An ABS support device suitable for large-inclination inclined shaft TBM and a structural optimization method thereof

Abstract

The application belongs to the technical field of the inclined shaft TBM anti-falling support, and particularly relates to an ABS support device suitable for a large-inclination-angle inclined shaft TBM and a structural optimization method thereof, which comprises the following steps: taking the center of a supporting shoe of the ABS support device as an origin to establish a coordinate system; establishing a thrust equation required by a hydraulic cylinder and a connecting rod of the ABS support device to provide a thrust; deriving a thrust coefficient and an integral value of the thrust coefficient according to the obtained thrust equation, and constructing a structural optimization function of the ABS support device; and taking a horizontal distance between the supporting shoe of the ABS support device and a rack and a ratio of the thrust coefficients of the hydraulic cylinder and the connecting rod as constraint conditions to solve optimal structural sizes of the ABS support device. The optimal structural sizes of the ABS support device are obtained by taking the horizontal distance between the supporting shoe of the ABS support device and the rack of a TBM main machine as a constraint condition, the anti-falling support capability of the ABS support device can be improved, the falling risk of the inclined shaft TBM can be reduced, and thus serious personnel casualties and property losses can be avoided.

Description

Technical Field

[0001] This invention belongs to the technical field of anti-fall support devices for inclined shaft TBMs, specifically relating to an ABS support device for a large-angle inclined shaft TBM and its structural optimization method. Background Technology

[0002] In recent years, with the increasing global demand for renewable energy, pumped storage power stations have been widely used as an important energy storage technology. Pumped storage power stations can not only regulate the peak and valley loads of the power system, but also improve the stability and reliability of the power grid. As a result, they have been rapidly developed and promoted around the world. In the construction of pumped storage power stations, inclined shaft tunnel boring machines (TBMs) have gradually become a common and important construction equipment. Inclined shaft TBMs can efficiently excavate tunnels under complex geological conditions, improve construction efficiency, shorten the construction cycle, and reduce project costs.

[0003] As the inclination angle of TBM excavation in inclined shafts increases, the risk of equipment falling increases significantly. These factors place higher demands on the anti-slip performance of TBM fall arrest devices. First, due to the special terrain and geological conditions of inclined shafts, TBMs often encounter natural disasters such as water inrush and geological collapses during construction. These disasters not only threaten the lives of construction personnel but also cause serious damage to the TBM equipment itself, and may even lead to TBM fall accidents. Second, existing fall arrest devices are prone to failure under long-term cyclic loading and fatigue. When the fall arrest device fails, a fall of the TBM will cause serious casualties and property damage, resulting in huge economic losses and safety hazards for the construction unit.

[0004] Traditional fall protection devices mainly rely on active control systems to prevent TBM falls. However, these systems often depend on complex electronic controls and multiple sensors working together. If any part of the system fails, the entire fall protection function will be greatly reduced. In addition, during construction, electronic equipment is easily affected by harsh environments, which increases the risk of system failure. Summary of the Invention

[0005] In view of the aforementioned defects in existing anti-fall support devices for inclined shaft TBMs, the purpose of this invention is to propose an ABS support device suitable for inclined shaft TBMs with large inclination angles and its structural optimization method.

[0006] To achieve the aforementioned objectives, the present invention provides an ABS support device suitable for steeply inclined shaft TBMs, comprising: a support shoe for compacting the surrounding rock and an accumulator. The support shoe includes a plurality of first hinge supports connected to one end of a connecting rod and an arc-shaped support shoe plate. The support shoe plate is connected to the first hinge supports via a boss. The other end of the connecting rod is connected to a second hinge support. The second hinge support is connected to the frame of the TBM main unit. The output end of the hydraulic cylinder is connected to any one of the first hinge supports, and its other end is connected to the frame of the TBM main unit.

[0007] Furthermore, multiple motors are installed on the boss, and anti-slip nails are connected to the motor output shafts. Through holes corresponding to the anti-slip nails are provided on the support shoe plate.

[0008] Furthermore, the side of the support plate that contacts the surrounding rock is provided with a resistance-increasing groove.

