system of the follow-up support mechanism of the present invention.

In the picture: 1-Reaction wall; 2-Reinforcement rod; 3-Universal hinge measuring structure; 4-Hydraulic cylinder; 5-Ball hinge; 6-Force sensor; 7-Loading pump; Torque sensor; 10-cutter; 11-gear box; 12-drive motor; 13-propulsion hydraulic assembly; 14-air pressure tank cylinder; 15-mud water tank cylinder; 16-transition cover; 17-following support mechanism; 18-base plate; 301-fixed support; 302-incremental encoder; 303-cross shaft; 304-movable support; 1701-floating top plate; 1702-hinge shaft; 1703-elastic retaining ring; 1705-support hydraulic cylinder; 1706-support base plate; 1707-heavy-duty universal ball; 1709-oil tank, 1710-relief valve, 1711-motor, 1712-coupling, 1713-hydraulic pump, 1714-check valve, 1715-Accumulator, 1716-Three-way pressure reducing valve, 1717-Seat valve.

Detailed ways

Examples of the present invention will be further described below in conjunction with the accompanying drawings:

As shown in FIG. 1 , the specific implementation of the present invention includes a reaction wall 1, a simulation test system main body, a loading hydraulic assembly, a propulsion hydraulic assembly 13, a follow-up support mechanism 17 and a bottom plate 18. The two sides of the bottom plate 18 are fixedly installed with counter Force wall 1, the main body of the simulation test system is arranged in the middle of the reaction walls 1 on both sides, and a follow-up support mechanism 17 is installed at the bottom of the main body of the simulation test system. The bottom of the main body of the simulation test system is supported on the bottom plate 18 by the follow-up support mechanism 17, Four loading hydraulic components are installed on the side reaction wall 1, and four propulsion hydraulic components are installed on the other side reaction wall 1 respectively. The loading hydraulic components and the propulsion hydraulic components are connected to the simulation test system. Both sides of the main body; the main body of the simulation test system is supported by the follow-up support mechanism 17 to accompany its movement, and the main body of the simulation test system is flexibly pitched and raised in the vertical direction under the support of the follow-up support mechanism 17 by loading hydraulic components and propulsion hydraulic components 13 , horizontal torsion and offset, and five degrees of freedom movement of the shield direction.

The main body of the simulation test system includes an air pressure chamber cylinder 14, a muddy water tank cylinder 15 and a transition cover 16 which are connected in sequence and are isolated from each other. , the other end of the air pressure tank cylinder 14 is connected with one end of the muddy water tank cylinder 15, the other end of the muddy water tank cylinder 15 is connected with one end of the transition cover 16, and the other end of the transition cover 16 is connected to the other side through the loading hydraulic assembly The reaction wall 1; the end faces of the transition cover 16 and the muddy water tank cylinder 15 are connected by bolts, and the center of the inner end face of the transition cover 16 connected with the muddy water tank cylinder 15 is fixed with one end of the speed increaser 8, and the loading pump 7 is fixed Connected to the other end of the speed increaser 8, the gear box 11 is installed in the cylinder body 14 of the air chamber, the cutter head 10 is installed in the cylinder body 15 of the muddy water tank, and the cylinder body 14 of the air chamber is provided with two drive motors 12, two drive motors 12 is fixedly installed on the end face of the air chamber cylinder 14 connected with the propulsion hydraulic assembly 13; the output shafts of the two drive motors 12 extend through the end face of the air chamber cylinder 14 into the air chamber cylinder 14 and communicate with the gear box 11. The input end is connected, the output end of the gear box 11 extends into the muddy water tank body 15 through the end face of the air pressure cabin cylinder 14 and is connected with the cutter head shaft at one end of the cutter head 10, and the output shaft of the speed increaser 8 passes through the end face of the transition cover 16 It extends into the mud tank body 15 and is connected to the other end of the cutter head 10 through the torque sensor 9; the drive motor 12 drives the cutter head 10 to rotate around its central axis through the gear box 11, and the loading pump 7 passes through the speed increaser 8. , The torque sensor 9 is connected with the cutter head shaft of the cutter head 10 , and the loading pump 7 is placed in the mud environment to provide the cutter head 10 with a torque load.

