An active flexible support rolling shell for TBM

Abstract

The present invention discloses an active flexible support rolling shell for TBM, including a main drive lower bottom plate on which a main drive is installed and a plurality of shield shell blocks, the main drive lower bottom plate and the shield shell blocks are hinged in sequence to form a ring, a roller base is arranged between the two shield shell blocks on both sides of the main drive lower bottom plate, a vertical position active adjustment hydraulic cylinder group is arranged between the top of the roller base and the bottom of the main drive lower bottom plate, a roller assembly is arranged at the bottom of the roller base, and an axial active load-bearing hydraulic cylinder is arranged at the top, and the axial active load-bearing hydraulic cylinder acts between the roller base and the main drive lower bottom plate. The present invention reduces the wear of the lower support shell of the TBM and reduces the propulsion resistance of the TBM; realizes the active position adjustment of the shield body in the vertical direction, the position and support force adjustment of the axial load-bearing hydraulic cylinder; reduces the possibility of loosening, falling off and damage of the TBM connecting parts, and improves the overall safety of the system.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel boring machine shells, in particular to an active flexible support rolling shell for a TBM. Background Art

[0002] Traditional lower support shells of TBM mostly adopt simple rigid structures. The strong vibration caused by the cutterhead during the rock breaking process directly acts on the lower support shell of the TBM. At the same time, the rigid shell cannot be corrected when the posture of the front end of the TBM shifts. The lower support shell of the TBM realizes the forward movement of the TBM through relative sliding between the inner wall of the surrounding rock, and the lower support shell is severely worn. In addition, the large driving force required causes energy waste.

[0003] The invention patent application with the existing application publication date of 2022.02.08 and application publication number CN 114017456 A discloses a high-efficiency shock-absorbing device for a shield machine, including a shock-absorbing shell, on which a shock-absorbing structure is arranged. The device is shock-absorbing by means of the shock-absorbing structure, and the two halves of the shock-absorbing structure are contacted with the conductive ball through an inclined plate by means of a vertical shock-guiding mechanism and a horizontal shock-guiding mechanism. The interaction between the structures is used to gather the vertical vibrations and then transmit them horizontally to the rear, thereby reducing the vibrations diffused in the vertical direction and reducing the impact of the vibrations on the front shield machine.

[0004] Although the technical solution disclosed in the above invention patent application provides a shock-absorbing structure for the shield machine shell, the shock-absorbing structure directly acts between the shock-absorbing shell and the energy-absorbing shell, and the shock-absorbing shell is the front shield shell. Although the vibration received by the shock-absorbing shell can be transmitted to the energy-absorbing shell behind, the shock-absorbing shell is a rigid structure and slides relatively with the inner wall of the surrounding rock, and there are still problems such as inability to correct deviation, severe wear and large required driving force. Summary of the invention

[0005] In view of the deficiencies in the above-mentioned background technology, the present invention proposes an active flexible support rolling shell for TBM, which solves the technical problems of the existing TBM shell structure such as severe wear, large driving force required and inability to adjust the excavation posture.

[0006] The technical solution of the present application is implemented as follows: an active flexible support rolling shell for TBM, including a main drive lower base plate on which a main drive is installed and a plurality of shield shell blocks, wherein the main drive lower base plate and the shield shell blocks are hinged in sequence to form a ring, a roller base is arranged between the two shield shell blocks on both sides of the main drive lower base plate, a vertical position active adjustment hydraulic cylinder group is arranged between the top of the roller base and the bottom of the main drive lower base plate, a roller assembly is arranged at the bottom of the roller base, and an axial active load-bearing hydraulic cylinder is arranged at the top, and the axial active load-bearing hydraulic cylinder acts between the roller base and the main drive lower base plate.

[0007] Preferably, the shield shell blocks include a left shell, a right shell, and a top shell, the upper end of the left shell and the upper end of the right shell are hinged on both sides of the top shell, and the lower end of the left shell and the lower end of the right shell are hinged on both sides of the main drive lower base plate.

[0008] Preferably, the main drive lower base plate includes a horizontal support plate and a vertical support plate located in front of and / or behind the horizontal support plate, the shield shell blocks are hingedly connected to the vertical support plates, the vertical position active adjustment hydraulic cylinder group is hinged between the top of the roller base and the bottom of the horizontal support plate, and the axial active load-bearing hydraulic cylinder is connected between the roller base and the vertical support plate.

[0009] Preferably, when the axial active load-bearing hydraulic cylinder drives the main drive lower base plate to move axially, the vertical support plate moves along the axial direction of the roller base, the upper end surface of the roller base is a concave arc structure, and the lower end surface of the main drive lower base plate is a convex arc structure, and the concave arc structure and the convex arc structure are opposite to each other and have the same curvature.

[0010] Preferably, the axial active load-bearing hydraulic cylinder is a double-acting double-rod hydraulic cylinder, the cylinder body of the double-acting double-rod hydraulic cylinder is connected to the roller base, the piston rod of the double-acting double-rod hydraulic cylinder is connected to a slider, the main drive lower base plate is connected to a vertically arranged guide groove, and the slider is vertically slidably matched with the guide groove.

[0011] Preferably, the vertical position active adjustment hydraulic cylinder group includes a plurality of double-acting single-rod hydraulic cylinders, which are divided into two rows symmetrically arranged on the left and right sides. The axial active load-bearing hydraulic cylinder is arranged on the roller base between the two rows of double-acting single-rod hydraulic cylinders, and the axial active load-bearing hydraulic cylinder is located in the middle position of the roller base in the circumferential direction.

[0012] Preferably, the vertical position active adjustment hydraulic cylinder group includes a left cylinder group and a right cylinder group, the left cylinder group includes a first double-acting single-rod hydraulic cylinder, a second double-acting single-rod hydraulic cylinder, a third double-acting single-rod hydraulic cylinder, and a fourth double-acting single-rod hydraulic cylinder, and the right cylinder group includes a fifth double-acting single-rod hydraulic cylinder, a sixth double-acting single-rod hydraulic cylinder, a seventh double-acting single-rod hydraulic cylinder, and an eighth double-acting single-rod hydraulic cylinder, and the upper ends of the left cylinder group and the right cylinder group face the centroid of the main drive.

[0013] Preferably, the roller assembly includes a roller and an outer shell, the roller includes an inner roller and an outer roller nested in each other, and there are two assembly methods between the inner roller and the outer roller: assembly method one: when the inner roller is rotationally matched with the outer shell, the outer roller is circumferentially fixed or circumferentially rotationally matched with the inner roller; assembly method two: when the inner roller is circumferentially fixed with the outer shell, the outer roller is circumferentially rotationally matched with the inner roller.