[0009] This invention also provides a structural optimization method for ABS support devices suitable for steeply inclined shaft TBMs, comprising:

[0010] Step 1: Establish a simplified model of the ABS support device, and establish a coordinate system with the center of the support shoe of the ABS support device as the origin;

[0011] Step 2: Establish the thrust equations for the hydraulic cylinders and connecting rods of the ABS support device to provide the required thrust;

[0012] Step 3: Based on the thrust equation obtained in Step 2, derive the thrust coefficient and integral value of the hydraulic cylinder and connecting rod of the ABS support device, and construct the structural optimization function of the ABS support device.

[0013] Step 4: Using the horizontal distance between the support shoe of the ABS support device and the frame of the TBM main unit, as well as the ratio of the thrust coefficients of the hydraulic cylinder and the connecting rod, as constraints, solve for the minimum value of the structural optimization function of the ABS support device, and then obtain the optimal structural dimensions of the ABS support device.

[0014] Furthermore, step 2 includes: performing a force analysis on the support shoe of the ABS support device; the component of the hydraulic cylinder thrust along the y-axis cancels out the component of the connecting rod thrust along the y-axis; the component of the hydraulic cylinder thrust along the x-axis and the component of the connecting rod thrust along the x-axis superimpose to provide the clamping force required for the support shoe of the ABS support device; when the piston rod extends by a length d, the thrust equation required by the hydraulic cylinder is:

[0015]

[0016] In the formula, F 压 The required clamping force for the support shoe of the ABS support device; F 缸 The thrust required by the hydraulic cylinder; F 连The thrust required for the connecting rod; α is the angle between the connecting rod and the x-axis; β is the angle between the hydraulic cylinder and the y-axis; L1 is the length of the hydraulic cylinder without the piston rod; L2 is the length of the connecting rod; L3 and L4 are the horizontal and vertical distances from the left end of the connecting rod to the left end of the hydraulic cylinder, respectively; d is the extension length of the piston rod.

[0017] When the piston rod extends by a length d, the thrust equation provided by the connecting rod is:

[0018] .

[0019] Furthermore, step 3 includes:

[0020] After removing the required clamping force of the support shoe from the thrust equation for the thrust required by the hydraulic cylinder, we obtain the thrust coefficient required by the hydraulic cylinder when the piston rod extends to the required length d:

[0021]

[0022] After removing the required clamping force of the strut from the thrust equation for the thrust required by the connecting rod, we obtain the thrust coefficient required by the connecting rod when the piston rod extends to the required length d:

[0023]

[0024] The integral value of the thrust coefficient required by the hydraulic cylinder can be approximated using the trapezoidal integral method:

[0025]

[0026] In the formula, c is the step size of the integration, which represents the length of the piston rod after calculating the thrust coefficient once; D is the total extension length of the piston rod in the hydraulic cylinder.

[0027] The integral value of the thrust coefficient required by the connecting rod can be approximated using the trapezoidal integral method:

[0028]

[0029] By assigning weights to the integral values ​​of the thrust coefficient required by the hydraulic cylinder and the thrust coefficient required by the connecting rod, the structural optimization function of the ABS support device is obtained:

[0030]

[0031] In the formula, w1 is the weight of the integral value of the thrust coefficient required by the hydraulic cylinder; w2 is the weight of the integral value of the thrust coefficient required by the connecting rod; f1 is the integral value of the thrust coefficient required by the hydraulic cylinder; and f2 is the integral value of the thrust coefficient required by the connecting rod.

[0032] Furthermore, the constraints in step 4 include: using the ratio of the integral values ​​of the thrust coefficients required by the hydraulic cylinder and connecting rod as the first constraint condition, the formula for which is:

[0033]

[0034] In the formula, C1 is the minimum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod; C2 is the maximum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod.

[0035] The horizontal distance between the support shoe of the ABS support device and the frame in both the non-extended and fully extended states of the piston rod in the hydraulic cylinder is taken as the second constraint condition. The formula for the second constraint condition is:

[0036]

[0037] In the formula, D1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; D2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; E1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; E2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; L5 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; L6 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended.