Different torques can be generated by adjusting the outlet pressure of the loading pump 7 , and the different torque conditions of the cutter head 10 can be measured and recorded by the torque sensor 9 , so as to conveniently realize the cutter head 10 Simulation of actual working conditions when excavating under different soil layers such as mud and water shield machine.

The propulsion hydraulic assembly 13 has the same structure as the loading hydraulic assembly. Taking the loading hydraulic assembly as an example, the loading hydraulic assembly includes a hydraulic cylinder 4, a universal joint measuring structure 3, a ball joint 5 and a force sensor 6, and a hydraulic cylinder 4 cylinder barrel. The side is fixedly connected to one end of the universal hinge measuring structure 3 through bolts, the other end of the universal hinge measuring structure 3 is fixedly connected to the reaction wall 1 through bolts, and the piston rod side of the hydraulic cylinder 4 is connected to the force sensor 6 through the ball hinge 5, The force sensor 6 is connected to the end face of the main body of the simulation test system through bolts, so that a parallel mechanism is formed between the reaction force wall 1 and the main body of the simulation test system. The four hydraulic cylinders 4 are evenly spaced along the circumference of the end face of the transition cover 16 , and the four propulsion hydraulic components 13 are evenly spaced along the circumference of the end face of the air chamber cylinder 14 .

If the hydraulic assembly is loaded, the force sensor 6 is connected to the end face of the transition cover 16 through bolts, and a parallel mechanism is formed between the reaction wall 1 and the transition cover 16 . If the hydraulic assembly 13 is propelled, the force sensor 6 is connected to the end face of the air chamber cylinder 14 through bolts, and a parallel mechanism is formed between the reaction force wall 1 and the air chamber cylinder 14 .

The universal joint measurement structure includes a fixed support 301, an incremental encoder 302, a cross shaft 302 and a movable support 304. The fixed support 301 is fixed on the reaction wall 1, the movable support 304 is connected to the hydraulic cylinder, and the fixed support 301 and the movable support 304 are hinged by the cross shaft 302, that is, the cross shaft 302 is mainly formed by the cross connection of two rotating shafts in two directions. One of the symmetrical ends of the cross shaft 302 is hinged to the fixed support 301. Two ends symmetrical in one direction are hinged to the movable support 304 , and incremental encoders 302 are installed on both rotation axes of the cross shaft 302 .

The universal hinge measuring structure of the present invention adopts the Hooke hinge mechanism. One shaft on the cross shaft is rotatably connected with the fixed support to form a rotating pair, and the other shaft of the cross shaft is also rotatably connected with the movable support to form another rotating pair. , the axes of the two rotating pairs intersect vertically, and an incremental encoder is set on each of the two rotating pairs to measure the relative rotation angle and the relative rotation angular velocity respectively. The deflection angles of each hydraulic cylinder 4 relative to the reaction wall 1 in the horizontal and vertical directions are measured in real time through the two incremental encoders 302 in the universal joint measurement structure 3, and the attitude of the main body of the simulated test system is obtained through attitude calculation. current posture.

The upper parts of the two reaction walls 1 on both sides are fixedly connected by reinforcing rods 2 to reinforce the restraint frame of the entire test system.

The follow-up support mechanism 17 is arranged at the lower part of the transition cover 16 . As shown in FIG. 3 , the follow-up support mechanism implemented by the present invention mainly consists of a floating top plate 1701 , a hinge shaft 1702 , an elastic retaining ring 1703 , a floating support plate 1704 , a supporting hydraulic cylinder 1705 , a supporting bottom plate 1706 and a heavy-duty universal ball 1707 composition. The floating top plate 1701 is a concave arc surface on which the main body of the simulation test system is placed. To move, the end of the hinge shaft 1702 is provided with an elastic retaining ring 1703 for axial limit fixation, and the four corners of the bottom of the floating support plate 1704 are vertically connected to the top surface of the support base plate 1706 through their respective support hydraulic cylinders 1705, so that the floating support plate 1704 is opposite to each other. The vertical translation movement of the support base plate 1706; the bottom of the support base plate 1706 is evenly equipped with a number of heavy-duty universal balls 1707, so that the bottom of the support base plate 1706 is connected to the placed horizontal plane by rolling, so that the entire follow-up support mechanism can be placed on the horizontal plane. There are three kinds of motions: front and rear translation, left and right translation and deflection rotation.

