CN112228093B - Method for judging damage of cutter head of shield tunneling machine - Google Patents
Method for judging damage of cutter head of shield tunneling machine Download PDFInfo
- Publication number
- CN112228093B CN112228093B CN202011189838.1A CN202011189838A CN112228093B CN 112228093 B CN112228093 B CN 112228093B CN 202011189838 A CN202011189838 A CN 202011189838A CN 112228093 B CN112228093 B CN 112228093B
- Authority
- CN
- China
- Prior art keywords
- cutter head
- acoustic emission
- order
- tunneling machine
- shield tunneling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
Abstract
The invention discloses a method for judging damage of a cutter head of a shield tunneling machine, which comprises the following steps: firstly, laying a monitoring device; secondly, acquiring detection data of a shield machine operation sensor; thirdly, judging damage of a cutter head of the shield tunneling machine according to the acceleration sensor; fourthly, judging damage of the cutter head of the shield tunneling machine according to the acoustic emission sensor; and fifthly, judging the damage of the cutter head of the shield tunneling machine according to the hydraulic sensor. The method has simple steps, reasonable design and convenient realization, realizes the judgment of the damage of the cutter head of the shield tunneling machine, and improves the accuracy of the judgment of the damage of the cutter head of the shield tunneling machine.
Description
Technical Field
The invention belongs to the technical field of shield machine cutter head damage judgment, and particularly relates to a method for judging damage of a shield machine cutter head.
Background
A shield machine is a tunnel boring machine using a shield method. The shield construction method is a method in which a "shield" (referred to as a supporting segment) of a tunnel is constructed (laid) while a heading machine is heading. The shield machine is a complex device with high added value and integrating advanced technologies such as machinery, electricity, hydraulic pressure, optics, network, automatic control, sensing and information, has the functions of excavating and cutting soil, conveying muck, lining segments, guiding and rectifying deviation and the like, and has extremely high reliability requirement. The shield machine is used as large-scale tunneling equipment for tunnel construction, and rock stratum cutting excavation is carried out by a cutter under the rotating action of a cutter head. The cutter head is a core component of the shield machine, the structural form, the strength and the integral rigidity of the cutter head directly influence the speed and the cost of construction and excavation, and the fault maintenance and treatment are difficult. Therefore, it is very important to monitor and judge the damage of the cutter head to avoid the fault expansion of the cutter head caused by the damage of the cutter head.
Therefore, a method for judging damage of the cutter head of the shield machine is lacked at present, comprehensive judgment of damage of the cutter head of the shield machine is realized, and accuracy of judgment of damage of the cutter head of the shield machine is improved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for judging damage of a cutter head of a shield tunneling machine, which has the advantages of simple steps, reasonable design and convenient implementation, realizes comprehensive judgment of damage of the cutter head of the shield tunneling machine, and improves the accuracy of judgment of damage of the cutter head of the shield tunneling machine.
In order to solve the technical problems, the invention adopts the technical scheme that: a method for judging damage of a cutter head of a shield tunneling machine is characterized by comprising the following steps:
step one, arrangement of a monitoring device:
101, distributing acceleration sensors on all cutter head spokes of a cutter head of a shield tunneling machine; wherein the total number of the acceleration sensors is J1And J is1Is a positive integer；
102, arranging acoustic emission sensors on all cutter head spokes of a cutter head of the shield tunneling machine; wherein the number of the acoustic emission sensors is J2And J is2Is a positive integer;
103, distributing hydraulic wear measuring heads at each cutter head spoke of the cutter head of the shield tunneling machine and the central position of the cutter head of the shield tunneling machine; each hydraulic wear measuring head is connected with a hydraulic pipeline, and each hydraulic pipeline is provided with a pressure sensor; wherein the number of the pressure sensors is J3And J is3Is a positive integer;
104, arranging a camera at the upper part in a front shield soil bin of the shield machine;
step two, acquiring detection data of a shield tunneling machine operation sensor:
step 201, in the excavation process of the cutter head of the shield machine, each acceleration sensor detects an acceleration signal of the cutter head of the shield machine and sends the acceleration signal to a data acquisition unit, each acoustic emission sensor detects an acoustic emission signal generated by the cutter head of the shield machine and sends the acoustic emission signal to the data acquisition unit, and each pressure sensor detects pressure in each hydraulic pipeline and sends the pressure to the data acquisition unit;
step 202, the data acquisition unit respectively acquires acceleration signals detected by each acceleration sensor, acoustic emission signals detected by each acoustic emission sensor and pressure detected by each pressure sensor according to preset sampling time and sends the signals to the PLC module;
step 203, the PLC module acquires an acceleration signal value acquired at each sampling moment of each acceleration sensor, an acoustic emission signal value acquired at each sampling moment of each acoustic emission sensor and a pressure value acquired at each sampling moment of each pressure sensor, and sends the acceleration signal values, the acoustic emission signal values and the pressure values to the data processor through the communication module;
step 204, the data processor receives the acceleration signal values collected at each sampling moment of each acceleration sensor, the acoustic emission signal values collected at each sampling moment of each acoustic emission sensor and the pressure values collected at each sampling moment of each pressure sensor;
thirdly, judging damage of a cutter head of the shield tunneling machine according to the acceleration sensor:
step 301, in the process of excavating the cutter head of the shield tunneling machine, the data processor sends the jth data to the jth data processor1The acceleration signal value collected at the ith sampling moment of each acceleration sensor is recorded as fj1(i) (ii) a Wherein j is1Is a positive integer, and j is not less than 11≤J1(ii) a I is more than or equal to 1 and less than or equal to I, I and I are positive integers, and I is the total number of samples;
step 302, the data processor takes time as an abscissa and takes an acceleration signal value as an ordinate to obtain a jth j1An acceleration signal curve;
step 303, data processor Pair j1Performing modal analysis on the acceleration signal curve to judge whether the cutter head of the shield tunneling machine is possibly damaged;
step 304, according to the method from step 301 to step 303, for J1Judging the acceleration signal value acquired by the acceleration sensor I times, and executing the step four when the cutter head of the shield machine is possibly damaged; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step four, judging damage of the cutter head of the shield tunneling machine according to the acoustic emission sensor:
step 401, in the process of excavating the cutter head of the shield tunneling machine, the data processor enables the jth cutter head to be connected with the jth cutter head2Recording the acoustic emission signal value collected at the ith sampling moment of the acoustic emission sensor
Wherein j is2Is a positive integer, and j is not less than 12≤J2；
Step 402, data processor for jth2Judging the acoustic emission signal value acquired by the acoustic emission sensor I times to confirm whether the cutter head of the shield machine is damaged, and when the cutter head of the shield machine is confirmed to be damaged, early warning by a data processor; otherwise, executing the step five;
step five, judging damage of a cutter head of the shield tunneling machine according to the hydraulic sensor:
step 501, in the process of excavating the cutter head of the shield tunneling machine, the data processor sends the jth data to the jth data processor3Recording the pressure collected at the ith sampling moment of each pressure sensor
Wherein j is3Are all positive integers, j is more than or equal to 13≤J3I is a positive integer;
step 502, the data processor sends the jth3Pressure collected at ith sampling moment of pressure sensor
Comparing with a preset pressure threshold when
When the pressure is less than the preset pressure threshold value, the pressure is equal to the jth pressure threshold value3J th corresponding to each pressure sensor3The hydraulic wear gauge head is worn, and j is explained3When the cutter head of the shield machine at the hydraulic wear measuring head is worn, the data processor gives an early warning when the cutter head of the shield machine is determined to be damaged; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step 503, the data processor will get j3The distance between the hydraulic abrasion measuring head and the center of the shield machine cutter head is recorded as the radius position where the shield machine cutter head is abraded.
