Assembling machine control method and system capable of synchronously assembling segments during shield tunneling

Abstract

The present invention relates to a control method and system for an assembling machine capable of synchronously assembling pipe segments during shield advancement. The method comprises the following steps: in the process of shield advancement, the assembling machine is used to grab the pipe segment to be assembled and rotate it into place; the pitch angle of the shield machine is obtained in real time; the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine is calculated and the rear chamber pressure of the translation cylinder is controlled and adjusted; the pipe segment to be assembled grabbed by the assembling machine is pressed against the assembled pipe segment; the propulsion cylinder is pushed against the pipe segment to be assembled, and the translation cylinder of the assembling machine is depressurized; the pipe segment to be assembled is connected with the assembled pipe segment, thereby completing the assembly of a pipe segment, and then the assembling machine is used to grab the next pipe segment to be assembled and repeat the above steps to complete the assembly of the pipe segment. The present invention uses the rear chamber pressure of the translation cylinder to balance the adverse effects of the pitch attitude of the shield machine on the assembly of the pipe segments, ensuring the smooth assembly of the pipe segments and the quality of the assembly of the pipe segments.

Description

Technical Field

[0001] The invention relates to the field of shield construction engineering, and in particular to an assembling machine control method and system for synchronously assembling pipe segments during shield pushing and assembling. Background Art

[0002] In traditional shield construction, after the shield machine has excavated a distance equal to the width of a ring of segments, the segment assembly operation begins in a stopped state. At present, shield tunnel projects at home and abroad have been developing in the direction of large depth, large section and long distance. The long construction period caused by the traditional shield construction method will obviously restrict the feasibility of long and large shield tunnel projects. The research and development of shield push-and-splice synchronous technology has solved the above problem. By integrating the segment assembly into the shield advancement, the continuous advancement of the shield can be achieved. However, it is required that the assembly machine should remain relatively still with the assembled ring of segments after grabbing the segments to be assembled, so as to meet the requirements of the assembly operation. However, the entire assembly process takes a long time. If the segment assembly machine still uses the traditional manual operation mode, the operation is difficult and the safety risk is high, which may cause segment falling accidents or substandard assembly quality. Therefore, it is very necessary to innovate a control method for an assembly machine that can assemble segments synchronously during the shield advancement process to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide an assembly machine control method and system that can synchronously assemble segments during shield advancement, so as to solve the problem that the existing manual operation mode is difficult to operate and has high risks.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a control method for an assembling machine capable of synchronously assembling segments during shield tunneling, comprising the following steps:

[0006] During the advancement of the shield machine, an assembly machine is used to grab a segment to be assembled and rotate it into place;

[0007] Obtain the pitch angle of the shield machine in real time;

[0008] The dynamic target rear chamber pressure value of the translation cylinder of the assembling machine is calculated according to the pitch angle of the shield machine obtained in real time, and the rear chamber pressure of the translation cylinder of the assembling machine is controlled and adjusted according to the calculated dynamic target rear chamber pressure value of the translation cylinder;

[0009] The pipe segment to be assembled grabbed by the assembling machine is pressed against the assembled pipe segment by using the translation cylinder of the assembling machine;

[0010] Start the propulsion cylinder corresponding to the segment to be assembled, let the propulsion cylinder push against the segment to be assembled, and release the pressure of the translation cylinder of the assembly machine;

[0011] The pipe segment to be assembled is connected to the assembled pipe segment, thereby completing the assembly of one pipe segment. Then, the assembly machine is used to grab the next pipe segment to be assembled and the above steps are repeated to complete the assembly of the pipe segments.

[0012] The control method of the assembling machine of the present invention allows the assembling machine to enter the automatic mode during the assembling process, so as to solve the problem of great operating difficulty in the manual operation mode. In addition, during the automatic operation of the assembling machine, the dynamic target rear chamber pressure value of the translation cylinder is calculated by the pitch angle of the shield machine obtained in real time, and the rear chamber pressure of the translation cylinder is adjusted in real time. The rear chamber pressure of the translation cylinder is used to balance the adverse effect of the pitch posture of the shield machine on the segment assembly, so as to ensure the smooth assembly of the segments and the quality of the segment assembly.