As shown in Figure 4, it includes a follow-up hydraulic system, which is mainly composed of a fuel tank 1709, a relief valve 1710, a motor 1711, a coupling 1712, a hydraulic pump 1713, a one-way valve 1714, an accumulator 1715, a three-way The pressure reducing valve 1716 and the seat valve 1717 are composed, and the follow-up hydraulic system is connected to the supporting hydraulic cylinder 1705 . The rodless cavity of the supporting hydraulic cylinder 1705 is connected to the A port (control port) of the three-way pressure reducing valve 1716 through the seat valve 1717, the rod cavity is connected to the oil tank 1709 in parallel, and the T port of the three-way pressure reducing valve 1716 is connected to the oil tank. The motor 1711 is connected to the shaft end of the hydraulic pump 1713 through the coupling 1712, the input end of the hydraulic pump 1713 is connected to the oil tank 1709, and the output end of the hydraulic pump 1713 is connected through the one-way valve 1714 and the P port of the three-way pressure reducing valve 1716. The flow valve 1710 is connected in parallel with the input and output ends of the hydraulic pump 1713, and the accumulator 1715 is connected to the output end of the hydraulic pump 1713. Refuel. The rodless cavities of the four supporting hydraulic cylinders 1705 at the bottom four corners of the floating support plate 1704 are all connected to the A port of the three-way pressure reducing valve 1716 through the seat valve 1717 . The three-way pressure reducing valve 1716 in the specific implementation is an electric proportional three-way pressure reducing valve.

The rodless cavities of the four supporting hydraulic cylinders 1705 at the bottom four corners of the floating support plate 1704 are all connected to the A port of the three-way pressure reducing valve 1716 through the seat valve 1717 . The floating top plate 1701 is a concave arc surface, and the main body of the simulation test system is placed on the arc surface.

The concrete principle and working process of the present invention are:

When the two drive motors 12 drive the cutter head 10 to rotate through the gear box 11, the cutter head 10 drives the loading pump 7 to rotate through the torque sensor 9 and the speed increaser 8. At this time, the loading pump 7 is in the pump working condition, and the adjustment of the loading pump 7 The outlet pressure can generate different torques, and the torque sensor 9 can measure and record the different torque conditions of the cutter head 10, so as to easily simulate and accurately restore the actual torque conditions of the cutter head 10.

On the one hand, the pressures of the rodless chambers of the hydraulic cylinders in the four loading hydraulic assemblies are adjusted respectively to generate different loading forces on the four spherical hinge 5 connections arranged on the circumferential end face of the left side of the transition cover 16 as shown in FIG. 1 . The main body of the load and attitude simulation test system composed of the bolted transition cover, the muddy water tank cylinder and the air pressure tank cylinder, and the loading pump 7, the cutter head 10, the driving motor 12, etc. Different attitude deviations such as deflection and offset in the horizontal direction and pitch and offset in the vertical direction.

A follow-up support mechanism 17 is fixed under the transition cover 16. The lower part of the follow-up support mechanism is in contact with the bottom plate, which can support the main body of the entire simulation test system and follow its movement, so that the main body can flexibly pitch and lift in the vertical direction and twist in the horizontal direction. , offset, advance and retreat motion with 5 degrees of freedom. Furthermore, the four hydraulic cylinders 4 are respectively arranged in the upper, lower, left and right directions of the transition cover 16. By adjusting the different pressures of each hydraulic cylinder 4, for example, the upper hydraulic cylinder 4 has a high pressure and the lower hydraulic cylinder 4 has a small pressure, the upper hard and lower soft geological conditions are realized. The simulation of other working conditions, such as left soft and right hard, can be realized by similar methods, so that the mud-water shield machine can realize several loads due to uneven frontal rock and soil resistance and uneven surrounding rock and soil friction in actual working conditions. , and the 5-DOF attitude deviation caused by uneven loading.