[0014] Preferably, in the first assembly method, the roller includes a first central axis, the outer shell includes a first roller left shell and a first roller right shell that are detachably connected, the first central axis is arranged between the first roller left shell and the first roller right shell through a first bearing assembly, and a first sealing assembly is arranged between the first roller left shell and the first roller right shell to prevent contamination of the first bearing assembly.

[0015] Preferably, the first central axis includes a rolling portion and mounting portions at both ends of the rolling portion, the portion where the rollers are nested with each other is located in the rolling portion, the first sealing assembly includes a sealing end cover and a dustproof end cover, the sealing end cover is located between the rolling portion and the mounting portion, and the dustproof end cover is located on the outside of the mounting portion.

[0016] Preferably, the sealing end cover includes a first dynamic dust ring and a static dust ring, the first dynamic dust ring is installed between the outer shell and the outer peripheral surface of the mounting portion, the static dust ring is installed between the outer shell and the axial end surface of the rolling portion, and an elastic gasket is installed on the outer side of the dust cover.

[0017] Preferably, the first bearing assembly includes a first tapered roller bearing and a second tapered roller bearing that cooperate with the mounting portion, an annular groove is provided in the housing, the first tapered roller bearing and the second tapered roller bearing are arranged in the annular groove and positioned by a shoulder of the mounting portion, and an axial positioning nut is provided at the end of the mounting portion.

[0018] Preferably, the rolling portion includes a first rolling portion body and a first outer edge rolling layer, the first outer edge rolling layer and the first rolling portion body are clearance-matched in the radial direction and circumferentially fixed, the two ends of the first outer edge rolling layer are axially positioned with the first rolling portion body through a cover plate, and the two cover plates are connected by stud bolts passing through the first rolling portion body.

[0019] Preferably, in the second assembly method, the outer shell includes a second roller left shell and a second roller right shell that are detachably connected, the inner roller includes a second center shaft, and the second center shaft is detachably arranged between the second roller left shell and the second roller right shell, the outer roller includes a second outer edge rolling layer, and the second outer edge rolling layer is rotatably matched with the second center shaft through a second bearing assembly, and a second sealing assembly is arranged between the second outer edge rolling layer and the second center shaft to prevent contamination of the second bearing assembly.

[0020] Preferably, both ends of the second center shaft are provided with non-rotating bosses and shoulders, the non-rotating bosses are matched with the outer shell for circumferential positioning, the shoulders are matched with the outer shell for axial positioning, and a positioning sleeve is provided between the middle part of the second center shaft and the non-rotating bosses, and the positioning sleeve is matched with the second center shaft for axial positioning and circumferential positioning.

[0021] Preferably, the second bearing assembly includes two third tapered roller bearings respectively arranged at both ends of the second outer edge rolling layer, the inner ring of the third tapered roller bearing is installed on the second center axis by interference fit, and the outer ring of the third tapered roller bearing is installed in the annular groove of the second outer edge rolling layer by interference fit, and an adjustment gasket is arranged between the third tapered roller bearing and the positioning sleeve, and the thickness of the adjustment gasket is adjusted to achieve axial positioning and pre-tightening of the third tapered roller bearing.

[0022] Preferably, the second sealing assembly includes a bearing end cover, which is detachably connected to the second outer edge rolling layer, and the bearing end cover is provided with an annular boss for axially positioning the outer ring of the third tapered roller bearing, and a second dynamic dust ring is provided between the inner ring wall of the bearing end cover and the outer wall of the positioning sleeve.

[0023] Compared with the prior art, the beneficial effects of the present invention include:

[0024] The TBM uses an active flexible support rolling shell. By arranging multiple groups of rollers on the lower support shell of the TBM, the relative sliding between the lower support shell of the TBM and the rock wall is converted into relative rolling, thereby realizing the conversion of friction forms, slowing down the wear of the lower support shell of the TBM, reducing the propulsion resistance of the TBM, and improving the excavation efficiency; the shell is provided with a vertical position active adjustment hydraulic cylinder group and an axial active load-bearing hydraulic cylinder. By adjusting the valve core position of the proportional reversing valve connected to the vertical hydraulic cylinder group, the active position adjustment of the vertical direction of the shield is realized to ensure the excavation posture of the TBM; by adjusting the valve core position of the proportional reversing valve connected to the axial active load-bearing hydraulic cylinder and the valve port size of the proportional throttle valve, the position and supporting force of the axial load-bearing hydraulic cylinder are adjusted to bear the axial load from the shell below the TBM; in addition, the vertical position active adjustment hydraulic cylinder group and the axial active load-bearing hydraulic cylinder can effectively absorb the impact load from the cutter head, effectively suppress the vibration of the TBM main machine, reduce the possibility of loosening, falling off, and damage of the TBM connecting parts, and improve the overall safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0026] Figure 1 This is an axonometric view of the present invention when the main drive lower base plate is not installed;

[0027] Figure 2 It is a front view of the present invention;

[0028] Figure 3 for Figure 2 Sectional view parallel to the paper plane;

[0029] Figure 4 for Figure 1 Enlarged view of the middle roller base;

[0030] Figure 5 for Figure 1 Bottom view of the middle roller base;

[0031] Figure 6 for Figure 2 Sectional view perpendicular to the paper plane;

[0032] Figure 7 Schematic diagram of the top view of the structure of the roller in Example 1 of the present invention;

[0033] Figure 8 for Figure 7 Bottom view of

[0034] Fig. 9 for Figure 7 Right view of;

[0035] Fig.10 for Figure 8 A cross-sectional view parallel to the paper plane;

[0036] Fig.11 1 is a diagram of the axial force transmission process of the roller in an embodiment of the present invention;

[0037] Fig.12 The partial principle of the hydraulic control system in the present invention Figure 1 ;

[0038] Fig.13 Local Principle Figure 1 Local Principles of Connection Figure 2 ;

[0039] Fig.14 Local Principle Figure 2 Local Principles of Connection Figure 3 ;

[0040] Fig.15 It is a schematic diagram of the radial force transmission process of the present invention;

[0041] Fig.16 It is a structural schematic diagram of the motion transfer process in the present invention;

[0042] Fig.17 Schematic diagram of the top view of the structure of the roller in Example 2 of the present invention;

[0043] Fig.18 for Fig.17 Bottom view of

[0044] Fig.19 for Fig.17 Right view of;