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: j for the data processor in step 3031Modal analysis is carried out on each acceleration signal curve to judge whether the cutter head of the shield machine is damaged or not, and the specific process is as follows:
3031, the data processor calls the modal analysis module to the jth1Performing modal analysis on the acceleration signal curve to obtain the jth1Modal parameters of the individual acceleration sensors; wherein the modal parameters comprise a first-order modal parameter, a second-order modal parameter, a third-order modal parameter and a fourth-order modal parameter, and the first-order modal parameter comprises a first-order natural frequency
And first order damping ratio
The second-order modal parameters include a second-order natural frequency
And second order damping ratio
The third-order modal parameter includes the third-order natural frequency
And third order damping ratio
The fourth-order modal parameters include a fourth-order natural frequency
And fourth order damping ratio
3032 the data processor converts the first order natural frequency
And a preset first-order natural frequency and a first-order damping ratio
And preset first-order damping ratio and second-order natural frequency
And a preset second-order natural frequency and second-order damping ratio
And preset second-order damping ratio and third-order natural frequency
And preset third-order natural frequency and third-order damping ratio
And a preset third-order damping ratio and a preset fourth-order natural frequency
And a preset fourth-order natural frequency and a preset fourth-order damping ratio
Respectively comparing with the preset fourth-order damping ratio when the first-order natural frequency is reached
First-order damping ratio not conforming to first-order natural frequency
Second order natural frequency not conforming to first order damping ratio
Second order damping ratio not conforming to second order natural frequency
Third order natural frequency not conforming to second order damping ratio
Third order damping ratio not conforming to third order natural frequency
Not conforming to the damping ratio of the third order and the natural frequency of the fourth order
Not complying with fourth-order natural frequency or fourth-order damping ratio
If the four-order damping is not met, the cutter head of the shield tunneling machine is possibly damaged; otherwise, the cutter head of the shield tunneling machine is not damaged.
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: the specific process of obtaining the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio preset in step 3032 is as follows:
30321, the data processor establishes a three-dimensional model of the cutter head of the shield tunneling machine by using finite element analysis software; wherein the three-dimensional model of the cutter head of the shield tunneling machine is made of structural steel and has the density of 7850kg/m3Young's modulus of 2.1X 1011Pa, Poisson's ratio of 0.3;
30322, the data processor sets the unit types of meshing in the finite element analysis software to be hexahedron and tetrahedron, and carries out finite element meshing on the three-dimensional model of the cutter head of the shield tunneling machine to generate a finite element model of the cutter head of the shield tunneling machine;
30323, analyzing type selection modal analysis in finite element analysis software by the data processor;
30324, the data processor sets boundary conditions in the finite element analysis software; wherein the boundary condition is zero constraint displacement;
step 30325, the data processor sets the solving option in the finite element analysis software as a partitioned Lanczos method;
step 30326, simulating the excavation process of the cutter head of the shield machine, obtaining a first-order natural frequency, a first-order damping ratio, a second-order natural frequency, a second-order damping ratio, a third-order natural frequency, a third-order damping ratio, a fourth-order natural frequency and a fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact by the data processor, and respectively using the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact as a preset first-order natural frequency, a preset first-order damping ratio, a preset second-order natural frequency, a preset second-order damping ratio, a preset third-order natural frequency, a preset third-order damping ratio, a preset fourth-order natural frequency and a preset fourth-order damping ratio.
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: data processor pair J in step 4022The acoustic emission signal value that individual acoustic emission sensor I gathered is judged to confirm whether shield constructs the machine knife dish and take place the damage, the concrete process is as follows:
step 4021, data processor Pair j2The acoustic emission signal value that individual acoustic emission sensor I gathered is judged, and the concrete process is as follows:
when i is greater than 1, the data processor will
And a first signal threshold value when the first signal threshold value is judged
Is greater than a first signal threshold and
is greater than
The data processor marks the first determination count
Adding 1; wherein the first judgment count
Is set to zero at the initial value of (a),
denotes the j (th)2The acoustic emission signal value is collected by the acoustic emission sensor at the ith-1 sampling moment;
step 4022, according to the method in step 4021, until when I is equal to I, the determination of I sampling times is completed, and the jth sample is obtained2Personal acoustic emission sensingFirst judging count of device
4023, the data processor uses the time as an abscissa and the acoustic emission signal value as an ordinate to obtain the jth j2An acoustic emission signal curve;
step 4024, the data processor uses the second signal threshold as the straight line of the ordinate and the jth line2Intersecting the acoustic emission signal curves to obtain a plurality of intersection points; wherein the number of intersection points is K;
step 4025, the data processor sets the time corresponding to the k-th intersection point as t according to the time sequencekThe time corresponding to the k +1 th intersection is tk+1(ii) a Wherein K, K +1 and K are positive integers, and the values of K and K +1 are between 1 and K;
step 4026, the data processor determines when t isk+1Greater than tkAnd t isk+1-tkIs in the range of 0.1s to 0.5s, the data processor marks a second determination count
Adding 1; wherein the second judgment count
Is zero;
step 4027, according to the method described in step 4026, determining K intersection points to obtain the jth point by completing the determination until K equals K-12Second count of acoustic emission sensor
Step 4028, the data processor compares the jth2First judging count of individual acoustic emission sensor
And a first judgment count threshold value and a j2Second count of acoustic emission sensor
Comparing with a second judgment count threshold when the j-th time is reached2First judging count of individual acoustic emission sensor
Greater than the first judgment count threshold or the jth2Second count of acoustic emission sensor
When the number of the cutter blades is larger than the second judgment counting threshold value, the damage of the cutter head of the shield machine is confirmed;
step 4029, completing the step J according to the method of the step 4021 to the step 40292And (4) judging the acoustic emission signal value acquired by the acoustic emission sensor I times.
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: after the damage of the cutter head of the shield tunneling machine is confirmed in the step 4028, the following steps are also performed:
step A, finishing the pair J by the data processor2The acoustic emission signal value acquired by the acoustic emission sensor I times is judged to obtain a first judgment count
Greater than the first judgment count threshold or the second judgment count
Is greater than J 'corresponding to the second judgment counting threshold value'2Of acoustic emission sensor, and'2The acoustic emission sensor is used as an acoustic emission sensor to be judged; wherein, J'2Is a positive integer, and J'2Less than J2；
Step B, from J'2Selecting four acoustic emission sensors to be judged from the acoustic emission sensors to be judged;
step C, establishing a rectangular coordinate system by taking the center of the cutter head of the shield tunneling machine as an origin to obtain the position of the first acoustic emission sensor to be judgedSet coordinate Pd1(x1,y1) And the position coordinate P of the second acoustic emission sensor to be judgedd2(x2,y2) And the position coordinate P of the third acoustic emission sensor to be judgedd3(x3,y3) And the position coordinate P of the fourth acoustic emission sensor to be judgedd4(x4,y4)；
Step D, in the process that the first acoustic emission sensor to be judged, the second acoustic emission sensor to be judged, the third acoustic emission sensor to be judged and the fourth acoustic emission sensor to be judged respectively detect and collect acoustic emission signals, the data processor records the time when the first acoustic emission sensor to be judged receives the acoustic emission signals as td1The time when the second acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td2The time when the third acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td3And recording the time when the fourth acoustic emission sensor to be judged receives the acoustic emission signal as td4；
Step E, the data processor according to the formula
Obtaining the position coordinates (x) of the acoustic emission signald,yd) Thereby obtaining the position of the damage of the cutter head of the shield machine; where V represents the propagation velocity of the acoustic emission signal.
