CN110985034B - Detection method and system for slipping of supporting shoes of heading machine - Google Patents
Detection method and system for slipping of supporting shoes of heading machine Download PDFInfo
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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
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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
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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Abstract
The invention discloses a detection method for the slipping of a supporting shoe of a heading machine, which comprises the following steps: in the linear tunneling process of the tunneling machine, receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of a propelling system and the propelling stroke of each time, which are acquired by a sensor in real time; respectively calculating the shoe supporting stroke difference of the left and right shoe supporting sides and the propelling stroke difference of the propelling system; respectively acquiring a shoe supporting critical value, a fluctuation range corresponding to the propelling pressure and a propelling critical value; and judging whether the left side supporting shoe and the right side supporting shoe slip independently or simultaneously according to a comparison result of the supporting shoe stroke difference of the left side supporting shoe and the right side supporting shoe and a supporting shoe critical value, a propelling pressure and a corresponding fluctuation range and a comparison result of the propelling stroke difference and the propelling critical value. By adopting the detection method, manual assistance is not needed, and automatic detection of the slipping of the supporting shoes is realized. And the system can detect and judge in real time, thereby ensuring the construction safety. The invention also discloses a heading machine and a detection system for the slipping of the supporting shoes of the heading machine, and the technical effects are also achieved.
Description
Technical Field
The invention relates to the technical field of development machines, in particular to a detection method for the slipping of a development machine supporting shoe, a detection system for the slipping of the development machine supporting shoe and a development machine.
Background
The full-section hard rock Tunnel Boring Machine (TBM) is a factory assembly line tunnel construction device integrating systems of machine, electricity, liquid, light, gas and the like, can be used for construction procedures of boring, supporting, slag tapping and the like and continuous operation, has the advantages of high boring speed, environmental protection, high comprehensive benefit and the like, and is rapidly increased in application in tunnel engineering of China railways, hydropower, traffic, mines, municipal works and the like.
The supporting shoe is used as a reaction point on TBM equipment, is used for providing tunneling thrust for a cutter head during tunneling, and transmits the reaction force of the thrust and torque to a hole wall, and is one of key parts of the TBM. When the TBM is tunneled, a supporting shoe structural member of the TBM acts on a rock tunnel wall, a large enough reaction force must be provided for the TBM to overcome torque generated by rotation of a cutter head to break rock and thrust propelled by the cutter head, if the reaction force is insufficient, sliding of the supporting shoe on the tunnel wall may be caused, the TBM loses stability, construction efficiency of a project is reduced, progress of the project is influenced, and even serious engineering accidents or damage of the supporting shoe structural member are caused. In the prior art, whether the supporting shoes skid needs to be judged manually, and the judgment is difficult due to the severe environment of the tunnel.
In summary, how to effectively solve the problem that it is difficult to manually detect whether the supporting shoe skids is a problem that needs to be solved by those skilled in the art at present.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide a method for detecting slipping of a heading machine shoe, which can effectively solve the problem that it is difficult to manually detect whether the shoe slips, and a second object of the present invention is to provide a system for detecting slipping of a heading machine shoe and a heading machine.
In order to achieve the first object, the invention provides the following technical scheme:
a detection method for detecting slipping of a supporting shoe of a heading machine comprises the following steps:
in the linear tunneling process of the tunneling machine, receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of a propelling system and the propelling stroke of each time, which are acquired by a sensor in real time;
respectively calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the shoe supporting on the left side and the right side, and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system;
respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference;
and judging whether the left-side supporting shoe and the right-side supporting shoe slip independently according to the comparison result of the supporting shoe stroke difference corresponding to the left-side supporting shoe and the right-side supporting shoe and the supporting shoe critical value, and judging whether the left-side supporting shoe and the right-side supporting shoe slip simultaneously according to the comparison result of the propelling pressure and the corresponding fluctuation range and the propelling stroke difference and the corresponding propelling critical value.
Preferably, in the above detection method, the shoe supporting critical value includes an upper critical value and a lower critical value, the upper critical value is greater than zero, and the lower critical value is smaller than zero, then the determining whether the left shoe support or the right shoe support slips alone according to a comparison result between the shoe supporting stroke difference corresponding to the left and right shoe supports and the shoe supporting critical value specifically includes:
if the shoe supporting stroke difference of the left shoe supporting is larger than the upper critical value and the shoe supporting stroke difference of the right shoe supporting is smaller than the lower critical value, determining that the left shoe supporting independently slips;
and if the shoe supporting stroke difference of the right shoe supporting is larger than the upper critical value and the shoe supporting stroke difference of the left shoe supporting is smaller than the lower critical value, determining that the right shoe supporting independently slips.
