Active-type automatic deviation rectification device of pipe-jacking tunneling machine

Abstract

The present invention relates to a pipe-jacking tunnelling machine, in particular to an active-type automatic deviation rectification device of the pipe-jacking tunnelling machine. The device can realize automatic, highly efficient, safe and reliable deviation rectification according to deviations of proceeding direction of the pipe-jacking tunnelling machine with respect to a pipeline designed axis. Deviation rectification output force of a hydraulic cylinder is weak; the active-type automatic deviation rectification device of the pipe-jacking tunnelling machine is capable of being used for curve pipe-jacking tunneling; technical basis for automation pipe-jacking tunnelling of the pipe-jacking tunnelling machine is provided; and problems of unsuccessful deviation rectification and low deviation rectification efficiency caused by misjudgments of operators or operating instruction input errors which are caused by influences of factors such as ever-changing construction conditions, extremely high labor intensity and insufficiency in operating experience or negligence of operation personnel are avoided; and therefore, pipe-jacking tunnelling efficiency is raised and quality of pipe-jacking construction is improved.

Description

technical field [0001] The invention relates to a pipe jacking machine, in particular to an active automatic deviation correction device for a pipe jacking machine. Background technique [0002] The environment of the working face of the pipe jacking machine is harsh and the geological conditions are complex. During the full-section cutting and jacking process of the pipe jacking machine, the force system acting on the machine is usually unbalanced. The imbalance of the force system makes the jacking The trajectory of the tunnel boring machine can never completely advance along the pipeline design axis, and it will deviate from the pipeline design axis at any time. [0003] Axis deviation includes: the position offset of a certain point on the axis of the pipe jacking machine relative to the pipeline design axis, the pitch angle and horizontal azimuth of the pipe jacking machine axis relative to the pipeline design axis; therefore, the pipe jacking must be detected in real t...

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Problems solved by technology

[0004] According to the research results of pipe jacking machine products, literature patents and other data retrieval results, the current jacking deviation correction system of pipe jacking machine is mainly composed of automatic deviation measurement device, hydraulic deviation correction mechanical device, hydraulic servo system and manual control deviation correction system. The measuring devices mainly include German VMT total station laser target automatic guiding system, single laser target automatic measuring device, single laser target + gyroscope automatic measuring device, curve pipe jacking automatic remote control measuring system, etc.; hydraulic rectification mechanical device and hydraulic servo The system includes deviation correction motor, oil pump, control valve, deviation correction hydraulic cylinder, ball hinge and hydraulic system accessories, etc. The deviation correction hydraulic cylinders are symmetrically distributed in even numbers, evenly arranged in the circumferential direction of the pipe jacking machine, and one end is connected with the supporting shell of the cutting system of the pipe jacking machine The body ball hinge is connected, and the other end is connected with the ball hinge of the support shell of the deviation correction device of the pipe jacking machine. When jacking, the deviation correction hydraulic cylinder uses the support shell of the deviation correction device as the back seat to adjust the direction of the support shell of the cutting system to guide the back The pipe joints can advance correctly; because the connection between the supporting shell of the cutting system of the pipe jacking machine and the supporting shell of the correction device is connected by an even number (≥4) of ball joints at both ends of hydraulic cylinders, it constitutes an underactuated (hydraulic cylinder The number is less than 6) or the spatial six-degree-of-freedom mechanism with redundant drive (the number of hydraulic cylinders is greater than 6). In addition to the correction movement, there are many undesired parasitic movements and cannot be completely eliminated. The restriction on undesired movements mainly uses passive The constraint force of the soil layer and the constraint reaction force between the notch ring of the supporting shell of the cutting system and the support ring of the support shell of the correction device are limited. It is inflexible and the deviation correction angle is small (generally less than 3°), so it is difficult to apply to curved pipe jacking; in addition, the deviation correction movement and force control of the hydraulic deviation correction mechanism of the pipe jacking machine are highly complicated, and it is difficult to realize real-time automatic deviation correction control. The deviation correction control of the pipe jacking machine mainly adopts manual control deviation correction, that is, the operator performs deviation correction control by grouping the deviation correction hydraulic cylinders according to the previous construction experience; Divided into 4 groups (more hydraulic cylinders can also be divided into 4 groups, which is universal), and then control each group of hydraulic cylinders separately according to the axis deviation of the pipe jacking machine obtained by the automatic deviation measuring device, or control the adjacent The two groups implement joint control to realize the operation of all hydraulic cylinders, the forward or backward of a single group of hydraulic cylinders, the forward or backward of two adjacent groups of hydraulic cylinders, etc., so as to realize the overall advancement of the pipe jacking machine and the up, down, left and right , upper left, lower left, upper right, lower right attitude control of the pipe jacking machine

[0005] Due to the defects of the above-mentioned hydraulic correction mechanism of the pipe jacking machine, the ever-changing construction conditions and high labor intensity of pipe jacking construction, as well as the lack of operating experience or carelessness of operators, it is easy to cause misjudgment or Errors in the input of operation instructions lead to deviation correction failure, low deviation correction efficiency, and affect the quality of pipe jacking construction. Therefore, automatic, efficient, safe and reliable accurate deviation correction devices are urgently needed in pipe jacking construction

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