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: in step 101, when the diameter of a cutter head of the shield tunneling machine is not more than 8 meters, the number of acceleration sensors on each cutter head spoke is 1; when the diameter of a cutter head of the shield tunneling machine is larger than 8 meters, the number of the acceleration sensors on each cutter head spoke is more than 2, and the distance between every two adjacent acceleration sensors along the cutter head spoke is the same;
in step 102, when the diameter of a cutter head of the shield tunneling machine is not more than 8 meters, the number of the acoustic emission sensors on each cutter head spoke is 1; when the diameter of a cutter head of the shield tunneling machine is larger than 8 meters, the number of the acoustic emission sensors on each cutter head spoke is more than 2, and the distances between every two adjacent acoustic emission sensors along the cutter head spokes are the same;
when the diameter of the cutter head of the shield tunneling machine is larger than 8 m, the diameter of the cutter head of the shield tunneling machine is marked as LdThe distance between two adjacent acceleration sensors along the spoke of the cutter head is larger than
Is less than
The distance between two adjacent acoustic emission sensors along the spoke of the cutter head is larger than
Is less than
In step 104, when the diameter of the cutter head of the shield tunneling machine is not more than 8 meters, the number of the hydraulic wear measuring heads arranged on each cutter head spoke is 1;
when the diameter of the cutter head of the shield tunneling machine is larger than 8 meters, the number of the hydraulic wear measuring heads on each cutter head spoke is more than 2; each of the plurality of hydraulic wear measuring heads on the cutter head spoke is uniformly distributed along the radius direction of the cutter head of the shield machine, and the distance between two adjacent hydraulic wear measuring heads along the cutter head spoke is larger than the distance between two adjacent hydraulic wear measuring heads
Is less than
The method for judging damage of the cutter head of the shield tunneling machine is characterized by comprising the following steps: when the camera is required to work, the following steps can be carried out:
step A01, the data processor sends a command for opening the camera to the PLC module through the communication module, and the PLC module controls the camera to work;
a02, shooting an image of a shield machine cutter head of the shield machine cutter head close to the side surface of a front shield soil bin by a camera, and sending the image to a data processor through a data acquisition unit, a PLC module and a communication module;
and step A03, the data processor displays the shield machine cutter head image.
Compared with the prior art, the invention has the following advantages:
1. the method comprises the following steps of arranging a monitoring device, acquiring detection data of a shield machine operation sensor, judging the damage of the shield machine cutter head according to an acceleration sensor, judging the damage of the shield machine cutter head according to an acoustic emission sensor and judging the damage of the shield machine cutter head according to a hydraulic sensor, thereby realizing the judgment of the damage of the shield machine cutter head by various sensors and improving the accuracy of the judgment of the damage of the shield machine cutter head.
2. The acceleration sensor adopted by the invention detects the acceleration signal of the cutter head of the shield tunneling machine, the acceleration signal is collected by the data collector and sent to the data processor through the communication module, the data processor obtains an acceleration signal curve, and the modal analysis is carried out on the acceleration signal curve to judge whether the cutter head of the shield tunneling machine is possibly damaged.
3. The acoustic emission sensor adopted by the invention detects the acoustic emission signal generated by the cutter head of the shield machine, and the acoustic emission signal is collected by the data collector and sent to the data processor through the communication module so as to confirm whether the cutter head of the shield machine is damaged or not, thereby improving the accuracy of judging the damage of the cutter head of the shield machine.
4. According to the invention, hydraulic wear measuring heads are distributed at the center positions of each cutter head spoke of the shield machine cutter head and the shield machine cutter head, each hydraulic wear measuring head is connected with a hydraulic pipeline, a pressure sensor is arranged on each hydraulic pipeline, the pressure detected by the pressure sensor is compared with a preset pressure threshold, when the pressure detected by the pressure sensor is smaller than the preset pressure threshold, the hydraulic wear measuring head corresponding to the pressure sensor is worn, and the wear of the shield machine cutter head at the hydraulic wear measuring head is proved.
5. The invention has the advantages that the number of the acceleration sensors, the number of the transmitting sensors and the number of the hydraulic wear measuring heads are all multiple, the range of judging the damage of the cutter head of the shield machine is improved, and the missing judgment of the damage of the cutter head of the shield machine is reduced.
6. The camera is arranged in the front shield soil bin of the shield machine, and the cutter head image acquisition of the shield machine can be realized through the camera, so that the remote visual observation is also facilitated.
In conclusion, the method provided by the invention has the advantages of simple steps, reasonable design and convenience in implementation, realizes comprehensive judgment of the damage of the cutter head of the shield tunneling machine, and improves the accuracy of judgment of the damage of the cutter head of the shield tunneling machine.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic layout of the sensor of the present invention.
Fig. 2 is a schematic layout of a hydraulic wear probe and a camera according to the present invention.
Fig. 3 is a schematic block diagram of the circuit of the monitoring device of the present invention.
FIG. 4 is a block diagram of a method flow of the present invention.
Description of reference numerals:
1-shield tunneling machine cutterhead; 1-cutter head spoke; 3-an acceleration sensor;
4-acoustic emission sensor; 5, a front shield soil bin;
6-hydraulic abrasion measuring head; 7-hydraulic pipeline;
8-a pressure sensor; 9-a camera; 12-a data collector;
13-a PLC module; 14-a communication module; 15-data processor.
Detailed Description
The method for judging damage to the cutter head of the shield tunneling machine shown in fig. 1 to 4 comprises the following steps:
step one, arrangement of a monitoring device:
101, arranging acceleration sensors 3 on all cutter head spokes 1-1 of a cutter head 1 of a shield tunneling machine; wherein the total number of the acceleration sensors 3 is J1And J is1Is a positive integer;
102, arranging acoustic emission sensors 4 on all cutter head spokes 1-1 of a shield tunneling machine cutter head 1; wherein the number of acoustic emission sensors 4 is J2And J is2Is a positive integer;
103, distributing hydraulic wear measuring heads 6 at the center positions of each cutter head spoke 1-1 of the cutter head of the shield tunneling machine and the cutter head 1 of the shield tunneling machine; each hydraulic wear measuring head 6 is connected with a hydraulic pipeline 7, and each hydraulic pipeline 7 is provided with a pressure sensor 8; wherein the number of the pressure sensors 8 is J3And J is3Is a positive integer;
104, arranging a camera 9 at the upper part in a front shield soil bin 5 of the shield machine;
step two, acquiring detection data of a shield tunneling machine operation sensor:
step 201, in the excavation process of the cutter head 1 of the shield machine, each acceleration sensor 3 detects an acceleration signal of the cutter head 1 of the shield machine and sends the acceleration signal to a data acquisition unit 12, each acoustic emission sensor 4 detects an acoustic emission signal generated by the cutter head 1 of the shield machine and sends the acoustic emission signal to the data acquisition unit 12, and each pressure sensor 8 detects the pressure in each hydraulic pipeline 7 and sends the pressure to the data acquisition unit 12;
step 202, the data acquisition device 12 respectively acquires the acceleration signals detected by the acceleration sensors 3, the acoustic emission signals detected by the acoustic emission sensors 4 and the pressure detected by the pressure sensors 8 according to the preset sampling time and sends the signals to the PLC module 13;
step 203, the PLC module 13 acquires the acceleration signal values acquired at each sampling time of each acceleration sensor 3, the acoustic emission signal values acquired at each sampling time of each acoustic emission sensor 4, and the pressure values acquired at each sampling time of each pressure sensor 8, and sends the values to the data processor 15 through the communication module 14;
step 204, the data processor 15 receives the acceleration signal values collected at each sampling time of each acceleration sensor 3, the acoustic emission signal values collected at each sampling time of each acoustic emission sensor 4 and the pressure values collected at each sampling time of each pressure sensor 8;
thirdly, judging damage of a cutter head of the shield tunneling machine according to the acceleration sensor:
step 301, in the excavation process of the cutter head 1 of the shield tunneling machine, the data processor 15 sends the jth data to the server1The acceleration signal value collected at the ith sampling moment of each acceleration sensor is recorded as
Wherein j is1Is a positive integer, and j is not less than 11≤J1(ii) a I is more than or equal to 1 and less than or equal to I, I and I are positive integers, and I is the total number of samples;
step 302, the data processor 15 uses the time as the abscissa and the acceleration signal value as the ordinate to obtain the jth1An acceleration signal curve;
