CN109268026B - Push bench operating system and operating method - Google Patents
Push bench operating system and operating method Download PDFInfo
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- CN109268026B CN109268026B CN201811310741.4A CN201811310741A CN109268026B CN 109268026 B CN109268026 B CN 109268026B CN 201811310741 A CN201811310741 A CN 201811310741A CN 109268026 B CN109268026 B CN 109268026B
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- 238000011017 operating method Methods 0.000 title abstract description 5
- 238000010276 construction Methods 0.000 claims abstract description 42
- 238000005259 measurement Methods 0.000 claims abstract description 19
- 238000013461 design Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- 230000008602 contraction Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 2
- 239000002689 soil Substances 0.000 description 5
- 238000012806 monitoring device Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
-
- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
-
- 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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a push bench operating system and an operating method, wherein a measuring and guiding system adopts push bench position and track information and sends the information to a main controller, and the main controller plans a push bench construction line by combining a design track input by an industrial personal computer; the main controller controls the cutter head of the pipe jacking machine to move by controlling the frequency of the first frequency converter; the main controller controls the expansion and the jacking speed of the main jacking cylinder by using a first electromagnetic proportional valve; the main controller is combined with the track of the push bench measured by the measurement guide system to carry out comparison calculation on the deviation value with the designed track, and the second electromagnetic proportional valve is used for controlling the deviation correcting oil cylinder to stretch out and draw back, so that deviation correcting actions in four directions of the push bench are realized. The invention improves the accuracy of the construction process, improves the construction efficiency and ensures the construction quality.
Description
Technical Field
The invention relates to the technical field of pipe jacking equipment, in particular to an operating system and an operating method of a pipe jacking machine.
Background
The pipe jacking machine is one of the main devices for the construction of underground pipelines in modern city construction or the construction of a closure pipe network in water environment engineering, has small influence on a ground building due to the characteristic that the construction does not need to excavate a ground layer, and can effectively reduce the interference problem of the construction, thus being widely applicable. The pipe jacking machine is generally classified into an earth pressure balance pipe jacking machine, a muddy water balance pipe jacking machine, an air pressure balance pipe jacking machine and the like.
The mud-water balance type pipe jacking is a mechanical automatic pipe jacking construction method which uses full-section cutting soil body, uses mud-water pressure to balance soil pressure and underground water pressure and uses mud-water as a conveying waste soil medium. The mud-water balance pipe jacking system mainly comprises a pipe jacking machine head, a ground operation table and other auxiliary equipment, wherein a PLC control box is arranged in the machine head, and the ground operation table gives an action signal to the machine head to control the action of the machine head. The mud discharging system discharges waste soil, the crane is used for discharging the pipe, and the jack is used for jacking the pipeline in sections.
At present, the control of the pipe jacking construction axis of the conventional pipe jacking machine is mainly realized by a deviation correcting device for manually and remotely controlling the pipe jacking machine head by a ground operation console operator. The deviation correcting amount of the short-distance jacking pipe needs to be controlled by checking deviation values of targets in the machine head and laser guide points of a total station installed in a working well through video monitoring installed in the jacking pipe machine. Along with the continuous development of technology, the automatic measurement guiding system is increasingly applied to the measurement control of the top pipe construction at present, and the automatic measurement guiding system can obtain the deviation of the top pipe bench relative to the central line of the pipeline design and the gesture guidance of the deviation of the top pipe bench relative to the central line of the pipeline design for the long-distance pipe jacking operation, however, the correction of the top pipe bench still needs a correction oil cylinder in a remote control machine head manually controlled by a ground operation console operator to finish the correction construction after the related deviation data is obtained. The deviation correcting construction has certain hysteresis delay, the construction deviation is greatly influenced by operators, the condition that the front pipe joint is deviated still exists when the deviation correcting is not performed in the construction, and the manual operation deviation correcting can not meet the control requirement of the control of the ultra-long jacking pipe or the curve jacking pipe.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the push bench operating system and the operating method which can improve the precision of the push bench, avoid deviation in the jacking process, effectively reduce the deviation correcting workload, improve the construction efficiency and realize the process-controllable push bench. The technical proposal is as follows:
an operating system of a pipe jacking machine comprises a main controller, a measurement guiding system, a cutter head control system, a main jacking control system and a deviation correcting control system;