[0045] Fig. 20 for Fig.18 Sectional view parallel to the paper plane;

[0046] Fig.21 This is a diagram of the axial force transmission process of the roller in Example 2 of the present invention;

[0047] In the figure: a first double-acting single-rod hydraulic cylinder 1, a second double-acting single-rod hydraulic cylinder 2, a third double-acting single-rod hydraulic cylinder 3, a fourth double-acting single-rod hydraulic cylinder 4, a fifth double-acting single-rod hydraulic cylinder 5, a sixth double-acting single-rod hydraulic cylinder 6, a seventh double-acting single-rod hydraulic cylinder 7, an eighth double-acting single-rod hydraulic cylinder 8, a double-acting double-rod hydraulic cylinder 9, a slider 90, an axial hydraulic cylinder end cover 91, an axial hydraulic cylinder piston rod 92, an axial hydraulic cylinder body 93, a first pressure sensor 10, a second pressure sensor 11, a third pressure sensor 12, a fourth pressure sensor 13, a fifth pressure sensor 14, a sixth pressure sensor 15, a seventh pressure sensor 16, and an eighth pressure sensor 17 , the ninth pressure sensor 18, the first displacement sensor 19, the second displacement sensor 20, the third displacement sensor 21, the fourth displacement sensor 22, the fifth displacement sensor 23, the sixth displacement sensor 24, the seventh displacement sensor 25, the eighth displacement sensor 26, the ninth displacement sensor 27, the first stop valve 28, the second stop valve 29, the third stop valve 30, the fourth stop valve 31, the fifth stop valve 32, the sixth stop valve 33, the seventh stop valve 34, the eighth stop valve 35, the ninth stop valve 36, the tenth stop valve 37, the eleventh stop valve 38, the twelfth stop valve 39, the thirteenth stop valve 40, the fourteenth stop valve 41, the fifteenth stop valve 42 , the sixteenth stop valve 43, the seventeenth stop valve 44, the eighteenth stop valve 45, the first hydraulically controlled non-return valve 46, the second hydraulically controlled non-return valve 47, the third hydraulically controlled non-return valve 48, the fourth hydraulically controlled non-return valve 49, the fifth hydraulically controlled non-return valve 50, the sixth hydraulically controlled non-return valve 51, the seventh hydraulically controlled non-return valve 52, the eighth hydraulically controlled non-return valve 53, the ninth hydraulically controlled non-return valve 54, the tenth hydraulically controlled non-return valve 55, the eleventh hydraulically controlled non-return valve 56, the twelfth hydraulically controlled non-return valve 57, the thirteenth hydraulically controlled non-return valve 58, the fourteenth hydraulically controlled non-return valve 59, the fifteenth hydraulically controlled non-return valve 60, the sixteenth hydraulically controlled non-return valve 61, the seventeenth hydraulically controlled non-return valve 62, the eighteenth hydraulically controlled non-return valve 63, the first three-position four-way proportional reversing valve 6 4. The second three-position four-way proportional reversing valve 65, the third three-position four-way proportional reversing valve 66, the fourth three-position four-way proportional reversing valve 67, the fifth three-position four-way proportional reversing valve 68, the sixth three-position four-way proportional reversing valve 69, the seventh three-position four-way proportional reversing valve 70, the eighth three-position four-way proportional reversing valve 71, the ninth three-position four-way proportional reversing valve 72, the proportional throttle valve 73, the first pressure sensor 74, the accumulator 75, the second pressure sensor 76, the variable pump 77, the oil delivery check valve 78, the proportional speed regulating valve 79, the proportional relief valve 80, the oil tank 81, the left housing 82, the right housing 83, the main drive lower bottom plate 84, the outer housing connecting pin 85, the main driver 86, the hydraulic cylinder connecting pin 87, the ball hinge 88,Guide groove 89, roller base 94, roller assembly 95, elastic gasket 951, dust cover 952, axial positioning nut 953, first tapered roller bearing 954, second tapered roller bearing 955, sealing cover 956, first center shaft 957, first outer edge rolling layer 958, static dust ring 959, cover plate 9510, first dynamic dust ring 9511, first roller left shell 9512, first roller right shell 9513, first threaded hole for connection 9514, the first connecting bolt 9515, the second center shaft 9516, the positioning bolt 9517, the bearing end cover 9518, the third tapered roller bearing 9519, the second outer edge rolling layer 9520, the second connecting bolt 9521, the dynamic seal ring 9522, the adjustment gasket 9523, the positioning sleeve 9524, the second roller left shell 9525, the second roller right shell 9526, the second connecting threaded hole 9527, the third connecting bolt 9528;

[0048] For ease of description and labeling, Fig.12 , 13 , and 14, the various ports of the hydraulic components are marked in the form of "number plus port mark", such as port A of the first three-position four-way proportional reversing valve 64, marked as 64A in the figure; port B of the first three-position four-way proportional reversing valve 64, marked as 64B in the figure; port P of the first three-position four-way proportional reversing valve 64, marked as 64P in the figure; port T of the first three-position four-way proportional reversing valve 64, marked as 64T in the figure. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth", "ninth", "tenth", "eleventh", "twelfth", "thirteenth", "fourteenth", "fifteenth", "sixteenth", "seventeenth", "eighteenth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth", "ninth", "tenth", "eleventh", "twelfth", "thirteenth", "fourteenth", "fifteenth", "sixteenth", "seventeenth", "eighteenth" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] Example 1

[0053] See also Figure 1-Figure 16 , the present invention provides a technical solution:

[0054] An active flexible support rolling shell for TBM includes a main drive lower base plate 84 on which a main drive 86 is installed and a plurality of shield shell blocks. The main drive lower base plate 84 and the shield shell blocks are hinged in sequence to form a ring. Under the action of external force, the main drive lower base plate 84 can be displaced relative to the shield shell blocks. A roller base 94 is arranged between the two shield shell blocks on both sides of the main drive lower bottom plate 84, and a vertical position active adjustment hydraulic cylinder group is arranged between the top of the roller base 94 and the bottom of the main drive lower bottom plate 84. The vertical position active adjustment hydraulic cylinder group can drive the main drive lower bottom plate 84 to adjust the height position, thereby adjusting the height posture of the main drive 86; a roller assembly 95 is arranged at the bottom of the roller base 94, and during the stepping process of the tunnel boring machine, the relative friction motion between the outer wall of the shield shell and the rock wall can be converted into relative rolling motion; an axial active bearing hydraulic cylinder 9 is arranged at the top of the roller base 94, and the axial active bearing hydraulic cylinder 9 acts between the roller base 94 and the main drive lower bottom plate 84. Through the action of the axial active bearing hydraulic cylinder 9, the roller base 94 and the main drive lower bottom plate 84 can produce axial relative displacement, thereby adjusting the axial posture of the main drive 86, and can work together with the vertical position active adjustment hydraulic cylinder group to synchronously adjust the excavation posture of the main drive 86.