Preferably, the detection method further includes:
acquiring an upper limit value and a lower limit value corresponding to the shoe supporting stroke difference, wherein the upper limit value is larger than the upper critical value, and the lower limit value is larger than the lower critical value; after the determining that the left side of the shoe is singly slipped and the determining that the right side of the shoe is singly slipped, the method further includes:
if the shoe supporting stroke difference of the left or right shoe supporting is larger than the upper limit value, or the shoe supporting stroke difference of the left or right shoe supporting is smaller than the lower limit value, outputting a propelling stopping command to the propelling system;
if the left side or the right side of the supporting shoe is not larger than the upper limit value, and the left side or the right side of the supporting shoe is not smaller than the lower limit value, outputting a command of reducing the propelling pressure of the heading machine to a preset thrust to a propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoe does not slip on the left side or the right side.
Preferably, in the above detection method, after determining that the left shoe is slipping alone, the method further includes: generating and outputting a left side slipping alarm instruction to an alarm device;
after the determination that the shoe on the right side is slipped alone, the method further includes: and generating and outputting a right side slip alarm command to the alarm device.
Preferably, in the above detection method, the determining whether the left and right shoes are slipping simultaneously according to the propulsion pressure, the corresponding fluctuation range, and the comparison result between the propulsion stroke difference and the corresponding propulsion threshold value specifically includes:
and if the propelling pressure is in the fluctuation range and the propelling stroke difference is larger than the propelling critical value, the left and right supporting shoes are judged to skid simultaneously.
Preferably, the detection method further includes:
acquiring a propelling limit value corresponding to the propelling stroke difference, wherein the propelling limit value is greater than the propelling critical value; after the shoe is determined to be slipping at the left side and the right side simultaneously, the method further comprises:
if the propelling stroke difference is larger than the propelling critical value, outputting a propelling stopping command to a propelling system;
if the propelling stroke difference is not larger than the propelling critical value, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to a propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip.
Preferably, in the detection method, after determining that the left and right shoe shoes are slipping at the same time, the method further includes: and generating and outputting a simultaneous slipping alarm command of the left side and the right side to an alarm device.
In order to achieve the second object, the present invention provides the following technical solutions:
a detection system that entry driving machine props boots and skids, its characterized in that includes:
the receiving unit is used for receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and the propelling stroke of each time, which are acquired by the sensor in real time, in the linear tunneling process of the tunneling machine;
the calculation unit is used for calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the shoe supporting on the left side and the right side and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system respectively;
the acquiring unit is used for respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference;
and the judging unit is used for judging whether the left-side supporting shoe and the right-side supporting shoe slip independently or not according to the comparison result of the supporting shoe stroke difference corresponding to the left-side supporting shoe and the right-side supporting shoe and the supporting shoe critical value, and judging whether the left-side supporting shoe and the right-side supporting shoe slip simultaneously or not according to the propelling pressure, the corresponding fluctuation range and the comparison result of the propelling stroke difference and the corresponding propelling critical value.
The invention also provides the following technical scheme:
a heading machine, comprising:
the sensor is used for acquiring each stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and each propelling stroke in real time;
a calculator for calculating a shoe supporting stroke difference between a current stepping stroke and a previous stepping stroke of the shoe supporting on the left side and the right side, and a propelling stroke difference between a current propelling stroke and a previous propelling stroke of the propelling system;
and the comparator is used for comparing the shoe supporting stroke difference corresponding to the left and right shoe supporting shoes with the shoe supporting critical value, the propelling pressure with the corresponding fluctuation range and the propelling stroke difference with the corresponding propelling critical value, and judging whether the left shoe supporting shoe and the right shoe supporting shoe are singly slipped or not and whether the left and right shoe supporting shoes are simultaneously slipped or not according to the comparison result.
By applying the detection method for the slipping of the supporting shoes of the heading machine, the stepping stroke of the supporting shoes at the left side and the right side, the propelling pressure of a propelling system and the propelling stroke of each time are obtained in real time by a receiving sensor in the linear heading process of the heading machine; respectively calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the left and right shoe supporting strokes and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system; respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference; and judging whether the left side supporting shoe and the right side supporting shoe slip independently according to the comparison result of the supporting shoe stroke difference corresponding to the left side supporting shoe and the right side supporting shoe and the supporting shoe critical value, and judging whether the left side supporting shoe and the right side supporting shoe slip simultaneously according to the comparison result of the propelling pressure and the corresponding fluctuation range and the propelling stroke difference and the corresponding propelling critical value. It is thus clear that need not artifical supplementary in this application, can realize propping the automated inspection that the boots skidded and judge and prop the boots condition of skidding. And the system can detect and judge in real time, thereby ensuring the construction safety. The detection method can be realized by the development machine and the detection system for the shoe slipping of the development machine, and the beneficial effects are also achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for detecting slipping of a supporting shoe of a heading machine according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for detecting slipping of a ripper boot according to another embodiment of the present invention;
FIG. 3 is a block diagram of a development machine shoe slip detection system according to an embodiment of the present invention;
fig. 4 is a block diagram of a heading machine according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses a method and a system for detecting the slipping of a supporting shoe of a heading machine, which are used for automatically detecting the slipping of the supporting shoe and judging the slipping condition of the supporting shoe, so that the working safety of the heading machine is improved.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting slipping of a supporting shoe of a heading machine according to an embodiment of the invention.