[0013] A further improvement of the control method of the assembling machine capable of synchronously assembling segments during shield advancement of the present invention is that the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine is calculated using the following formula:

[0014]

[0015] Where P slide is the dynamic target rear chamber pressure value of the translation cylinder, F f is the friction resistance of the assembly machine, F segment is the assembly force of the segment, G erction is the gravity of the assembly machine, S cyliner is the rodless cavity area of ​​the translation cylinder, and α is the pitch angle of the shield machine.

[0016] A further improvement of the control method of the assembling machine that can synchronously assemble segments during shield advancement of the present invention is that when the assembling machine is used to grab a segment to be assembled, the assembling machine is adjusted to a manual operation mode, and the operator manually controls the assembling machine to grab the segment to be assembled and rotate it into place.

[0017] A further improvement of the control method of the assembling machine that can synchronously assemble segments during shield advancement of the present invention is that after the assembling machine grabs the segment to be assembled and rotates it into place, the assembling machine is manually switched to the fixed-point mode to realize automatic control of the operation of the translation cylinder.

[0018] A further improvement of the control method of the assembling machine capable of synchronously assembling segments during shield advancement of the present invention is that when the thrust cylinder pushes against the segment to be assembled, the assembling machine automatically enters a floating mode to relieve pressure in the translation cylinder.

[0019] The present invention also provides an assembly machine control system capable of synchronously assembling segments during shield advancement, comprising:

[0020] The control unit connected to the assembly machine control is used to control the assembly machine to grab a segment to be assembled and rotate it into place during the advancement of the shield machine;

[0021] A fixed-point control unit is arranged on the assembling machine and connected to the shield machine and the control unit. The fixed-point control unit is also connected to the translation cylinder control of the assembling machine, and is used to obtain the pitch angle of the shield machine in real time, and calculate the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine according to the pitch angle of the shield machine. After the assembling machine grabs the pipe segment to be assembled and rotates it into place, the rear chamber pressure of the translation cylinder of the assembling machine is controlled and adjusted according to the dynamic target rear chamber pressure value of the translation cylinder, and the translation cylinder is controlled to push the pipe segment to be assembled against the assembled pipe segment;

[0022] A floating control unit is arranged on the assembling machine and connected to the shield machine and the fixed-point control unit. The floating control unit is also connected to the translation cylinder control of the assembling machine and is used to relieve the pressure of the translation cylinder when the thrust cylinder pushes against the pipe segment to be assembled.

[0023] A further improvement of the control system of the assembling machine capable of synchronously assembling segments during shield advancement of the present invention is that the fixed-point control unit calculates the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine using the following formula:

[0024]

[0025] Where P slide is the dynamic target rear chamber pressure value of the translation cylinder, F f is the friction resistance of the assembly machine, F segment is the assembly force of the segment, G erction is the gravity of the assembly machine, S cyliner is the rodless cavity area of ​​the translation cylinder, and α is the pitch angle of the shield machine.

[0026] A further improvement of the control system of the assembling machine capable of synchronously assembling pipe segments during shield tunneling of the present invention is that the control unit is a control handle, and the assembling machine is controlled by the control handle to grab the pipe segments to be assembled and rotate them into place.

[0027] A further improvement of the control system of the assembling machine that can synchronously assemble segments during shield tunneling in the present invention is that a switching button connected to the fixed-point control unit is provided on the control unit, and the fixed-point control unit is started to operate by pressing the switching button.

[0028] A further improvement of the control system of an assembling machine that can synchronously assemble pipe segments during shield advancement of the present invention is that after the fixed-point control unit places the pipe segment to be assembled against the assembled pipe segment, a control instruction is sent to the shield machine so that the shield machine starts the thrust cylinder and allows the thrust cylinder to push against the pipe segment to be assembled, and when the thrust cylinder pushes against the pipe segment to be assembled, the shield machine sends a feedback signal to the floating control unit of the assembling machine to start the floating control unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a flow chart of a method for controlling an assembling machine capable of synchronously assembling segments during shield tunneling.