[0055] Specifically, it includes a left housing 82, a right housing 83, a main drive lower base plate 84, a main driver 86, a roller base 94 and a hydraulic control system. By providing a vertical position active adjustment hydraulic cylinder group and an axial active load-bearing hydraulic cylinder, the active position adjustment of the shield in the vertical direction is achieved by adjusting the valve core position of the proportional reversing valve connected to the vertical hydraulic cylinder group to ensure the excavation posture of the TBM. The left housing 82 and the right housing 83 are respectively connected to the main drive lower base plate 84 through the outer housing connecting pin 85. The main drive lower base plate 84 is fixedly connected to the main driver 86, one end of the rodless cavity of the vertical position active adjustment hydraulic cylinder group is connected to the main drive lower base plate 84 through a ball hinge 88 and a hydraulic cylinder connecting pin 87, and one end of the rod cavity of the vertical position active adjustment hydraulic cylinder group is connected to the roller base 94 through a ball hinge 88 and a hydraulic cylinder connecting pin 87.

[0056] Furthermore, the main drive lower base plate 84 includes a horizontal support plate and a vertical support plate located at the front and / or rear side of the horizontal support plate, the shield shell blocks are hingedly connected to the vertical support plate, the vertical position active adjustment hydraulic cylinder group is hinged between the top of the roller base 94 and the bottom of the horizontal support plate, and the axial active load-bearing hydraulic cylinder 9 is connected between the roller base 94 and the vertical support plate. When the axial active load-bearing hydraulic cylinder 9 drives the main drive lower base plate 84 to move axially, the vertical support plate moves along the axial direction of the roller base 94, the upper end surface of the roller base 94 is a concave arc structure, and the lower end surface of the main drive lower base plate 84 is a convex arc structure, the concave arc structure and the convex arc structure are opposite to each other up and down and have the same curvature, so as to achieve stable support and sliding fit.

[0057] The axial active load-bearing hydraulic cylinder 9 is a double-acting double-rod hydraulic cylinder, the cylinder body 93 of the double-acting double-rod hydraulic cylinder is connected to the roller base 94, the piston rod 92 of the double-acting double-rod hydraulic cylinder is connected to the slider 90, and the main drive lower base plate 84 is connected to a vertically arranged guide groove 89, and the slider 90 is vertically slidably matched with the guide groove 89.

[0058] The guide grooves 89 are symmetrically distributed at the positions where the front and rear vertical support plates are opposite to each other. The guide grooves 89 are waist-shaped grooves. The double-acting double-rod hydraulic cylinder is arranged at the top of the roller base 94 and between the two guide grooves 89. The main driving lower bottom plate 84 is vertically moved up and down relative to the double-acting double-rod hydraulic cylinder 9 through the two guide grooves 89. The chamber connected to the 9A port of the double-acting double-rod hydraulic cylinder 9 is the left chamber, and the chamber connected to the 9B port of the double-acting double-rod hydraulic cylinder 9 is the right chamber.

[0059] A plurality of roller assemblies 95 arranged in a matrix are provided at the bottom of the roller base 94. The roller assemblies 95 are connected to the roller base 94 by bolts. By providing a plurality of groups of roller assemblies 95, the relative sliding between the lower support shell of the TBM and the rock wall is converted into relative rolling, thereby realizing the conversion of the friction form, slowing down the wear of the lower support shell of the TBM, reducing the propulsion resistance of the TBM, and improving the excavation efficiency.

[0060] In this embodiment, the hydraulic control system includes a first pressure sensor 10, a second pressure sensor 11, a third pressure sensor 12, a fourth pressure sensor 13, a fifth pressure sensor 14, a sixth pressure sensor 15, a seventh pressure sensor 16, an eighth pressure sensor 17, a ninth pressure sensor 18, a first displacement sensor 19, a second displacement sensor 20, a third displacement sensor 21, a fourth displacement sensor 22, a fifth displacement sensor 23, a sixth displacement sensor 24, a seventh displacement sensor 25, an eighth displacement sensor 26, a ninth displacement sensor 27, a first stop valve 28, a second stop valve 29, a third stop valve 30, a fourth stop valve 31, a fifth stop valve 32, a sixth stop valve 33, a seventh stop valve 34, an eighth stop valve 35, a ninth stop valve 36, a tenth stop valve 37, an eleventh stop valve 38, a twelfth stop valve 39, a thirteenth stop valve The first hydraulically controlled one-way valve 46 is a first hydraulically controlled one-way valve, the second hydraulically controlled one-way valve 47 is a third hydraulically controlled one-way valve 48 is a fourth hydraulically controlled one-way valve 49 is a fifth hydraulically controlled one-way valve 50 is a sixth hydraulically controlled one-way valve 51 is a seventh hydraulically controlled one-way valve 52 is a eighth hydraulically controlled one-way valve 53 is a ninth hydraulically controlled one-way valve 54 is a tenth hydraulically controlled one-way valve 55 is a The eleventh hydraulically controlled one-way valve 56, the twelfth hydraulically controlled one-way valve 57, the thirteenth hydraulically controlled one-way valve 58, the fourteenth hydraulically controlled one-way valve 59, the fifteenth hydraulically controlled one-way valve 60, the sixteenth hydraulically controlled one-way valve 61, the seventeenth hydraulically controlled one-way valve 62, the eighteenth hydraulically controlled one-way valve 63, the proportional throttle valve 73, the first pressure sensor 74, the accumulator 75, the second pressure sensor 76, the variable pump 77, the oil delivery one-way valve 78, the proportional speed control valve 79, the proportional overflow valve 80 and the oil tank 81.

[0061] The hydraulic control system also includes a first three-position four-way proportional directional valve 64, a second three-position four-way proportional directional valve 65, a third three-position four-way proportional directional valve 66, a fourth three-position four-way proportional directional valve 67, a fifth three-position four-way proportional directional valve 68, a sixth three-position four-way proportional directional valve 69, a seventh three-position four-way proportional directional valve 70, an eighth three-position four-way proportional directional valve 71 and a ninth three-position four-way proportional directional valve 72.

