CN114705429A - Method and device for monitoring main bearing of shield machine - Google Patents

Abstract

The invention provides a method and a device for monitoring a main bearing of a shield tunneling machine, wherein the method comprises the following steps: acquiring an inner gear ring monitoring signal by utilizing a plurality of sensors arranged on the end surface of the inner gear ring of a main bearing of the shield tunneling machine and an outer ring of the main bearing; determining an impact monitoring result of a main bearing of the shield machine according to the inner gear ring monitoring signal; obtaining operation attitude data of a main bearing of the shield machine according to the distribution position information of each sensor and the inner gear ring monitoring signal; and obtaining the monitoring result of the main bearing of the shield machine according to the impact monitoring result and the operation attitude data of the main bearing of the shield machine. According to the invention, the abnormal signals are monitored and analyzed in real time in the operation process of the main bearing, whether the main bearing needs to be overhauled or replaced is evaluated, the local abnormality is generated and the impact load is overlarge, the fault condition of the main bearing is accurately and timely found, the construction risk caused by the direct failure of the main bearing is reduced, and the operation reliability of the shield machine is improved.

Description

Method and device for monitoring main bearing of shield machine

technical field

The invention relates to the technical field of shield machine monitoring, in particular to a method and device for monitoring a main bearing of a shield machine.

Background technique

As the key core component of the shield machine, the main drive bearing continuously bears huge axial force, radial force and overturning moment during the tunneling process of the shield machine, and also receives the impact load transmitted by the cutter head. Affected by factors such as load, bearing clearance, wear and installation accuracy, there may be a certain degree of deflection between the main bearing inner ring gear and the bearing outer ring. If the continuously applied overturning moment is too large or is subjected to excessive instantaneous impact load, the deflection angle between the inner gear ring of the main bearing and the outer ring of the bearing will gradually increase, which will affect the stability of the main bearing of the shield machine and further affect the main bearing. reliability and longevity. Therefore, monitor the running posture of the main bearing and its impact signal during operation, and analyze it to determine the degree of deflection of the inner ring gear, whether there is local abnormality and the degree of impact load during the use of the bearing. Timely alarming of existing abnormal signals is of great significance to reduce the failure rate of the main bearing and ensure construction safety.

The monitoring of the inner gear ring of the main bearing has always been an important direction for the safety monitoring of the main drive construction. However, most of the existing technologies only monitor the displacement or rotational speed of the inner gear in a single direction, and cannot judge the running posture of the inner gear, and it is difficult to monitor the running stability of the bearing. The axial displacement of the bearing inner ring gear is only monitored by the displacement sensor, and the displacement signal acquisition cannot exclude the axial vibration factor caused by the impact load.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the main purpose of the embodiments of the present invention is to provide a method and device for monitoring the main bearing of a shield machine, which can realize real-time monitoring of abnormal signals and solve the problem of difficulty in online monitoring of main bearing faults.

In order to achieve the above purpose, an embodiment of the present invention provides a method for monitoring a main bearing of a shield machine, the method comprising:

Use multiple sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing to obtain the monitoring signal of the inner ring gear;

According to the monitoring signal of the inner gear ring, determine the impact monitoring result of the main bearing of the shield machine;

According to the distribution position information of each sensor and the monitoring signal of the inner gear ring, the running attitude data of the main bearing of the shield machine is obtained;

According to the impact monitoring result of the shield machine main bearing and the running attitude data, the monitoring result of the shield machine main bearing is obtained.

Optionally, in an embodiment of the present invention, the method further includes: performing an abnormal warning of the main bearing according to the monitoring result of the main bearing of the shield machine.

Optionally, in an embodiment of the present invention, using a plurality of sensors disposed on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing, acquiring the monitoring signal of the inner ring gear includes:

Use the non-contact displacement sensor set on the outer ring of the main bearing to obtain the displacement signal of the inner gear ring;

The vibration signal of the ring gear is obtained by using the acceleration sensor arranged on the end face of the ring gear of the bearing.