[0030] Figure 2 This is a system diagram of the control system of an assembling machine that can synchronously assemble segments during shield tunneling according to the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] See also Figure 1 The present invention provides a control method and system for an assembling machine that can synchronously assemble segments during shield advancement, which is used to solve the problem of high difficulty in operation and high safety risk in the existing assembly machine, which adopts a manual operation mode and requires the operator to keep pushing a button to control the translation cylinder of the assembling machine to push the segments to be assembled to complete the assembly of the segments. The control method of the assembling machine of the present invention designs two automatic modes for the assembling machine, namely a fixed-point mode and a floating mode. During the assembly of the segments, the assembling machine is in an automatic operation state, which frees the operator, reduces the difficulty of operation and safety risks of the operator, and improves the quality of segment assembly. In the fixed-point mode, the rear chamber pressure of the translation cylinder is adjusted through real-time shield machine pitch angle control, so as to balance the influence of the pitch posture of the shield machine on the segments to be assembled, further ensure the smooth progress of the assembly work, and improve the assembly quality. The control method and system of the assembling machine that can synchronously assemble segments during shield advancement of the present invention are described below in conjunction with the accompanying drawings.

[0033] See also Figure 2 , showing a system diagram of the control system of the assembly machine that can assemble segments synchronously during shield advancement of the present invention. Figure 2 , the control system of the assembling machine that can synchronously assemble pipe segments during shield advancement of the present invention is explained.

[0034] like Figure 2As shown, the control system of the assembling machine capable of synchronously assembling segments during shield advancement of the present invention comprises a control unit 21, a fixed-point control unit 22 and a floating control unit 23, wherein the control unit 21 is connected to the fixed-point control unit 22, the fixed-point control unit 22 is connected to the floating control unit 23, the control unit 21 is also connected to the assembling machine control, the control unit 21 is used to control the operation of the assembling machine, and during the advancement of the shield machine, the control unit 21 is used to control the assembling machine to grab a segment to be assembled and rotate it into place; the fixed-point control unit 21 is connected to the floating control unit 23, and the control unit 21 is connected to the assembling machine control. 2 is arranged on the assembly machine and connected to the shield machine. The fixed control unit 22 is also connected to the translation cylinder control of the assembly machine, and is used to obtain the pitch angle of the shield machine in real time, and calculate the dynamic target rear chamber pressure value of the translation cylinder of the assembly machine according to the pitch angle of the shield machine, and then after the assembly machine grabs the pipe segment to be assembled and rotates it into place, the rear chamber pressure of the translation cylinder of the assembly machine is controlled and adjusted according to the dynamic target rear chamber pressure value of the translation cylinder. The fixed control unit 22 is also used to control the translation cylinder to push the pipe segment to be assembled against the assembled pipe segment. The floating control unit 23 is arranged on the assembly machine and connected to the shield machine. The floating control unit 23 is also connected to the translation cylinder control of the assembly machine, and is used to relieve the pressure of the translation cylinder when the propulsion cylinder pushes against the pipe segment to be assembled.

[0035] The assembly machine control system of the present invention realizes the synchronous assembly of pipe segments during the excavation process of the shield machine. The control unit 21, the fixed-point control unit 22 and the floating control unit 23 provide three modes for the assembling machine, namely, a manual operation mode, a fixed-point mode and a floating mode. The control unit 21 is used to realize manual control, corresponding to the manual operation mode, the fixed-point control unit 22 is used to realize automatic control, corresponding to the fixed-point mode, and the floating control unit 23 is used to realize automatic control, corresponding to the floating mode.

[0036] In the process of synchronous pushing and assembling, it is necessary to keep the assembling machine and the shield machine relatively still so that the assembly operation of the pipe segment is in a stable environment. The shield machine does not always keep moving forward in a straight line during the excavation process. The posture of the shield machine will have a certain pitch angle, and the pitch posture of the shield machine will produce a force on the pipe segment to be assembled. Under the action of this force, the pipe segment to be assembled will be offset or wrong, or even stuck and unable to install the connecting bolts, causing the pipe segment to be assembled to be realigned and installed. The fixed-point control unit 22 in the control system of the present invention calculates the dynamic target rear chamber pressure value of the corresponding translation cylinder in real time according to the pitch angle of the shield machine, and uses the dynamic target rear chamber pressure value to control the rear chamber pressure of the translation cylinder, so that the translation cylinder can balance the influence of the pitch posture of the shield machine on the pipe segment to be assembled through the rear chamber pressure when pushing the pipe segment to be assembled, thereby ensuring the smooth assembly of the pipe segment and the assembly quality of the pipe segment.