[0062] The vertical position active adjustment hydraulic cylinder group includes a plurality of double-acting single-rod hydraulic cylinders, which are divided into two symmetrical rows. The axial active load-bearing hydraulic cylinder 9 is arranged on the roller base 94 between the two rows of double-acting single-rod hydraulic cylinders. The axial active load-bearing hydraulic cylinder 9 is located in the middle position of the circumferential direction of the roller base 94. The vertical position active adjustment hydraulic cylinder group includes a left-row cylinder group and a right-row cylinder group. The left-row cylinder group includes a first double-acting single-rod hydraulic cylinder 1, a second double-acting single-rod hydraulic cylinder 2, a third double-acting single-rod hydraulic cylinder 3, and a fourth double-acting single-rod hydraulic cylinder 4. The right-row cylinder group includes a fifth double-acting single-rod hydraulic cylinder 5, a sixth double-acting single-rod hydraulic cylinder 6, a seventh double-acting single-rod hydraulic cylinder 7, and an eighth double-acting single-rod hydraulic cylinder 8. The upper ends of the left-row cylinder group and the right-row cylinder group face the centroid of the main drive 86.

[0063] The oil tank 81 is respectively connected to the 80B port of the proportional relief valve 80, the 64T port of the first three-position four-way proportional reversing valve 64, the 65T port of the second three-position four-way proportional reversing valve 65, the 66T port of the third three-position four-way proportional reversing valve 66, the 67T port of the fourth three-position four-way proportional reversing valve 67, the 68T port of the fifth three-position four-way proportional reversing valve 68, the 69T port of the sixth three-position four-way proportional reversing valve 69, the 70T port of the seventh three-position four-way proportional reversing valve 70, the 71T port of the eighth three-position four-way proportional reversing valve 71, the 72T port of the ninth three-position four-way proportional reversing valve 72 and the 77A port of the variable pump 77.

[0064] The port 77B of the variable pump 77 is connected to the port 78A of the oil delivery check valve 78; the port 78B of the oil delivery check valve 78 is respectively connected to the port 74A of the first pressure sensor 74, the port 75A of the accumulator 75, and the port 79A of the proportional speed regulating valve 79; the port 79B of the proportional speed regulating valve 79 is respectively connected to the port 76A of the second pressure sensor 76, the port 80A of the proportional relief valve 80, the port 64P of the first three-position four-way proportional reversing valve 64, the port 76A of the second three-position four-way proportional reversing valve 64, and the port 76B of the second three-position four-way proportional reversing valve 64. The 65P port of the proportional reversing valve 65, the 66P port of the third three-position four-way proportional reversing valve 66, the 67P port of the fourth three-position four-way proportional reversing valve 67, the 68P port of the fifth three-position four-way proportional reversing valve 68, the 69P port of the sixth three-position four-way proportional reversing valve 69, the 70P port of the seventh three-position four-way proportional reversing valve 70, the 71P port of the eighth three-position four-way proportional reversing valve 71, and the 72P port of the ninth three-position four-way proportional reversing valve 72 are connected.

[0065] The 64A port of the first three-position four-way proportional reversing valve 64 is connected to the 46A port of the first hydraulically controlled one-way valve 46 and the 47C port of the second hydraulically controlled one-way valve 47; the 64B port of the first three-position four-way proportional reversing valve 64 is connected to the 46C port of the first hydraulically controlled one-way valve 46 and the 47A port of the second hydraulically controlled one-way valve 47; the 65A port of the second three-position four-way proportional reversing valve 65 is connected to the 48A port of the third hydraulically controlled one-way valve 48 and the 49C port of the fourth hydraulically controlled one-way valve 49. ; The 65B port of the second three-position four-way proportional reversing valve 65 is connected to the 48C port of the third hydraulically controlled one-way valve 48 and the 49A port of the fourth hydraulically controlled one-way valve 49 respectively; the 66A port of the third three-position four-way proportional reversing valve 66 is connected to the 50A port of the fifth hydraulically controlled one-way valve 50 and the 51C port of the sixth hydraulically controlled one-way valve 51 respectively; the 66B port of the third three-position four-way proportional reversing valve 66 is connected to the 50C port of the fifth hydraulically controlled one-way valve 50 and the 51A port of the sixth hydraulically controlled one-way valve 51 respectively.

[0066] The 67A port of the fourth three-position four-way proportional reversing valve 67 is connected to the 52A port of the seventh hydraulically controlled one-way valve 52 and the 53C port of the eighth hydraulically controlled one-way valve 53 respectively; the 67B port of the fourth three-position four-way proportional reversing valve 67 is connected to the 52C port of the seventh hydraulically controlled one-way valve 52 and the 53A port of the eighth hydraulically controlled one-way valve 53 respectively; the 68A port of the fifth three-position four-way proportional reversing valve 68 is connected to the 54A port of the ninth hydraulically controlled one-way valve 54 and the 55C port of the tenth hydraulically controlled one-way valve 55 respectively; the 68B port of the fifth three-position four-way proportional reversing valve 68 is connected to the 54C port of the ninth hydraulically controlled one-way valve 54 and the 55A port of the tenth hydraulically controlled one-way valve 55 respectively.

[0067] The 69A port of the sixth three-position four-way proportional reversing valve 69 is respectively connected to the 56A port of the eleventh hydraulically controlled one-way valve 56 and the 57C port of the twelfth hydraulically controlled one-way valve 57; the 69B port of the sixth three-position four-way proportional reversing valve 69 is respectively connected to the 56C port of the eleventh hydraulically controlled one-way valve 56 and the 57A port of the twelfth hydraulically controlled one-way valve 57; the 70A port of the seventh three-position four-way proportional reversing valve 70 is respectively connected to the 58A port of the thirteenth hydraulically controlled one-way valve 58 and the 59C port of the fourteenth hydraulically controlled one-way valve 59; the 70B port of the seventh three-position four-way proportional reversing valve 70 is respectively connected to the 58C port of the thirteenth hydraulically controlled one-way valve 58 and the 59A port of the fourteenth hydraulically controlled one-way valve 59 ; The 71A port of the eighth three-position four-way proportional reversing valve 71 is respectively connected to the 60A port of the fifteenth hydraulically controlled one-way valve 60 and the 61C port of the sixteenth hydraulically controlled one-way valve 61; the 71B port of the eighth three-position four-way proportional reversing valve 71 is respectively connected to the 60C port of the fifteenth hydraulically controlled one-way valve 60 and the 61A port of the sixteenth hydraulically controlled one-way valve 61; the 72A port of the ninth three-position four-way proportional reversing valve 72 is respectively connected to the 62A port of the seventeenth hydraulically controlled one-way valve 62 and the 63C port of the eighteenth hydraulically controlled one-way valve 63; the 72B port of the ninth three-position four-way proportional reversing valve 72 is respectively connected to the 62C port of the seventeenth hydraulically controlled one-way valve 62 and the 63A port of the eighteenth hydraulically controlled one-way valve 63.

[0068] The port 46B of the first hydraulically controlled one-way valve 46 is connected to the port 28A of the first stop valve 28; the port 47B of the second hydraulically controlled one-way valve 47 is connected to the port 29A of the second stop valve 29; the port 48B of the third hydraulically controlled one-way valve 48 is connected to the port 30A of the third stop valve 30; the port 49B of the fourth hydraulically controlled one-way valve 49 is connected to the port 31A of the fourth stop valve 31; the port 50B of the fifth hydraulically controlled one-way valve 50 is connected to the port 31A of the fifth stop valve 31 ...9B of the fourth hydraulically controlled one-way valve 49 is connected to the port 31A of the fourth stop valve 31; the port 49B of the fifth hydraulically controlled one-way valve 50 is connected to the port 31A of the fifth stop valve 31; the port 49B of the fifth hydraulically controlled one-way valve 50 is connected to the port 31A of the The 32A port of the sixth stop valve 32 is connected; the 51B port of the sixth hydraulically controlled one-way valve 51 is connected to the 33A port of the sixth stop valve 33; the 52B port of the seventh hydraulically controlled one-way valve 52 is connected to the 34A port of the seventh stop valve 34; the 53B port of the eighth hydraulically controlled one-way valve 53 is connected to the 35A port of the eighth stop valve 35; the 54B port of the ninth hydraulically controlled one-way valve 54 is connected to the 36A port of the ninth stop valve 36; the tenth hydraulically controlled one-way valve 5 The port 55B of the valve 55 is connected to the port 37A of the tenth stop valve 37; the port 56B of the eleventh hydraulically-controlled one-way valve 56 is connected to the port 38A of the eleventh stop valve 38; the port 57B of the twelfth hydraulically-controlled one-way valve 57 is connected to the port 39A of the twelfth stop valve 39; the port 58B of the thirteenth hydraulically-controlled one-way valve 58 is connected to the port 40A of the thirteenth stop valve 40; the port 59B of the fourteenth hydraulically-controlled one-way valve 59 is connected to the port 39A of the fourteenth stop valve 40; The 41A port of the stop valve 41 is connected; the 60B port of the fifteenth hydraulically controlled one-way valve 60 is connected to the 42A port of the fifteenth stop valve 42; the 61B port of the sixteenth hydraulically controlled one-way valve 61 is connected to the 43A port of the sixteenth stop valve 43; the 62B port of the seventeenth hydraulically controlled one-way valve 62 is connected to the 44A port of the seventeenth stop valve 44; the 63B port of the eighteenth hydraulically controlled one-way valve 63 is connected to the 45A port of the eighteenth stop valve 45.

[0069] The 28B port of the first stop valve 28 is connected to the 10A port of the first pressure sensor 10 and the 1A port of the first double-acting single-rod hydraulic cylinder 1; the 29B port of the second stop valve 29 is connected to the 1B port of the first double-acting single-rod hydraulic cylinder 1; the 30B port of the third stop valve 30 is connected to the 11A port of the second pressure sensor 11 and the 2A port of the second double-acting single-rod hydraulic cylinder 2; the 31B port of the fourth stop valve 31 is connected to the 2B port of the second double-acting single-rod hydraulic cylinder 2; the 32B port of the fifth stop valve 32 is connected to the 12A port of the third pressure sensor 12 and the 2A port of the third double-acting single-rod hydraulic cylinder 2; The 3A port of the pressure cylinder 3 is connected; the 33B port of the sixth stop valve 33 is connected to the 3B port of the third double-acting single-rod hydraulic cylinder 3; the 34B port of the seventh stop valve 34 is connected to the 13A port of the fourth pressure sensor 13 and the 4A port of the fourth double-acting single-rod hydraulic cylinder 4 respectively; the 35B port of the eighth stop valve 35 is connected to the 4B port of the fourth double-acting single-rod hydraulic cylinder 4; the 36B port of the ninth stop valve 36 is connected to the 14A port of the fifth pressure sensor 14 and the 5A port of the fifth double-acting single-rod hydraulic cylinder 5 respectively; the 37B port of the tenth stop valve 37 is connected to the 5B port of the fifth double-acting single-rod hydraulic cylinder 5.

[0070] The 38B port of the eleventh stop valve 38 is connected to the 15A port of the sixth pressure sensor 15 and the 6A port of the sixth double-acting single-rod hydraulic cylinder 6 respectively; the 39B port of the twelfth stop valve 39 is connected to the 6B port of the sixth double-acting single-rod hydraulic cylinder 6; the 40B port of the thirteenth stop valve 40 is connected to the 16A port of the seventh pressure sensor 16 and the 7A port of the seventh double-acting single-rod hydraulic cylinder 7 respectively; the 41B port of the fourteenth stop valve 41 is connected to the 7B port of the seventh double-acting single-rod hydraulic cylinder 7 respectively. The 42B port of the fifteenth stop valve 42 is respectively connected to the 17A port of the eighth pressure sensor 17 and the 8A port of the eighth double-acting single-rod hydraulic cylinder 8; the 43B port of the sixteenth stop valve 43 is respectively connected to the 8B port of the eighth double-acting single-rod hydraulic cylinder 8; the 44B port of the seventeenth stop valve 44 is respectively connected to the 18A port of the ninth pressure sensor 18 and the 9A port of the double-acting double-rod hydraulic cylinder 9; the 45B port of the eighteenth stop valve 45 is connected to the 9B port of the double-acting double-rod hydraulic cylinder 9.