Optionally, in an embodiment of the present invention, according to the distribution position information of each sensor and the monitoring signal of the inner gear ring, obtaining the running attitude data of the main bearing of the shield machine includes:

According to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor, determine the vibration influence signal corresponding to each displacement sensor;

According to the vibration influence signal and the displacement signal of the inner gear ring, the running attitude data of the main bearing of the shield machine is determined.

An embodiment of the present invention also provides a monitoring device for a main bearing of a shield machine, the device comprising:

The monitoring signal module is used to obtain the monitoring signal of the inner ring gear by using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing;

an impact monitoring module, used for determining the impact monitoring result of the main bearing of the shield machine according to the monitoring signal of the inner gear ring;

an operation attitude module, used for obtaining the operation attitude data of the main bearing of the shield machine according to the distribution position information of each sensor and the monitoring signal of the inner gear ring;

The monitoring result module is used to obtain the monitoring result of the main bearing of the shield machine according to the impact monitoring result of the main bearing of the shield machine and the running attitude data.

Optionally, in an embodiment of the present invention, the device further includes: an abnormality early warning module, configured to perform abnormality early warning of the main bearing according to the monitoring result of the main bearing of the shield machine.

Optionally, in an embodiment of the present invention, the monitoring signal module includes:

The displacement signal unit is used to obtain the displacement signal of the inner gear ring by using the non-contact displacement sensor arranged on the outer ring of the main bearing;

The vibration signal unit is used for acquiring the vibration signal of the ring gear by using the acceleration sensor arranged on the end face of the ring gear of the bearing.

Optionally, in an embodiment of the present invention, the running attitude module includes:

a vibration influencing unit, configured to determine the vibration influencing signal corresponding to each displacement sensor according to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor;

The running attitude unit is used for determining the running attitude data of the main bearing of the shield machine according to the vibration influence signal and the displacement signal of the inner gear.

The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the above method when executing the program.

The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.

The present invention monitors the abnormal signal in real time during the operation of the main bearing, analyzes the monitoring signal, evaluates whether the main bearing needs to be repaired or replaced, gives early warning for local abnormality and excessive impact load, and finds out more accurately and in a timely manner. The main bearing failure situation reduces the construction risk caused by the direct failure of the main bearing, solves the problem of difficult online monitoring of the main bearing failure, and improves the operation reliability of the shield machine.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a flowchart of a method for monitoring a main bearing of a shield machine according to an embodiment of the present invention;

FIG. 2 is a flow chart of acquiring an inner ring gear monitoring signal in an embodiment of the present invention;

3 is a flowchart of obtaining running attitude data in an embodiment of the present invention;

FIG. 4 is a schematic diagram of a sensor installation position in an embodiment of the present invention;

5 is a schematic diagram of the skew angle of the inner ring gear relative to the outer ring gear in the embodiment of the present invention;

6 is a schematic diagram of a normal signal in an embodiment of the present invention;

7 is a schematic diagram of signal mutation in an embodiment of the present invention;

FIG. 8 is a schematic diagram of a continuous increase of a signal in an embodiment of the present invention;

9 is a flowchart of an abnormal alarm in an embodiment of the present invention;

10 is a schematic structural diagram of a monitoring device for a main bearing of a shield machine according to an embodiment of the present invention;

11 is a schematic structural diagram of a monitoring device for a main bearing of a shield machine in another embodiment of the present invention;

12 is a schematic structural diagram of a monitoring signal module in an embodiment of the present invention;

13 is a schematic structural diagram of a running attitude module in an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a method and device for monitoring a main bearing of a shield machine.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 1 is a flowchart of a method for monitoring a main bearing of a shield machine according to an embodiment of the present invention. The execution subject of the method for monitoring a main bearing of a shield machine provided by the embodiment of the present invention includes but is not limited to a computer. The invention solves the problem that the running attitude and impact signal of the main bearing of the shield machine are difficult to monitor, judges the deflection degree of the inner gear ring during the use of the bearing, whether there is a local abnormality and the magnitude of the impact load, and timely responds to the persistent abnormal signal. Alarm to improve the reliability of shield machine operation. The method shown in Figure 1 includes:

Step S1, using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing to obtain the monitoring signal of the inner ring gear;

Step S2, according to the monitoring signal of the inner gear ring, determine the impact monitoring result of the main bearing of the shield machine;

Step S3, according to the distribution position information of each sensor and the monitoring signal of the inner gear ring, obtain the running attitude data of the main bearing of the shield machine;

In step S4, the monitoring result of the main bearing of the shield machine is obtained according to the impact monitoring result of the main bearing of the shield machine and the running attitude data.

Among them, the main bearing of the shield machine has a specific sensor installation interface; the sensor includes a non-contact displacement sensor, which monitors the axial displacement of the inner gear ring of the main bearing relative to the outer ring; the sensor also includes a contact acceleration sensor, which monitors the main bearing. The vibration of the ring gear; the present invention performs data processing on the collected time domain signals for the running attitude and impact diagnosis of the main bearing.

Further, the monitoring object of the displacement sensor is the end face of the inner gear ring, which is fixed on the outer ring of the main bearing, and the displacement sensor is fixed on the outer ring of the bearing instead of the box structure, in order to eliminate the influence caused by factors such as assembly errors. Specifically, the displacement sensor is a non-contact sensor, which is fixed on the outer ring of the main bearing and eliminates the accuracy error; the acceleration sensor is a contact sensor and is distributed on the end face of the inner gear ring.

Further, the sensor is arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing, so as to obtain the monitoring signal of the inner gear ring, which can solve the problem that the sensor is arranged on the drive box in the prior art, and the assembly error cannot be eliminated. The influence of other factors on the monitoring accuracy of the sensor, the reliability and validity of the collected data are difficult to guarantee and so on.

As an embodiment of the present invention, as shown in Figure 2, using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing, obtaining the monitoring signal of the inner ring gear includes:

Step S21, using a non-contact displacement sensor disposed on the outer ring of the main bearing to obtain a displacement signal of the inner gear ring;

In step S22, the vibration signal of the inner ring gear is acquired by using the acceleration sensor disposed on the end face of the inner ring gear of the bearing.

Among them, by arranging a plurality of displacement sensors and acceleration sensors evenly on the end face of the inner ring gear of the bearing, the displacement and vibration signals in the axial direction of the inner ring gear can be monitored.

In this embodiment, as shown in FIG. 3 , according to the distribution position information of each sensor and the monitoring signal of the inner gear ring, the running attitude data of the main bearing of the shield machine are obtained including:

Step S31, according to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor, determine the vibration influence signal corresponding to each displacement sensor;

Step S32, according to the vibration influence signal and the displacement signal of the inner gear ring, determine the running attitude data of the main bearing of the shield machine.

Among them, comprehensive monitoring is carried out on different positions of the inner ring of the bearing at the same time, and the influence of the vibration signal on the displacement sensor is excluded, that is, the corresponding vibration influence signal of each displacement sensor is determined. According to the distribution position information of each displacement sensor, that is, according to the difference of the displacement of different points on the end face of the ring gear relative to the outer ring, the inclination degree of the inner gear ring of the main bearing relative to the outer ring can be obtained, that is, the inner gear of the main bearing is in this position. The spatial attitude at the time point, the continuous monitoring of the space attitude of the inner ring gear at each time point can obtain the real-time change of the running attitude of the inner ring gear of the main bearing over time, that is, the running attitude data.

Further, an acceleration sensor can be used to monitor the vibration signal of the ring gear in the axial direction of the ring gear, thereby obtaining the impact signal on the main bearing.

As an embodiment of the present invention, the method further includes: performing an abnormal warning of the main bearing according to the monitoring result of the main bearing of the shield machine.

Among them, through the monitoring of the main bearing of the shield machine, it is judged whether the main bearing is abnormal according to the test results. If the data is abnormal, the control system will identify the abnormal signal and alarm in time.