[0038] Furthermore, in step 4, the minimum value of the structural optimization function of the ABS support device is calculated, thereby obtaining the optimal structural dimensions of the ABS support device, including:

[0039] Step 4.1: Input parameters in the MATLAB program;

[0040] Step 4.2: Calculate the structural optimization function and condition constraint function of the ABS support device based on the input parameters;

[0041] Step 4.3: Determine whether the structural optimization function and the condition constraint function obtained in Step 4.2 satisfy the first constraint condition and the second constraint condition. If they satisfy, update the minimum value of the structural optimization function of the ABS support device and continue iterative calculation; if they do not satisfy, directly iterate and calculate.

[0042] Step 4.4: When the maximum number of iterations is reached, output the optimal structural dimensions of the ABS support device.

[0043] The aforementioned ABS support device and its structural optimization method for inclined shaft TBMs with large inclination angles can achieve the following beneficial effects: by using the horizontal distance between the support shoe of the ABS support device and the TBM main frame as constraints, the optimal structural dimensions of the ABS support device are calculated. By adopting the optimized optimal structural dimensions of the ABS support device, the fall protection capability of the ABS support device can be effectively improved, the risk of TBM falling in inclined shafts can be reduced, the construction safety of inclined shaft TBM equipment can be improved, and serious casualties and property losses can be avoided.

[0044] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of an ABS support device applicable to a steeply inclined shaft TBM in this embodiment;

[0046] Figure 2 yes Figure 1 Flowchart of the structural optimization method for ABS support device;

[0047] Figure 3 yes Figure 1 Schematic diagram of the force analysis of the ABS support device;

[0048] Figure 4 yes Figure 1 Schematic diagram of angle calculation for the ABS support device;

[0049] Figure 5 yes Figure 1 A schematic diagram showing the horizontal distance between the support shoe of the ABS support device and the frame of the TBM main unit;

[0050] Figure 6 This is a schematic diagram of an experiment used in this embodiment to verify the structural optimization results of the ABS support device.

[0051] Reference numerals in the attached drawings: 1-frame; 2-second hinge support; 3-connecting rod; 4-hydraulic cylinder; 5-bore; 6-support shoe; 601-support shoe plate; 602-first hinge support; 7-anti-slip nail; 8-accumulator; 9-pushing hydraulic cylinder. Detailed Implementation

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0053] Please see Figure 1 This embodiment provides an ABS support device suitable for steeply inclined shaft TBMs, comprising:

[0054] The support shoe and accumulator are used to compact the surrounding rock. The support shoe includes several first hinge supports 602 connected to one end of the connecting rod 3 and an arc-shaped support shoe plate 601. The support shoe plate is connected to the first hinge supports through a boss 5. The other end of the connecting rod is connected to the second hinge support. The second hinge support 2 is connected to the frame 1 of the TBM main unit. The output end of the hydraulic cylinder 4 is connected to any one of the first hinge supports, and its other end is connected to the frame of the TBM main unit.

[0055] Multiple motors are installed on the boss, and anti-slip nails 7 are connected to the motor output shafts. Through holes corresponding to the anti-slip nails are provided on the support shoe plate.

[0056] The side of the support plate that contacts the surrounding rock is equipped with a resistance-increasing groove.

[0057] Specifically, the accumulator can be installed on the hydraulic cylinder. In the event of a power outage of the inclined shaft TBM, the accumulator acts as an auxiliary thrust source, ensuring that the support shoes of the ABS support device can still press against the surrounding rock and bear the downward force of the entire inclined shaft TBM for a period of time, thus preventing the inclined shaft TBM equipment from falling.

[0058] Please see Figures 1-6 This embodiment provides a structural optimization method for ABS support devices suitable for steeply inclined shaft TBMs, including:

[0059] Step 1: Establish a simplified model of the ABS support device, and establish a coordinate system with the center of the support shoe of the ABS support device as the origin;

[0060] Specifically, a simplified model of the ABS support device is established, and a coordinate system is established on the ABS support device, with the center of the support shoe of the ABS support device as the origin of the coordinate system.