On the other hand, adjust the oil pressure of the rodless chambers of the hydraulic cylinders in the four propulsion hydraulic assemblies respectively, so that the hydraulic cylinders at different positions of the upper, lower, left, and right positions are opposite to the four parts of the circumferential end face on the right side of the air chamber cylinder 14 as shown in FIG. 1 . Different propulsion forces are generated at the joints of each of the spherical hinges 5, thereby simulating the propulsion force control of the propulsion hydraulic cylinders of different groups during the attitude adjustment of the muddy water shield machine. The main body of the simulation test system in the attitude adjustment also realizes the change of attitude through the support and flexible follow-up of the follow-up support mechanism 17 . The universal joint measurement structure bolted on the left side of the four loading hydraulic cylinders can measure the deflection angle and angular acceleration of each loading hydraulic cylinder in the horizontal and vertical directions in real time, and match the expansion and contraction of each loading hydraulic cylinder The velocity and displacement can be converted by the H-D coordinate transformation method to obtain the current attitude parameters of the main body of the load and attitude simulation test system, such as the pitch angle, horizontal offset angle, vertical offset, and horizontal offset.

In addition, the specific working process of the follow-up support mechanism is:

The main body of the simulation test system is placed on the arc surface on the upper part of the floating top plate 1701 without mechanical connection. During the movement, the floating top plate 1701 follows the movement of the shield body. The follow-up support mechanism uses a hinge shaft 1702 to connect the floating top plate 1701 and the floating support plate 1704 to realize the rotational movement of the floating top plate 1701 around the axis of the hinge shaft 1702 .

The follow-up support mechanism adopts four support hydraulic cylinders 1705 to be vertically fixed between the support base plate 1706 and the floating support plate 1704 to realize the vertical translation movement of the floating support plate relative to the support base plate.

The follow-up support mechanism adopts a number of heavy-duty universal balls distributed under the support base plate, and the support base plate is arranged above the steel plate. Each heavy-duty universal ball can be rolled on the steel plate, and the rolling component is a sphere, which realizes three kinds of motions of the whole follow-up support mechanism on the horizontal plane: front and rear translation, left and right translation, and rotation.

The follow-up hydraulic system adopts four supporting hydraulic cylinders, the rodless cavity is connected in parallel with the A port (control port) of the three-way pressure reducing valve, and the rod cavity is connected in parallel to the oil tank. By controlling the pressure of the rodless cavity to a certain value, four The resultant force of the output force of the supporting hydraulic cylinder is equal to that of the shield body, which offsets the shield body's own weight.

When the shield body is subjected to the vertical component of the resultant force, the spool of the electric proportional three-way pressure reducing valve is stabilized at a certain position, P-A (oil inlet-control port) and A-T (control port-oil discharge port) are closed, and there is no rodless cavity. The oil flows in and out, and the shield body is fixed at a certain vertical position; when the force on the shield body has a vertical component, the pressure in the rodless cavity of the support hydraulic cylinder tends to decrease or increase, and the electric proportional three-way pressure reducing valve When P-A is opened or A-T is opened, oil flows into or out of the rodless cavity, so that the pressure of the rodless cavity of the support hydraulic cylinder remains unchanged, and the shield body is dynamically counteracted, and the shield body rises or falls.

The system adopts the seat valve 1717 to cut off the oil circuit of the rodless cavity of the support hydraulic cylinder to realize the locking of the vertical position of the shield body; the accumulator 1715 is used to realize that when the shield body is rapidly rising vertically, the P-A oil circuit of the electric proportional three-way pressure reducing valve 1716 can be closed. Refuel.

It can be seen from the above implementation that the present invention provides different torques through the loading pump, which can conveniently realize the restoration of the actual working condition of the cutter head when the mud-water shield machine is propelled and excavated under different soil layers such as soft and hard, and realizes that the mud-water shield machine is excavating when excavating. The simulation of different load conditions, such as uneven frontal rock and soil resistance and uneven surrounding rock and soil friction, also includes motion with five degrees of freedom, which has its outstanding technical effect.

Claims (9)

1. A mud-water balance shield comprehensive simulation test bench excavation and attitude simulation test system is characterized in that: comprising reaction wall (1), simulation test system main body, loading hydraulic assembly, propulsion hydraulic assembly (13), follow-up support The mechanism (17) and the base plate (18) are fixedly installed with reaction walls (1) on both sides of the base plate (18), and the main body of the simulation test system is arranged in the middle of the reaction walls (1) on both sides. A follow-up support mechanism (17) is installed at the bottom, four loading hydraulic components are installed on the wall of the reaction wall (1) on one side, and four hydraulic components are installed on the wall of the reaction wall (1) on the other side. The propulsion hydraulic assembly, the loading hydraulic assembly and the propulsion hydraulic assembly are connected to the two sides of the main body of the simulation test system; the main body of the simulation test system is propelled by the loading hydraulic assembly and the propulsion hydraulic assembly (13) to carry out the vertical direction under the support of the follow-up support mechanism (17). Five degrees of freedom movement of pitch and lift, twist and offset in the horizontal direction, and advance and retreat in the shield direction; The main body of the simulation test system includes an air pressure chamber cylinder (14), a muddy water tank cylinder (15) and a transition cover (16) which are connected in sequence and are isolated from each other and not communicated with each other. The assembly (13) is connected to the reaction wall (1) on one side, the other end of the air pressure tank cylinder (14) is connected to one end of the muddy water tank cylinder (15), and the other end of the muddy water tank cylinder (15) is connected to the transition One end of the cover (16) is connected, and the other end of the transition cover (16) is connected to the reaction wall (1) on the other side via the loading hydraulic assembly; One end of the speed increaser (8) is fixed at the center of the inner end face of the transition cover (16) connected to the muddy water tank cylinder (15), and the loading pump (7) is fixedly connected to the other end of the speed increaser (8). (14) The gear box (11) is installed inside, the cutter head (10) is installed in the muddy water tank cylinder (15), and the air pressure tank cylinder (14) is provided with two drive motors (12), two drive motors (12) ) is fixedly installed on the end face of the air pressure chamber cylinder (14) connected with the propulsion hydraulic assembly (13); The output shafts of the two drive motors (12) extend through the end face of the air chamber cylinder (14) into the air chamber cylinder (14) and are connected with the input end of the gear box (11), and the output end of the gear box (11) The end face of the air pressure chamber cylinder (14) extends into the muddy water tank cylinder (15) and is connected to one end of the cutter head shaft of the cutter head (10), and the output shaft of the speed increaser (8) passes through the transition cover (16) The end face extends into the mud tank (15) and is connected to the other end of the cutter head (10) via the torque sensor (9); the drive motor (12) drives the cutter head (10) to wind around the cutter head (10) through the gear box (11). The central axis of itself rotates, and the loading pump (7) is connected with the cutter head shaft of the cutter head (10) through the speed increaser (8), the torque sensor (9), and provides a torque load for the cutter head (10). 2 . The tunneling and attitude simulation test system for a mud-water balance shield comprehensive simulation test bench according to claim 1 , wherein the follow-up support mechanism ( 17 ) is arranged at the lower part of the transition cover ( 16 ). 3 . 3. A kind of mud-water balance shield comprehensive simulation test bench driving and attitude simulation test system according to claim 1, is characterized in that: four hydraulic cylinders (4) are all spaced along the circumference of the end face of the transition cover (16) in the circumferential direction In the evenly distributed arrangement, the four propulsion hydraulic components (13) are all equally spaced along the circumference of the end face of the air chamber cylinder (14). 