[0037] In a specific embodiment of the present invention, the fixed-point control unit calculates the dynamic target rear chamber pressure value of the translation cylinder of the assembly machine using the following formula:

[0038]

[0039] Where P slide is the dynamic target rear chamber pressure value of the translation cylinder (unit: kPa), F f is the friction resistance of the assembly machine (in kN), F segment is the segment assembly force (in kN), G erction is the weight of the assembly machine (in kN), S cyliner is the rodless chamber area of ​​the translation cylinder (in m 2 ), α is the pitch angle of the shield machine (in degrees). The friction resistance of the assembly machine is the resistance value encountered by the assembly machine during its movement on the shield machine. This resistance value can be obtained through actual measurement. The gravity of the assembly machine can also be obtained through actual measurement. The assembly force of the segment is the set value. The rodless cavity area of ​​the translation cylinder can be calculated based on the size of the translation cylinder. If the shield machine raises its head, the pitch angle value is positive, otherwise it is negative.

[0040] Furthermore, after the real-time dynamic target rear chamber pressure value of the translation oil cylinder is calculated, the pump source pressure of the translation oil cylinder can be controlled by the electric proportional pressure control valve to make the rear chamber pressure of the translation oil cylinder reach the dynamic target rear chamber pressure value. The rear chamber pressure of the translation oil cylinder can also be controlled by the electric proportional pressure supply method to make the rear chamber pressure reach the dynamic target rear chamber pressure value.

[0041] In a specific embodiment of the present invention, the control unit is a control handle having a plurality of control buttons, each control button being connected to a corresponding device control on the assembling machine to control the operation of each device. The control handle is used to control the assembling machine to grab the pipe segments to be assembled and rotate them into place.

[0042] Preferably, the assembling machine is started and placed in manual operation mode. The operator holds the control handle and controls the assembling machine, allowing the vacuum suction cup of the assembling machine to grab the pipe segment to be assembled, and then rotating the assembling machine to the required installation angle of the pipe segment to be assembled.

[0043] In a specific embodiment of the present invention, a switch button connected to the fixed-point control unit is provided on the control unit, and the fixed-point control unit is started to operate by pressing the switch button.

[0044] In another preferred embodiment, a mode switching button is provided on the control interface of the assembling machine, and the working mode of the assembling machine can be manually selected. When the fixed-point mode is clicked, the fixed-point control unit is started.

[0045] In a specific embodiment of the present invention, after the fixed-point control unit places the segment to be assembled against the assembled segment, a control instruction is sent to the shield machine so that the shield machine starts the thrust cylinder and allows the thrust cylinder to push against the segment to be assembled, and when the thrust cylinder pushes against the segment to be assembled, the shield machine sends a feedback signal to the floating control unit of the assembling machine to start the floating control unit.

[0046] In the manual operation mode, the pipe segment to be assembled grabbed by the assembler has been rotated into place. When entering the fixed-point mode, the assembler automatically runs, and the translation cylinder drives the assembler to move axially. During the driving process, the translation cylinder maintains the dynamic target rear chamber pressure, so that the assembler moves backward relative to the shield machine, and the pipe segment to be assembled is close to the assembled pipe segment. After that, the shield machine controls the thrust cylinder to extend, and the thrust cylinder contacts the pipe segment to be assembled. After that, the shield machine controls the thrust cylinder to adjust the rear chamber pressure. When the rear chamber pressure is adjusted to the set value (preferably 100 bar), the assembler automatically enters the floating mode, and the translation cylinder does not release pressure. The assembler and the pipe segment to be assembled are pushed by the thrust cylinder, and the assembler and the pipe segment to be assembled remain relatively still. At this time, the operator can complete the installation of the ring and longitudinal bolts of the pipe segment to connect the pipe segment to be assembled and the assembled pipe segment. In this way, the installation of one pipe segment is completed, the lifting cylinder of the assembling machine retracts, and the suction cup of the assembling machine is separated from the pipe segment. After the lifting cylinder retracts a certain value (preferably 10 cm), it automatically switches to manual operation mode and continues to install the next pipe segment.