measuring and collecting position and track information of the pipe pushing machine, sending the position and track information to a main controller, and planning a construction line of the pipe pushing machine by combining a design track input by an industrial personal computer after the main controller receives the position and track information of the pipe pushing machine;
the cutter head control system comprises a cutter head motor, wherein the cutter head motor is connected to a main controller through a first frequency converter, and the main controller controls the starting, forward rotation, reverse rotation, speed rising and speed falling of the cutter head of the pipe jacking machine through controlling the frequency of the first frequency converter;
the main top control system comprises a main top oil cylinder, a first travel sensor is arranged on the main top oil cylinder, and travel information of the main top oil cylinder is acquired through the first travel sensor; the main top oil cylinder is connected to the main controller through a first electromagnetic proportional valve, and the main controller controls the extension, contraction and jacking speed of the main top oil cylinder by using the first electromagnetic proportional valve;
the deviation rectifying control system comprises a deviation rectifying oil cylinder, the deviation rectifying oil cylinder is connected to a main controller through a second electromagnetic proportional valve, the main controller is used for comparing the track of the push bench measured by the measuring and guiding system with the designed track to calculate a deviation value, and the second electromagnetic proportional valve is used for controlling the deviation rectifying oil cylinder to extend or retract, so that the deviation rectifying actions of the push bench in the four directions of upward, downward, leftward and rightward are realized, and the extension and retraction values of the deviation rectifying oil cylinder are fed back in real time by a second stroke sensor arranged on the deviation rectifying oil cylinder
Further, still include muddy water conveying system, muddy water conveying system includes conveying motor and is used for detecting the density sensor of the muddy water density of delivering, and conveying motor passes through the second converter and is connected to main control unit, and main control unit passes through the start-up, corotation, reversal, speed-up or the speed-down of control conveying motor of control second converter and then.
Further, the measurement guiding system also comprises a full-automatic total station, an MTG-M optical target, a prism and a third stroke sensor; the full-automatic total station is arranged in the middle of a pipeline adjacent to the working well, and the prism is arranged adjacent to the inner wall of a pipeline end pipe joint of the working well; the MTG-M optical target is arranged on the push bench, and the third stroke sensor is arranged at the top of the push pipe hole.
Further, the remote control device comprises a sub transceiver, a main transceiver and a remote controller which are sequentially connected; the sub-transceivers are also connected to the main controller.
An operation method of a push bench operation system, comprising:
a laser emitting device is arranged in the starting well, and a laser target is arranged on the push bench;
when the jacking construction distance is smaller than 200m and the jacking construction distance is linear, the laser beam is parallel to the design axis and is incident to the laser target, the laser target senses the central position of the laser spot, and the positional deviation relation between the axis of the push bench and the design axis is calculated;
when the pipe jacking is performed for a distance exceeding 200m or a curve jacking construction, measuring the distance of the pipe jacking through a forward-looking prism and a reference prism which are arranged on the inner wall of a second section of pipeline at the front section of the pipeline adjacent to the machine head direction of the pipe jacking machine, a backward-looking prism which is arranged on the inner wall of a pipe section at the tail end of the pipeline adjacent to a working well, a full-automatic total station, a control box and a third stroke sensor in the middle of the pipeline, and measuring the real-time jacking track of the pipeline, wherein the real-time jacking track comprises a horizontal angle and a vertical angle; the total station transmits the output signal to an industrial personal computer of the ground operation platform, and the industrial personal computer controls the operation of the total station; the industrial personal computer performs data analysis and comparison on the motion track of the push bench measured by the measurement guide system and the design track to obtain deviation information, and feeds the deviation information back to the main controller, and the main controller controls the extension or contraction of the deviation correcting oil cylinder according to the deviation information, so that the deviation correcting actions of the push bench in four directions including upward, downward, leftward and rightward are realized.
The beneficial effects of the invention are as follows: according to the invention, the process use parameters of the push bench are collected through the various sensors, and the motion of the push bench is adjusted in real time through the combination of the process use parameters of the push bench with the measurement guide system and various intelligent control systems of the push bench, so that the precision of the push bench is improved, and the process controllability is realized; the deviation rectifying operation can effectively avoid post-processing, actively control in the process, accurately control the jacking track of the push bench, avoid deviation in the jacking process, effectively reduce the deviation rectifying workload, provide the construction precision of the push bench and improve the construction efficiency.