step 303, the data processor 15 compares the j-th1Performing modal analysis on the acceleration signal curve to judge whether the cutter head 1 of the shield tunneling machine is possibly damaged;
step 304, according to the method from step 301 to step 303, for J1Judging the acceleration signal value acquired by the acceleration sensor I times, and executing the step four when the cutter head 1 of the shield tunneling machine is possibly damaged; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step four, judging damage of the cutter head of the shield tunneling machine according to the acoustic emission sensor:
step 401, in the excavation process of the cutter head 1 of the shield tunneling machine, the data processor 15 sends the jth information to the server2Recording the acoustic emission signal value collected at the ith sampling moment of the acoustic emission sensor
Wherein j is2Is a positive integer, and j is not less than 12≤J2；
Step 402, the data processor 15 compares the jth2The acoustic emission signal value acquired by the acoustic emission sensor I times is judged to confirm whether the cutter head 1 of the shield tunneling machine is damaged or not, and when the cutter head of the shield tunneling machine is confirmedWhen the disc 1 is damaged, the data processor 15 gives an early warning; otherwise, executing the step five;
step five, judging damage of a cutter head of the shield tunneling machine according to the hydraulic sensor:
step 501, in the excavation process of the cutter head 1 of the shield tunneling machine, the data processor 15 sends the jth data to the jth cutter head3Recording the pressure collected at the ith sampling moment of each pressure sensor
Wherein j is3Are all positive integers, j is more than or equal to 13≤J3I is a positive integer;
step 502, the data processor 15 will send the jth3Pressure collected at ith sampling moment of pressure sensor
Comparing with a preset pressure threshold when
When the pressure is less than the preset pressure threshold value, the pressure is equal to the jth pressure threshold value3J th corresponding to each pressure sensor3The hydraulic wear gauge head is worn, and j is explained3When the shield machine cutter head at the hydraulic wear measuring head is worn and the damage of the shield machine cutter head 1 is confirmed, the data processor 15 gives an early warning; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step 503, the data processor 15 will send the jth3And the distance between the first hydraulic abrasion measuring head and the center of the shield tunneling machine cutter head 1 is recorded as the radius position where the shield tunneling machine cutter head is abraded.
In this embodiment, the data processor 15 performs the j-th operation in step 3031Modal analysis is carried out on each acceleration signal curve to judge whether the cutter head 1 of the shield tunneling machine is damaged or not, and the specific process is as follows:
3031, the data processor 15 calls the mode analysis module to the jth1Performing modal analysis on the acceleration signal curve to obtain the jth1Modal parameters of the individual acceleration sensors; wherein the modal parameterThe number includes a first-order modal parameter, a second-order modal parameter, a third-order modal parameter and a fourth-order modal parameter, the first-order modal parameter includes a first-order natural frequency
And first order damping ratio
The second-order modal parameters include a second-order natural frequency
And second order damping ratio
The third-order modal parameter includes the third-order natural frequency
And third order damping ratio
The fourth-order modal parameters include a fourth-order natural frequency
And fourth order damping ratio
3032 data processor 15 converts the first order natural frequency
And a preset first-order natural frequency and a first-order damping ratio
And preset first-order damping ratio and second-order natural frequency
And a preset second-order natural frequency and second-order damping ratio
And preset second-order damping ratio and third-order natural frequency
And preset third-order natural frequency and third-order damping ratio
And a preset third-order damping ratio and a preset fourth-order natural frequency
And a preset fourth-order natural frequency and a preset fourth-order damping ratio
Respectively comparing with the preset fourth-order damping ratio when the first-order natural frequency is reached
First-order damping ratio not conforming to first-order natural frequency
Second order natural frequency not conforming to first order damping ratio
Second order damping ratio not conforming to second order natural frequency
Third order natural frequency not conforming to second order damping ratio
Third order damping ratio not conforming to third order natural frequency
Not conforming to the damping ratio of the third order and the natural frequency of the fourth order
Not complying with fourth-order natural frequency or fourth-order damping ratio
If the four-order damping is not met, the cutter head 1 of the shield tunneling machine is possibly damaged; otherwise, the shield tunneling machine cutterhead 1 is not damaged.
In this embodiment, the specific process of obtaining the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency, and the fourth-order damping ratio preset in step 3032 is as follows:
30321, the data processor 15 establishes a three-dimensional model of the cutter head of the shield tunneling machine by using finite element analysis software; wherein the three-dimensional model of the cutter head of the shield tunneling machine is made of structural steel and has the density of 7850kg/m3Young's modulus of 2.1X 1011Pa, Poisson's ratio of 0.3;
30322, the data processor 15 sets the unit types of meshing to be hexahedron and tetrahedron in the finite element analysis software, and carries out finite element meshing on the three-dimensional model of the cutter head of the shield tunneling machine to generate a finite element model of the cutter head of the shield tunneling machine;
30323, the data processor 15 analyzes the type selection modal analysis in the finite element analysis software;
30324, the data processor 15 sets boundary conditions in the finite element analysis software; wherein the boundary condition is zero constraint displacement;
step 30325, the data processor 15 sets the solving option in the finite element analysis software as the partitioned Lanczos method;
step 30326, simulating the excavation process of the cutter head of the shield machine, obtaining the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact by the data processor 15, and respectively taking the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact as the preset first-order natural frequency, the preset first-order damping ratio, the preset second-order natural frequency, the preset second-order damping ratio, the preset third-order natural frequency, the preset third-order damping ratio, the preset fourth-order natural frequency and the preset fourth-order damping ratio.
In this embodiment, the data processor 15 pairs J in step 4022The method comprises the following steps of judging acoustic emission signal values acquired by the acoustic emission sensors I times to confirm whether a cutter head 1 of the shield tunneling machine is damaged or not, wherein the specific process comprises the following steps:
step 4021, the data processor 15 compares the j-th data2The acoustic emission signal value that individual acoustic emission sensor I gathered is judged, and the concrete process is as follows:
when i is greater than 1, the data processor 15 will
And a first signal threshold value when the first signal threshold value is judged
Is greater than a first signal threshold and
is greater than
The data processor 15 marks the first judgment count
Adding 1; wherein the first judgment count
Is set to zero at the initial value of (a),
denotes the j (th)2The acoustic emission signal value is collected by the acoustic emission sensor at the ith-1 sampling moment;
step 4022, the method according to step 4021And finishing the judgment of I sampling moments until when I is equal to I to obtain the j th2First judging count of individual acoustic emission sensor
Step 4023, the data processor 15 uses the time as the abscissa and the acoustic emission signal value as the ordinate to obtain the jth2An acoustic emission signal curve;
step 4024, the data processor 15 regards the straight line with the second signal threshold as the ordinate and the jth line2Intersecting the acoustic emission signal curves to obtain a plurality of intersection points; wherein the number of intersection points is K;
step 4025, the data processor 15 sets the time corresponding to the k-th intersection point as t according to the time sequencekThe time corresponding to the k +1 th intersection is tk+1(ii) a Wherein K, K +1 and K are positive integers, and the values of K and K +1 are between 1 and K;
step 4026, the data processor 15 determines when t isk+1Greater than tkAnd t isk+1-tkIs in the range of 0.1s to 0.5s, the data processor 15 marks a second determination count
Adding 1; wherein the second judgment count
Is zero;
step 4027, according to the method described in step 4026, determining K intersection points to obtain the jth point by completing the determination until K equals K-12Second count of acoustic emission sensor
Step 4028, the data processor 15 compares the jth signal2First judging count of individual acoustic emission sensor
And a first judgment count threshold value and a j2Second count of acoustic emission sensor
Comparing with a second judgment count threshold when the j-th time is reached2First judging count of individual acoustic emission sensor
Greater than the first judgment count threshold or the jth2Second count of acoustic emission sensor
When the judgment result is greater than the second judgment counting threshold value, the damage of the cutter head 1 of the shield tunneling machine is confirmed;
step 4029, completing the step J according to the method of the step 4021 to the step 40292And (4) judging the acoustic emission signal value acquired by the acoustic emission sensor I times.