[0071] More specifically, the double-acting double-rod hydraulic cylinder 9 includes an axial hydraulic cylinder body 93, both ends of which are detachably connected to axial hydraulic cylinder end covers 91 by screws, a slider 90 is provided on the side of one axial hydraulic cylinder end cover 91, and the other axial hydraulic cylinder end cover 91 is movably connected to an axial hydraulic cylinder piston rod 92, the slider 90 moves along the inner wall of the guide groove 89 by shape matching, the axial hydraulic cylinder body 93 is fixedly connected to the roller base 94, and the position and supporting force of the axial bearing hydraulic cylinder are adjusted by adjusting the valve core position of the proportional reversing valve connected to the axial active load-bearing hydraulic cylinder and the valve port size of the proportional throttle valve, so as to bear the axial load from the shell below the TBM; in addition, the vertical position active adjustment hydraulic cylinder group and the axial active load-bearing hydraulic cylinder can effectively absorb the impact load from the cutter head, effectively suppress the vibration of the TBM main machine, reduce the possibility of loosening, falling off and damage of the TBM connecting parts, and improve the overall safety of the system.

[0072] Furthermore, the roller assembly 95 includes a first roller left side shell 9512, a first roller right side shell 9513, a dustproof end cover 952, a first tapered roller bearing 954, a second tapered roller bearing 955, a sealing end cover 956, a first center shaft 957 and an axial positioning nut 953. The first roller left side shell 9512 is connected to the first roller right side shell 9513 by a first connecting bolt 9515. The interior of the roller assembly 95 shell is provided with a plurality of groups of symmetrically distributed annular grooves. The dustproof end cover 952 is installed in the annular groove inside the roller assembly 95 shell by shape matching, and the dustproof end cover 952 is close to the end of the roller assembly 95. By arranging the dustproof end cover 952 inside the roller assembly 95 and close to both ends, external dust can be prevented from entering the roller assembly 95.

[0073] Furthermore, an elastic gasket 951 is installed on the outer side of the dustproof end cover 952 to improve the sealing performance and connection stability.

[0074] Furthermore, the inner rings of the first tapered roller bearing 954 and the second tapered roller bearing 955 are installed on the first center shaft 957 by interference fit, the first tapered roller bearing 954 is located near the end of the first center shaft 957, and is axially positioned by a shoulder provided on the first center shaft 957, and the outer rings of the first tapered roller bearing 954 and the second tapered roller bearing 955 are installed in an annular groove provided inside the shell of the roller assembly 95 by shape fit, thereby reducing friction and improving the rotation efficiency of the first center shaft 95.

[0075] Furthermore, threaded holes are provided at both ends of the first center shaft 957 , and the axial positioning nut 953 is installed on the end of the first center shaft 957 through a threaded connection to position the first center shaft 957 .

[0076] Furthermore, a first dynamic dust ring 9511 is provided on the sealing end cover 956 near the first central axis 957, and a static dust ring 959 is provided at the connection between the sealing end cover 956 and the central axis 957 to improve the dustproof effect.

[0077] Furthermore, the outer wall of the first center axis 957 is provided with a first outer edge rolling layer 958, and the first outer edge rolling layer 958 and the first center axis 957 are clearance-fitted, and the first outer edge rolling layer 958 is circumferentially positioned by a key, and the two ends of the first outer edge rolling layer 958 are axially positioned by a cover plate 9510, and the two cover plates 9510 are connected by stud bolts. Through the first outer edge rolling layer 958, the relative sliding between the lower support shell of the TBM and the rock wall is converted into relative rolling, thereby realizing the conversion of friction form, reducing the wear of the lower support shell of the TBM, reducing the propulsion resistance of the TBM, and improving the excavation efficiency.

[0078] When the active flexible support rolling shell for TBM of the present embodiment is used, the rolling shell can be actively adjusted in position. When the main drive 86 needs to move vertically upward (here only the first double-acting single-rod hydraulic cylinder 1 is used as an example), the first three-position four-way proportional reversing valve 64 is in the right position, and the hydraulic oil in the accumulator 75 flows out through its 75A port. The hydraulic oil flowing out of the 75A port flows into the first pressure sensor 74 through the 74A port of the first pressure sensor 74, and flows into the proportional speed control valve 79 through the 79A port of the proportional speed control valve 79. After the hydraulic oil is adjusted by the proportional speed control valve 79, it flows out from its 79B port. When the hydraulic oil flowing out of the 79B port is When the pressure of the hydraulic oil is higher than the preset pressure of the proportional relief valve 80, a part of the hydraulic oil flowing out of the port 79B flows into the proportional relief valve 80 through the port 80A of the proportional relief valve 80, and the hydraulic oil flows directly back to the oil tank 81 through the port 80 after passing through the proportional relief valve 80. The hydraulic oil flowing out of the port 79B flows into the first three-position four-way proportional reversing valve 64 through the port 64P of the first three-position four-way proportional reversing valve 64 after the pressure regulation of the proportional relief valve 80, and the hydraulic oil flows out of the port 64A after passing through the first three-position four-way proportional reversing valve 64, and the hydraulic oil flowing out of the port 64A flows into the first hydraulically controlled one-way valve 46 through the port 46A of the first hydraulically controlled one-way valve 46, and flows into the second The 47C port of the hydraulically controlled one-way valve 47 flows into the second hydraulically controlled one-way valve 47. At this time, the second hydraulically controlled one-way valve 47 is in a two-way conducting state. The hydraulic oil flows out of the 46B port of the first hydraulically controlled one-way valve 46 after passing through the 46B port. The hydraulic oil flowing out of the 46B port flows into the first stop valve 28 through the 28A port of the first stop valve 28. The hydraulic oil flows out of the 28B port of the first stop valve 28 after passing through the 28B port. The hydraulic oil flowing out of the 28B port flows into the first pressure sensor 10 through the 10A port of the first pressure sensor 10, and flows into the rodless chamber of the first double-acting single-rod hydraulic cylinder 1 through the 1A port of the first double-acting single-rod hydraulic cylinder 1. The first double-acting single-rod hydraulic cylinder The hydraulic oil in the rod chamber of 1 flows out through its 1B port, the hydraulic oil flowing out of the 1B port flows into the second stop valve 29 through the 29B port of the second stop valve 29, the hydraulic oil flows out from the 29A port after passing through the second stop valve 29, the hydraulic oil flowing out of the 29A port flows into the second hydraulically controlled one-way valve 47 through the 47B port of the second hydraulically controlled one-way valve 47, the hydraulic oil flows out from the 47A port after passing through the second hydraulically controlled one-way valve 47, the hydraulic oil flowing out of the 47A port flows into the first three-position four-way proportional reversing valve 64 through the 64B port of the first three-position four-way proportional reversing valve 64, and the hydraulic oil flows back to the oil tank 81 directly from the 64T port after passing through the first three-position four-way proportional reversing valve 64.