[0061] Step 2: Establish the thrust equations for the hydraulic cylinders and connecting rods of the ABS support device to provide the required thrust;

[0062] For details, please refer to Figure 2 , Figure 3 Force analysis of the support shoe of the ABS support device reveals that when the support shoe presses against the surrounding rock, the required clamping force is provided by the thrust generated by the hydraulic cylinder and the passive thrust generated by the connecting rod under the pressure of the support shoe and the frame. Specifically, the y-axis components of the hydraulic cylinder thrust and the connecting rod thrust cancel each other out; their x-axis components are superimposed to provide the required clamping force. Therefore, the relationship between the required clamping force of the ABS support shoe and the hydraulic cylinder thrust and connecting rod thrust is as follows:

[0063]

[0064] In the formula, F 压 The required clamping force for the support shoe of the ABS support device; F 缸 The thrust required by the hydraulic cylinder; F 连 The thrust required for the connecting rod; α is the angle between the connecting rod and the x-axis; β is the angle between the hydraulic cylinder and the y-axis.

[0065] Due to the uneven distribution of surrounding rock strength and the vibration generated during the construction of the inclined shaft TBM, there is a deviation between the actual diameter of the tunnel and the excavation diameter. Therefore, during the step change process of the inclined shaft TBM excavation, when the support shoe of the ABS support device presses against the surrounding rock, the extension length of the piston rod in the hydraulic cylinder varies, causing corresponding changes in the angle between the connecting rod and the x-axis (α angle) and the angle between the hydraulic cylinder and the y-axis (β angle).

[0066] Please see Figure 3 When the piston rod extends by a length d, the thrust equation required by the hydraulic cylinder is:

[0067]

[0068] In the formula, L1 is the length of the hydraulic cylinder without the piston rod, L2 is the length of the connecting rod, L3 and L4 are the horizontal and vertical distances from the left end of the connecting rod to the left end of the hydraulic cylinder, respectively, and d is the extension length of the piston rod.

[0069] When the piston rod extends by a length d, the thrust equation required by the connecting rod is:

[0070]

[0071] Step 3: Based on the thrust equation obtained in Step 2, derive the thrust coefficient and the integral value of the thrust coefficient, and construct the structural optimization function of the ABS support device;

[0072] Specifically, the thrust equation for the thrust required by the hydraulic cylinder and connecting rod shows that the thrust is related to parameters such as the extension length of the piston rod and the length of the connecting rod. Therefore, the structural optimization parameters of the ABS support device include the following four variables: first, the range of values ​​for the length of the hydraulic cylinder (L1) excluding the piston rod; second, the range of values ​​for the length of the connecting rod (L2); third, the range of values ​​for the horizontal distance (L3) between the left end point of the connecting rod and the left end point of the hydraulic cylinder; and fourth, the range of values ​​for the vertical distance (L4) between the left end point of the connecting rod and the left end point of the hydraulic cylinder. The total extension length (D) of the piston rod in the hydraulic cylinder is a constant.

[0073] Furthermore, the required clamping force (F) of the support shoe in the thrust equation for the thrust required by the hydraulic cylinder is... 压After removal, the thrust coefficient required by the hydraulic cylinder to actively provide when the piston rod extends to a length d is obtained:

[0074]

[0075] The required tension force (F) of the support shoe in the thrust equation that requires the connecting rod to provide thrust is... 压 After the piston rod is removed, the thrust coefficient required by the connecting rod to be passively provided when the piston rod extends by a length d is obtained:

[0076]

[0077] Due to the uneven distribution of surrounding rock strength, weaker surrounding rock is prone to deformation. Furthermore, the vibration generated during inclined shaft TBM construction causes variations in the piston rod extension length in the hydraulic cylinder when the ABS support shoe presses against different locations of the surrounding rock during the equipment's step-changing process. Therefore, the integral values ​​of the thrust coefficients required by the hydraulic cylinder and connecting rod can respectively indicate the overall thrust demand of both. This invention uses the trapezoidal integral method to approximate the integral values ​​of the thrust coefficients required by the hydraulic cylinder and connecting rod. The trapezoidal integral method uses the area of ​​a trapezoid to replace the integral value of the original function within the interval, resulting in higher calculation accuracy. The integral value of the thrust coefficient required by the hydraulic cylinder is approximated using the trapezoidal integral method:

[0078]

[0079] In the formula, c is the step size of the integration, which represents the length of the piston rod after calculating the thrust coefficient once; D is the total extension length of the piston rod in the hydraulic cylinder.