Therefore, the present invention can achieve the purpose of online monitoring of the running attitude and impact signal of the main bearing. As a result, according to the collected signals and data processing methods, it is possible to judge the deflection degree of the inner gear ring, whether there is a local abnormality and the degree of impact load during the use of the bearing, and timely alarm the abnormal signals that persist, which is conducive to reducing The failure rate of the main bearing ensures the construction safety of the shield machine.

In a specific embodiment of the present invention, a group of displacement sensors 1 are evenly arranged on the end face of the inner ring gear of the main bearing, including S ₁ , S ₂ , S ₃ , ... _Sn and a group of acceleration sensors 2 , including T ₁ , T ₂ , T3,...Tn, the specific installation position _is shown in Figure ₄ . The figure includes the displacement sensor 1 and the acceleration sensor 2 (vibration sensor), the actual end face position 3 and the theoretical end face 4 position, and the skew angle θ of the inner ring gear relative to the outer ring gear. The displacement sensor 1 is fixed on the non-raceway surface of the outer ring, and the lead wire is led out through the preset hole, and the collected data is transmitted to the main control room. This installation form can monitor the run-out amount and vibration signal of the inner gear ring relative to the bearing outer ring, and avoid the error caused by the main drive assembly and the processing of the structural parts from affecting the data collection. The acceleration sensor 2 is installed in the prefabricated hole of the inner gear ring of the bearing, and external protection is done at the same time. The signal transmitter is integrated inside the sensor, and the collected signal can be transmitted to the main control room through the signal receiving device and the lead wire fixed inside the drive box to achieve the purpose of monitoring the axial vibration of the inner ring gear of the bearing.

In this embodiment, the time domain signal collected by the bearing displacement sensor is monitored in real time. When no abnormality occurs, the normal signal is as shown in FIG. 6 . Observe whether the acceleration signal of the time domain signal is abnormal. If there is a sudden change, it means that there is a local impact phenomenon; observe whether the displacement signal is abnormal. If there is an abnormality, it means that the end face of the ring gear is abnormal, as shown in Figure 7. Continue to observe whether the acceleration and displacement signals continue to be abnormal. If the abnormality continues, the alarm will alarm and the main bearing is abnormal.

Among them, the data measured by each displacement sensor at the same time is counted, combined with the position of the displacement sensor to draw the spatial position map of the end face of the inner gear ring of the main bearing, and compared with the original end face of the inner gear ring, the deflection angle of the inner gear ring relative to the outer gear ring is drawn. As shown in Figure 5, if the deflection angle is greater than a certain value, the alarm will alarm.

Further, combined with the vibration acceleration signal, the displacement signal, and the deflection degree of the bearing inner ring gear, the running posture of the main bearing is determined, and the main bearing fault warning is carried out. As shown in Figure 8, the signal continues to increase, and the main bearing fault early warning process is carried out, as shown in Figure 9. Specifically, when more than one sensor has a signal exceeding the limit, the programmable controller is used to control the alarm to give a fault alarm.

Further, the arrangement end face of the sensor in the present invention can be replaced with the front end face of the inner gear ring of the main bearing, that is, the real-time monitoring of the motion attitude of the main bearing can be realized by monitoring the spatial attitude of the front end face; Type (displacement, vibration) sensor, can use a sensor that can monitor displacement and vibration signals as an alternative.

The invention can judge in real time the deflection degree of the inner gear ring during the use of the bearing, give an early warning to local abnormality and excessive impact load, find the fault of the main bearing more accurately and in time, and reduce the damage caused by the direct failure of the main bearing. construction risk.