In one specific embodiment, the method for detecting the slipping of the supporting shoe of the heading machine mainly comprises the following steps:
s101: in the linear tunneling process of the tunneling machine, the stepping stroke of the left and right side supporting shoes, the propelling pressure of a propelling system and the propelling stroke of each time are acquired by a receiving sensor in real time.
In the tunneling process of the tunneling machine, when the left and right directions are not adjusted, the stepping strokes of the left and right side supporting shoes are acquired in real time through the sensor, and the propelling pressure and each propelling stroke of the propelling system are acquired through the sensor. The sensors can be respectively and correspondingly arranged corresponding to all the parameters for detection, and data can be detected according to the existing sensor arrangement on the heading machine, including the left side supporting shoe pressure and displacement sensor, the right side supporting shoe pressure and displacement sensor and the propelling pressure and stroke displacement sensor, so that the existing structure does not need to be changed, and a detection device does not need to be added. And judging whether the shoe supporting has a slipping phenomenon or not by comparing and analyzing the values of the detection data of the sensor.
It should be noted that the heading machine body aimed at by the present application may be a full-face hard rock tunnel heading machine, and may also be other types of heading machines with a supporting shoe.
S102: and respectively calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the left and right shoe supporting strokes and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system.
Namely, the travel difference is calculated according to the acquired travel data and is used as a basis for judging whether the supporting shoe slides.
S103: and respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference.
S104: and judging whether the left side supporting shoe and the right side supporting shoe slip independently according to the comparison result of the supporting shoe stroke difference corresponding to the left side supporting shoe and the right side supporting shoe and the supporting shoe critical value, and judging whether the left side supporting shoe and the right side supporting shoe slip simultaneously according to the comparison result of the propelling pressure and the corresponding fluctuation range and the propelling stroke difference and the corresponding propelling critical value.
Specifically, after the stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and the propelling stroke of each time are obtained, the magnitude of the supporting shoe critical value corresponding to the supporting shoe stroke difference, the fluctuation range corresponding to the propelling pressure and the propelling critical value corresponding to the propelling stroke difference can be compared respectively, so that whether the left and right side supporting shoes slip or not can be judged according to the stroke difference.
It should be noted that, in the present application, whether the left and right side shoe shoes are slipped independently or not and whether the left and right side shoe shoes are slipped simultaneously or not are determined based on different parameters, that is, whether the left and right side shoe shoes are slipped independently or not is determined according to a comparison result between a shoe stroke difference corresponding to the left and right side shoe shoes and a shoe threshold value, and whether the left and right side shoe shoes are slipped simultaneously or not is determined according to a propulsion pressure and a corresponding fluctuation range and a comparison result between a propulsion stroke difference and a corresponding propulsion threshold value. The sequence of calculation and judgment of the specific corresponding parameters can be set according to requirements.
The detection method provided by the application comprises the steps of firstly judging whether the left side supporting shoe and the right side supporting shoe skid independently or not, and judging whether the left side supporting shoe and the right side supporting shoe skid simultaneously or not when the left side supporting shoe and the right side supporting shoe do not skid independently. And when the left and right supporting shoes do not slip independently, the difference between the current propelling stroke and the last propelling stroke of the propelling system is calculated, and corresponding judgment is carried out.
The detection method provided by the application also comprises the steps of firstly judging whether the left and right side supporting shoes simultaneously slip or not, and then judging whether the left side supporting shoe and the right side supporting shoe independently slip or not when the left and right side supporting shoes do not simultaneously slip. And when the left and right side supporting shoes do not slip simultaneously, the supporting shoe stroke difference between the current stepping stroke and the previous stepping stroke of the left and right side supporting shoes is calculated, and corresponding judgment is continued.
The detection method provided by the application also includes calculating the shoe-supporting stroke difference between the current stepping stroke and the previous stepping stroke of the left and right shoe-supporting strokes and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system respectively, and then performing corresponding judgment at the same time. For the judgment of whether the left and right supporting shoes slide independently, the judgment of whether the left supporting shoe slides or not can be carried out at first, and when the left and right supporting shoes do not slide, the judgment of whether the right supporting shoe slides or not can be carried out; or, whether the right side supporting shoe slides or not can be judged firstly, and when the right side supporting shoe does not slide, whether the left side supporting shoe slides or not can be judged; alternatively, the determination as to whether the left and right side shoes slide may be performed simultaneously.