Drawings
FIG. 1 is a schematic diagram of the operating system of the push bench according to the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. As shown in fig. 1, an automatic operation system of an intelligent push bench includes: the automatic control system of the pipe jacking machine cutterhead and the deviation correcting oil cylinder, the intelligent measurement guiding system, the automatic control system of the main jack, the muddy water conveying system, the main controller and the monitoring device;
the automatic control system, the intelligent measurement guide system, the pipeline state real-time monitoring system, the main top control system and the mud water conveying system of the pipe jacking machine are respectively connected with the main controller; the automatic control system device of the pipe jacking machine cutterhead comprises a main controller, a frequency converter and a cutterhead motor which are sequentially connected, wherein the frequency converter is simultaneously connected with the main controller and the cutterhead motor; the automatic control device of the deviation correcting oil cylinder comprises a main controller and an electromagnetic proportional valve which are sequentially connected, wherein the electromagnetic proportional valve is connected with the deviation correcting oil cylinder; the main top automatic control system comprises a main controller and an electromagnetic proportional valve which are sequentially connected, wherein the electromagnetic proportional valve is connected with a main top oil cylinder; the muddy water conveying system comprises a main controller, a frequency converter and a conveying motor which are sequentially connected, wherein the frequency converter is simultaneously connected with the main controller and the conveying motor; the main controller comprises a signal acquisition and processing unit, a logic operation unit and an output unit; the monitoring device comprises a real-time monitoring device and a remote control device.
The device also comprises an encoder type travel sensor arranged on the deviation rectifying cylinder in the pipe jacking machine head; the mud water conveying system is provided with a density sensor, and the main roof control system is provided with a travel sensor in a main roof cylinder in a working well initiated by the pipe pushing jack. The above devices are simultaneously connected to the main controller. The system also comprises a full-automatic total station, a radio station, remote control equipment, an MTG-M optical target, a prism, a control box and a travel sensor arranged at the top of a pipe jacking hole, wherein the full-automatic total station, the radio station and the remote control equipment are required by an automatic measurement navigation system of the pipe jacking machine.
And a density sensor for detecting the density of the transmitted muddy water is also arranged on the muddy water conveying system. The real-time monitoring device comprises an industrial personal computer, and the industrial personal computer is connected with a main controller through a CAN interface card.
The operation method of the pipe pushing machine operation system of the embodiment comprises the following steps:
adopting the position and track information of the push bench through an intelligent measurement guiding system;
after receiving the position and track information of the pipe pushing machine, the main controller automatically plans the construction line of the pipe pushing machine by combining the design track input by the industrial control computer;
starting the pipe jacking machine to perform intelligent construction through a remote control system;
in the construction process of the pipe jacking machine, main parameters in the construction process of the pipe jacking machine are obtained through a travel sensor arranged at the top of the hole, an encoder type travel sensor arranged at a deviation rectifying oil cylinder of the pipe jacking machine and a density sensor arranged on a mud water conveying system.
The intelligent measuring and guiding system is based on a laser target technology and is used for measuring the position deviation relation between the axis of the push bench and the design axis in real time. The system is provided with a laser emitting device in an originating well and a laser target on a push bench. When the jacking construction distance is smaller than 200m and the jacking construction distance is straight, the laser beam is parallel to the design axis and is incident to the laser target, the laser target accurately senses the center position of the laser spot, the position deviation relation between the axis of the push bench and the design axis is accurately calculated through software, and deviation information is visually displayed in a mode of combining figures.
Furthermore, when the pipe is subjected to long distance exceeding 200m or curve jacking construction, real-time jacking track measurement of the pipeline is realized through a forward-looking prism and a reference prism which are arranged on the inner wall of a second pipeline at the front section of the pipeline adjacent to the head direction of the pipe pusher, a backward-looking prism which is arranged on the inner wall of a pipeline end pipe section adjacent to a working well, a full-automatic total station, a radio station, a control box and the like, wherein the distance of the pipe is measured through a travel sensor, and the real-time jacking track measurement of the pipeline comprises a horizontal angle, a vertical angle and the like. The total station transmits the output signal to the industrial personal computer of the ground operation platform through the radio station sending signal. The industrial personal computer and the application tool thereof control the operation of the total station. The industrial personal computer compares the motion track of the push bench measured by the measurement guiding system with the design track, performs data analysis and is used for controlling the main controller of the system in real time, and meanwhile, the information of the position of the push bench and the track line of the push bench construction can be monitored and displayed in real time.