4. A mud-water balance shield comprehensive simulation test bench driving and attitude simulation test system according to claim 1, characterized in that: the propulsion hydraulic assembly (13) and the loading hydraulic assembly have the same structure, and the loading hydraulic assembly has the same structure. The hydraulic assembly includes a hydraulic cylinder (4), a universal hinge measuring structure (3), a ball joint (5) and a force sensor (6). The cylinder side of the hydraulic cylinder (4) is connected to the universal hinge measuring structure (3) through bolts. One end is fixedly connected, the other end of the universal hinge measuring structure (3) is fixedly connected to the reaction wall (1) through bolts, and the piston rod side of the hydraulic cylinder (4) is connected to the force sensor (6) through the ball hinge (5), and the force The sensor (6) is connected to the end face of the main body of the simulation test system by means of bolts. 5. A kind of mud-water balance shield comprehensive simulation test bench excavation and attitude simulation test system according to claim 4, is characterized in that: described universal hinge measuring structure comprises fixed bearing (301), incremental encoder ( 302), the cross shaft (303) and the movable support (304), the fixed support (301) is fixed on the reaction wall (1), the movable support (304) is connected to the hydraulic cylinder, the fixed support (301) and The movable supports (304) are hingedly connected by a cross shaft (303), and incremental encoders (302) are installed on both rotation axes of the cross shaft (303). 6. A kind of mud-water balance shield comprehensive simulation test bench tunneling and attitude simulation test system according to claim 1, is characterized in that: the upper part of two reaction walls (1) on both sides is fixedly connected by reinforcing rod (2) . 7. A kind of mud-water balance shield comprehensive simulation test bed excavation and attitude simulation test system according to claim 1, is characterized in that: described follow-up support mechanism (17) comprises floating top plate (1701), hinge shaft ( 1702), floating support plate (1704), support hydraulic cylinder (1705), support bottom plate (1706) and heavy-duty universal ball (1707); the bottom of the floating top plate (1701) is connected with the floating support plate (1704) through the hinge shaft (1702) ) hinged at the top, the floating top plate (1701) rotates around the axis of the hinge shaft (1702), and the four corners of the bottom of the floating support plate (1704) are vertically connected to the support bottom plate ( 1706) the top surface, to realize the vertical translation movement of the floating support plate (1704) relative to the supporting bottom plate (1706); the bottom of the supporting bottom plate (1706) is evenly distributed with a number of heavy-duty universal balls (1707). 8. A kind of mud-water balance shield comprehensive simulation test bench tunneling and attitude simulation test system according to claim 7, characterized in that: it also comprises a fuel tank (1709), a relief valve (1710), a motor (1711) , coupling (1712), hydraulic pump (1713), accumulator (1715), one-way valve (1714), three-way pressure reducing valve (1716), seat valve (1717) The follow-up hydraulic system consists of The dynamic hydraulic system is connected to the support hydraulic cylinder (1705); the rodless cavity of the support hydraulic cylinder (1705) is connected to the A port of the three-way pressure reducing valve (1716) through the seat valve (1717), and the rod cavity is connected to the oil tank in parallel (1709), the T port of the three-way pressure reducing valve (1716) is connected to the oil tank, the motor (1711) is connected to the shaft end of the hydraulic pump (1713) through the coupling (1712), and the input end of the hydraulic pump (1713) is connected to the oil tank (1709), the output end of the hydraulic pump (1713) is connected through the one-way valve (1714) and the P port of the three-way pressure reducing valve (1716), and the relief valve (1710) is connected in parallel with the input and output terminals of the hydraulic pump (1713). On the end, the accumulator (1715) is connected to the output end of the hydraulic pump (1713), and the three-way pressure reducing valve (1716) P port-A port oil circuit is supplied with oil through the accumulator (1715). 9. A mud-water balance shield comprehensive simulation test bench driving and attitude simulation test system according to claim 7, characterized in that: by controlling the rodless cavity pressure of the supporting hydraulic cylinder (1705), the four supporting The resultant force of the output force of the hydraulic cylinder (1705) is equal to the weight of the shield placed on the floating top plate (1701) to offset the self-weight of the shield, and the support hydraulic cylinder (1705) is controlled to cut off the rodless cavity oil circuit of the support hydraulic cylinder (1705) through the seat valve (1717). .