By applying the detection method for the slipping of the supporting shoes of the heading machine, the slipping of the supporting shoes can be automatically detected and the slipping condition of the supporting shoes can be judged without manual assistance. And the system can detect and judge in real time, thereby ensuring the construction safety.
On the basis of the above contents, as a preferred embodiment, the method for detecting slipping of a supporting shoe of a heading machine, provided by the invention, includes that the supporting shoe critical value includes an upper critical value and a lower critical value, the upper critical value is greater than zero, and the lower critical value is less than zero, and whether the left supporting shoe or the right supporting shoe slips alone is judged according to a comparison result between a supporting shoe stroke difference corresponding to the left supporting shoe and the right supporting shoe and the upper critical value and the lower critical value, and specifically includes:
if the difference between the current stepping stroke of the left side supporting shoe and the supporting shoe stroke of the previous stepping stroke is larger than the upper critical value, and the difference between the current stepping stroke of the right side supporting shoe and the supporting shoe stroke of the previous stepping stroke is smaller than the lower critical value, judging that the left side supporting shoe slips independently;
and if the difference between the current stepping stroke of the right side supporting shoe and the supporting shoe stroke of the previous stepping stroke is larger than the upper critical value, and the difference between the current stepping stroke of the left side supporting shoe and the supporting shoe stroke of the previous stepping stroke is smaller than the lower critical value, judging that the right side supporting shoe slips independently.
Specifically, according to the real-time acquired stepping strokes of the two side supporting shoes, if the current stepping stroke X of the left side supporting shoe is determinediAnd last step stroke Xi-1Is greater than the upper threshold value delta1And the current stepping stroke X of the right side supporting shoejAnd last step stroke Xj-1Is less than the lower threshold value delta2Judging that the left side supporting shoe independently slips; when the left side supporting shoe has the current step travel XiAnd last step stroke Xi-1Has a difference of delta2And the current stepping stroke X of the right side supporting shoejAnd last step stroke Xj-1Is greater than delta1Judging that the right side supporting shoe independently slips; wherein, delta1Greater than 0, delta2Less than 0. The accuracy of the judgment result is improved by introducing the upper critical value and the lower critical value as the judgment basis.
On the basis of the above, as another preferred embodiment, the method for detecting slipping of a heading machine shoe further includes:
acquiring an upper limit value and a lower limit value corresponding to the shoe supporting stroke difference, wherein the upper limit value is larger than an upper critical value, and the lower limit value is larger than a lower critical value; then judge that the left side props the boots and skids alone and judge that the right side props the boots and skids alone the back, still include:
if the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is larger than an upper limit value, or the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is smaller than a lower limit value, stopping the propelling of the development machine;
if the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is not greater than the upper limit value, and the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is not less than the lower limit value, outputting a command of reducing the propelling pressure of the heading machine to a preset thrust to the propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to the initial state to the supporting system or the propelling system when the left or right supporting shoe does not slip.
Specifically, by setting an upper limit value a and a lower limit value b, a>δ1，b<δ2If the left side supporting shoe is judged to be slipped independently, the current stepping stroke X of the left side supporting shoe is judgediAnd last step stroke Xi-1Difference X ofi-Xi-1Greater than the upper limit value a or the current stepping stroke X of the right side shoejAnd last step stroke Xj-1Difference X ofj-Xj-1If the value is less than the lower limit value b, outputting a propulsion stopping command to the propulsion system; otherwise, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to the propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to the initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip.
Similarly, after the right shoe is determined to be slipping alone, the following corresponding determination is made as to whether or not the limit value is exceeded. The detailed process is not described herein. And (3) setting a limit value, reducing the thrust T to T1 or increasing the tightening force F to F1 when detecting that the slip does not exceed the limit value, continuously detecting the slipping condition of the shoe in real time, and recovering the original thrust T and tightening force F if the shoe does not slip. If the limit value is exceeded, the propulsion is automatically stopped. The system detects the slipping condition in real time, takes corresponding measures according to the slipping degree, protects the propelling shoe supporting mechanism from being damaged, and further improves the working safety and reliability of the heading machine.
In addition to the above, as another preferred embodiment, the method for detecting a slipping of a heading machine shoe further includes: generating and outputting a left side slipping alarm instruction to an alarm device; after the right-side shoe is determined to slip alone, the method further comprises the following steps: and generating and outputting a right side slipping alarm instruction to the alarm device.
When the slipping of the supporting shoe is detected, corresponding alarm information is output, so that relevant personnel can take corresponding measures according to the alarm prompt. Alarm information can be specifically displayed on an operation interface.