The push bench cutterhead and the deviation correcting automatic control system work to obtain the actual jacking track parameters and the cutterhead angle information calculated by the encoder type travel sensor information of the deviation correcting oil cylinder according to an intelligent measuring guide system in the push bench construction, and then control the frequency of a frequency converter connected with the push bench cutterhead through a main controller to control the start, forward rotation, reverse rotation, speed rising and speed falling of the push bench cutterhead. When the main controller detects that the current value of the frequency converter suddenly increases, the controller program defaults to resistance in the forward rotation process of the cutterhead, the controller controls the frequency converter to control the cutterhead motor to rotate reversely, and after the current value is recovered to be normal and is continued for 120 seconds, the controller controls the frequency converter hole cutterhead motor to rotate forward. The main controller is combined with the track of the push bench measured by the measurement guiding system to carry out comparison calculation on the deviation value and the design track so as to control the extension and contraction of the deviation correcting cylinder of the push bench, thereby further realizing the deviation correcting actions of the push bench in four directions of upward, downward, leftward and rightward, and the extension and contraction values of the deviation correcting cylinder are fed back in real time by a travel sensor arranged on the deviation correcting cylinder and used for changing an encoder.
The mud water conveying system of the pipe jacking machine comprises the following working processes: the main controller is started to start the motor of the mud water conveying system successively, and the conveying system adds water to the soil cut by the cutter head to form mud water. The main controller controls the frequency converter to further control the starting, forward rotation, reverse rotation, speed up and speed down of the motor of the conveying system. The mud-water density sensor is used for monitoring the density of the transported mud water in real time and feeding back data to the main controller.
The working process of the main jacking control system for jacking pipe construction is as follows: a stroke sensor and an electromagnetic proportional valve are arranged in the main top oil cylinder, a main top automatic control system obtains stroke information of the main top oil cylinder through the stroke sensor, and a main controller controls the extension, contraction and jacking speed of the main top oil cylinder through the electromagnetic proportional valve.
The intelligent automatic operation system of the pipe pushing machine realizes the automatic control of a cutterhead, a deviation rectifying system, a main top control system, a mud water conveying system and the like in the construction of the pipe pushing machine, and meanwhile, a manual control system can be reserved. The main controller is used as a core component of an operating system, receives and processes signals to form instructions to control the operation of other devices; the realization of the signal acquisition and processing functions cannot influence the operation function of the original pipe pushing jack, so that a two-position switch is added to realize on-site/remote control.
According to the invention, the intelligent automatic control system for the construction of the mud-water balance type pipe pushing jack is additionally arranged through research and development adjustment, so that the automatic control of a cutter head of the pipe pushing jack, a main top control system of a deviation correcting system, a mud-water conveying system and the like is realized, the accuracy of the construction process is improved, the construction efficiency is improved, and the construction quality is ensured.
Claims (5)
1. The pipe jacking machine operation system is characterized by comprising a main controller, a measurement guiding system, a cutterhead control system, a main jacking control system and a deviation rectifying control system;
measuring and collecting position and track information of the pipe pushing machine, sending the position and track information to a main controller, and planning a construction line of the pipe pushing machine by combining a design track input by an industrial personal computer after the main controller receives the position and track information of the pipe pushing machine;
the cutter head control system comprises a cutter head motor, wherein the cutter head motor is connected to a main controller through a first frequency converter, and the main controller controls the starting, forward rotation, reverse rotation, speed rising and speed falling of the cutter head of the pipe jacking machine through controlling the frequency of the first frequency converter;
the main top control system comprises a main top oil cylinder, a first travel sensor is arranged on the main top oil cylinder, and travel information of the main top oil cylinder is acquired through the first travel sensor; the main top oil cylinder is connected to the main controller through a first electromagnetic proportional valve, and the main controller controls the extension, contraction and jacking speed of the main top oil cylinder by using the first electromagnetic proportional valve;
the deviation rectifying control system comprises a deviation rectifying oil cylinder, the deviation rectifying oil cylinder is connected to the main controller through a second electromagnetic proportional valve, the main controller is used for comparing the track of the push bench measured by the measuring and guiding system with the designed track to calculate a deviation value, and the second electromagnetic proportional valve is used for controlling the deviation rectifying oil cylinder to extend or retract, so that deviation rectifying actions in four directions of upward, downward, leftward and rightward of the push bench are realized, and the extension and contraction values of the deviation rectifying oil cylinder are fed back in real time by a second stroke sensor arranged on the deviation rectifying oil cylinder.
