CN114183157A - Control system and control method for tunneling, splicing and synchronous construction of shield tunneling machine - Google Patents
Control system and control method for tunneling, splicing and synchronous construction of shield tunneling machine Download PDFInfo
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- CN114183157A CN114183157A CN202210015376.4A CN202210015376A CN114183157A CN 114183157 A CN114183157 A CN 114183157A CN 202210015376 A CN202210015376 A CN 202210015376A CN 114183157 A CN114183157 A CN 114183157A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 159
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 70
- 238000010276 construction Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000005192 partition Methods 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 4
- 238000009412 basement excavation Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
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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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
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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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0621—Shield advancing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to the technical field of shield tunneling machines, in particular to a control system and a control method for synchronous excavation, splicing and construction of a shield tunneling machine. The control system comprises an operation table, a propulsion oil cylinder control module, an assembling oil cylinder control module, a propulsion executing mechanism, an assembling executing mechanism, a front propulsion oil cylinder and a rear assembling oil cylinder. The invention can realize the synchronous tunneling and splicing of the shield machine, can flexibly adjust the posture of the shield machine, adapts to the requirements of turning direction adjustment and turning tunneling with small curve radius, can keep the stability of the propelling speed and the posture in the propelling and posture adjusting processes, realizes the continuous operation of the shield machine in the real sense, can quickly switch the synchronous tunneling mode and the conventional mode through the mode selection button, and can quickly recover to the conventional mode for tunneling when meeting the condition that the synchronous tunneling mode is not suitable.
Description
Technical Field
The invention relates to the technical field of shield tunneling machines, in particular to a control system and a control method for synchronous excavation, splicing and construction of a shield tunneling machine.
Background
In recent years, the rapid development of urban subway construction has brought about a social demand for reducing construction costs, and it is desired for shield tunnel construction to shorten construction time of the construction by using long-distance construction and high-speed construction, etc., which can reduce the number of vertical shafts. At present, shield engineering is still constructed by adopting the principle of shield tunneling and segment assembling step by step, and the construction efficiency cannot be improved. In order to alleviate the difficulties, a high-speed construction method for simultaneously performing a tunneling operation and a segment splicing operation has been a subject of common research.
At present, shield machines which adopt long-stroke oil cylinders or carry out continuous tunneling and synchronous splicing by utilizing the time for splicing K blocks gradually appear in the market. However, the long-stroke cylinder type continuous tunneling synchronous splicing shield machine has the problems that the thrust distribution of the rest of the thrust cylinders after the missing cylinders are synchronously spliced is an important difficulty because the thrust cylinders need to carry out various processes of pushing, splicing, posture adjustment and the like at the same time, the thrust and the posture need to be changed constantly in the propelling process to adapt to different stratums and propelling lines, and if the thrust distribution of the thrust cylinders is unreasonable, the problems of unstable propelling speed, sudden change of posture, damaged pipe segments, shield tail clamping and the like can occur, so that the construction quality is seriously influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a control system and a control method for synchronous excavation, splicing and construction of a shield machine, aiming at the defects in the prior art, which can realize synchronous excavation and splicing of the shield machine, flexibly adjust the posture of the shield machine and keep the stability of the advancing speed and the posture in the advancing and posture adjusting processes.
In order to solve the technical problems, the invention adopts the technical scheme that: a control system for synchronous digging, splicing and construction of a shield machine comprises an operation platform 1, a thrust oil cylinder control module 2, a splicing oil cylinder control module 3 and the shield machine, wherein the shield machine comprises a front thrust oil cylinder 5, a rear splicing oil cylinder 7, a cutter head 8, a front shield 9, a middle shield 10, a tail shield 11 and a segment splicing machine 12, and the thrust oil cylinder control module 2 and the splicing oil cylinder control module 3 are electrically connected with the operation platform 1;
the propulsion oil cylinder control module 2 is composed of a propulsion system control unit 201, a propulsion system calculation unit 202 and a propulsion oil cylinder acquisition unit 203, wherein the propulsion system control unit 201 is electrically connected with a propulsion execution mechanism 4, the propulsion execution mechanism 4 is connected with the front propulsion oil cylinder 5 and is used for controlling the action of the front propulsion oil cylinder 5, and the propulsion oil cylinder acquisition unit 203 is electrically connected with the front propulsion oil cylinder 5 and is used for acquiring the stroke parameter and the pressure parameter of the front propulsion oil cylinder 5 and transmitting the stroke parameter and the pressure parameter to the propulsion system calculation unit 202 in real time;
the assembling oil cylinder control module 3 is composed of an assembling system control unit 301, an assembling system calculation unit 302 and an assembling oil cylinder acquisition unit 303, the assembling system control unit 301 is electrically connected with an assembling execution mechanism 6, the assembling execution mechanism 6 is connected with the rear assembling oil cylinder 7 and is used for controlling the action of the rear assembling oil cylinder 7, and the assembling oil cylinder acquisition unit 303 is electrically connected with the rear assembling oil cylinder 7 and is used for acquiring the stroke parameter and the pressure parameter of the rear assembling oil cylinder 7 and transmitting the stroke parameter and the pressure parameter to the assembling system calculation unit 302 and the propulsion system calculation unit 202;
the operation table 1 comprises a partition control knob 101, a mode selection button 102, a synchronous tunneling mode function switching button 103, a normal tunneling mode function selection button 104 and a starting button 105, and the shield tunneling machine comprises two working modes, namely a synchronous tunneling mode and a normal mode.
Further, be equipped with blade disc 8 on the anterior shield 9, anterior thrust cylinder 5 comprises many thrust cylinders, and every thrust cylinder's tailpiece of the piston rod all is connected with anterior shield 9, the cylinder body end all is connected with well shield 10, the hydro-cylinder 7 is assembled by many hydro-cylinders and constitutes to the rear portion, and every cylinder body end of assembling the hydro-cylinder all install in on the well shield 10, its piston rod passes and stretches into in the tail shield 11 behind the well shield 10 for support shield constructs section of jurisdiction 13, section of jurisdiction erector 12 install in well shield 10 tail end just is located tail shield 11 for assemble shield section of jurisdiction 13.
Furthermore, each propulsion oil cylinder is independently controlled to stretch and lock by the propulsion executing mechanism 4 according to the instruction of the propulsion system control unit 201, and when the pressure parameter of a single propulsion oil cylinder exceeds a preset limit value A, the propulsion system control unit 201 can automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine;
each assembling oil cylinder is independently controlled to stretch and lock by the assembling execution mechanism 6 according to the instruction of the assembling system control unit 301, and when the pressure parameter of the single assembling oil cylinder exceeds the preset limit value B, the propulsion system control unit 201 can automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine.
Further, the zone control knob 101 is arranged on the right side of the panel of the operating platform 1, and the zone control knob 101 is electrically connected with the propulsion system control unit 201 and the assembling system control unit 301 respectively and is used for setting the thrust of the propulsion oil cylinder and the assembling oil cylinder and the overall propulsion speed of the shield tunneling machine.
Further, the mode selection button 102 is arranged on the left side of the panel of the operation platform 1, and includes two gears, namely a synchronous gear and a conventional gear, and the mode selection button 102 is electrically connected with the propulsion system control unit 201 and the splicing system control unit 301 respectively, and is used for switching the synchronous tunneling mode and the conventional mode;
the synchronous tunneling mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out synchronously, and the conventional mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out step by step.
Further, the start button 105 is disposed below the mode selection button 102, and the start button 105 is electrically connected to the push actuator 4 and the assembly actuator 6, respectively, and is used for controlling the start and stop of the push actuator 4 and the assembly actuator 6.
Further, the synchronous tunneling mode function switching button 103 is disposed on the left side of the mode selection button 102 and includes three gears of tunneling, shield body resetting and cutter head retracting, and the synchronous tunneling mode function switching button 103 is electrically connected with the propulsion executing mechanism 4 and the assembly executing mechanism 6 respectively and is used for controlling the shield tunneling machine to start tunneling and assembly work, resetting the middle shield and the tail shield after tunneling and assembly are completed, and retracting the cutter head to follow the front shield in the synchronous tunneling mode.
Further, the conventional tunneling mode function selection button 104 is disposed between the mode selection button 102 and the partition control knob 101, and includes two gears for tunneling and splicing, and the conventional tunneling mode function selection button 104 is electrically connected to the splicing execution mechanism 6, and is used for controlling switching between tunneling work and segment splicing work of the shield tunneling machine in a conventional mode.
Further, the propulsion system calculation unit 202 judges the serial number of the currently performed retraction assembly oil cylinder in real time according to the stroke parameter and the pressure parameter of the rear assembly oil cylinder 7 and sends the serial number to the propulsion system control unit 201, the propulsion system control unit 201 controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust, and controls other propulsion oil cylinders to automatically compensate the total thrust, so as to ensure that the overall propulsion speed of the shield tunneling machine is consistent with the set value of the partition control knob 101;
the assembly system calculation unit 302 calculates the bending moment generated when the assembly oil cylinder currently executing the retraction action retracts in real time according to the stroke parameter and the pressure parameter of the rear assembly oil cylinder 7, sets the pressure value of each assembly oil cylinder and transmits the pressure value to the assembly system control unit 301, and after the assembly system control unit 301 controls the pressure values of other assembly oil cylinders to slowly rise to the set value within 500ms, the rear assembly oil cylinder 7 is locked to keep the posture of the shield stable.
A control method for synchronous digging, splicing and construction of a shield machine is based on the control system and comprises the following steps:
s1, judging whether the mode selection button is in synchronous gear position, if yes, executing step S2, if no, executing step S9;
s2, rotating the synchronous tunneling mode function switching button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield tunneling machine, and pressing a start button;
s3, the front propelling oil cylinder pushes the cutter head and the front shield to tunnel forwards, the middle shield and the tail shield are kept static, and the rear assembling oil cylinder is matched with a segment assembling machine to synchronously assemble segments in the tail shield;
s4, the propulsion system computing unit judges the serial number of the assembly oil cylinder currently executing the retraction action in real time, and the propulsion system control unit controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust and controls other propulsion oil cylinders to automatically compensate the total thrust;
s6, the assembly system computing unit computes the bending moment generated when the assembly oil cylinder currently executing the retracting action retracts in real time, sets the pressure value of each assembly oil cylinder, and the assembly system control unit controls the pressure values of other assembly oil cylinders to slowly rise to the set value within 500ms and then locks the rear assembly oil cylinder;
s7, judging whether the pressure value of each propulsion oil cylinder and each splicing oil cylinder is lower than a preset limit value, if so, executing a step S8, and if not, automatically reducing the thrust of the front propulsion oil cylinder by the propulsion system control unit;
s8, judging whether the tunneling work and the segment assembling work are finished, if so, rotating the synchronous tunneling mode function switching button to a shield body reset gear, pressing a start button, pushing the middle shield and the tail shield to be reset by the rear assembling oil cylinder, and if not, repeatedly executing the step S3;
s9, rotating the conventional tunneling mode function selection button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield machine, pressing a start button, and pushing the shield machine by the rear assembling oil cylinder to realize forward tunneling;
and S10, rotating the function selection button of the conventional tunneling mode to an assembling gear, pressing the start button, and assembling the segments in the tail shield by the rear assembling oil cylinder in cooperation with the segment assembling machine.
Compared with the prior art, the invention has the following main advantages:
1. the propulsion system is relatively independent from the assembling system, the structures such as the front shield, the middle shield, the propulsion oil cylinder and the assembling oil cylinder are stressed singly, the propulsion system can freely adjust the propulsion speed and the posture during synchronous tunneling, meanwhile, the middle shield and the assembling system are kept static, the damage of duct pieces is favorably prevented during duct piece assembling, and the assembling quality is ensured.
2. The thrust oil cylinder can automatically sense the serial number of the retraction assembly oil cylinder, synchronously reduce the thrust of the thrust oil cylinder at the position and 180-degree relative position, monitor the pressure of the support oil cylinder of the assembly system, automatically reduce the thrust of the thrust oil cylinder when the pressure is overlarge, and the partition thrust oil cylinder adopts a speed control mode, after the speed setting is finished, the speed of the oil cylinder keeps rigid, the pressure of the oil cylinder changes along with the load change, after the pressure of the corresponding thrust oil cylinder is reduced, the total thrust is automatically compensated by other oil cylinders, the control mode can reduce the impact generated when the synchronous construction is suddenly retracted into the assembly oil cylinder, and the tunneling speed and the attitude are kept stable during continuous tunneling.
3. When the assembled oil cylinder is controlled to retract along a slope, the pressure of the rest supporting oil cylinders slowly rises at a certain gradient to form an instantaneous pressure gradient to resist bending moment and reduce impact generated when the assembled oil cylinder retracts, and then the oil cylinder of the assembling system is locked to keep the middle shield in a stable posture.
4. The control console can realize the quick switching of the synchronous tunneling mode and the conventional tunneling mode.
Drawings
FIG. 1 is an overall schematic of the control system of the present invention;
FIG. 2 is a schematic view of a shield tunneling machine of the present invention;
FIG. 3 is a schematic view of the console of the present invention;
FIG. 4 is a schematic diagram of the rear sub-assembly cylinder ramp control of the present invention;
FIG. 5 is a schematic diagram of front thrust cylinder pressure control according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of pressure control for a rear-mounted cylinder in accordance with an embodiment of the present invention;
fig. 7 is a flowchart of the control method of the present invention.
In the figure: 1. an operation table; 2. a propulsion cylinder control module; 3. assembling an oil cylinder control module; 4. a propulsion actuator; 5. a front thrust cylinder; 6. assembling an actuating mechanism; 7. the rear part is assembled with an oil cylinder; 8. a cutter head; 9. anterior shield; 10. middle shield; 11. a tail shield; 12. a segment erector; 13. a shield segment; 101. a zone control knob; 102. a mode selection button; 103. a synchronous tunneling mode function switching button; 104. a conventional tunneling mode function selection button; 105. a start button; 201. a propulsion system control unit; 202. a propulsion system computing unit; 203. a thrust cylinder acquisition unit; 301. an assembly system control unit; 302. an assembly system computing unit; 303. and assembling an oil cylinder acquisition unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
Integral structure of control system
As shown in fig. 1, the control system for the shield tunneling machine tunneling, splicing and synchronous construction comprises an operation platform 1, a thrust cylinder control module 2, a splicing cylinder control module 3 and a shield tunneling machine, wherein the thrust cylinder control module 2 and the splicing cylinder control module 3 are electrically connected with the operation platform 1.
The propulsion oil cylinder control module 2 is composed of a propulsion system control unit 201, a propulsion system calculation unit 202 and a propulsion oil cylinder acquisition unit 203, wherein the propulsion system control unit 201 is electrically connected with a propulsion execution mechanism 4, the propulsion execution mechanism 4 is connected with the front propulsion oil cylinder 5 and is used for controlling the action of the front propulsion oil cylinder 5, and the propulsion oil cylinder acquisition unit 203 is electrically connected with the front propulsion oil cylinder 5 and is used for acquiring the stroke parameter and the pressure parameter of the front propulsion oil cylinder 5 and transmitting the stroke parameter and the pressure parameter to the propulsion system calculation unit 202 in real time;
the assembling oil cylinder control module 3 is composed of an assembling system control unit 301, an assembling system calculation unit 302 and an assembling oil cylinder acquisition unit 303, the assembling system control unit 301 is electrically connected with an assembling execution mechanism 6, the assembling execution mechanism 6 is connected with the rear assembling oil cylinder 7 and is used for controlling the action of the rear assembling oil cylinder 7, and the assembling oil cylinder acquisition unit 303 is electrically connected with the rear assembling oil cylinder 7 and is used for acquiring the stroke parameter and the pressure parameter of the rear assembling oil cylinder 7 and transmitting the stroke parameter and the pressure parameter to the assembling system calculation unit 302 and the propulsion system calculation unit 202;
the shield machine comprises a synchronous tunneling mode and a conventional mode, wherein the synchronous tunneling mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out synchronously, and the conventional mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out step by step.
Second, shield structure
As shown in fig. 2, the shield tunneling machine comprises a front thrust cylinder 5, a rear splicing cylinder 7, a cutter head 8, a front shield 9, a middle shield 10, a tail shield 11 and a segment erector 12.
Specifically, be equipped with blade disc 8 on the anterior shield 9, anterior thrust cylinder 5 comprises many thrust cylinder, and every thrust cylinder's tailpiece of the piston rod all is connected with anterior shield 9, the cylinder body end all is connected with well shield 10, the hydro-cylinder 7 is assembled by many hydro-cylinders and constitutes to the rear portion, and every cylinder body end of assembling the hydro-cylinder all install in on the well shield 10, its piston rod passes and stretches into in the tail shield 11 behind the well shield 10 for support shield constructs section of jurisdiction 13, section of jurisdiction erector 12 install in well shield 10 tail end just is located tail shield 11 for assemble shield section of jurisdiction 13.
Furthermore, each propulsion oil cylinder is independently controlled to stretch and lock by the propulsion executing mechanism 4 according to the instruction of the propulsion system control unit 201, and when the pressure parameter of a single propulsion oil cylinder exceeds a preset limit value A, the propulsion system control unit 201 can automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine, so that the damage of the segment caused by local stress is avoided;
each assembling oil cylinder is independently controlled to stretch and lock by the assembling execution mechanism 6 according to the instruction of the assembling system control unit 301, when the pressure parameter of the single assembling oil cylinder exceeds the preset limit value B, the assembling oil cylinder acquisition unit 303 gives an alarm and transmits an alarm signal to the propulsion system control unit 201, and the propulsion system control unit 201 can also automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine.
Third, operation platform structure
As shown in fig. 3, the console 1 includes a partition control knob 101, a mode selection knob 102, a synchronous heading mode function switching knob 103, a normal heading mode function selection knob 104, and a start button 105.
Specifically, the zone control knob 101 is arranged on the right side of the panel of the operating platform 1, and the zone control knob 101 is electrically connected with the propulsion system control unit 201 and the splicing system control unit 301 respectively;
in a synchronous tunneling mode, the partition control knob 101 is used for setting the thrust of each thrust cylinder and the overall thrust speed of the shield tunneling machine, and transmitting a thrust signal and a thrust speed signal to the propulsion system control unit 201;
in a conventional mode, the partition control knob 101 is used for setting the thrust of each assembly oil cylinder and the overall thrust speed of the shield tunneling machine, and transmitting a thrust signal and a thrust speed signal to the system installation control unit 301.
The mode selection button 102 is arranged on the left side of the panel of the operating platform 1 and comprises two gears, namely a synchronous gear and a conventional gear, and the mode selection button 102 is electrically connected with the propulsion system control unit 201 and the splicing system control unit 301 respectively and used for switching the synchronous tunneling mode and the conventional mode;
the starting button 105 is arranged below the mode selection button 102, and the starting button 105 is electrically connected with the pushing execution mechanism 4 and the assembling execution mechanism 6 respectively and is used for controlling the pushing execution mechanism 4 and the assembling execution mechanism 6 to start and stop;
the synchronous tunneling mode function switching button 103 is arranged on the left side of the mode selection button 102 and comprises three gears of tunneling, shield body resetting and cutter head returning, and the synchronous tunneling mode function switching button 103 is electrically connected with the propulsion executing mechanism 4 and the splicing executing mechanism 6 respectively;
in the synchronous tunneling mode, when the synchronous tunneling mode function switching button 103 is rotated to the "tunneling" gear, the shield machine synchronously starts tunneling and segment splicing work, after the tunneling and splicing work is completed, when the synchronous tunneling mode function switching button 103 is rotated to the "shield body reset" gear, the middle shield and the tail shield are reset, and when the synchronous tunneling mode function switching button 103 is rotated to the "cutter head retraction" gear, the front propelling oil cylinder 5 drives the front shield 9 and the cutter head 8 on the front shield to retract.
The conventional tunneling mode function selection button 104 is arranged between the mode selection button 102 and the partition control knob 101 and comprises two gears of tunneling and splicing, and the conventional tunneling mode function selection button 104 is electrically connected with the splicing execution mechanism 6;
in the conventional mode, when the conventional tunneling mode function selection button 104 is screwed to the "tunneling" gear, the shield machine continues to perform tunneling work, and when the conventional tunneling mode function selection button 104 is screwed to the "splicing" gear, the shield machine is switched from tunneling work to segment splicing work.
Further, when continuous tunneling and synchronous splicing are carried out:
the propulsion system calculation unit 202 judges the serial number of the currently-executed retraction oil cylinder according to the stroke parameter and the pressure parameter of the rear-part assembly oil cylinder 7 in real time, and sends the serial number to the propulsion system control unit 201, the propulsion system control unit 201 controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust (specifically, the thrust of the propulsion oil cylinder at the position corresponding to the serial number assembly oil cylinder is reduced, and the thrust of the propulsion oil cylinder at the position 180 degrees opposite to the position is synchronously reduced), so as to reduce the impact generated when the rear-part assembly oil cylinder 7 is suddenly retracted during synchronous construction, and meanwhile, the propulsion system control unit 201 controls other propulsion oil cylinders to automatically compensate the total thrust according to the pressure signal of the front-part propulsion oil cylinder 5 transmitted by the propulsion oil cylinder acquisition unit 203, so as to ensure that the overall propulsion speed of the shield machine is consistent with the set value of the partition control knob 101; (since the front propulsion cylinder 5 adopts a speed control mode, after the speed setting is finished, the speed of the cylinder keeps rigid, the pressure of the cylinder changes along with the load change, and after the corresponding pressure of the propulsion cylinder is controlled to be reduced, the total thrust is automatically compensated by other cylinders)
The assembly system calculation unit 302 calculates the bending moment generated when the assembly oil cylinder currently executing the retraction action retracts in real time according to the stroke parameter and the pressure parameter of the rear assembly oil cylinder 7, sets the pressure value of each assembly oil cylinder supported on the segment, transmits the pressure value to the assembly system control unit 301, controls the pressure values of other assembly oil cylinders to slowly rise to the set value within 500ms by the assembly system control unit 301, and locks the rear assembly oil cylinder 7 to keep the shield posture stable. (as shown in fig. 4, the rear assembling cylinder 7 adopts a slope control mode, the slope time is 500ms, the assembling system control unit 301 controls the assembling actuating mechanism 6 to realize the slow pressure reduction when the rear assembling cylinder 7 retracts, and simultaneously actively controls the slow pressure rise of other rear assembling cylinders 7 according to the set pressure value, and then the rear assembling cylinder 7 supported on the segment is locked to keep the shield posture stable)
Control method for tunneling, splicing and synchronous construction of shield tunneling machine
Based on the same inventive concept, the embodiment of the present application further provides a control method for the shield tunneling machine tunneling, splicing and synchronous construction, and based on the control system for the shield tunneling machine tunneling, splicing and synchronous construction, as shown in fig. 7, the control method specifically includes the following steps:
s1, judging whether the mode selection button is in synchronous gear position, if yes, executing step S2, if no, executing step S9;
s2, rotating the synchronous tunneling mode function switching button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield tunneling machine, and pressing a start button;
s3, the front propelling oil cylinder pushes the cutter head and the front shield to tunnel forwards, the middle shield and the tail shield are kept static, and the rear assembling oil cylinder is matched with a segment assembling machine to synchronously assemble segments in the tail shield;
s4, the propulsion system computing unit judges the serial number of the assembly oil cylinder currently executing the retraction action in real time, and the propulsion system control unit controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust and controls other propulsion oil cylinders to automatically compensate the total thrust;
s6, the assembly system computing unit computes the bending moment generated when the assembly oil cylinder currently executing the retracting action retracts in real time, sets the pressure value of each assembly oil cylinder, and the assembly system control unit controls the pressure values of other assembly oil cylinders to slowly rise to the set value within 500ms and then locks the rear assembly oil cylinder;
(in this embodiment, as shown in fig. 5 to 6, when the 7#, 8#, 9#, and 10# cylinders in the rear assembled cylinder 7 are controlled to retract in a slope manner, while the pressure of the remaining rear assembled cylinders supported on the segment slowly rises at a certain gradient, and thereafter, the rear assembled cylinders supported on the segment are locked to keep the attitude of the shield stable, and at the same time, the thrust cylinder control module 2 controls the front shield to advance at a certain speed and attitude, and automatically senses the serial number of the retracted assembled cylinder, and synchronously lowers the position and the thrust of the front thrust cylinder 5 at a 180-degree relative position, that is, the pressure of the upper area a and the lower area d in the front thrust cylinder 5)
S7, judging whether the pressure value of each propulsion oil cylinder and each splicing oil cylinder is lower than a preset limit value, if so, executing a step S8, and if not, automatically reducing the thrust of the front propulsion oil cylinder by the propulsion system control unit;
s8, judging whether the tunneling work and the segment assembling work are finished, if so, rotating the synchronous tunneling mode function switching button to a shield body reset gear, pressing a start button, pushing the middle shield and the tail shield to be reset forwards by the rear assembling oil cylinder (the next cycle can be carried out after the resetting is finished), and if not, repeatedly executing the step S3;
s9, rotating the conventional tunneling mode function selection button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield machine, pressing a start button, and pushing the shield machine by the rear assembling oil cylinder to realize forward tunneling;
and S10, after the tunneling work is judged to be completed, rotating the conventional tunneling mode function selection button to an assembling gear, pressing a start button, and assembling the segments in the tail shield by the aid of the rear assembling oil cylinder and the segment assembling machine (the tunneling gear and the assembling gear of the conventional tunneling mode function selection button 102 are switched circularly until all the tunneling work and the segment assembling work are completed).
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a shield constructs machine and digs control system who assembles synchronous construction, includes operation panel (1), thrust cylinder control module (2), assembles hydro-cylinder control module (3) and shield structure machine, shield structure machine includes that anterior thrust cylinder (5), rear portion assemble hydro-cylinder (7), blade disc (8), front shield (9), well shield (10), tail shield (11) and section of jurisdiction erector (12), its characterized in that: the propulsion oil cylinder control module (2) and the assembling oil cylinder control module (3) are electrically connected with the operating platform (1);
the propulsion oil cylinder control module (2) is composed of a propulsion system control unit (201), a propulsion system calculation unit (202) and a propulsion oil cylinder acquisition unit (203), the propulsion system control unit (201) is electrically connected with a propulsion execution mechanism (4), the propulsion execution mechanism (4) is connected with the front propulsion oil cylinder (5) and used for controlling the action of the front propulsion oil cylinder (5), and the propulsion oil cylinder acquisition unit (203) is electrically connected with the front propulsion oil cylinder (5) and used for acquiring the stroke parameters and the pressure parameters of the front propulsion oil cylinder (5) and transmitting the stroke parameters and the pressure parameters to the propulsion system calculation unit (202) in real time;
the assembling oil cylinder control module (3) is composed of an assembling system control unit (301), an assembling system computing unit (302) and an assembling oil cylinder acquisition unit (303), the assembling system control unit (301) is electrically connected with an assembling execution mechanism (6), the assembling execution mechanism (6) is connected with the rear assembling oil cylinder (7) and used for controlling the action of the rear assembling oil cylinder (7), and the assembling oil cylinder acquisition unit (303) is electrically connected with the rear assembling oil cylinder (7) and used for acquiring the stroke parameters and the pressure parameters of the rear assembling oil cylinder (7) and transmitting the stroke parameters and the pressure parameters to the assembling system computing unit (302) and the propulsion system computing unit (202);
the operation table (1) comprises a partition control knob (101), a mode selection button (102), a synchronous tunneling mode function switching button (103), a conventional tunneling mode function selection button (104) and a starting button (105), and the shield tunneling machine comprises two working modes, namely a synchronous tunneling mode and a conventional mode.
2. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: be equipped with blade disc (8) on anterior shield (9), anterior thrust cylinder (5) comprise many thrust cylinder, and every thrust cylinder's tailpiece of the piston rod all is connected with anterior shield (9), the cylinder body end all is connected with well shield (10), hydro-cylinder (7) are assembled by many and are assembled the hydro-cylinder and constitute to the rear portion, and every cylinder body end of assembling the hydro-cylinder all install in on well shield (10), its piston rod passes and stretches into in tail shield (11) after well shield (10) for support shield constructs section of jurisdiction (13), section of jurisdiction erector (12) install in well shield (10) tail end just is located tail shield (11) for assemble shield and construct section of jurisdiction (13).
3. The control system for the shield tunneling machine tunneling, splicing and synchronous construction according to claim 2, characterized in that: the expansion and the locking of each propulsion oil cylinder are independently controlled by a propulsion executing mechanism (4) according to the instruction of a propulsion system control unit (201), and when the pressure parameter of a single propulsion oil cylinder exceeds a preset limit value A, the propulsion system control unit (201) can automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine;
and each assembling oil cylinder is independently controlled to stretch and lock by an assembling execution mechanism (6) according to the instruction of an assembling system control unit (301), and when the pressure parameter of the single assembling oil cylinder exceeds a preset limit value B, a propulsion system control unit (201) can automatically adjust the thrust of the corresponding propulsion oil cylinder and the propulsion speed of the shield tunneling machine.
4. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the partition control knob (101) is arranged on the right side of a panel of the operating platform (1), and the partition control knob (101) is electrically connected with the propulsion system control unit (201) and the assembling system control unit (301) respectively and used for setting the thrust of the propulsion oil cylinder and the assembling oil cylinder and the overall propulsion speed of the shield tunneling machine.
5. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the mode selection button (102) is arranged on the left side of a panel of the operating platform (1) and comprises two synchronous gears and two conventional gears, and the mode selection button (102) is electrically connected with the propulsion system control unit (201) and the splicing system control unit (301) respectively and used for switching the synchronous tunneling mode and the conventional mode;
the synchronous tunneling mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out synchronously, and the conventional mode is specifically that the tunneling and the segment assembling work of the shield machine are carried out step by step.
6. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the starting button (105) is arranged below the mode selection button (102), and the starting button (105) is respectively electrically connected with the pushing execution mechanism (4) and the assembling execution mechanism (6) and used for controlling the starting and stopping of the pushing execution mechanism (4) and the assembling execution mechanism (6).
7. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the synchronous tunneling mode function switching button (103) is arranged on the left side of the mode selection button (102) and comprises three gears of tunneling, shield body resetting and cutter head returning, and the synchronous tunneling mode function switching button (103) is electrically connected with the propulsion executing mechanism (4) and the assembly executing mechanism (6) respectively and is used for controlling the shield tunneling machine to start tunneling and assembly work, reset the middle shield and the tail shield after tunneling and assembly and retraction of the cutter head following the front shield in the synchronous tunneling mode.
8. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the conventional tunneling mode function selection button (104) is arranged between the mode selection button (102) and the partition control knob (101) and comprises two gears for tunneling and assembling, and the conventional tunneling mode function selection button (104) is electrically connected with the assembling execution mechanism (6) and used for controlling switching of tunneling work and segment assembling work of the shield tunneling machine in a conventional mode.
9. The control system for the tunneling, splicing and synchronous construction of the shield tunneling machine according to claim 1, characterized in that: the propulsion system computing unit (202) judges the serial number of the currently-executed retraction assembly oil cylinder in real time according to the stroke parameter and the pressure parameter of the rear assembly oil cylinder (7) and sends the serial number to the propulsion system control unit (201), the propulsion system control unit (201) controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust and controls other propulsion oil cylinders to automatically compensate the total thrust so as to ensure that the overall propulsion speed of the shield tunneling machine is consistent with the set value of the partition control knob (101);
the assembly system computing unit (302) computes bending moment generated when the assembly oil cylinder currently executing retraction action retracts in real time according to stroke parameters and pressure parameters of the rear assembly oil cylinder (7), sets the pressure value of each assembly oil cylinder and transmits the pressure value to the assembly system control unit (301), and after the assembly system control unit (301) controls the pressure values of other assembly oil cylinders to slowly rise to a set value within 500ms, the rear assembly oil cylinder (7) is locked to keep the posture of the shield body stable.
10. A control method for synchronous digging, splicing and construction of a shield machine is based on the control system of any one of claims 1 to 9, and is characterized by comprising the following steps:
s1, judging whether the mode selection button is in synchronous gear position, if yes, executing step S2, if no, executing step S9;
s2, rotating the synchronous tunneling mode function switching button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield tunneling machine, and pressing a start button;
s3, the front propelling oil cylinder pushes the cutter head and the front shield to tunnel forwards, the middle shield and the tail shield are kept static, and the rear assembling oil cylinder is matched with a segment assembling machine to synchronously assemble segments in the tail shield;
s4, the propulsion system computing unit judges the serial number of the assembly oil cylinder currently executing the retraction action in real time, and the propulsion system control unit controls the propulsion oil cylinder corresponding to the serial number to reduce the thrust and controls other propulsion oil cylinders to automatically compensate the total thrust;
s6, the assembly system computing unit computes the bending moment generated when the assembly oil cylinder currently executing the retracting action retracts in real time, sets the pressure value of each assembly oil cylinder, and the assembly system control unit controls the pressure values of other assembly oil cylinders to slowly rise to the set value within 500ms and then locks the rear assembly oil cylinder;
s7, judging whether the pressure value of each propulsion oil cylinder and each splicing oil cylinder is lower than a preset limit value, if so, executing a step S8, and if not, automatically reducing the thrust of the front propulsion oil cylinder by the propulsion system control unit;
s8, judging whether the tunneling work and the segment assembling work are finished, if so, rotating the synchronous tunneling mode function switching button to a shield body reset gear, pressing a start button, pushing the middle shield and the tail shield to be reset by the rear assembling oil cylinder, and if not, repeatedly executing the step S3;
s9, rotating the conventional tunneling mode function selection button to a tunneling gear, adjusting the partition control knob to set the overall propulsion speed of the shield machine, pressing a start button, and pushing the shield machine by the rear assembling oil cylinder to realize forward tunneling;
and S10, rotating the function selection button of the conventional tunneling mode to an assembling gear, pressing the start button, and assembling the segments in the tail shield by the rear assembling oil cylinder in cooperation with the segment assembling machine.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210015376.4A CN114183157B (en) | 2022-01-07 | 2022-01-07 | Control system and control method for synchronous construction of shield tunneling assembly of shield tunneling machine |
| PCT/CN2022/140973 WO2023130972A1 (en) | 2022-01-07 | 2022-12-22 | Control system and control method for tunneling-erecting synchronous construction by tunnel boring machine |
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| CN202210015376.4A CN114183157B (en) | 2022-01-07 | 2022-01-07 | Control system and control method for synchronous construction of shield tunneling assembly of shield tunneling machine |
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| CN114183157B CN114183157B (en) | 2024-05-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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