FIG. 10 is a schematic structural diagram of a monitoring device for a main bearing of a shield machine according to an embodiment of the present invention. The device shown in the figure includes:

The monitoring signal module 10 is used for obtaining monitoring signals of the inner ring gear by using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing;

The impact monitoring module 20 is used for determining the impact monitoring result of the main bearing of the shield machine according to the monitoring signal of the inner gear;

The operating attitude module 30 is used to obtain the operating attitude data of the main bearing of the shield machine according to the distribution position information of each sensor and the monitoring signal of the inner gear ring;

The monitoring result module 40 is configured to obtain the monitoring result of the main bearing of the shield machine according to the impact monitoring result of the main bearing of the shield machine and the running attitude data.

As an embodiment of the present invention, as shown in FIG. 11 , the device further includes: an abnormality early warning module, configured to perform abnormality early warning of the main bearing according to the monitoring result of the main bearing of the shield machine.

As an embodiment of the present invention, as shown in FIG. 12 , the monitoring signal module 10 includes:

The displacement signal unit 11 is used for obtaining the displacement signal of the inner gear ring by using the non-contact displacement sensor arranged on the outer ring of the main bearing;

The vibration signal unit 12 is used for acquiring the vibration signal of the ring gear by using the acceleration sensor arranged on the end face of the ring gear of the bearing.

In this embodiment, as shown in FIG. 13 , the running attitude module 30 includes:

The vibration influencing unit 31 is used for determining the vibration influencing signal corresponding to each displacement sensor according to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor;

The running attitude unit 32 is configured to determine the running attitude data of the main bearing of the shield machine according to the vibration influence signal and the displacement signal of the inner gear.

Based on the same application concept as the above-mentioned method for monitoring the main bearing of a shield machine, the present invention also provides the above-mentioned monitoring device for the main bearing of a shield machine. Since the principle of solving the problem of the monitoring device for the main bearing of the shield machine is similar to the monitoring method for the main bearing of the shield machine, the implementation of the monitoring device for the main bearing of the shield machine can refer to a shield machine The implementation of the monitoring method of the main bearing will not be repeated here.

The present invention monitors the abnormal signal in real time during the operation of the main bearing, analyzes the monitoring signal, evaluates whether the main bearing needs to be repaired or replaced, gives early warning for local abnormality and excessive impact load, and finds out more accurately and in a timely manner. The main bearing failure situation reduces the construction risk caused by the direct failure of the main bearing, solves the problem of difficult online monitoring of the main bearing failure, and improves the operation reliability of the shield machine.

The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the above method when executing the program.

The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.

As shown in FIG. 14 , the electronic device 600 may further include: a communication module 110 , an input unit 120 , an audio processing unit 130 , a display 160 , and a power supply 170 . It is worth noting that the electronic device 600 does not necessarily include all the components shown in FIG. 14 ; in addition, the electronic device 600 may also include components not shown in FIG. 14 , and reference may be made to the prior art.

As shown in FIG. 14 , the central processing unit 100 , sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, and the central processing unit 100 receives input and controls various aspects of the electronic device 600 component operation.

Wherein, the memory 140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure can be stored, and a program executing the related information can also be stored. And the central processing unit 100 can execute the program stored in the memory 140 to realize information storage or processing.

The input unit 120 provides input to the central processing unit 100 . The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600 . The display 160 is used for displaying display objects such as images and characters. The display can be, for example, but not limited to, an LCD display.

The memory 140 may be solid state memory, eg, read only memory (ROM), random access memory (RAM), SIM card, and the like. There may also be memories that retain information even when powered off, selectively erased and provided with more data, examples of which are sometimes referred to as EPROMs or the like. Memory 140 may also be some other type of device. Memory 140 includes buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application/function storage part 142 for storing application programs and function programs or for performing operations of the electronic device 600 through the central processing unit 100 .

The memory 140 may also include a data storage 143 for storing data such as contacts, digital data, pictures, sounds and/or any other data used by the electronic device. The driver storage section 144 of the memory 140 may include various drivers of the electronic device for communication functions and/or for executing other functions of the electronic device (eg, a messaging application, a contact book application, etc.).

The communication module 110 is the transmitter/receiver 110 that transmits and receives signals via the antenna 111 . A communication module (transmitter/receiver) 110 is coupled to the central processing unit 100 to provide input signals and receive output signals, as may be the case with conventional mobile communication terminals.