2. The pipe jacking operation system according to claim 1, further comprising a muddy water conveying system, wherein the muddy water conveying system comprises a conveying motor and a density sensor for detecting the density of the muddy water conveyed out, the conveying motor is connected to the main controller through the second frequency converter, and the main controller controls the starting, forward rotation, reverse rotation, speed up or speed down of the conveying motor through controlling the second frequency converter.
3. The push bench operating system of claim 1, wherein the measurement and guidance system further comprises a fully automatic total station, an MTG-M optical target, a prism, a third travel sensor; the full-automatic total station is arranged in the middle of a pipeline adjacent to the working well, and the prism is arranged adjacent to the inner wall of a pipeline end pipe joint of the working well; the MTG-M optical target is arranged on the push bench, and the third stroke sensor is arranged at the top of the push pipe hole.
4. The push bench operating system of claim 1, further comprising a remote control device comprising a sub transceiver, a main transceiver and a remote control connected in sequence; the sub-transceivers are also connected to the main controller.
5. The method of operating a push bench operating system according to claim 1, comprising:
a laser emitting device is arranged in the starting well, and a laser target is arranged on the push bench;
when the jacking construction distance is smaller than 200m and the jacking construction distance is linear, the laser beam is parallel to the design axis and is incident to the laser target, the laser target senses the central position of the laser spot, and the positional deviation relation between the axis of the push bench and the design axis is calculated;
when the pipe jacking is performed for a distance exceeding 200m or a curve jacking construction, measuring the distance of the pipe jacking through a forward-looking prism and a reference prism which are arranged on the inner wall of a second section of pipeline at the front section of the pipeline adjacent to the machine head direction of the pipe jacking machine, a backward-looking prism which is arranged on the inner wall of a pipe section at the tail end of the pipeline adjacent to a working well, a full-automatic total station, a control box and a third stroke sensor in the middle of the pipeline, and measuring the real-time jacking track of the pipeline, wherein the real-time jacking track comprises a horizontal angle and a vertical angle; the total station transmits the output signal to an industrial personal computer of the ground operation platform, and the industrial personal computer controls the operation of the total station; the industrial personal computer performs data analysis and comparison on the motion track of the push bench measured by the measurement guide system and the design track to obtain deviation information, and feeds the deviation information back to the main controller, and the main controller controls the extension or contraction of the deviation correcting oil cylinder according to the deviation information, so that the deviation correcting actions of the push bench in four directions including upward, downward, leftward and rightward are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811310741.4A CN109268026B (en) | 2018-11-06 | 2018-11-06 | Push bench operating system and operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811310741.4A CN109268026B (en) | 2018-11-06 | 2018-11-06 | Push bench operating system and operating method |
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| CN109268026A CN109268026A (en) | 2019-01-25 |
| CN109268026B true CN109268026B (en) | 2024-01-23 |
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| CN201811310741.4A Active CN109268026B (en) | 2018-11-06 | 2018-11-06 | Push bench operating system and operating method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030431A (en) * | 2019-04-30 | 2019-07-19 | 中国十七冶集团有限公司 | A kind of Curve Pipe Jacking jacking posture method for correcting error |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN110778325A (en) * | 2019-11-13 | 2020-02-11 | 中建三局集团有限公司 | Direct torque frequency conversion control system and method for pipe pushing jack cutter head based on network communication |
| CN111058858A (en) * | 2019-12-29 | 2020-04-24 | 福建建中建设科技有限责任公司 | Arc-shaped pipe jacking construction device and construction method |
| CN111911179A (en) * | 2020-07-03 | 2020-11-10 | 镇江长城微型隧道装备科技有限公司 | Automatic control system and control method of push bench |
| CN113374490A (en) * | 2021-07-06 | 2021-09-10 | 中国水利水电第五工程局有限公司 | Slurry-water balance type pipe jacking system, construction method and deviation rectification control system |
| CN115370375B (en) * | 2022-09-01 | 2024-04-26 | 中国水利水电第四工程局有限公司 | Method for calculating cutter head deviation of push bench |
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|---|---|---|---|---|
| US6171018B1 (en) * | 1997-11-10 | 2001-01-09 | Kabushiki Kaisha Topcon | Automatic control system for construction machinery |
| CN108119156A (en) * | 2016-11-28 | 2018-06-05 | 魏莹 | A kind of soil pressing balance pipe jacking machine electric control system based on PLC |
| CN106502231A (en) * | 2016-12-30 | 2017-03-15 | 华东交通大学 | A kind of soil pressing balance pipe jacking machine electric control system based on PLC |
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| CN109268026A (en) | 2019-01-25 |
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