On the basis of the above embodiments, the method for determining whether the left and right side shoes are slipping simultaneously according to the propulsion pressure and the corresponding fluctuation range, and the comparison result between the propulsion stroke difference and the corresponding propulsion critical value specifically includes: if the propelling pressure is in the fluctuation range and the propelling stroke difference is larger than the propelling critical value, the left and right side supporting shoes are judged to skid simultaneously.
In particular, if the propulsion force T fluctuates within a certain range, e.g. above the lower propulsion force limit T1Less than the upper limit of propulsion T2And advances a stroke SkWith the last propulsion stroke Sk-1Is greater than the propulsion threshold S1And judging that the two side supporting shoes skid simultaneously. Through the arrangement, the slipping detection of the supporting shoes is more accurate, and the working safety and reliability of the heading machine are further improved.
On the basis of the above, as another preferred embodiment, the method further includes: acquiring a propelling limit value corresponding to the propelling stroke difference, wherein the propelling limit value is greater than a propelling critical value; after judging that the left and right side supporting shoes skid simultaneously, the method further comprises the following steps:
if the propelling stroke difference is larger than the propelling critical value, outputting a propelling stopping command to the propelling system;
if the propelling stroke difference is not larger than the propelling critical value, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to the propelling system, or outputting a command of increasing the supporting force of the supporting shoes to the preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to the initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip.
Specifically, by setting the advance critical value c, c>S1If it is determined that the left and right side shoes are slipping at the same time, the difference of the advancing stroke S is determinedk-Sk-1If the value is larger than the propulsion critical value c, outputting a propulsion stopping command to the propulsion system; otherwise, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to the propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to the initial state to the supporting system or the propelling system when the left and right supporting shoes do not slip.
And (3) setting a limit value, reducing the thrust T to T1 or increasing the tightening force F to F1 when detecting that the slip does not exceed the limit value, continuously detecting the slipping condition of the shoe in real time, and recovering the original thrust T and tightening force F if the shoe does not slip. If the limit value is exceeded, the propulsion is automatically stopped. The system detects the slipping condition in real time, takes corresponding measures according to the slipping degree, protects the propelling shoe supporting mechanism from being damaged, and further improves the working safety and reliability of the heading machine.
In addition to the above, as another preferred embodiment, the method for detecting slipping of the supporting shoes of the heading machine according to the present invention further includes: and generating and outputting a simultaneous slipping alarm command of the left side and the right side to an alarm device. When the fact that the left and right side supporting shoes simultaneously slip is detected, corresponding alarm information is output, and therefore relevant personnel can take corresponding measures according to alarm prompts. Alarm information can be specifically displayed on an operation interface.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method for detecting slipping of a heading machine shoe according to another embodiment of the present invention, which mainly includes the following steps:
s201: outputting an initial propulsion pressure instruction to a propulsion system, and outputting an initial tightening force instruction to a tightening system;
s202: receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of a propelling system and the propelling stroke of each time, which are acquired by a sensor in real time;
s203: judging whether the current stepping stroke X of the left side supporting shoe isiAnd last step stroke Xi-1Difference X ofi-Xi-1Greater than the upper threshold value delta1And the current stepping stroke X of the right side supporting shoejAnd last step stroke Xj-1Difference X ofj-Xj-1Less than the lower critical value delta2If yes, executing step S204 and the subsequent steps; otherwise, executing step S208 and the subsequent steps;
s204: generating and outputting a right side slipping alarm instruction to the alarm device;
s205: judging whether the current stepping stroke X of the left side supporting shoe isiAnd last step stroke Xi-1Difference X ofi-Xi-1Greater than the upper limit value a or the current stepping stroke X of the right side shoejAnd last step stroke Xj-1Difference X ofj-Xj-1If the value is less than the lower limit value b, executing step S206; otherwise, go to step S207;
s206: outputting a propulsion stopping command to a propulsion system, and then finishing;
s207: outputting a command of reducing the propelling pressure of the heading machine to a preset thrust to a propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to a supporting system, and returning to the step S203 and executing the subsequent steps;
s208: judging whether the current stepping stroke X of the left side supporting shoe isiAnd last step stroke Xi-1Difference X ofi-Xi-1Less than the lower critical value delta2And the current stepping stroke X of the right side supporting shoejAnd last step stroke Xj-1Difference X ofj-Xj-1Greater than the upper threshold value delta1If yes, go to step S209 and the following steps; otherwise, executing step S212 and the subsequent steps;
s209: generating and outputting a right side slipping alarm instruction to the alarm device;
s210: judging whether the current stepping stroke X of the left side supporting shoe isiAnd last step stroke Xi-1Difference X ofi-Xi-1Less than the lower limit b or the current step travel X of the right shoejAnd last step stroke Xj-1Difference X ofj-Xj-1If the value is greater than the upper limit value a, executing step S206; otherwise, go to step S211;
s211: outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to a propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to a supporting system, and returning to the step S208 and executing the subsequent steps;
s212: judging whether the propelling force T is larger than the propelling force lower limit T1Less than the upper limit of propulsion T2And advances a stroke SkWith the last propulsion stroke Sk-1Difference S ofk-Sk-1Greater than a propulsion threshold S1If yes, go to step S213 and the following steps; otherwise, returning to step S201 and executing the subsequent steps;
s213: generating and outputting a simultaneous slipping alarm instruction of the left side and the right side to an alarm device;
s214: judging the difference of the propulsion stroke Sk-Sk-1If yes, go to step S206; otherwise, go to step S215;
s215: and outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to the propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to the supporting system, and returning to the step S212 and executing the subsequent steps.