[0047] The present invention also provides a method for controlling an assembling machine that can synchronously assemble pipe segments during shield advancement. The control method is described below.

[0048] like Figure 1 As shown, the control method of the assembling machine capable of synchronously assembling segments during shield advancement of the present invention comprises the following steps:

[0049] Execute step S11, during the advancement of the shield machine, use the assembling machine to grab a segment to be assembled and rotate it into place; then execute step S12;

[0050] Execute step S12 to obtain the pitch angle of the shield machine in real time; then execute step S13;

[0051] Execute step S13, calculate the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine according to the pitch angle of the shield machine obtained in real time, and control and adjust the rear chamber pressure of the translation cylinder of the assembling machine according to the calculated dynamic target rear chamber pressure value of the translation cylinder; then execute step S14;

[0052] Execute step S14, use the translation cylinder of the assembling machine to place the pipe segment to be assembled grabbed by the assembling machine against the assembled pipe segment; then execute step S15;

[0053] Execute step S15, start the propulsion cylinder corresponding to the pipe segment to be assembled, let the propulsion cylinder push against the pipe segment to be assembled, and release the pressure of the translation cylinder of the assembly machine; then execute step S16;

[0054] Execute step S16 to connect the pipe segment to be assembled with the assembled pipe segment, thereby completing the assembly of one pipe segment, and then use the assembly machine to grab the next pipe segment to be assembled and repeat the above steps to complete the assembly of the pipe segment.

[0055] The control method of the assembling machine of the present invention allows the assembling machine to enter the automatic mode during the assembling process, so as to solve the problem of great operating difficulty in the manual operation mode. In addition, during the automatic operation of the assembling machine, the dynamic target rear chamber pressure value of the translation cylinder is calculated by the pitch angle of the shield machine obtained in real time, and the rear chamber pressure of the translation cylinder is adjusted in real time. The rear chamber pressure of the translation cylinder is used to balance the adverse effect of the pitch posture of the shield machine on the segment assembly, so as to ensure the smooth assembly of the segments and the quality of the segment assembly.

[0056] In a specific embodiment of the present invention, the dynamic target rear chamber pressure value of the translation cylinder of the assembly machine is calculated using the following formula:

[0057]

[0058] Where P slide is the dynamic target rear chamber pressure value of the translation cylinder, F f is the friction resistance of the assembly machine, F segment is the assembly force of the segment, G erction is the gravity of the assembly machine, S cyliner is the rodless cavity area of ​​the translation cylinder, and α is the pitch angle of the shield machine.

[0059] In a specific embodiment of the present invention, when using an assembling machine to grab a pipe segment to be assembled, the assembling machine is adjusted to a manual operation mode, and an operator manually controls the assembling machine to grab the pipe segment to be assembled and rotate it into place.

[0060] In a specific embodiment of the present invention, after the assembling machine grabs the pipe segment to be assembled and rotates it into place, the assembling machine is manually switched to a fixed-point mode to realize automatic control of the operation of the translation cylinder.

[0061] In a specific embodiment of the present invention, when the thrust cylinder pushes against the pipe segment to be assembled, the assembling machine automatically enters a floating mode to relieve the pressure of the translation cylinder.