In this embodiment, after it is determined in step 4028 that the cutter head 1 of the shield tunneling machine is damaged, the following steps are further performed:
step A, the data processor 15 completes the pair J2The acoustic emission signal value acquired by the acoustic emission sensor I times is judged to obtain a first judgment count
Greater than the first judgment count threshold or the second judgment count
Is greater than J 'corresponding to the second judgment counting threshold value'2Of acoustic emission sensor, and'2The acoustic emission sensor is used as an acoustic emission sensor to be judged; wherein, J'2Is a positive integer, and J'2Less than J2；
Step B, from J'2Selecting four acoustic emission sensors to be judged from the acoustic emission sensors to be judged;
step C, establishing a right angle by taking the center of the cutter head 1 of the shield tunneling machine as an original pointA coordinate system for obtaining the position coordinate P of the first acoustic emission sensor to be judgedd1(x1,y1) And the position coordinate P of the second acoustic emission sensor to be judgedd2(x2,y2) And the position coordinate P of the third acoustic emission sensor to be judgedd3(x3,y3) And the position coordinate P of the fourth acoustic emission sensor to be judgedd4(x4,y4)；
Step D, in the process that the first acoustic emission sensor to be judged, the second acoustic emission sensor to be judged, the third acoustic emission sensor to be judged and the fourth acoustic emission sensor to be judged respectively detect and collect acoustic emission signals, the data processor 15 records the time when the first acoustic emission sensor to be judged receives the acoustic emission signals as td1The time when the second acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td2The time when the third acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td3And recording the time when the fourth acoustic emission sensor to be judged receives the acoustic emission signal as td4；
Step E, the data processor 15 follows the formula
Obtaining the position coordinates (x) of the acoustic emission signald,yd) Thereby obtaining the position of the damaged cutter head 1 of the shield tunneling machine; where V represents the propagation velocity of the acoustic emission signal.
In this embodiment, in step 101, when the diameter of the cutter head 1 of the shield tunneling machine is not greater than 8 meters, the number of the acceleration sensors 3 on each cutter head spoke 1-1 is 1; when the diameter of a cutter head 1 of the shield tunneling machine is larger than 8 meters, the number of the acceleration sensors 3 on each cutter head spoke 1-1 is more than 2, and the distance between every two adjacent acceleration sensors 3 along the cutter head spoke 1-1 is the same;
in the step 102, when the diameter of the cutter head 1 of the shield tunneling machine is not more than 8 meters, the number of the acoustic emission sensors 4 on each cutter head spoke 1-1 is 1; when the diameter of the shield tunneling machine cutterhead 1 is larger than 8 meters, the number of the acoustic emission sensors 4 on each cutterhead spoke 1-1 is more than 2, and the distance between every two adjacent acoustic emission sensors 4 along the cutterhead spoke 1-1 is the same;
when the diameter of the cutter head 1 of the shield tunneling machine is larger than 8 m, the diameter of the cutter head 1 of the shield tunneling machine is marked as LdThe distance between two adjacent acceleration sensors 3 along the cutter head spoke 1-1 is larger than
Is less than
The distance between two adjacent acoustic emission sensors 4 along the cutter head spoke 1-1 is larger than
Is less than
In step 104, when the diameter of the cutter head 1 of the shield tunneling machine is not more than 8 meters, the number of the hydraulic wear measuring heads 6 arranged on each cutter head spoke 1-1 is 1;
when the diameter of the cutter head 1 of the shield tunneling machine is larger than 8 meters, the number of the hydraulic wear measuring heads 6 on each cutter head spoke 1-1 is more than 2; a plurality of hydraulic wear measuring heads 6 on each cutter head spoke 1-1 are uniformly distributed along the radius direction of the cutter head 1 of the shield tunneling machine, and the distance between every two adjacent hydraulic wear measuring heads 6 along the cutter head spoke 1-1 is larger than that of the adjacent two hydraulic wear measuring heads 6
Is less than
In this embodiment, when the camera 9 is required to work, the following steps may be further performed:
step A01, the data processor 15 sends a command for opening the camera to the PLC module 13 through the communication module 14, and then the PLC module 13 controls the camera 9 to work;
step A02, shooting a shield machine cutterhead image of the shield machine cutterhead 1 close to the side surface of the front shield soil bin 5 by a camera 9, and sending the shield machine cutterhead image to a data processor 15 through a data acquisition device 12, a PLC module 13 and a communication module 14;
step a03, the data processor 15 displays the shield machine cutter head image.
In this embodiment, it should be noted that a connecting line of two adjacent acceleration sensors 3 is located on a radius of the shield tunneling machine cutter head 1; the connecting line of two adjacent acoustic emission sensors 4 is positioned on the radius of the shield tunneling machine cutter head 1.
In this embodiment, the acoustic emission sensor may be referred to as a SAEU3S acoustic emission sensor.
In the embodiment, the acoustic emission sensor 4 is adopted to judge the damages such as cutter disc cracks, cutter breakage, cutter abrasion and the like because the metal structures such as cutter disc cracks, cutter breakage, cutter abrasion and the like generate acoustic emission signals which can be monitored by the acoustic emission sensor, the frequency of the acoustic emission signals is very high and generally higher than 50KHZ, and the acoustic emission signals can avoid the low-frequency section with serious vibration and noise pollution, so that the acoustic emission sensor has the advantages of high sensitivity, rich information content and the like.
In this embodiment, the preset sampling time is 1min to 2 min. When in actual use, the device can be adjusted according to actual needs.
In this embodiment, the data processor 15 is a computer.
In this embodiment, it should be noted that the communication module 14 is a wireless communication module, for example, an ethernet communication module.
In this embodiment, the preset pressure threshold is 0.6 MPa.
In this embodiment, the first determination count threshold has a value range of 80 to 82, and the second determination count threshold has a value range of 12 to 14.
In this embodiment, the first signal threshold is 0.5 mv.
In this embodiment, the value of the second signal threshold is 5 mv.
In this embodiment, it should be noted that, when the three-dimensional model of the cutter head of the shield tunneling machine is established in step 3041, bolt holes, process holes, chamfers, welds, and the like are omitted, so as to reduce the influence on the mesh division quality of the three-dimensional model of the cutter head of the shield tunneling machine.
In this embodiment, the X axis and the Y axis of the rectangular coordinate system are both along the radial direction of the cutter head 1 of the shield tunneling machine, and the X axis and the Y axis are vertically arranged.