Based on different communication technologies, multiple communication modules 110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module, and/or a wireless local area network module. Communication module (transmitter/receiver) 110 is also coupled to speaker 131 and microphone 132 via audio processor 130 to provide audio output via speaker 131 and to receive audio input from microphone 132 for general telecommunication functions. Audio processor 130 may include any suitable buffers, decoders, amplifiers, and the like. In addition, the audio processor 130 is also coupled to the central processing unit 100 so as to enable recording on the local unit through the microphone 132 and to play back the sound stored on the local unit through the speaker 131 .

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In the present invention, the principles and implementations of the present invention are described by using specific embodiments, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; The idea of the invention will have changes in the specific implementation and application scope. To sum up, the content of this specification should not be construed as a limitation to the present invention.

Claims (10)

1. a monitoring method of shield machine main bearing, is characterized in that, described method comprises: Use multiple sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing to obtain the monitoring signal of the inner ring gear; According to the monitoring signal of the inner gear ring, determine the impact monitoring result of the main bearing of the shield machine; According to the distribution position information of each sensor and the monitoring signal of the inner gear ring, the running attitude data of the main bearing of the shield machine is obtained; According to the impact monitoring result of the shield machine main bearing and the running attitude data, the monitoring result of the shield machine main bearing is obtained. 2 . The method according to claim 1 , wherein the method further comprises: performing an abnormal warning of the main bearing according to the monitoring result of the main bearing of the shield machine. 3 . 3. The method according to claim 1, characterized in that, obtaining the monitoring signal of the inner ring gear by using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing comprises: Use the non-contact displacement sensor set on the outer ring of the main bearing to obtain the displacement signal of the inner gear ring; The vibration signal of the ring gear is obtained by using the acceleration sensor arranged on the end face of the ring gear of the bearing. 4 . The method according to claim 3 , wherein, according to the distribution position information of each sensor and the monitoring signal of the inner gear ring, obtaining the running attitude data of the main bearing of the shield machine comprises: 5 . According to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor, determine the vibration influence signal corresponding to each displacement sensor; According to the vibration influence signal and the displacement signal of the inner gear ring, the running attitude data of the main bearing of the shield machine is determined. 5. A monitoring device for a main bearing of a shield machine, wherein the device comprises: The monitoring signal module is used to obtain the monitoring signal of the inner ring gear by using a plurality of sensors arranged on the end face of the inner ring gear of the main bearing of the shield machine and the outer ring of the main bearing; an impact monitoring module, used for determining the impact monitoring result of the main bearing of the shield machine according to the monitoring signal of the inner gear ring; an operation attitude module, used for obtaining the operation attitude data of the main bearing of the shield machine according to the distribution position information of each sensor and the monitoring signal of the inner gear ring; The monitoring result module is used to obtain the monitoring result of the main bearing of the shield machine according to the impact monitoring result of the main bearing of the shield machine and the running attitude data. 6. The device according to claim 5, characterized in that, the device further comprises: an abnormality early warning module, configured to perform abnormality early warning of the main bearing according to the monitoring result of the main bearing of the shield machine. 7. The device according to claim 5, wherein the monitoring signal module comprises: The displacement signal unit is used to obtain the displacement signal of the inner gear ring by using the non-contact displacement sensor arranged on the outer ring of the main bearing; The vibration signal unit is used for acquiring the vibration signal of the ring gear by using the acceleration sensor arranged on the end face of the ring gear of the bearing. 8. The device according to claim 7, wherein the running attitude module comprises: a vibration influencing unit, configured to determine the vibration influencing signal corresponding to each displacement sensor according to the vibration signal of the inner ring gear and the distribution position information of each displacement sensor; The running attitude unit is used for determining the running attitude data of the main bearing of the shield machine according to the vibration influence signal and the displacement signal of the inner gear. 9. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements any of claims 1 to 4 when the processor executes the computer program method described in item. 10. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 4.

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