Swing Cylinder Stroke Control System, Control Method and Shield Machine of Shield Machine

Abstract

The present invention discloses a control system for the action stroke of a shield machine swing cylinder, a control method and a shield machine. The control system is used to control the cutter head swing cylinder and includes an analog module, a PLC controller and a host computer; the cutter head swing cylinder includes at least three partitions, and each partition is provided with a partition cylinder and a cylinder stroke sensor. Each cylinder stroke sensor is used to monitor the current stroke value of its corresponding partition cylinder and feedback the current stroke value to the PLC controller in real time through the analog module; the PLC controller can obtain the target swing angle of the cutter head and the target stroke values of each partition cylinder according to the input instruction of the host computer, and control the telescopic movement of each partition cylinder according to the stroke values of each partition. The control system provided by the present invention can meet the space required for cutter changing of shields with different diameters, provide great convenience for cutter changing, and is also beneficial to restoring the rotation of the cutter head.

Description

Technical Field

[0001] The present invention relates to the field of shield machine control, and particularly relates to a control system for the action stroke of a swing cylinder of a shield machine, a control method, and a shield machine. Background Art

[0002] With the rapid progress of urban subway construction, shield machines have also achieved great development, and new technologies and new equipment emerge in an endless stream. As a new technology, cutter head swing is mainly used to provide an ample space for cutter head tool replacement, which is particularly important in some large-diameter shield machines. Because tool replacement is a time-consuming and laborious task, and sometimes tool replacement cannot be carried out due to insufficient external space of the cutter head, thus delaying the construction progress. Moreover, cutter head swing can also solve the problem of cutter head jamming to a certain extent. However, how to accurately control the cutter head swing amount and make variable selections for the swing amount is an urgent problem to be solved. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a control system for the action stroke of a swing cylinder of a shield machine, a control method, and a shield machine. The technical solutions are as follows:

[0004] On the one hand, the present invention provides a control system for the action stroke of a swing cylinder of a shield machine, which is used to control the cutter head swing cylinder. The control system includes an analog module, a PLC controller, and a host computer. The cutter head swing cylinder includes at least three partitions, and each partition is provided with a partition cylinder and a cylinder stroke sensor. The partition cylinder can make the cutter head swing through a swing ball hinge arranged on the cutter head of the shield machine. Each cylinder stroke sensor is used to monitor the current stroke value of its corresponding partition cylinder and feedback the current stroke value to the PLC controller in real time through the analog module. The host computer is provided with options for different swing orientations and different swing amounts of the cutter head. The PLC controller can obtain the target swing angle of the cutter head and the target stroke values of each partition cylinder according to the input instructions of the host computer, and control the telescoping of each partition cylinder according to the current stroke values and the corresponding target stroke values of each partition cylinder.

[0005] Further, the swing ball hinge is of a circular ring structure, the swing ball hinge is arranged inside the cutter head, and the connection line between the center of the swing ball hinge and the center of the cutter head is perpendicular to the plane where the swing ball hinge and the cutter head are located at the same time.

[0006] Further, the host computer is provided with a touch screen, and the touch screen can simultaneously display the target stroke values and the corresponding current stroke values of each partition cylinder, and input the preset swing orientation and swing amount of the cutter head.

[0007] Further, the swing orientation of the cutter head is divided according to the clock direction; the cutter head swings around a straight line passing through the center of the swing spherical hinge, and the straight line is also parallel to the plane where the cutter head is located in real time, and the straight line is the swing axis of the cutter head.

[0008] Further, during the swinging process of the cutter head, the distance from any point on the outer edge of the cutter head to the center of the swing spherical hinge remains unchanged.

[0009] On the other hand, the present invention provides a control method for the action stroke of the swing cylinder of a shield machine, including the following steps:

[0010] S1. Select the set values of the swing orientation of the cutter head and the swing amount of the cutter head. Determine the trajectory points on the outer edge of the cutter head according to the selected swing orientation of the cutter head. Take the circle corresponding to the swing arc of the trajectory points as the trajectory circle. The radius of the trajectory circle is the same as the radius of the cutter head swing trajectory, and the center of the trajectory circle is the same as the center of the swing spherical hinge. Denote the center of the trajectory circle as point O. The plane where the trajectory circle is located is perpendicular to the plane where the cutter head is located in real time; before the cutter head swings, the trajectory circle intersects the outer edge of the cutter head at points A and B. Denote the point symmetric to point A about the center of the trajectory circle on the trajectory circle as point C, and denote the position of point B after swinging as point B1;

[0011] S2. According to the radius of the cutter head swing trajectory and the excavation diameter of the cutter head, obtain the chord length of the extreme swing trajectory of the cutter head through the following formula:

[0012]

[0013] In the formula, l1 - that is, the length of BC, the chord length of the extreme swing trajectory of the cutter head;

[0014] R - that is, the length of OB, the radius of the cutter head swing trajectory;

[0015] — that is, the length of AB, the excavation diameter of the cutter head;

[0016] S3. Connect the three points B, B1, and C on the trajectory circle to obtain the inscribed triangle △BB1C in the circle. Obtain the angle corresponding to the BC side of the inscribed triangle in the circle through the following equation:

[0017]

[0018] In the formula — that is, the angle of ∠BB1C, the angle corresponding to the BC side of the inscribed triangle in the circle;

[0019] S4. The set value of the cutter head swing amount is the height on the BC side in the triangle △BB1C, denoted as l4. The foot of the perpendicular of l4 on the BC side is denoted as point D, and l4 is the length of B1D. According to the area formula of the inscribed triangle △BB1C in the circle and the set value l4 of the cutter head swing amount, the projected length l5 of BB1 on the BC side is obtained, that is, the length of BD. The projected length of BB1 on the BC side refers to the displacement of the cutter head from the initial position point to the target position point in the axial direction of the shield body;

[0020] S5. According to the set value l4 of the cutter head swing amount and the projected length l5 of BB1 on the BC side, the chord length of the arc where the cutter head swings from the initial position to the target position is obtained through the following equation:

[0021]

[0022] In the formula, l2 - that is, the length of BB1, the chord length of the arc where the cutter head swings from the initial position to the target position;

[0023] S6. According to the radius R of the cutter head swing trajectory and the chord length l2 of the arc where the cutter head swings from the initial position to the target position, the swing angle of the cutter head from the initial position to the target position is obtained through the following equation:

[0024]

[0025] In the formula —that is, the angle of ∠BOB1, the swing angle of the cutter head from the initial position to the target position;

[0026] S7. According to the swing angle of the cutter head from the initial position to the target position The vertical distances from the center of the swing ball joint to the telescopic action lines of each partition cylinder are respectively denoted as h A 、h B 、h C … The target stroke values of each partition cylinder are obtained through the following formula:

[0027]

[0028]

[0029]

[0030] …

[0031] In the formula, l A 、l B 、l C … are respectively the target stroke values of each partition cylinder.

[0032] Further, when calculating the projection length l5 of BB1 on BC in step S4, the following steps are included:

[0033] S401. According to the triangle area formula, and given l1, l4, obtain l2·l3 through the following equation:

[0034]

[0035] where l4 - that is, the length of B1D, the set value of the cutter head swing amount;

[0036] S402. According to the cosine theorem of a triangle, and given l1, l2·l3, obtain

[0037]

[0038] where l2 - that is, the length of BB1, the chord length of the arc when the cutter head swings from the initial position to the target position;

[0039] l3 - that is, the length of B1C, the length of the third side of the inscribed triangle in the circle formed by the chord length l1 and the chord length l2;

[0040] S403. According to the Pythagorean theorem, given l1, l4, and the calculation result of, obtain l5·l6 through the following equation:

[0041]

[0042]

[0043]

[0044] where l5 - that is, the length of BD, the projection length of BB1 on BC;

[0045] l6 - that is, the length of CD;

[0046] S404. Given l1, l5·l6, obtain l5 through the following equation:

[0047]

[0048] where l5 - that is, the length of BD;

[0049] l6 - that is, the length of CD.

[0050] Further, in step S1, the state before swinging is the initial state of the cutter head, that is, the state when the rotation angle of the cutter head is 0; in step S2, the chord length of the extreme swinging trajectory of the cutter head is the maximum displacement of any point on the outer edge of the cutter head relative to the initial state during swinging; after step S7, it further includes that each partition oil cylinder extends or retracts according to the swinging direction. When the current stroke value of each partition oil cylinder extending or retracting reaches the target stroke value, the swinging action of the cutter head stops.

[0051] On the other hand, the present invention provides a shield machine with a swinging oil cylinder action stroke control system, including a cutter head swinging oil cylinder, a cutter head, a driving mechanism, a swinging ball hinge and the control system as described above.

[0052] Further, the control system further includes a shield body. The outside of the swinging ball hinge is fixed in the shield body. The driving mechanism is installed in the middle of the inside of the swinging ball hinge. The rear part of the inside of the swinging ball hinge is connected to the cutter head swinging oil cylinder. The center position of the swinging ball hinge does not change with the swinging of the cutter head.

[0053] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0054] a. It can flexibly select the swinging amount of the cutter head and precisely control the telescoping of the swinging oil cylinder;

[0055] b. It meets the requirements of the cutter for different replacement spaces;

[0056] c. It can realize real-time observation of the swinging progress of the cutter head;

[0057] d. It is convenient to quickly escape from trouble when the cutter head is stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0059] Figure 1 It is a schematic cross-sectional view of the mainframe structure of the shield machine provided by the embodiment of the present invention;

[0060] Figure 2 It is a schematic structural view of the cutter head swinging system provided by the embodiment of the present invention;

[0061] Figure 3 It is a schematic diagram for selecting the swinging amount and swinging direction of the cutter head provided by the embodiment of the present invention;

[0062] Figure 4 It is a schematic diagram of the distribution of the cutter head swinging oil cylinders provided by the embodiment of the present invention;

[0063] Figure 5 It is a geometric schematic diagram for calculating the swing angle of the cutter head provided by an embodiment of the present invention;

[0064] Figure 6 It is a flow chart for calculating the swing angle of the cutter head and the stroke of the oil cylinder action provided by an embodiment of the present invention.

[0065] Among them, the reference numerals are respectively: In the figure: 1 - cutter head, 2 - shield body, 3 - cutter head swing ball hinge, 4 - propulsion oil cylinder, 5 - cutter head swing oil cylinder, 51 - first partition of the swing oil cylinder, 52 - second partition of the swing oil cylinder, 53 - third partition of the swing oil cylinder, 6 - drive mechanism, 7 - central slewing, 8 - crusher, 9 - erector, 10 - shield tail brush, 11 - torque support oil cylinder. Specific embodiments

[0066] In order to enable those skilled in the art to better understand the solution of the present invention, and to more clearly understand the purpose, technical solution and its advantages of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the implementation manners not illustrated or described in the drawings are forms known to those of ordinary skill in the art in the technical field. In addition, although this document may provide examples containing parameters with specific values, it should be understood that the parameters do not necessarily exactly equal the corresponding values, but may approximate the corresponding values within an acceptable error tolerance or design constraint. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than 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. In addition, the terms "including" and "having" and any variations thereof in the specification and claims of the present invention are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0067] In an embodiment of the present invention, a control system for the stroke of the swing oil cylinder of a shield machine is provided. Refer to Figure 1 and Figure 2, used to control the cutter head swing cylinder 5, including an analog module, a PLC controller and a host computer; the cutter head swing cylinder 5 includes at least three partitions, each partition is provided with a partition cylinder and a cylinder stroke sensor, and the partition cylinder can make the cutter head 1 swing through a swing ball hinge 3 arranged on the cutter head 1 of the shield machine. Each cylinder stroke sensor is used to monitor the current stroke value of its corresponding partition cylinder and feedback the current stroke value to the PLC controller in real time through the analog module; the host computer is provided with a touch screen, and the touch screen can simultaneously display the target stroke value and the corresponding current stroke value of each partition cylinder, as well as input a preset cutter head swing azimuth and cutter head swing amount; the PLC controller can obtain the target swing angle of the cutter head 1 and the target stroke value of each partition cylinder according to the input instruction of the host computer, and control the expansion and contraction of each partition cylinder according to the current stroke value and the corresponding target stroke value of each partition cylinder.

[0068] In an embodiment of the present invention, refer to Figure 3 , the cutter head swing azimuth is divided into 12 azimuths according to the o'clock direction, and each azimuth provides a variety of different swing amounts for selection to meet the requirements of different swing positions; the swing ball hinge 3 is a ring structure, the swing ball hinge 3 is arranged inside the cutter head 1, and the connection line between the center of the swing ball hinge 3 and the center of the cutter head 1 is perpendicular to the plane where the swing ball hinge 3 and the cutter head 1 are located at the same time; during the swing of the cutter head 1, restricted by the swing ball hinge 3, the distance from any point on the outer edge of the cutter head 1 to the center of the swing ball hinge 3 remains unchanged, and the cutter head 1 swings around a straight line passing through the center of the swing ball hinge 3, and the straight line is also parallel to the plane where the cutter head is located in real time. The straight line is used as the cutter head swing axis. After selecting the cutter head swing azimuth and swing amount, the cutter head swing axis is also determined accordingly. The cutter head swing axis is perpendicular to the swing azimuth. For example, when overexcavating in the 1 o'clock direction, the cutter head swing axis is perpendicular to the connection line between 1 o'clock and 7 o'clock, that is, the connection line between 10 o'clock and 4 o'clock. On the contrary, when selecting a certain point on the outer edge of the cutter head 1 to swing, the cutter head swing azimuth is given; the swing of the cutter head 1 is realized through the cutter head swing ball hinge 3 driven by the driving mechanism 6 and the cutter head swing cylinder 5, and the cutter head swing cylinder 5 and the driving mechanism 6 can directly contact and act.

[0069] In an embodiment of the present invention, the cutter head swing cylinder 5 is preferably divided into three partitions, namely the first partition 51 of the swing cylinder, the second partition 52 of the swing cylinder and the third partition 53 of the swing cylinder. Refer to Figure 2 and Figure 4 , each partition contains 6 partition cylinders, and there is a cylinder stroke sensor on one partition cylinder in each partition, such as Figure 4The sectional oil cylinders marked with A, B, and C are equipped with oil cylinder stroke sensors; during the actual swing process of the cutter head, it is completed by the joint action of each sectional oil cylinder. The action of the sectional oil cylinder is controlled by a PLC controller. The stroke of each sectional oil cylinder extending / retracting is calculated based on the swing angle of the cutter head. The strokes of each sectional oil cylinder will be displayed in real time on the touch screen interface. The PLC controller generates control instructions through program calculation and the relevant data fed back to control the action of the sectional oil cylinder. In this embodiment, the number of divisions of the swing direction of the cutter head, the oil cylinder stroke sensors, the number of divisions of the swing oil cylinder of the cutter head, and the number of sectional oil cylinders include the above but are not limited to this.

[0070] In an embodiment of the present invention, the PLC controller controls the solenoid valve output of the sectional oil cylinder to perform a swing action through the fed-back stroke of the sectional oil cylinder. During the swing process of the cutter head, the stroke values monitored by the oil cylinder stroke sensors of each section are displayed in real time on the touch screen interface. After each sectional oil cylinder reaches the target stroke value, the swing action of the cutter head stops.

[0071] In an embodiment of the present invention, a control method for the action stroke of the swing oil cylinder of a shield machine is provided. Refer to Figure 5 and Figure 6 , which includes the following steps:

[0072] S1. Select the set value of the swing direction of the cutter head and the swing amount of the cutter head. Determine the trajectory point on the outer edge of the cutter head according to the selected swing direction of the cutter head. The trajectory point refers to the point where the formed trajectory arc is the largest when the cutter head swings. Take the circle corresponding to the swing arc of the trajectory point as the trajectory circle. The radius of the trajectory circle is the same as the radius of the cutter head swing trajectory, and the center of the trajectory circle is the same as the center of the swing spherical hinge. Denote the center of the trajectory circle as point O. The plane where the trajectory circle is located is perpendicular to the plane where the cutter head is located in real time; before the cutter head swings, the trajectory circle intersects the outer edge of the cutter head at points A and B. Denote the point symmetric to point A about the center of the trajectory circle on the trajectory circle as point C, and denote the position of point B after swinging as point B1.

[0073] S2. According to the radius of the cutter head swing trajectory and the excavation diameter of the cutter head, obtain the chord length of the extreme swing trajectory of the cutter head through the following formula:

[0074]

[0075] In the formula, l1 - that is, the length of BC, the chord length of the extreme swing trajectory of the cutter head;

[0076] R - that is, the length of OB, the radius of the cutter head swing trajectory;

[0077] —that is, the length of AB, the excavation diameter of the cutter head;

[0078] S3. Connect the three points B, B1, and C on the trajectory circle to obtain the inscribed triangle △BB1C in the circle. The angle corresponding to the BC side of the inscribed triangle is obtained through the following equation:

[0079]

[0080] In the formula — namely, the angle of ∠BB1C, the angle corresponding to the BC side of the inscribed triangle in the circle;

[0081] S4. The set value of the cutter head swing amount is the height on the BC side in the triangle △BB1C, denoted as l4. The foot of the perpendicular of l4 on the BC side is denoted as point D. l4 is the length of B1D. According to the area formula of the inscribed triangle △BB1C in the circle and the set value l4 of the cutter head swing amount, the projection length l5 of BB1 on BC is obtained, that is, the length of BD. The projection length of BB1 on BC refers to the displacement of the cutter head from the initial position point to the target position point in the axial direction of the shield body;

[0082] S5. According to the set value l4 of the cutter head swing amount and the projection length l5 of BB1 on BC, the chord length of the arc where the cutter head swings from the initial position to the target position is obtained through the following equation:

[0083]

[0084] In the formula, l2 — namely, the length of BB1, the chord length of the arc where the cutter head swings from the initial position to the target position;

[0085] S6. According to the radius R of the cutter head swing trajectory and the chord length l2 of the arc where the cutter head swings from the initial position to the target position, the swing angle of the cutter head from the initial position to the target position is obtained through the following equation:

[0086]

[0087] In the formula — namely, the angle of ∠BOB1, the swing angle of the cutter head from the initial position to the target position;

[0088] S7. According to the swing angle of the cutter head from the initial position to the target position, the perpendicular distances from the center of the swing spherical hinge to the telescopic action lines of each partition cylinder are respectively denoted as h A , h B , h C … The target stroke values of each partition cylinder are obtained through the following equation:

[0089]

[0090]

[0091]

[0092] …

[0093] where l A 、l B 、l C … are the target stroke values of the oil cylinders in each partition respectively.

[0094] Among them, when calculating the projection length l5 of BB1 on BC in step S4, the following steps are included:

[0095] S401. According to the triangle area formula, and given l1, l4, obtain l2·l3 through the following equation:

[0096]

[0097] where l4 - that is, the length of B1D, the set value of the cutter head swing amount;

[0098] S402. According to the cosine theorem of a triangle, and given l1, l2·l3, obtain

[0099]

[0100] where l2 - that is, the length of BB1, the chord length of the arc when the cutter head swings from the initial position to the target position;

[0101] l3 - that is, the length of B1C, the length of the third side of the inscribed triangle in the circle formed by the chord length l1 and the chord length l2;

[0102] S403. According to the Pythagorean theorem, given l1, l4, obtain l5·l6 through the following equation based on the calculation result of

[0103]

[0104]

[0105]

[0106] where l5 - that is, the length of BD, the projection length of BB1 on BC;

[0107] l6 - that is, the length of CD;

[0108] S404. Given l1, l5·l6, obtain l5 through the following equation:

[0109] l5 + l6 = l1

[0110]

[0111] where l5 is the length of BD;

[0112] l6 is the length of CD.

[0113] Among them, the state before swinging in step S1 is the initial state of the cutter head, that is, the state when the rotation angle of the cutter head is 0; the chord length of the extreme swing trajectory of the cutter head in step S2 is the maximum displacement of any point on the outer edge of the cutter head relative to the initial state of the cutter head during swinging, that is, the chord length corresponding to the maximum trajectory of the cutter head swinging relative to the initial position due to the limitation of the shield body or the swing ball hinge; after step S7, it further includes that each partition oil cylinder extends or retracts according to the swinging orientation. When the current stroke value of each partition oil cylinder extending or retracting reaches the target stroke value, the swinging action of the cutter head stops; step S2 can be processed in advance before step S1, and there is no strict sequence between step S1 and step S2.

[0114] In an embodiment of the present invention, a shield machine with a swing oil cylinder action stroke control system is provided, including a cutter head swing oil cylinder 5, a cutter head 1, a shield body 2, a driving mechanism 6, a swing ball hinge 3 and the control system; the outside of the swing ball hinge 3 is fixed inside the shield body 2, the front part of the inside of the swing ball hinge 3 is connected to the cutter head 1, the middle part of the inside of the swing ball hinge 3 is driven to expand and contract by a fixed gear, the rear part of the inside of the swing ball hinge 3 is connected to the cutter head swing oil cylinder 5, and the center coordinate of the swing ball hinge 3 does not change with the swing of the cutter head 1.

[0115] In an embodiment of the present invention, the shield machine further includes a propulsion oil cylinder 4, a center swivel 7, a crusher 8, a segment erector 9, a tail seal brush 10, and a torque support oil cylinder 11; the head of the shield body 2 is connected to the cutter head 1, the tail of the shield body 2 is connected to the tail seal brush 10, the center swivel 7, the crusher 8, the driving mechanism 6, and the torque support oil cylinder 11 are arranged inside the shield body 2, a segment erector is arranged inside the tail seal brush 10, and the propulsion oil cylinder 4 is arranged at the connection between the shield body 2 and the tail seal brush 10; the propulsion oil cylinder 4 is used to push the cutter head 1 forward, the torque support oil cylinder 11 is used to offset the reaction force during the drilling process of the cutter head 1, and the driving mechanism 6 and the swing oil cylinder 5 can make the cutter head 1 swing by using the swing ball hinge 3.

[0116] In an embodiment of the present invention, the state when the cutter head 1 is perpendicular to the shield body 2 is the initial state of the cutter head. In the initial state of the cutter head, all partition cylinders are coplanar. Select the required swing orientation and swing amount of the cutter head 1 in the touch screen, calculate the swing angle of the cutter head according to the set swing position and swing amount, and calculate the extension / retraction stroke of each partition cylinder through the swing angle. Subsequently, during the swing of the cutter head, the stroke data is collected in real time by the cylinder stroke sensor and fed back and calculated, so as to control the stroke of the cutter head swing cylinder 5 to complete the swing target.

[0117] The action stroke control system of the swing cylinder of the shield machine provided by the present invention can meet the space required for cutter changing of the cutter head for shield machines with different diameters through the selection of the overexcavation position of the cutter head swing and the calculation of the swing angle and the cylinder stroke, providing great convenience for cutter changing, and can also loosen the muck in the soil chamber by the swing of the cutter head and resume the rotation of the cutter head.

[0118] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for the stroke of the swing cylinder of a shield machine, characterized in that, It includes the following steps: S1. Select the set values of the swing azimuth of the cutter head and the swing amount of the cutter head. Determine the trajectory points on the outer edge of the cutter head according to the selected swing azimuth of the cutter head. Take the circle corresponding to the swing arc of the trajectory points as the trajectory circle. The radius of the trajectory circle is the same as the radius of the cutter head swing trajectory, and the center of the trajectory circle is the same as the center of the swing spherical hinge. Denote the center of the trajectory circle as point O. The plane where the trajectory circle is located is perpendicular to the plane where the cutter head is located in real time. Before the cutter head swings, the trajectory circle intersects the outer edge of the cutter head at points A and B. Denote the point symmetric to point A about the center of the trajectory circle on the trajectory circle as point C, and denote the position of point B after swinging as point B1. S2. According to the radius of the cutter head swing trajectory and the excavation diameter of the cutter head, obtain the chord length of the limit swing trajectory of the cutter head through the following formula: ； In the formula, l1 is the length of BC, which is the chord length of the limit swing trajectory of the cutter head. R is the length of OB, which is the radius of the cutter head swing trajectory. — namely the length of AB, the excavation diameter of the cutter head; S3. Connect the three points B, B1, and C on the trajectory circle to obtain the inscribed triangle △BB1C in the circle. Obtain the angle corresponding to the BC side of the inscribed triangle through the following equation: ； wherein — namely, the angle of ∠BB1C, the angle corresponding to the BC side of the inscribed triangle in the circle; S4. The set value of the cutter head swing amount is the height on the BC side in the inscribed triangle △BB1C, denoted as l4. Denote the foot of the perpendicular of l4 on the BC side as point D. l4 is the length of B1D. According to the area formula of the inscribed triangle △BB1C and the set value l4 of the cutter head swing amount, obtain the projection length l5 of BB1 on the BC side, that is, the length of BD. When calculating the projection length l5 of BB1 on the BC side in step S4, it includes the following steps: S401. According to the triangle area formula and given that , l2·l3 is obtained through the following equation: ； In the formula, l4 is the length of B1D, which is the set value of the cutter head swing amount. S402. According to the cosine theorem of a triangle and given that , obtain through the following equation: ； In the formula, l2 is the length of BB1, which is the chord length of the arc when the cutter head swings from the initial position to the target position. l3 is the length of B1C, which is the length of the third side of the inscribed triangle formed by the chord length l1 of the limit swing trajectory of the cutter head and the chord length l2 of the arc when the cutter head swings from the initial position to the target position. S403. According to the Pythagorean theorem, given the calculation result, l5·l6 is obtained through the following equation: ； In the formula, l5 is the length of BD, which is the projection length of BB1 on the BC side; l6 is the length of CD. S404. Given l1, l5, and l6, obtain them through the following equations ; S5. According to the set value l4 of the cutter head swing amount and the projection length l5 of BB1 on the BC side, obtain the chord length of the arc when the cutter head swings from the initial position to the target position through the following equation: ； S6. According to the radius R of the cutter head swing trajectory and the chord length l2 of the arc when the cutter head swings from the initial position to the target position, obtain the swing angle when the cutter head swings from the initial position to the target position through the following equation: ； In the formula — namely, the angle of ∠BOB1, the swing angle of the cutter head from the initial position to the target position; S7. According to the swing angle of the cutter head from the initial position to the target position , the vertical distance between the center of the swing ball joint and the telescopic action line of each partition cylinder. The vertical distances between the center of the swing ball joint and the telescopic action lines of each partition cylinder are respectively denoted as h A , h B , h C …, the target stroke values of each partition cylinder are obtained through the following formula: ； where l A , l B , l C … are the target stroke values of the oil cylinders in each partition respectively.

2. The control method for the stroke of the swing cylinder of a shield machine according to claim 1, characterized in that, In step S1, the state before swinging is the initial state of the cutter head, that is, the state when the rotation angle of the cutter head is 0. In step S2, the chord length of the limit swing trajectory of the cutter head is the maximum displacement of any point on the outer edge of the cutter head relative to the initial state of the cutter head. After step S7, it also includes that each partition oil cylinder extends or retracts according to the swing azimuth of the cutter head. When the current stroke value of each partition oil cylinder extending or retracting reaches the target stroke value, the cutter head swing action stops.

3. A control system for the stroke of the swing cylinder of a shield machine, used to control the cutter head swing cylinder (5), characterized in that, Control the action stroke of the swing oil cylinder of the shield machine according to the control method of the action stroke of the swing oil cylinder of the shield machine described in any one of claims 1-2. The control system includes an analog module, a PLC controller, and a host computer; the cutter head swing oil cylinder (5) includes at least three partitions, each partition is provided with a partition oil cylinder and an oil cylinder stroke sensor, and the partition oil cylinder can make the cutter head (1) swing through a swing ball hinge (3) arranged on the cutter head (1) of the shield machine. Each oil cylinder stroke sensor is used to monitor the current stroke value of its corresponding partition oil cylinder and feedback the current stroke value to the PLC controller in real time through the analog module; the host computer is provided with options for different swing orientations and different swing amounts of the cutter head (1); the PLC controller can obtain the target swing angle of the cutter head (1) and the target stroke values of each partition oil cylinder according to the input instructions of the host computer, and control the expansion and contraction of each partition oil cylinder according to the current stroke values and the corresponding target stroke values of each partition oil cylinder.

4. The control system for the stroke of the swing cylinder of a shield machine according to claim 3, characterized in that,The swing ball hinge (3) is of a circular ring structure, the swing ball hinge (3) is arranged inside the cutter head (1), and the connection line between the center of the swing ball hinge (3) and the center of the cutter head (1) is perpendicular to the plane where the swing ball hinge (3) and the cutter head (1) are located at the same time.

5. The control system for the stroke of the swing cylinder of a shield machine according to claim 3, wherein, The host computer is provided with a touch screen, and the touch screen can simultaneously display the target stroke values and the corresponding current stroke values of each partition oil cylinder, and input the preset swing orientation and swing amount of the cutter head.

6. The control system for the stroke of the swing cylinder of a shield machine according to claim 4, wherein, The swing orientation of the cutter head is divided according to the clock direction; the cutter head (1) swings around a straight line passing through the center of the swing ball hinge (3), and the straight line is also parallel to the plane where the cutter head (1) is located in real time.

7. The control system for the stroke of the swing cylinder of a shield machine according to claim 6, wherein, During the swinging process of the cutter head (1), the distance from any point on the outer edge of the cutter head (1) to the center of the swing ball hinge (3) remains unchanged.

8. A shield machine with a control system for the stroke of a swing cylinder, wherein, It includes a cutter head swing oil cylinder (5), a cutter head (1), a driving mechanism (6), a swing ball hinge (3), and the control system according to any one of claims 3 to 7.

9. The shield machine with a control system for the stroke of a swing cylinder according to claim 8, wherein, It further includes a shield body (2), the outside of the swing ball hinge (3) is fixed inside the shield body (2), the middle part of the inside of the swing ball hinge (3) is installed with a driving mechanism (6), the rear part of the inside of the swing ball hinge (3) is connected to the cutter head swing oil cylinder (5), and the center position of the swing ball hinge (3) does not change with the swing of the cutter head (1).

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