[0062] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A method for controlling an assembling machine capable of synchronously assembling segments during shield tunneling, characterized in that: The steps include: During the advancement of the shield machine, an assembly machine is used to grab a segment to be assembled and rotate it into place; Obtain the pitch angle of the shield machine in real time; The dynamic target rear chamber pressure value of the translation cylinder of the assembling machine is calculated according to the pitch angle of the shield machine obtained in real time, and the rear chamber pressure of the translation cylinder of the assembling machine is controlled and adjusted according to the calculated dynamic target rear chamber pressure value of the translation cylinder; The pipe segment to be assembled grabbed by the assembling machine is pressed against the assembled pipe segment by using the translation cylinder of the assembling machine; Start the propulsion cylinder corresponding to the segment to be assembled, let the propulsion cylinder push against the segment to be assembled, and release the pressure of the translation cylinder of the assembly machine; The pipe segment to be assembled is connected with the assembled pipe segment, thereby completing the assembly of one pipe segment, and then the assembly machine grabs the next pipe segment to be assembled and repeats the above steps to complete the assembly of the pipe segment; The dynamic target rear chamber pressure value of the translation cylinder of the assembly machine is calculated using the following formula: Where P slide is the dynamic target rear chamber pressure value of the translation cylinder, F f is the friction resistance of the assembly machine, F segment is the assembly force of the segment, G erction is the gravity of the assembly machine, S cyliner is the rodless cavity area of ​​the translation cylinder, and α is the pitch angle of the shield machine.

2. The control method for an assembling machine capable of synchronously assembling segments during shield advancement according to claim 1, characterized in that: When using the assembling machine to grab a pipe segment to be assembled, the assembling machine is adjusted to the manual operation mode, and the operator manually controls the assembling machine to grab the pipe segment to be assembled and rotate it into place.

3. The control method for an assembling machine capable of synchronously assembling segments during shield advancement according to claim 1, characterized in that: After the assembly machine grabs the pipe segment to be assembled and rotates it into place, the assembly machine is manually switched to fixed-point mode to realize automatic control of the operation of the translation cylinder.

4. The control method of an assembling machine capable of synchronously assembling segments during shield advancement according to claim 1, characterized in that: When the thrust cylinder pushes against the pipe segment to be assembled, the assembling machine automatically enters the floating mode to relieve the pressure of the translation cylinder.

5. A control system for an assembling machine capable of synchronously assembling segments during shield tunneling, characterized in that: include: The control unit connected to the assembly machine control is used to control the assembly machine to grab a segment to be assembled and rotate it into place during the advancement of the shield machine; A fixed-point control unit is arranged on the assembling machine and connected to the shield machine and the control unit. The fixed-point control unit is also connected to the translation cylinder control of the assembling machine, and is used to obtain the pitch angle of the shield machine in real time, and calculate the dynamic target rear chamber pressure value of the translation cylinder of the assembling machine according to the pitch angle of the shield machine. After the assembling machine grabs the pipe segment to be assembled and rotates it into place, the rear chamber pressure of the translation cylinder of the assembling machine is controlled and adjusted according to the dynamic target rear chamber pressure value of the translation cylinder, and the translation cylinder is controlled to push the pipe segment to be assembled against the assembled pipe segment; A floating control unit provided on the assembly machine and connected to the shield machine and the fixed-point control unit, the floating control unit is also control-connected to the translation cylinder of the assembly machine, and is used to release the pressure of the translation cylinder when the propulsion cylinder pushes against the segment to be assembled; The fixed-point control unit calculates the dynamic target rear chamber pressure value of the translation cylinder of the assembly machine using the following formula: Where P slide is the dynamic target rear chamber pressure value of the translation cylinder, F f is the friction resistance of the assembly machine, F segment is the assembly force of the segment, G erction is the gravity of the assembly machine, S cyliner is the rodless cavity area of ​​the translation cylinder, and α is the pitch angle of the shield machine.

6. The control system for the assembling machine capable of synchronously assembling segments during shield advancement as claimed in claim 5, characterized in that: The control unit is a control handle, through which the assembling machine is controlled to grab the pipe segment to be assembled and rotate it into place.

7. The control system for an assembling machine capable of synchronously assembling segments during shield advancement as claimed in claim 5, characterized in that: The control unit is provided with a switch button which is control-connected with the fixed-point control unit, and the fixed-point control unit is started to operate by pressing the switch button.

8. The control system for an assembling machine capable of synchronously assembling segments during shield advancement as claimed in claim 5, characterized in that: After the fixed-point control unit places the segment to be assembled against the assembled segment, a control instruction is sent to the shield machine to enable the shield machine to start the thrust cylinder and let the thrust cylinder push against the segment to be assembled. When the thrust cylinder pushes against the segment to be assembled, the shield machine sends a feedback signal to the floating control unit of the assembling machine to start the floating control unit.

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