In the tunneling process of the tunneling machine, the pressure of the left and right side supporting shoes is more than P1The rotating speed of the cutter head is n1。
The detection system for detecting the slipping of the supporting shoe of the heading machine provided by the application is introduced below.
Referring to fig. 3, fig. 3 is a block diagram of a detecting system for detecting slipping of a supporting shoe of a heading machine according to an embodiment of the present invention, which mainly includes:
the receiving unit 31 is used for receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and the propelling stroke of each time, which are acquired by the sensor in real time in the linear tunneling process of the tunneling machine;
the calculating unit 32 is configured to calculate a shoe supporting stroke difference between a current stepping stroke and a previous stepping stroke of the shoe supporting on the left and right sides, and a propelling stroke difference between a current propelling stroke and a previous propelling stroke of the propelling system;
an obtaining unit 33, configured to obtain a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propulsion pressure, and a propulsion critical value corresponding to the propulsion stroke difference, respectively;
the judging unit 34 is configured to judge whether the left-side shoe and the right-side shoe slip separately according to a comparison result between the shoe-supporting stroke difference corresponding to the left-side shoe and the shoe-supporting critical value, and judge whether the left-side shoe and the right-side shoe slip simultaneously according to the propulsion pressure and the corresponding fluctuation range, and a comparison result between the propulsion stroke difference and the corresponding propulsion critical value.
Therefore, the detection system for the slipping of the supporting shoes of the development machine can realize the automatic detection of the slipping of the supporting shoes and judge the slipping condition of the supporting shoes without manual assistance. And the system can detect and judge in real time, thereby ensuring the construction safety.
Further, the determining unit 34 is specifically configured to: if the difference between the current stepping stroke and the last stepping stroke of the left-side shoe is larger than the upper critical value, and the difference between the current stepping stroke and the last stepping stroke of the right-side shoe is smaller than the lower critical value, determining that the left-side shoe slips independently;
if the difference between the current stepping stroke and the last stepping stroke of the right-side supporting shoe is larger than the upper critical value, and the difference between the current stepping stroke and the last stepping stroke of the left-side supporting shoe is smaller than the lower critical value, determining that the right-side supporting shoe slips independently;
and if the propelling pressure is in the fluctuation range and the propelling stroke difference is larger than the propelling critical value, the left and right supporting shoes are judged to skid simultaneously.
Furthermore, the obtaining unit 33 is further configured to obtain an upper limit value and a lower limit value corresponding to the shoe-supporting stroke difference, where the upper limit value is greater than the upper critical value, and the lower limit value is greater than the lower critical value;
the decision unit 34 is further configured to: after the left-side shoe support is independently slipped and the right-side shoe support is independently slipped, if the shoe support stroke difference between the current stepping stroke and the previous stepping stroke of the left-side or right-side shoe support is greater than the upper limit value or the shoe support stroke difference between the current stepping stroke and the previous stepping stroke of the left-side or right-side shoe support is less than the lower limit value, outputting a propulsion stopping instruction to a propulsion system;
if the difference between the current stepping stroke of the supporting shoe on the left side or the right side and the supporting shoe stroke of the previous stepping stroke is not larger than the upper limit value, and the difference between the current stepping stroke of the supporting shoe on the left side or the right side and the supporting shoe stroke of the previous stepping stroke is not smaller than the lower limit value, outputting a command that the propelling pressure of the heading machine is reduced to a preset thrust to a propelling system, or outputting a command that the supporting force of the supporting shoe is increased to the preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command that the supporting force or the propelling pressure is restored to an initial state to the supporting system or the propelling system when the supporting shoe does not slip on the left side or the right side.
Furthermore, the obtaining unit 33 is further configured to obtain a propulsion limit value corresponding to the propulsion stroke difference, where the propulsion limit value is greater than the propulsion threshold value;
the judging unit 34 is further configured to, after the left and right sides of the shoe are determined to be slipping simultaneously, output a propulsion stop command to the propulsion system if the propulsion stroke difference is greater than the propulsion critical value;
if the propelling stroke difference is not larger than the propelling critical value, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to a propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip.
On the basis of the above embodiments, the device further includes an alarm device for performing a right-side slip alarm when the determination unit 34 determines that the right-side shoe slips alone, performing a left-side slip alarm when the determination unit 34 determines that the left-side shoe slips alone, and performing a left-side simultaneous slip alarm when the determination unit 34 determines that the left-side shoe and the right-side shoe slip simultaneously.
The invention also discloses a heading machine, please refer to fig. 4, fig. 4 is a structural block diagram of the heading machine according to an embodiment of the invention, and the structural block diagram mainly includes:
the sensor 41 is used for acquiring each stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and each propelling stroke in real time;
a calculator 42, configured to calculate a shoe-supporting stroke difference between a current stepping stroke and a previous stepping stroke of the shoe-supporting on the left and right sides, and a propelling stroke difference between a current propelling stroke and a previous propelling stroke of the propelling system, respectively;
and a comparator 43, configured to compare the shoe-supporting stroke difference corresponding to the left and right shoe-supporting shoes with the shoe-supporting critical value, the propulsion pressure with the corresponding fluctuation range, and the propulsion stroke difference with the corresponding propulsion critical value, and determine whether the left shoe-supporting shoe and the right shoe-supporting shoe are slipped separately or whether the left and right shoe-supporting shoes are slipped simultaneously according to the comparison result.
Therefore, the development machine can realize automatic detection of shoe support slipping without manual assistance and judge the shoe support slipping condition. And the system can detect and judge in real time, thereby ensuring the construction safety.
Further, the comparator 43 is specifically configured to: if the difference between the current stepping stroke and the last stepping stroke of the left-side shoe is larger than the upper critical value, and the difference between the current stepping stroke and the last stepping stroke of the right-side shoe is smaller than the lower critical value, determining that the left-side shoe slips independently;
if the difference between the current stepping stroke and the last stepping stroke of the right-side supporting shoe is larger than the upper critical value, and the difference between the current stepping stroke and the last stepping stroke of the left-side supporting shoe is smaller than the lower critical value, determining that the right-side supporting shoe slips independently;
and if the propelling pressure is in the fluctuation range and the propelling stroke difference is larger than the propelling critical value, the left and right supporting shoes are judged to skid simultaneously.
Still further, the comparator 43 is also used for: after the left-side shoe support is independently slipped and the right-side shoe support is independently slipped, if the shoe support stroke difference between the current stepping stroke and the previous stepping stroke of the left-side or right-side shoe support is greater than the upper limit value or the shoe support stroke difference between the current stepping stroke and the previous stepping stroke of the left-side or right-side shoe support is less than the lower limit value, outputting a propulsion stopping instruction to a propulsion system;
if the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is not greater than the upper limit value, and the difference between the current stepping stroke of the left or right supporting shoe and the supporting shoe stroke of the previous stepping stroke is not less than the lower limit value, outputting a command of reducing the propelling pressure of the heading machine to a preset thrust to a propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoes on the left or right side do not slip, wherein the upper limit value is greater than the upper critical value, and the lower limit value is greater than the lower critical value.
Furthermore, the comparator 43 is further configured to, after the determination that the left and right side shoes are slipping at the same time, output a propulsion stop command to the propulsion system if the propulsion stroke difference is greater than the propulsion threshold value;
if the propelling stroke difference is not larger than the propelling critical value, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to a propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip, wherein the propelling limit value is larger than the propelling critical value.
In addition to the above embodiments, the present invention further includes an alarm device for performing a right-side slip alarm when the comparator 43 determines that the right-side shoe slips alone, performing a left-side slip alarm when the comparator 43 determines that the left-side shoe slips alone, and performing a left-side simultaneous slip alarm when the comparator 43 determines that the left-side shoe slips simultaneously.
The specific embodiment of the heading machine and the detection system for detecting the slipping of the supporting shoes of the heading machine provided by the application and the detection method for detecting the slipping of the supporting shoes of the heading machine described above can be referred to correspondingly, and are not described again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A detection method for detecting slipping of a supporting shoe of a heading machine is characterized by comprising the following steps:
in the linear tunneling process of the tunneling machine, receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of a propelling system and the propelling stroke of each time, which are acquired by a sensor in real time;
respectively calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the shoe supporting on the left side and the right side, and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system;
respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference;
and judging whether the left-side supporting shoe and the right-side supporting shoe slip independently according to the comparison result of the supporting shoe stroke difference corresponding to the left-side supporting shoe and the right-side supporting shoe and the supporting shoe critical value, and judging whether the left-side supporting shoe and the right-side supporting shoe slip simultaneously according to the comparison result of the propelling pressure and the corresponding fluctuation range and the propelling stroke difference and the corresponding propelling critical value.