In conclusion, the steps and the method adopted by the invention are simple and reasonable in design, firstly, the monitoring device is arranged, secondly, the shield machine operation sensor acquires the detection data, secondly, the shield machine cutterhead damage is judged according to the acceleration sensor, secondly, the shield machine cutterhead damage is judged according to the acoustic emission sensor, and thirdly, the shield machine cutterhead damage is judged according to the hydraulic sensor, so that the judgment of the shield machine cutterhead damage by various sensors is realized, and the accuracy of the judgment of the shield machine cutterhead damage is improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A method for judging damage of a cutter head of a shield tunneling machine is characterized by comprising the following steps:
step one, arrangement of a monitoring device:
101, arranging acceleration sensors (3) on all cutter head spokes (1-1) of a cutter head (1) of the shield tunneling machine; wherein the total number of the acceleration sensors (3) is J1And J is1Is a positive integer;
102, arranging acoustic emission sensors (4) on all cutter head spokes (1-1) of a shield tunneling machine cutter head (1); wherein the number of the acoustic emission sensors (4) is J2And J is2Is a positive integer;
103, distributing hydraulic wear measuring heads (6) at the center positions of each cutter head spoke (1-1) of the shield machine cutter head and the shield machine cutter head (1); each hydraulic wear measuring head (6) is connected with a hydraulic pipeline (7), and each hydraulic pipeline (7) is provided with a pressure sensor (8); wherein the number of the pressure sensors (8) is J3And J is3Is a positive integer;
104, arranging a camera (9) at the upper part in a front shield soil bin (5) of the shield machine;
step two, acquiring detection data of a shield tunneling machine operation sensor:
step 201, in the excavation process of a cutter head (1) of a shield machine, each acceleration sensor (3) detects an acceleration signal of the cutter head (1) of the shield machine and sends the acceleration signal to a data acquisition unit (12), each acoustic emission sensor (4) detects an acoustic emission signal generated by the cutter head (1) of the shield machine and sends the acoustic emission signal to the data acquisition unit (12), and each pressure sensor (8) detects the pressure in each hydraulic pipeline (7) and sends the pressure to the data acquisition unit (12);
step 202, the data acquisition unit (12) respectively acquires acceleration signals detected by the acceleration sensors (3), acoustic emission signals detected by the acoustic emission sensors (4) and pressure detected by the pressure sensors (8) according to preset sampling time and sends the signals to the PLC module (13);
step 203, the PLC module (13) acquires acceleration signal values acquired at each sampling moment of each acceleration sensor (3), acoustic emission signal values acquired at each sampling moment of each acoustic emission sensor (4) and pressure values acquired at each sampling moment of each pressure sensor (8), and sends the acceleration signal values, the acoustic emission signal values and the pressure values to the data processor (15) through the communication module (14);
204, the data processor (15) receives the acceleration signal values acquired at each sampling moment of each acceleration sensor (3), the acoustic emission signal values acquired at each sampling moment of each acoustic emission sensor (4) and the pressure values acquired at each sampling moment of each pressure sensor (8);
thirdly, judging damage of a cutter head of the shield tunneling machine according to the acceleration sensor:
step 301, in the excavation process of the cutter head (1) of the shield tunneling machine, the data processor (15) sends the jth1The acceleration signal value collected at the ith sampling moment of each acceleration sensor is recorded as
Wherein j is1Is a positive integer, and j is not less than 11≤J1(ii) a I is more than or equal to 1 and less than or equal to I, I and I are positive integers, and I is the total number of samples;
step 302, the data processor (15) takes the time as an abscissa and the acceleration signal value as an ordinate to obtain the jth1An acceleration signal curve;
step 303, the data processor (15) compares the jth1Performing modal analysis on the acceleration signal curve to judge whether the cutter head (1) of the shield tunneling machine is possibly damaged;
step 304, according to the method from step 301 to step 303, for J1Judging the acceleration signal value acquired by the acceleration sensor I times, and executing the step four when the cutter head (1) of the shield tunneling machine is possibly damaged; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step four, judging damage of the cutter head of the shield tunneling machine according to the acoustic emission sensor:
step 401, in the excavation process of the cutter head (1) of the shield tunneling machine, the data processor (15) enables the jth segment to be processed2Recording the acoustic emission signal value collected at the ith sampling moment of the acoustic emission sensor
Wherein j is2Is a positive integer, and j is not less than 12≤J2；
Step 402, the data processor (15) compares the jth2Judging the acoustic emission signal value acquired by the acoustic emission sensor I times to confirm whether the cutter head (1) of the shield tunneling machine is damaged, and pre-warning by the data processor (15) when the damage of the cutter head (1) of the shield tunneling machine is confirmed; otherwise, executing the step five;
step five, judging damage of a cutter head of the shield tunneling machine according to the hydraulic sensor:
step 501, in the excavation process of the cutter head (1) of the shield tunneling machine, the data processor (15) sends the jth3Recording the pressure collected at the ith sampling moment of each pressure sensor
Wherein j is3Are all positive and integralNumber, 1 is not more than j3≤J3I is a positive integer;
step 502, the data processor (15) will get the jth3Pressure collected at ith sampling moment of pressure sensor
Comparing with a preset pressure threshold when
When the pressure is less than the preset pressure threshold value, the pressure is equal to the jth pressure threshold value3J th corresponding to each pressure sensor3The hydraulic wear gauge head is worn, and j is explained3When the shield machine cutter head at the hydraulic wear measuring head is worn, and the damage of the shield machine cutter head (1) is confirmed, the data processor (15) gives an early warning; otherwise, collecting each sensor for the (I + 1) th time, and judging again from the third step;
step 503, the data processor (15) will be j3The distance between the hydraulic abrasion measuring head and the center of the shield tunneling machine cutter head (1) is recorded as the radius position where the shield tunneling machine cutter head is abraded.
2. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 1, characterized in that: the data processor (15) compares the jth data in step 3031Modal analysis is carried out on each acceleration signal curve to judge whether the cutter head (1) of the shield tunneling machine is damaged, and the specific process is as follows:
3031, the data processor (15) calls the mode analysis module to the jth1Performing modal analysis on the acceleration signal curve to obtain the jth1Modal parameters of the individual acceleration sensors; wherein the modal parameters comprise a first-order modal parameter, a second-order modal parameter, a third-order modal parameter and a fourth-order modal parameter, and the first-order modal parameter comprises a first-order natural frequency
And first order damping ratio
The second-order modal parameters include a second-order natural frequency
And second order damping ratio
The third-order modal parameter includes the third-order natural frequency
And third order damping ratio
The fourth-order modal parameters include a fourth-order natural frequency
And fourth order damping ratio
Step 3032, the data processor (15) converts the first order natural frequency
And a preset first-order natural frequency and a first-order damping ratio
And preset first-order damping ratio and second-order natural frequency
And a preset second-order natural frequency and second-order damping ratio
And preset second-order damping ratio and third-order natural frequency
And preset third-order natural frequency and third-order damping ratio
And a preset third-order damping ratio and a preset fourth-order natural frequency
And a preset fourth-order natural frequency and a preset fourth-order damping ratio
Respectively comparing with the preset fourth-order damping ratio when the first-order natural frequency is reached
First-order damping ratio not conforming to first-order natural frequency
Second order natural frequency not conforming to first order damping ratio
Second order damping ratio not conforming to second order natural frequency
Third order natural frequency not conforming to second order damping ratio
Third order damping ratio not conforming to third order natural frequency
Not conforming to the damping ratio of the third order and the natural frequency of the fourth order
Not conforming to the fourth natural frequency or fourth orderDamping ratio
If the four-order damping is not met, the cutter head (1) of the shield tunneling machine is possibly damaged; otherwise, the shield tunneling machine cutterhead (1) is not damaged.
3. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 2, characterized in that: the specific process of obtaining the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio preset in step 3032 is as follows:
30321, establishing a three-dimensional model of a cutter head of the shield tunneling machine by the data processor (15) by using finite element analysis software; wherein the three-dimensional model of the cutter head of the shield tunneling machine is made of structural steel and has the density of 7850kg/m3Young's modulus of 2.1X 1011Pa, Poisson's ratio of 0.3;
30322, the data processor (15) sets the unit types of meshing to be hexahedron and tetrahedron in finite element analysis software, and carries out finite element meshing on the three-dimensional model of the cutter head of the shield tunneling machine to generate a finite element model of the cutter head of the shield tunneling machine;
30323, the data processor (15) analyzes the type selection modal analysis in the finite element analysis software;
30324, the data processor (15) sets boundary conditions in the finite element analysis software; wherein the boundary condition is zero constraint displacement;
step 30325, the data processor (15) sets the solving option in the finite element analysis software as a partitioned Lanczos method;
step 30326, simulating the excavation process of the cutter head of the shield machine, wherein the data processor (15) obtains a first-order natural frequency, a first-order damping ratio, a second-order natural frequency, a second-order damping ratio, a third-order natural frequency, a third-order damping ratio, a fourth-order natural frequency and a fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact, and the first-order natural frequency, the first-order damping ratio, the second-order natural frequency, the second-order damping ratio, the third-order natural frequency, the third-order damping ratio, the fourth-order natural frequency and the fourth-order damping ratio of the cutter head of the shield machine when the cutter head of the shield machine is intact are respectively used as a preset first-order natural frequency, a preset first-order damping ratio, a preset second-order natural frequency, a preset second-order damping ratio, a preset third-order natural frequency, a preset third-order damping ratio, a preset fourth-order damping ratio and a preset fourth-order damping ratio.
4. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 1, characterized in that: data processor (15) pair J in step 4022The method comprises the following steps of judging acoustic emission signal values acquired by the acoustic emission sensors I times to confirm whether a cutter head (1) of the shield tunneling machine is damaged or not, wherein the specific process comprises the following steps:
step 4021, the data processor (15) compares the j-th data2The acoustic emission signal value that individual acoustic emission sensor I gathered is judged, and the concrete process is as follows:
when i is greater than 1, the data processor (15) will
And a first signal threshold value when the first signal threshold value is judged
Is greater than a first signal threshold and
is greater than
The data processor (15) marks the first decision count
Adding 1; wherein the first judgment count
Is set to zero at the initial value of (a),
denotes the j (th)2The acoustic emission signal value is collected by the acoustic emission sensor at the ith-1 sampling moment;
step 4022, according to the method in step 4021, until when I is equal to I, the determination of I sampling times is completed, and the jth sample is obtained2First judging count of individual acoustic emission sensor
Step 4023, the data processor (15) uses the time as the abscissa and the acoustic emission signal value as the ordinate to obtain the jth2An acoustic emission signal curve;
step 4024, the data processor (15) uses the second signal threshold as the straight line of the ordinate and the jth line2Intersecting the acoustic emission signal curves to obtain a plurality of intersection points; wherein the number of intersection points is K;
step 4025, the data processor (15) sets the time corresponding to the k-th intersection point as t according to the time sequencekThe time corresponding to the k +1 th intersection is tk+1(ii) a Wherein K, K +1 and K are positive integers, and the values of K and K +1 are between 1 and K;
step 4026, the data processor (15) judges when t isk+1Greater than tkAnd t isk+1-tkIs in the range of 0.1s to 0.5s, the data processor (15) marks a second decision count
Adding 1; wherein the second judgment count
Is zero;
step 4027, according to the method described in step 4026, determining K intersection points to obtain the jth point by completing the determination until K equals K-12Second count of acoustic emission sensor
Step 4028, the data processor (15) compares the jth data2First judging count of individual acoustic emission sensor
And a first judgment count threshold value and a j2Second count of acoustic emission sensor
Comparing with a second judgment count threshold when the j-th time is reached2First judging count of individual acoustic emission sensor
Greater than the first judgment count threshold or the jth2Second count of acoustic emission sensor
When the judgment result is greater than the second judgment counting threshold value, the damage of the cutter head (1) of the shield tunneling machine is confirmed;
step 4029, completing the step J according to the method of the step 4021 to the step 40292And (4) judging the acoustic emission signal value acquired by the acoustic emission sensor I times.
5. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 4, characterized in that: after the damage of the cutter head (1) of the shield tunneling machine is confirmed in the step 4028, the following steps are further performed:
step A, the data processor (15) completes the pair J2The acoustic emission signal value acquired by the acoustic emission sensor I times is judged to obtain a first judgment count
Greater than the first judgment count threshold or the second judgment count
Is greater than J 'corresponding to the second judgment counting threshold value'2An acoustic emission sensor, and J'2The acoustic emission sensor is used as an acoustic emission sensor to be judged; wherein, J'2Is a positive integer, and J'2Less than J2；
Step B, from J'2Selecting four acoustic emission sensors to be judged from the acoustic emission sensors to be judged;
step C, establishing a rectangular coordinate system by taking the center of the cutter head (1) of the shield tunneling machine as an origin to obtain a position coordinate P of the first acoustic emission sensor to be judgedd1(x1,y1) And the position coordinate P of the second acoustic emission sensor to be judgedd2(x2,y2) And the position coordinate P of the third acoustic emission sensor to be judgedd3(x3,y3) And the position coordinate P of the fourth acoustic emission sensor to be judgedd4(x4,y4)；
Step D, in the process that the first acoustic emission sensor to be judged, the second acoustic emission sensor to be judged, the third acoustic emission sensor to be judged and the fourth acoustic emission sensor to be judged respectively detect and collect acoustic emission signals, the data processor (15) records the time when the first acoustic emission sensor to be judged receives the acoustic emission signals as td1The time when the second acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td2The time when the third acoustic emission sensor to be judged receives the acoustic emission signal is recorded as td3And recording the time when the fourth acoustic emission sensor to be judged receives the acoustic emission signal as td4；
Step E, the data processor (15) according to the formula
Obtaining the position coordinates (x) of the acoustic emission signald,yd) So as to obtain the position of the damaged cutter head (1) of the shield tunneling machine; where V represents the propagation velocity of the acoustic emission signal.
6. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 1, characterized in that: in the step 101, when the diameter of a cutter head (1) of the shield tunneling machine is not more than 8 meters, the number of acceleration sensors (3) on each cutter head spoke (1-1) is 1; when the diameter of a cutter head (1) of the shield tunneling machine is larger than 8 meters, the number of acceleration sensors (3) on each cutter head spoke (1-1) is more than 2, and the distance between every two adjacent acceleration sensors (3) along the cutter head spoke (1-1) is the same;
in the step 102, when the diameter of a cutter head (1) of the shield tunneling machine is not more than 8 meters, the number of the acoustic emission sensors (4) on each cutter head spoke (1-1) is 1; when the diameter of a cutter head (1) of the shield tunneling machine is larger than 8 meters, the number of the acoustic emission sensors (4) on each cutter head spoke (1-1) is more than 2, and the distance between every two adjacent acoustic emission sensors (4) along the cutter head spoke (1-1) is the same;
when the diameter of the cutter head (1) of the shield tunneling machine is larger than 8 m, the diameter of the cutter head (1) of the shield tunneling machine is marked as LdThe distance between two adjacent acceleration sensors (3) along the cutter head spoke (1-1) is larger than
Is less than
The distance between two adjacent acoustic emission sensors (4) along the cutter head spoke (1-1) is larger than
Is less than
In the step 104, when the diameter of the cutter head (1) of the shield tunneling machine is not more than 8 meters, the number of the hydraulic wear measuring heads (6) arranged on each cutter head spoke (1-1) is 1;
when the diameter of the cutter head (1) of the shield tunneling machine is larger than 8 meters, the number of the hydraulic wear measuring heads (6) on each cutter head spoke (1-1) is more than 2; each of the cutter headsA plurality of hydraulic wear measuring heads (6) on the spokes (1-1) are uniformly distributed along the radius direction of the cutter head (1) of the shield machine, and the distance between every two adjacent hydraulic wear measuring heads (6) along the spoke (1-1) of the cutter head is larger than that between every two adjacent hydraulic wear measuring heads (6)
Is less than
7. The method for judging the damage of the cutter head of the shield tunneling machine according to claim 1, characterized in that: when the camera (9) is required to work, the following steps can be carried out:
a01, the data processor (15) sends a camera opening command to the PLC module (13) through the communication module (14), and then the PLC module (13) controls the camera (9) to work;
a02, a camera (9) shoots shield machine cutterhead images of a shield machine cutterhead (1) close to the side surface of a front shield soil bin (5) and sends the shield machine cutterhead images to a data processor (15) through a data collector (12), a PLC module (13) and a communication module (14);
and A03, displaying the shield tunneling machine cutterhead image by the data processor (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189838.1A CN112228093B (en) | 2020-10-30 | 2020-10-30 | Method for judging damage of cutter head of shield tunneling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189838.1A CN112228093B (en) | 2020-10-30 | 2020-10-30 | Method for judging damage of cutter head of shield tunneling machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112228093A CN112228093A (en) | 2021-01-15 |
| CN112228093B true CN112228093B (en) | 2022-04-08 |
Family
ID=74122401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011189838.1A Active CN112228093B (en) | 2020-10-30 | 2020-10-30 | Method for judging damage of cutter head of shield tunneling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112228093B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117629615B (en) * | 2024-01-25 | 2024-04-05 | 山东天工岩土工程设备有限公司 | Shield tunneling machine fault detection method, equipment and medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003082986A (en) * | 2001-09-04 | 2003-03-19 | Kawasaki Heavy Ind Ltd | Roller cutter abrasion detecting device |
| CN201540105U (en) * | 2009-09-29 | 2010-08-04 | 中铁隧道集团二处有限公司 | Tool-wear monitoring device for shield machine |
| DE202012103593U1 (en) * | 2012-09-19 | 2012-11-15 | Montanuniversität Leoben | Easy-to-use sensor technology for determining a mechanical load on a mining machine of a tunnel boring machine |
| CN203432558U (en) * | 2013-08-19 | 2014-02-12 | 中铁隧道装备制造有限公司 | Device for detecting tool wearing on shield cutting pan |
| JP2015124466A (en) * | 2013-12-25 | 2015-07-06 | 川崎重工業株式会社 | Abrasion detection device for roller cutter |
| CN105352420A (en) * | 2015-11-09 | 2016-02-24 | 武汉大学 | TBM hobbing cutter wear online real-time monitoring device and monitoring method |
| KR20180083472A (en) * | 2017-01-12 | 2018-07-23 | 현대건설주식회사 | Test apparatus for measuring shear strength of foam mixed soil for design optimum foam mix factor |
| CN109883470A (en) * | 2019-01-18 | 2019-06-14 | 北京工业大学 | Cutter head of shield machine condition monitoring system and method |
| CN110017147A (en) * | 2019-05-09 | 2019-07-16 | 中国电建集团铁路建设有限公司 | A kind of shield cutter abrasion real-time monitoring system and monitoring method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3701279B2 (en) * | 2002-12-11 | 2005-09-28 | 鹿島建設株式会社 | Shielding machine relative position detection method and apparatus |
| US7331842B2 (en) * | 2004-08-19 | 2008-02-19 | Flow International Corporation | Contour follower for tool |
| CN111706334B (en) * | 2020-06-29 | 2022-02-01 | 盾构及掘进技术国家重点实验室 | Method for monitoring abnormal torque of cutter head of shield tunneling machine in real time |
-
2020
- 2020-10-30 CN CN202011189838.1A patent/CN112228093B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003082986A (en) * | 2001-09-04 | 2003-03-19 | Kawasaki Heavy Ind Ltd | Roller cutter abrasion detecting device |
| CN201540105U (en) * | 2009-09-29 | 2010-08-04 | 中铁隧道集团二处有限公司 | Tool-wear monitoring device for shield machine |
| DE202012103593U1 (en) * | 2012-09-19 | 2012-11-15 | Montanuniversität Leoben | Easy-to-use sensor technology for determining a mechanical load on a mining machine of a tunnel boring machine |
| CN203432558U (en) * | 2013-08-19 | 2014-02-12 | 中铁隧道装备制造有限公司 | Device for detecting tool wearing on shield cutting pan |
| JP2015124466A (en) * | 2013-12-25 | 2015-07-06 | 川崎重工業株式会社 | Abrasion detection device for roller cutter |
| CN105352420A (en) * | 2015-11-09 | 2016-02-24 | 武汉大学 | TBM hobbing cutter wear online real-time monitoring device and monitoring method |
| KR20180083472A (en) * | 2017-01-12 | 2018-07-23 | 현대건설주식회사 | Test apparatus for measuring shear strength of foam mixed soil for design optimum foam mix factor |
| CN109883470A (en) * | 2019-01-18 | 2019-06-14 | 北京工业大学 | Cutter head of shield machine condition monitoring system and method |
| CN110017147A (en) * | 2019-05-09 | 2019-07-16 | 中国电建集团铁路建设有限公司 | A kind of shield cutter abrasion real-time monitoring system and monitoring method |
Non-Patent Citations (2)
| Title |
|---|
| 盾构刀具磨损监测方法研究;刘士铭等;《建筑机械》;20201009(第10期);全文 * |
| 盾构机刀具磨损监测系统设计与开发;马强等;《电子技术与软件工程》;20200115(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112228093A (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108710732B (en) | Method for evaluating and predicting wear of shield cutter in service period | |
| CN103018788B (en) | Profound tunnel unfavorable geology and Mechanical property forward probe device and method | |
| CN206768889U (en) | A kind of subway foundation pit automates DEFORMATION MONITORING SYSTEM | |
| CN112412483B (en) | Combined monitoring method for damage of cutter head of shield tunneling machine | |
| CN202975361U (en) | Advance detection apparatus for unfavorable geology and rock mass mechanical property of deep and long tunnel | |
| CN202230595U (en) | Multichannel data acquisition system used for vibrating wire transducers | |
| CN109115884A (en) | A kind of foundation pile integrity detection system based on sound wave transmission method | |
| CN112228093B (en) | Method for judging damage of cutter head of shield tunneling machine | |
| CN113390502B (en) | TBM cutter head vibration monitoring and evaluation method | |
| CN112414338A (en) | Shield surrounding rock deformation monitoring system and method carried by TBM | |
| CN104599419B (en) | Pipeline safety-protection system positioning test method based on fibre optical sensor | |
| CN110439558A (en) | A kind of cantilever excavator pick state of wear detection system and method | |
| CN115898845A (en) | Large-proportion double-liquid grouting automatic control system | |
| CN102797504A (en) | Remote three-dimensional digital alarm method and facility of deformation stability of primary tunnel supporting body | |
| CN104763000A (en) | Detection method for completeness of foundation pile | |
| CN114459539A (en) | Double-line tunnel excavation safety on-line monitoring analytic system based on artificial intelligence | |
| CN207361212U (en) | Shield belt conveyor weighing device | |
| CN110501150A (en) | Concrete delivery pipe working performance detection device and method based on vibration detection | |
| CN204287519U (en) | Coalcutter stress pick coal-rock detection pick-up unit | |
| CN104048635B (en) | Accumulated hole depth measuring system and method and engineering machine with the system | |
| CN212342034U (en) | Subway construction safety monitoring system based on wireless sensor network | |
| CN114370897A (en) | Device and method for monitoring blasting vibration of underground excavation tunnel | |
| CN104792565B (en) | Test system for testing complete mechanical characteristics of fully-mechanized coal mining of cola plough | |
| CN106706758A (en) | Concrete structure cracking monitoring system and cracking monitoring method thereof | |
| CN103760845A (en) | Monitoring method and system and rotary drilling rig |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |