A method for realizing automatic tunneling of a TBM

Abstract

The present invention provides a method for realizing automatic tunneling of a TBM, which relates to the technical field of automatic tunneling of a TBM, and specifically operates according to the following steps: S1; automatic step change, S101; position confirmation, S102; step change action, S103; alarm prompt, S2; automatic tunneling, S201; empty push mode, S202; tunneling mode, S203; steering mode, S3; automatic shutdown, S301; emergency shutdown, S302; normal shutdown. By automating the TBM tunneling construction during use, the operation process, fault actions, and parameter selection are automated, maximizing the performance of the equipment. The operator mainly monitors the equipment, reducing the personnel's ability requirements and work intensity, and increasing the tunneling efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of TBM automatic tunneling, and specifically provides a method for realizing TBM automatic tunneling. Background Art

[0002] With the development of cities, in recent years, tunnels in China, especially large-diameter TBM tunnels, have developed rapidly. For example, a composite micro-TBM construction method and a micro-TBM with the application number CN202011392103.9, the method includes the following steps: excavating a starting tunnel; assembling the micro-TBM; excavating with the cutter head and advancing the TBM head with the propulsion cylinder; installing segments, advancing the segments with the propulsion cylinder, and the TBM pipe-jacking tunneling; completing the pipe-jacking construction of the broken surrounding rock; after breaking through the surrounding rock, repeating the steps for TBM method construction. Among them, the micro-TBM includes a TBM head and a trolley mechanism, and a propulsion support mechanism is arranged between the TBM head and the trolley mechanism, and the front end of the propulsion support mechanism abuts against the rear end of the TBM head. Using this invention can realize the TBM method excavation of small-section tunnels with a cross-section of 3 meters or less, creating favorable conditions for the grouting consolidation of the broken surrounding rock. At the same time, it provides two construction modes for small-section TBM tunneling construction, improving the construction efficiency, shortening the construction period, and reducing the cost.

[0003] However, in the above technical solution, during the tunneling process, due to different geological conditions, operators need to have rich experience to handle various geological and equipment situations. Therefore, it requires long-term training, increasing the consumption of human and material resources. Moreover, the operation of the original equipment is difficult, requiring operators to concentrate for a long time, increasing the labor intensity of the operators, and the tunneling efficiency will also become low. Therefore, we make improvements and propose a method for realizing TBM automatic tunneling. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides a method for realizing TBM automatic tunneling, which solves

[0006] (II) Technical Solutions

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: A method for realizing TBM automatic tunneling, specifically according to the following operation steps;

[0008] S1: Automatic step change. During the step change process, the step change method affects the cutter and the tunneling speed;

[0009] S2: Automatic tunneling, excavating the tunnel to be excavated;

[0010] S3: Automatic shutdown, providing emergency stop for sudden accidents and normal stop when workers need to rest;

[0011] S101: Position confirmation, confirming the falling position of the support; confirming the next position of the support shoes; confirming that the roof bolter has retracted in place and the next position;

[0012] S102: Step-changing action, the shield cylinder tightens, the rear support extends and tightens, the support shoe cylinder retracts and reaches the position, the propulsion cylinder retracts, the support shoe mechanism reaches the position, the support shoes extend and tighten, the rear support retracts, reaches the position, and the shield pressure is adjusted;

[0013] S103: Alarm prompt, after the action is completed by the program setting, during the process, if the sensor stroke, pressure, and position exceed the preset value, an alarm prompt is given for manual troubleshooting;

[0014] S201: Empty push mode, which is in the empty push mode at the beginning of each tunneling;

[0015] S202: Tunneling mode, execute the cutterhead rotation and the cylinder propulsion action. After empty pushing to the face, determine whether to enter the tunneling mode based on the propulsion pressure, drive motor current, and the memory program of the retraction stroke of the previous cycle;

[0016] S203: Alignment mode, automatically enter the alignment mode after the tunneling direction exceeds the preset value;

[0017] S301: Emergency shutdown, each system directly stops running. In case of non-belt stop failure, the belt system stops normally;

[0018] S302: Normal shutdown, each system stops in sequence according to relevant instructions, and each rotational speed decreases from high to low for a smooth shutdown.

[0019] Preferably, in the automatic step-changing of step S1, position confirmation S101 needs to be carried out before step-changing. The position confirmation S101 uses position sensors, travel sensors, and photo analysis technology to determine the integrity of the surrounding rock and whether there are obstacles within the action space. In addition, it detects that the roof bolter has retracted in place.

[0020] Preferably, in the automatic step-changing of step S1, after the position confirmation S101 is completed and the position is satisfied, the step-changing action S102 is executed. The step-changing action S102 includes the shield cylinder tightening, the rear support extending and tightening, the support shoe cylinder retracting and reaching the position, the propulsion cylinder retracting, the support shoe mechanism reaching the position, the support shoes extending and tightening, the rear support retracting, reaching the position, and the shield pressure adjustment.

[0021] Preferably, in the automatic step change of step S1, after the action is completed as set by the program, if the sensor stroke, pressure, and position exceed the preset values during the process, an alarm prompts S103 for manual troubleshooting. After the step change action is completed, the next program is confirmed, and according to the manual determination, automatic tunneling is entered.

[0022] Preferably, it is characterized in that: in the automatic tunneling of step S2, the empty push mode S201 is used, and it is in the empty push mode at the beginning of each tunneling.

[0023] Preferably, in the automatic tunneling of step S2, the parameter change range and frequency of voltage, current, pressure, flow rate, stroke, and displacement need to meet the preset values, and the tunneling mode S202 is started to execute the cutterhead rotation and cylinder propulsion actions. After empty pushing to the face, it is comprehensively determined whether to enter the tunneling mode S202 based on the propulsion pressure, drive motor current, and the memory program of the previous cycle's retraction stroke.

[0024] Preferably, in the automatic tunneling of step S2, when the tunneling direction exceeds the preset value, it automatically enters the alignment mode S203. The alignment mode S203 includes horizontal alignment, vertical alignment, and rolling alignment. The alignment is performed by multiple small adjustments, and the tunneling speed is appropriately reduced in the alignment mode.

[0025] Preferably, in the automatic shutdown of step S3, in case of an emergency shutdown S301 during tunneling according to the severity of the fault, each system directly stops running. In case of a non-belt stop fault, the belt system shuts down normally.

[0026] Preferably, in the automatic shutdown of step S3, when the operator needs to rest or replace other operators, it is manually stopped, and each system shuts down in sequence according to relevant instructions, with each rotational speed decreasing from high to low for a smooth shutdown.

[0027] (III) Beneficial effects

[0028] The present invention provides a method for realizing automatic tunneling of a TBM. It has the following beneficial effects:

[0029] First, the automatic step change includes position confirmation, step change action, and alarm prompt. The position confirmation is the confirmation of the position environment before the movement of the TBM step change mechanism. Using position sensors, stroke sensors, and photo analysis technology, the integrity of the surrounding rock and whether there are obstacles in the action space are determined. In addition, it is detected that the roof bolter has retracted in place. When the position does not meet the program setting, an alarm prompts for manual troubleshooting. When the position meets the requirements, the step change action is executed, and its program is as follows: the shield cylinders are tightened, the rear support extends and is tightened, the chock cylinders retract and are in place, the propulsion cylinders retract, the chock mechanism is in place, the chocks extend and are tightened, the rear support retracts, is in place, and the shield pressure is adjusted. After the action is completed as set by the program, if the sensor stroke, pressure, and position exceed the preset values, an alarm prompts for manual troubleshooting;

[0030] Subsequently, the automatic tunneling is divided into three modes: empty pushing, tunneling, and steering. At the beginning of each tunneling operation, it is in the empty pushing mode, where the cutter head rotates and the hydraulic cylinder advances. After empty pushing to the face, it is determined whether to enter the tunneling mode based on the propulsion pressure, drive motor current, and the memory program of the retraction stroke of the previous cycle. After entering the tunneling mode, the rotation speed is appropriately increased and the thrust gradually increases. According to values such as the drive motor current, belt conveyor drive pressure, and vibration amplitude of the TBM mainframe, especially the frequency of numerical changes, the cutter head rotation speed, propulsion pressure, and cutter head torque are adjusted to the optimal ratio for steady tunneling.

[0031] Subsequently, the automatic shutdown includes normal shutdown and emergency shutdown. For normal shutdown, each system shuts down in sequence according to relevant instructions, with the rotation speeds decreasing from high to low for a smooth shutdown. For emergency shutdown, each system directly stops running. In the case of non-belt stop faults, the belt system shuts down normally.

[0032] Therefore, when in use, the TBM tunneling construction is automated, including the operation process, fault actions, and parameter selection, maximizing the performance of the equipment. The operators mainly monitor the equipment, reducing the personnel's skill requirements and work intensity, and increasing the tunneling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall schematic diagram in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Embodiment:

[0036] As Figure 1 shown, the embodiment of the present invention provides a method for realizing TBM automatic tunneling, which specifically follows the following operation steps;

[0037] S1: Automatic step change. During the step change process, the way of step change affects the cutters and the tunneling speed.

[0038] S2: Automatic tunneling to excavate the tunnel.

[0039] S3: Automatic shutdown to provide emergency stop for emergencies and normal stop when workers need to rest.

[0040] S101: Position confirmation, confirming the falling position of the support; confirming the next position of the support shoe; confirming that the roof bolter has retracted in place and the next position.

[0041] S102: Step-changing action, the shield cylinder tightens, the rear support extends and tightens, the support shoe cylinder retracts and reaches the position, the propulsion cylinder retracts, the support shoe mechanism reaches the position, the support shoe extends and tightens, the rear support retracts, reaches the position, and the shield pressure is adjusted.

[0042] S103: Alarm prompt, after the action is completed by the program setting, if the sensor stroke, pressure, and position exceed the preset value during the process, an alarm prompts to manually eliminate the fault.

[0043] S201: Empty push mode, which is in the empty push mode at the beginning of each tunneling.

[0044] S202: Tunneling mode, execute the cutterhead rotation and the cylinder propulsion action. After empty pushing to the working face, determine whether to enter the tunneling mode based on the propulsion pressure, drive motor current, and the memory program of the retraction stroke of the previous cycle.

[0045] S203: Steering mode, automatically enter the steering mode after the tunneling direction exceeds the preset value.

[0046] S301: Emergency stop, each system directly stops running. In case of non-belt stop failure, the belt system stops normally.

[0047] S302: Normal stop, each system stops in sequence according to relevant instructions, and each speed decreases from high to low for a smooth stop.

[0048] It can be understood that in this application, in the automatic step-changing of step S1, position confirmation S101 needs to be carried out before step-changing. The position confirmation S101 uses position sensors, travel sensors, and photo analysis technology to determine the integrity of the surrounding rock and whether there are obstacles in the action space. In addition, it detects that the roof bolter has retracted in place.

[0049] It can be understood that in this application, in the automatic step-changing of step S1, after the position confirmation S101 is completed and the position is satisfied, the step-changing action S102 is executed. The step-changing action S102 includes the shield cylinder tightening, the rear support extending and tightening, the support shoe cylinder retracting and reaching the position, the propulsion cylinder retracting, the support shoe mechanism reaching the position, the support shoe extending and tightening, the rear support retracting, reaching the position, and the shield pressure adjustment.

[0050] It can be understood that in this application, in the automatic step-changing of step S1, after the action is completed by the program setting, if the sensor stroke, pressure, and position exceed the preset value during the process, the alarm prompt S103 prompts to manually eliminate the fault. After the step-changing action is completed, it enters the confirmation of the next program. According to the manual determination, it enters the automatic tunneling.

[0051] It can be understood that in the present application, it is characterized in that: during the automatic tunneling in step S2, in the empty push mode S201, it is in the empty push mode at the beginning of each tunneling.

[0052] It can be understood that in the present application, during the automatic tunneling in step S2, when the parameter change ranges and frequencies of voltage, current, pressure, flow rate, stroke, and displacement need to meet the preset values, the tunneling mode S202 is started, the cutterhead rotation and the oil cylinder propulsion actions are executed, and after empty pushing to the face, it is comprehensively determined whether to enter the tunneling mode S202 according to the propulsion pressure, the drive motor current, and the memory program of the retraction stroke of the previous cycle.

[0053] It can be understood that in the present application, during the automatic tunneling in step S2, when the tunneling direction exceeds the preset value, it automatically enters the alignment mode S203. The alignment mode S203 includes horizontal alignment, vertical alignment, and rolling alignment. The alignment is performed by multiple small adjustments, and the tunneling speed is appropriately reduced in the alignment mode.

[0054] It can be understood that in the present application, during the automatic shutdown in step S3, in case of an emergency shutdown S301 according to the severity of the fault during tunneling, all systems directly stop running. In case of a non-belt stop rotation fault, the belt system stops normally.

[0055] It can be understood that in the present application, during the automatic shutdown in step S3, when the operator needs to rest or replace other operators, it is manually stopped, and according to the relevant instructions, all systems stop in sequence, and the speeds decrease from high to low for a smooth shutdown.

[0056] Working principle:

[0057] First, the automatic step change includes position confirmation, step change action, and alarm prompt. The position confirmation is the confirmation of the position environment before the movement of the TBM step change mechanism. Position sensors, stroke sensors, and photo analysis technology are used to determine the integrity of the surrounding rock and whether there are obstacles in the action space. In addition, it is detected that the bolt drill has retracted in place. When the position does not meet the program settings, an alarm prompts the operator to eliminate it. When the position meets the requirements, the step change action is executed. The program is as follows: the shield oil cylinder is tightened, the rear support extends and is tightened, the support shoe oil cylinder retracts and is in place, the propulsion oil cylinder retracts, the support shoe mechanism is in place, the support shoe extends and is tightened, the rear support retracts, is in place, and the shield pressure is adjusted. The action is completed by the program settings. During the process, if the sensor stroke, pressure, and position exceed the preset values, an alarm prompts the operator to eliminate the fault;

[0058] Subsequently, the automatic tunneling is divided into three modes: empty pushing, tunneling, and alignment. Each tunneling starts with the empty pushing mode, during which the cutterhead rotates and the hydraulic cylinders advance. After empty pushing to the face, it is determined whether to enter the tunneling mode based on the comprehensive consideration of the pushing pressure, driving motor current, and the memory program of the retraction stroke of the previous cycle. After entering the tunneling mode, the rotation speed is appropriately increased and the thrust gradually increases. According to the values such as the driving motor current, belt conveyor driving pressure, and vibration amplitude of the TBM mainframe, especially the frequency of value changes, the cutterhead rotation speed, pushing pressure, and cutterhead torque are adjusted to the optimal ratio for steady tunneling.

[0059] Subsequently, the automatic shutdown includes normal shutdown and emergency shutdown. For normal shutdown, each system shuts down in sequence according to relevant instructions, with the rotation speeds decreasing from high to low for a smooth shutdown. For emergency shutdown, each system directly stops running. In case of non-belt stop failure, the belt system shuts down normally.

[0060] Therefore, when in use, the TBM tunneling construction is automated, including the operation process, fault actions, and parameter selection, maximizing the performance of the equipment. The operators mainly monitor the equipment, reducing the requirements for personnel capabilities and work intensity, and increasing the tunneling efficiency.

[0061] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for realizing automatic tunneling of a TBM, characterized in that: The specific operation steps are as follows; S1: Automatic step change. During the step change process, the way of step change affects the tool and the tunneling speed; S101: Position confirmation, confirmation of the falling position of the support; confirmation of the next position of the shoe; confirmation of the retraction in place and the next position of the bolter; S102: Step change action, the shield cylinder is tightened, the rear support extends and is tightened, the shoe cylinder retracts and reaches the position, the propulsion cylinder retracts, the shoe mechanism reaches the position, the shoe extends and is tightened, the rear support retracts, reaches the position, and the shield pressure is adjusted; S103: Alarm prompt. After the action is completed by the program setting, if the sensor stroke, pressure, and position exceed the preset value during the process, an alarm prompt is given for manual troubleshooting; S2: Automatic tunneling, excavating the tunnel to be excavated; S201: Empty push mode, which is the empty push mode at the beginning of each tunneling; S202: Tunneling mode, execute the cutterhead rotation and cylinder propulsion actions. After empty pushing to the face, determine whether to enter the tunneling mode based on the propulsion pressure, drive motor current, and the memory program of the retraction stroke of the previous cycle; S203: Alignment mode, automatically enter the alignment mode after the tunneling direction exceeds the preset value; S3: Automatic shutdown, providing an emergency stop for emergencies and a normal stop when workers need to rest; S301: Emergency shutdown, each system directly stops running. In case of non-belt stop failure, the belt system stops normally; S302: Normal shutdown, each system stops in sequence according to relevant instructions, and each speed decreases from high to low for a smooth shutdown; In the automatic step change of step S1, before the step change, position confirmation S101 needs to be carried out. The position confirmation S101 uses position sensors, stroke sensors, and photo analysis technology to determine the integrity of the surrounding rock and whether there are obstacles within the action space. In addition, it detects the retraction in place of the bolter; In the automatic step change of step S1, after the position confirmation S101 is completed and the position is satisfied, the step change action S102 is executed. The step change action S102 includes the shield cylinder being tightened, the rear support extending and being tightened, the shoe cylinder retracting and reaching the position, the propulsion cylinder retracting, the shoe mechanism reaching the position, the shoe extending and being tightened, the rear support retracting, reaching the position, and the shield pressure being adjusted; In the automatic step change of step S1, after the action is completed by the program setting, if the sensor stroke, pressure, and position exceed the preset value during the process, an alarm prompt S103 is given for manual troubleshooting. After the step change action is completed, the next program is confirmed. According to the manual determination, it enters the automatic tunneling; In the automatic tunneling of step S2, when the parameter change range and frequency of voltage, current, pressure, flow rate, stroke, and displacement meet the preset values, the tunneling mode S202 is started.

2. The method for realizing automatic tunneling of a TBM according to claim 1, wherein: In the automatic tunneling of step S2, when the tunneling direction exceeds the preset value, it automatically enters the alignment mode S203. The alignment mode S203 includes horizontal alignment, vertical alignment, and rolling alignment. The alignment is carried out by multiple small adjustments, and the tunneling speed is appropriately reduced in the alignment mode.

3. The method for realizing automatic tunneling of a TBM according to claim 2, characterized in that: In the automatic shutdown of step S3, during tunneling, in case of a serious fault, an emergency shutdown S301 is carried out, and each system directly stops running. In case of non-belt stop failure, the belt system stops normally.

4. A method for realizing automatic tunneling of a TBM according to claim 3, characterized in that: During the automatic shutdown in step S3, for normal shutdown S302, when manual operation is required due to the need for rest or replacement of other operators, it is manually stopped, and according to relevant instructions, each system shuts down in sequence, with each rotational speed decreasing from high to low for a smooth shutdown.

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