[0080] The integral value of the thrust coefficient required by the connecting rod can be approximated using the trapezoidal integral method:

[0081]

[0082] Based on the above formula, the minimum integral value of the thrust coefficient required by the hydraulic cylinder and connecting rod can be obtained. However, there may be cases where the solution is optimal in terms of the integral value of the thrust coefficient required by the hydraulic cylinder, but poor in terms of the integral value of the thrust coefficient required by the connecting rod. Based on this, the present invention assigns different weights to different objectives according to the problem background and the decision-maker's preferences, thereby constructing a single objective function to find the best balance solution when multiple objectives conflict.

[0083] Specifically, a single objective function is constructed by assigning weights to the integral values ​​of the thrust coefficient required by the active hydraulic cylinder and the passive thrust coefficient required by the connecting rod. Therefore, the structural optimization function of the ABS support device is:

[0084]

[0085] In the formula, w1 is the weight of the integral value of the thrust coefficient required by the hydraulic cylinder; w2 is the weight of the integral value of the thrust coefficient required by the connecting rod; f1 is the integral value of the thrust coefficient required by the hydraulic cylinder; and f2 is the integral value of the thrust coefficient required by the connecting rod.

[0086] Specifically, by finding the minimum solution of the structural optimization function of the ABS support device, the optimized structure of the ABS support device is obtained, thereby reducing the thrust requirements of the hydraulic cylinder and connecting rod. Furthermore, since the thrust required by the hydraulic cylinder is reduced, it indicates that under the same maximum thrust of the hydraulic cylinder, the clamping force on the support shoe of the ABS support device is greater, leading to an increase in the frictional force generated by the support shoe pressing against the surrounding rock, thus improving the anti-slip performance of the support device. If decision-makers are more concerned with improving the anti-slip performance of the device and do not consider whether the connecting rod will deform under compression, the weight of the integral value of the thrust coefficient provided by the hydraulic cylinder can be increased, while the weight of the integral value of the passive thrust coefficient provided by the connecting rod can be decreased.

[0087] Step 4: Optimize constraints: Using the horizontal distance between the support shoe and the frame of the ABS support device, and the ratio of the integral values ​​of the thrust coefficients of the hydraulic cylinder and the connecting rod as constraints, solve for the minimum value of the structural optimization function of the ABS support device, and then obtain the optimal structural dimensions of the ABS support device.

[0088] (a) The range of the ratio of the integral value of the thrust coefficient required by the hydraulic cylinder and the connecting rod

[0089] In transforming a multi-objective optimization problem into a single-objective optimization problem, to avoid an imbalance in the distribution ratio of thrust required by the hydraulic cylinder and connecting rod due to the introduction of weighting coefficients, the ratio of the integral values ​​of their thrust coefficients is used as the first constraint condition. This aims to adjust the relative deviation between their integral values. The formula for this first constraint condition is:

[0090]

[0091] In the formula, C1 is the minimum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod; C2 is the maximum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod.

[0092] (ii) Structural constraints of the ABS support device

[0093] Please see Figure 4 , Figure 5 During the extension of the piston rod 401 in the hydraulic cylinder 4, the angle (α) between the connecting rod 3 and the x-axis and the angle (β) between the hydraulic cylinder and the y-axis need to be limited according to the actual construction situation. This constraint is intended to ensure that the structure of the ABS support device meets the design requirements and to ensure the safety of the inclined shaft TBM construction.

[0094] Vibrations generated during TBM operations in inclined shafts can easily cause minor deformations in the surrounding rock, increasing the risk of spalling from weaker rock strata. Therefore, the horizontal distance between the ABS support shoe and the frame becomes a critical parameter. An excessively large distance reduces the efficiency of the ABS support's step-changing mechanism, while an excessively small distance prevents the support shoe from contacting the deformed or spalled surrounding rock. Therefore, it is necessary to constrain the range of the horizontal distance between the ABS support shoe and the frame in both the retracted and fully extended states of the hydraulic cylinder piston rod. This constraint aims to ensure that even in the event of surrounding rock spalling, the ABS support shoe can still contact and compress the surrounding rock, while ensuring smooth step-changing during the inclined shaft TBM operation. Please refer to [link to relevant documentation]. Figure 5 The horizontal distance between the ABS support shoe and the frame, in both the non-extended and fully extended states of the piston rod in the hydraulic cylinder, is used as the second constraint condition. The formula for the second constraint condition is:

[0095]

[0096] In the formula, D1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; D2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; E1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; E2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; L5 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; L6 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended.

[0097] For further details, please refer to Figure 2 In step 4, the minimum value of the structural optimization function of the ABS support device is calculated, and the optimal structural dimensions of the ABS support device are obtained, including:

[0098] Step 4.1: Input parameters into the MATLAB program. The parameters include: basic structural parameters of the ABS support device, single piston rod extension distance, constraint parameters, and maximum number of iterations.

[0099] Step 4.2: Calculate the structural optimization function and condition constraint function of the ABS support device based on the input parameters;

[0100] Step 4.3: Determine whether the structural optimization function and the condition constraint function obtained in Step 4.2 satisfy the first constraint condition and the second constraint condition. If they satisfy, update the minimum value of the structural optimization function of the ABS support device and continue iterative calculation; if they do not satisfy, directly iterate and calculate.

[0101] Step 4.4: When the maximum number of iterations is reached, output the optimal structural dimensions of the ABS support device.

[0102] Specifically, this invention uses the horizontal distance between the support shoe of the ABS support device and the frame of the TBM main unit, as well as the ratio of the thrust coefficients of the hydraulic cylinder and the connecting rod, as constraints. A MATLAB program is written to solve for the minimum value of the structural optimization function of the ABS support device and output the optimal structural dimensions of the ABS support device.

[0103] The aforementioned structural optimization method also includes testing the optimized ABS support device. To ensure the safety of the inclined shaft TBM under extreme conditions such as main support device failure and power outage, the optimized ABS support device needs to be able to withstand 1.5 times the downward force of the entire inclined shaft TBM, and under power outage conditions, the device needs to rely on the accumulator to continuously bear the downward force of the entire inclined shaft TBM for 60 minutes. The reliability of the ABS support device under extreme conditions is verified through ultimate bearing capacity tests and power outage bearing capacity tests. The weight of the ABS support device is 1600 kN, and the downward force of the entire inclined shaft TBM is 7778 kN.

[0104] (1) Ultimate bearing capacity test of ABS support device

[0105] Please see Figure 6 The ABS support device is vertically installed within the surrounding rock of the foundation pit. The hydraulic cylinders within the ABS support device apply maximum thrust to press its support shoe 6 firmly against the surrounding rock. At the bottom of the foundation pit, a jacking hydraulic cylinder 9 applies a jacking force to the entire ABS support device. The initial jacking force is approximately equal to the weight of the ABS support device. The jacking hydraulic cylinder pressure is 20 bar (bar is a unit of pressure in the centimeter-gram-second system, representing pressure applied vertically to an area of ​​1 square centimeter (cm²)). 6 The pressure generated by the force of the dyn is 1 bar. The pressure is gradually increased from a baseline, and stabilized for 5 minutes after each increase. If the stroke of the jacking hydraulic cylinder does not change, the pressure continues to increase; if the stroke of the jacking hydraulic cylinder changes, the test is stopped immediately. When the total jacking force of the jacking hydraulic cylinder minus the weight of the ABS support device is greater than 1.5 times the sliding force of the entire inclined shaft TBM, it indicates that the device has passed the ultimate bearing capacity test under the condition of an ultimate bearing capacity safety factor of 1.5.

[0106] Please refer to Table 1. According to the test results, after 16 pressurization cycles, the stroke of the jacking hydraulic cylinder remained unchanged, indicating that the ABS support device did not slip. At this point, the theoretical total jacking force of the four jacking hydraulic cylinders minus the weight of the ABS support device was 12236 kN, which is 1.57 times the downward sliding force of the entire inclined shaft TBM, indicating that the device successfully passed the ultimate bearing capacity test. After 17 pressurization cycles, the stroke of the jacking hydraulic cylinder increased by 12 mm, indicating that the ABS support device began to slip. At this point, the theoretical total thrust minus the weight of the ABS support device was 13050 kN, which is 1.68 times the downward sliding force of the entire inclined shaft TBM.

[0107] Table 1 Test results of ultimate bearing capacity of ABS support device

[0108]

[0109] (2) Power-off load-bearing capacity test of ABS support device

[0110] Please see Figure 6 The hydraulic cylinders in the ABS support device apply maximum thrust to press the support shoes firmly against the surrounding rock of the foundation pit. A constant jacking force is applied to the entire ABS support device through the jacking hydraulic cylinder 9. After stabilizing for 10 minutes, the oil supply to the hydraulic cylinders of the ABS support device is stopped, and the hydraulic system of the device is de-energized, but the jacking force of the jacking hydraulic cylinder remains unchanged. At this time, the ABS support device is kept stable by the accumulator 8. If the stroke of the jacking hydraulic cylinder does not change within 60 minutes, the pressure of the jacking hydraulic cylinder is increased by 10 bar, and the test is repeated. If the stroke of the jacking hydraulic cylinder changes within 60 minutes, the test is stopped immediately. When the jacking force of the jacking hydraulic cylinder minus the weight of the ABS support device is greater than the sliding force of the entire inclined shaft TBM, and the stroke of the jacking hydraulic cylinder does not change within 60 minutes, it indicates that the device passes the power failure load capacity test under the condition that the power failure load capacity safety factor is 1.

[0111] Please refer to Table 2. According to the test results, in the 18th test after the ABS support device was powered off, the theoretical total thrust generated by the four jacking hydraulic cylinders minus the weight of the ABS support device was 8574 kN, which is 1.10 times the sliding force of the entire inclined shaft TBM. Its stroke remained stable within 60 minutes, meaning that the ABS support device did not slip, indicating that the device successfully passed the power-off load-bearing capacity test. However, in the 19th test, the hydraulic cylinder stroke began to increase at 56 minutes, indicating that the ABS support device began to slip. At this time, the theoretical total thrust minus the weight of the ABS support device was 8981 kN, which is 1.15 times the sliding force of the entire inclined shaft TBM.

[0112] Table 2 Test results of the power failure bearing capacity of the ABS support device

[0113]

[0114] In summary, after structural optimization, the ultimate bearing capacity of the ABS support device is 1.57 times that of the downward force of the entire inclined shaft TBM, and its power failure bearing capacity is 1.10 times that of the downward force of the entire inclined shaft TBM, and it can be maintained for 60 minutes, thus meeting the reliability requirements of the device under extreme working conditions of the inclined shaft TBM.

[0115] The present invention also provides a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the aforementioned structural optimization method for an ABS support device applicable to a steeply inclined shaft TBM.

[0116] The above description is merely a preferred embodiment of the present invention. Any simple modifications, equivalent changes, and alterations made by those skilled in the art to the above embodiments without departing from the scope of the present invention and based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A structural optimization method for an ABS support device suitable for steeply inclined shaft TBMs, characterized in that, include: Step 1: Establish a simplified model of the ABS support device, and establish a coordinate system with the center of the support shoe of the ABS support device as the origin; Step 2: Establish the thrust equations for the hydraulic cylinders and connecting rods of the ABS support device to provide the required thrust; Step 3: Based on the thrust equation obtained in Step 2, derive the thrust coefficient required to be provided by the hydraulic cylinder and connecting rod of the ABS support device, calculate the integral value of the thrust coefficient required to be provided by the hydraulic cylinder and connecting rod using the trapezoidal integral method, and construct the structural optimization function of the ABS support device. Step 4: Using the horizontal distance between the support shoe of the ABS support device and the frame of the TBM main unit, and the ratio of the thrust coefficients of the hydraulic cylinder and the connecting rod as constraints, solve for the minimum value of the structural optimization function of the ABS support device, and then obtain the optimal structural dimensions of the ABS support device. Step 2 includes: performing a force analysis on the support shoe of the ABS support device; the component of the hydraulic cylinder thrust along the y-axis cancels out the component of the connecting rod thrust along the y-axis; the component of the hydraulic cylinder thrust along the x-axis and the component of the connecting rod thrust along the x-axis superimpose to provide the clamping force required for the support shoe of the ABS support device; when the piston rod extends by a length d, the thrust equation required by the hydraulic cylinder is: ； In the formula, F 压 The required clamping force for the support shoe of the ABS support device; F 缸 The thrust required by the hydraulic cylinder; F 连 The thrust required for the connecting rod; α is the angle between the connecting rod and the x-axis; β is the angle between the hydraulic cylinder and the y-axis; L1 is the length of the hydraulic cylinder without the piston rod; L2 is the length of the connecting rod; L3 and L4 are the horizontal and vertical distances from the left end of the connecting rod to the left end of the hydraulic cylinder, respectively; d is the extension length of the piston rod. When the piston rod extends by a length d, the thrust equation required by the connecting rod is: ； Step 3 includes: after removing the required clamping force of the support shoe from the thrust equation that the hydraulic cylinder needs to provide, the thrust coefficient that the hydraulic cylinder needs to provide when the piston rod extends to the required length d is obtained: ； After removing the required clamping force of the strut from the thrust equation for the thrust required by the connecting rod, we obtain the thrust coefficient required by the connecting rod when the piston rod extends to the required length d: ； The integral value of the thrust coefficient required by the hydraulic cylinder can be approximated using the trapezoidal integral method: ； In the formula, c is the step size of the integration, which represents the length of the piston rod after calculating the thrust coefficient once; D is the total extension length of the piston rod in the hydraulic cylinder. The integral value of the thrust coefficient required by the connecting rod can be approximated using the trapezoidal integral method: ； By assigning weights to the integral values ​​of the thrust coefficient required by the hydraulic cylinder and the thrust coefficient required by the connecting rod, the structural optimization function of the ABS support device is obtained: ； In the formula, w1 is the weight of the integral value of the thrust coefficient required by the hydraulic cylinder; w2 is the weight of the integral value of the thrust coefficient required by the connecting rod; f1 is the integral value of the thrust coefficient required by the hydraulic cylinder; and f2 is the integral value of the thrust coefficient required by the connecting rod. The constraints in step 4 include: the ratio of the integral values ​​of the thrust coefficients required by the hydraulic cylinder and connecting rod as the first constraint condition, and the formula for the first constraint condition is: ； In the formula, C1 is the minimum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod; C2 is the maximum ratio of the integral values ​​of the thrust coefficient required by the hydraulic cylinder and connecting rod. The horizontal distance between the support shoe of the ABS support device and the frame in both the non-extended and fully extended states of the piston rod in the hydraulic cylinder is taken as the second constraint condition. The formula for the second constraint condition is: ； In the formula, D1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; D2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; E1 is the minimum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; E2 is the maximum horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended; L5 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is not extended; L6 is the horizontal distance between the support shoe of the ABS support device and the frame when the piston rod in the hydraulic cylinder is fully extended. The ABS support device applicable to TBMs with large inclination angles includes a support shoe for pressing the surrounding rock and an accumulator. The support shoe includes several first hinge supports (602) connected to one end of the connecting rod (3) and an arc-shaped support shoe plate (601). The support shoe plate is connected to the first hinge supports through a boss (5). The other end of the connecting rod is connected to the second hinge support (2). The second hinge support is connected to the frame (1) of the TBM host. The output end of the hydraulic cylinder (4) is connected to any one of the first hinge supports, and its other end is connected to the frame of the TBM host.

2. The structural optimization method for an ABS support device suitable for a steeply inclined shaft TBM according to claim 1, characterized in that, Multiple motors are installed on the boss, and anti-slip nails (7) are connected to the motor output shafts. Several through holes corresponding to the anti-slip nails are provided on the support shoe plate.

3. The structural optimization method for an ABS support device suitable for a steeply inclined shaft TBM according to claim 1, characterized in that, The side of the support plate that contacts the surrounding rock is equipped with a resistance-increasing groove.

4. The structural optimization method for an ABS support device suitable for a steeply inclined shaft TBM according to claim 1, characterized in that, Step 4 involves finding the minimum value of the structural optimization function for the ABS support device, thereby obtaining the optimal structural dimensions of the ABS support device, including: Step 4.1: Input parameters in the MATLAB program; Step 4.2: Calculate the structural optimization function and condition constraint function of the ABS support device based on the input parameters; Step 4.3: Determine whether the structural optimization function and the condition constraint function obtained in Step 4.2 satisfy the first constraint condition and the second constraint condition. If they satisfy, update the minimum value of the structural optimization function of the ABS support device and continue iterative calculation; if they do not satisfy, directly iterate and calculate. Step 4.4: When the maximum number of iterations is reached, output the optimal structural dimensions of the ABS support device.

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