2. The detecting method according to claim 1, wherein the shoe supporting critical value includes an upper critical value and a lower critical value, the upper critical value is greater than zero, and the lower critical value is less than zero, and then whether the left shoe supporting and the right shoe supporting slip independently or not is determined according to a comparison result between the shoe supporting stroke difference corresponding to the left and right shoe supporting and the shoe supporting critical value, specifically including:
if the shoe supporting stroke difference of the left shoe supporting is larger than the upper critical value and the shoe supporting stroke difference of the right shoe supporting is smaller than the lower critical value, determining that the left shoe supporting independently slips;
and if the shoe supporting stroke difference of the right shoe supporting is larger than the upper critical value and the shoe supporting stroke difference of the left shoe supporting is smaller than the lower critical value, determining that the right shoe supporting independently slips.
3. The detection method according to claim 2, further comprising:
acquiring an upper limit value and a lower limit value corresponding to the shoe supporting stroke difference, wherein the upper limit value is larger than the upper critical value, and the lower limit value is larger than the lower critical value; then judge the left side the boots that prop skid alone and judge the right side the boots that prop after skidding alone, still include:
if the shoe supporting stroke difference of the left or right shoe supporting is larger than the upper limit value, or the shoe supporting stroke difference of the left or right shoe supporting is smaller than the lower limit value, outputting a propelling stopping command to the propelling system;
if the left side or the right side of the supporting shoe is not larger than the upper limit value, and the left side or the right side of the supporting shoe is not smaller than the lower limit value, outputting a command of reducing the propelling pressure of the heading machine to a preset thrust to a propelling system, or outputting a command of increasing the supporting force of the supporting shoe to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoe does not slip on the left side or the right side.
4. The detection method according to claim 2, wherein after determining that the left shoe is slipping alone, the method further comprises: generating and outputting a left side slipping alarm instruction to an alarm device;
after the shoe on the right side is judged to be singly slipped, the method further comprises the following steps: and generating and outputting a right side slip alarm command to the alarm device.
5. The detecting method according to any one of claims 1 to 4, wherein the step of determining whether the left and right shoes are slipping simultaneously according to the results of comparing the propulsion pressure with the corresponding fluctuation range and the results of comparing the propulsion stroke difference with the corresponding propulsion threshold value comprises:
and if the propelling pressure is in the fluctuation range and the propelling stroke difference is larger than the propelling critical value, the left and right supporting shoes are judged to skid simultaneously.
6. The detection method according to claim 5, further comprising:
acquiring a propelling limit value corresponding to the propelling stroke difference, wherein the propelling limit value is greater than the propelling critical value; after the shoe is determined to be slipping at the left side and the right side simultaneously, the method further comprises:
if the propelling stroke difference is larger than the propelling critical value, outputting a propelling stopping command to a propelling system;
if the propelling stroke difference is not larger than the propelling critical value, outputting a command of reducing the propelling pressure of the heading machine to a preset propelling force to a propelling system, or outputting a command of increasing the supporting force of the supporting shoes to a preset supporting force to the supporting system, continuously detecting, and outputting a corresponding command of restoring the supporting force or the propelling pressure to an initial state to the supporting system or the propelling system when the supporting shoes on the left side and the right side do not slip.
7. The detection method according to claim 5, further comprising, after determining that the left and right shoe shoes are slipping at the same time: and generating and outputting a simultaneous slipping alarm command of the left side and the right side to an alarm device.
8. A detection system that entry driving machine props boots and skids, its characterized in that includes:
the receiving unit is used for receiving the stepping stroke of the left and right side supporting shoes, the propelling pressure of the propelling system and the propelling stroke of each time, which are acquired by the sensor in real time, in the linear tunneling process of the tunneling machine;
the calculation unit is used for calculating the shoe supporting stroke difference between the current stepping stroke and the previous stepping stroke of the shoe supporting on the left side and the right side and the propelling stroke difference between the current propelling stroke and the previous propelling stroke of the propelling system respectively;
the acquiring unit is used for respectively acquiring a shoe supporting critical value corresponding to the shoe supporting stroke difference, a fluctuation range corresponding to the propelling pressure and a propelling critical value corresponding to the propelling stroke difference;
and the judging unit is used for judging whether the left-side supporting shoe and the right-side supporting shoe slip independently or not according to the comparison result of the supporting shoe stroke difference corresponding to the left-side supporting shoe and the right-side supporting shoe and the supporting shoe critical value, and judging whether the left-side supporting shoe and the right-side supporting shoe slip simultaneously or not according to the propelling pressure, the corresponding fluctuation range and the comparison result of the propelling stroke difference and the corresponding propelling critical value.
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| CN112943286B (en) * | 2021-02-08 | 2022-11-01 | 中国铁建重工集团股份有限公司 | Operation method of hard rock tunneling machine |
| CN113153316B (en) * | 2021-04-29 | 2022-03-04 | 中铁工程装备集团有限公司 | Detection device, heading machine and shoe-supporting slip detection method thereof |
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