[0079] When the main drive 86 is required to move vertically downward, the first three-position four-way proportional reversing valve 64 is in the left position, and the hydraulic oil in the accumulator 75 flows out through its 75A port. The hydraulic oil flowing out of the 75A port flows into the first pressure sensor 74 through the 74A port of the first pressure sensor 74, and flows into the proportional speed regulating valve 79 through the 79A port of the proportional speed regulating valve 79. The hydraulic oil flows out from the 79B port after being adjusted by the proportional speed regulating valve 79. When the pressure of the hydraulic oil flowing out of the 79B port is higher than the preset pressure of the proportional relief valve 80, a part of the hydraulic oil flowing out of the 79B port flows into the proportional relief valve 80 through the 80A port. Proportional relief valve 80, the hydraulic oil flows directly back to oil tank 81 from port 80 of proportional relief valve 80, the hydraulic oil flowing out of port 79B flows into the first three-position four-way proportional reversing valve 64 through port 64P of the first three-position four-way proportional reversing valve 64 after pressure regulation of proportional relief valve 80, the hydraulic oil flows out of port 64A of the first three-position four-way proportional reversing valve 64, the hydraulic oil flowing out of port 64B flows into the second hydraulically controlled one-way valve 47 through port 47A of the second hydraulically controlled one-way valve 47, and flows into the first hydraulically controlled one-way valve 46 through port 46C of the first hydraulically controlled one-way valve 46. At this time, the first hydraulically controlled one-way valve 46 flows into the first hydraulically controlled one-way valve 46 through port 46A of the second hydraulically controlled one-way valve 47. The directional valve 46 is in a two-way conducting state. The hydraulic oil flows out of the 47B port after passing through the second hydraulically controlled one-way valve 47. The hydraulic oil flowing out of the 47B port flows into the second stop valve 29 through the 29A port of the second stop valve 29. The hydraulic oil flows out of the 29B port after passing through the second stop valve 29. The hydraulic oil flows out of the 29B port through the 1B port of the first double-acting single-rod hydraulic cylinder 1 and flows into the rodless chamber of the first double-acting single-rod hydraulic cylinder 1. The hydraulic oil in the rod chamber of the first double-acting single-rod hydraulic cylinder 1 flows out through its 1A port. The hydraulic oil flowing out of the 1A port flows into the 10A port of the first pressure sensor 10 respectively. The first pressure sensor 10 flows into the first stop valve 28 through the 28B port of the first stop valve 28, and the hydraulic oil flows out of the 28A port after passing through the first stop valve 28. The hydraulic oil flowing out of the 28A port flows into the first hydraulically controlled one-way valve 46 through the 46B port of the first hydraulically controlled one-way valve 46, and the hydraulic oil flows out of the 46A port of the first hydraulically controlled one-way valve 46. The hydraulic oil flowing out of the 46A port flows into the first three-position four-way proportional reversing valve 64 through the 64A port of the first three-position four-way proportional reversing valve 64, and the hydraulic oil flows back to the oil tank 81 directly through the 64T port of the first three-position four-way proportional reversing valve 64 after passing through the first three-position four-way proportional reversing valve 64.

[0080] When the first displacement sensor 19, the second displacement sensor 20, the third displacement sensor 21, the fourth displacement sensor 22, the fifth displacement sensor 23, the sixth displacement sensor 24, the seventh displacement sensor 25, the eighth displacement sensor 26 or the ninth displacement sensor 27 detects that the hydraulic cylinder group moves to the preset position, the reversing valve group switches to the middle position. At this time, the hydraulic cylinder group is in a static self-locking state. The piston rod of the hydraulic cylinder group outputs a supporting force Fm and a displacement under the action of the high-pressure oil inside it. The supporting force Fm is transmitted to the main drive lower base plate 84 through the ball hinge 88. The total displacement of the main drive lower base plate 84 is The supporting force Fs from the hydraulic cylinder group is used to bear the deadweight G of the TBM shell. When the hydraulic cylinder group outputs the supporting force, a supporting reaction force Fn is outputted from the bottom thereof. The supporting reaction force Fn is transmitted to the roller base 94 through the ball hinge 88. The supporting reaction force Fn received by the roller base 94 is uniformly applied to the surrounding rock below through a number of roller assemblies 95 arranged below. In the scheme 1 of the roller assembly 95, the roller base 94 transmits the force to the outer shell of the roller assembly 95 through extrusion deformation. The outer shell of the roller assembly 95 transmits the force to its first tapered roller bearing 954 and the second tapered roller bearing 95 through the annular groove inside the roller assembly 95. The outer ring of the roller bearing 955, the first tapered roller bearing 954 and the second tapered roller bearing 955 transmit the force to their inner rings through the internal tapered rollers, the inner rings of the first tapered roller bearing 954 and the second tapered roller bearing 955 transmit the force to the first center shaft 957 through the shaft shoulder, the first center shaft 957 transmits the force to the first outer edge rolling layer 958 through the cover plate 9510, and the first outer edge rolling layer 958 transmits the force to the surrounding rock below through close contact with the rock wall below; in the second scheme of the roller assembly 95, the roller base 94 transmits the force to the outer shell of the roller assembly 95 through extrusion deformation The outer shell of the roller assembly 95 transmits the force to its second central axis 9516 through the annular groove inside it, and the second central axis 9516 transmits the force to the second outer edge rolling layer 9520 through the third tapered roller bearing 9519 matched therewith, and the second outer edge rolling layer 9520 transmits the force to the surrounding rock below through the close contact with the rock wall below, and the movement of the piston rod of the hydraulic cylinder group further drives the main drive lower base plate 84 to move, and the slider 91 moves along the inner wall of the guide groove 90 so that the main drive lower base plate 84 moves along the normal direction of the main drive 86, thereby realizing the active adjustment function of the position of the main drive 86.

[0081] At the same time, the axial position of the rolling shell can be actively loaded. When the main driver 86 is subjected to axial force, in order to maintain the stability of the main driver 86, it is necessary to actively bear part of the axial load. At this time, the ninth three-position four-way proportional reversing valve 72 is in the right position, and the hydraulic oil in the accumulator 75 flows out through its 75A port. The hydraulic oil flowing out of the 75A port flows into the first pressure sensor 74 through the 74A port of the first pressure sensor 74, and flows into the proportional speed control valve 79 through the 79A port of the proportional speed control valve 79. After the hydraulic oil is adjusted by the proportional speed control valve 79, it flows out from its 79B port. When the pressure of the hydraulic oil flowing out of the 79B port is higher than the preset pressure of the proportional relief valve 80, the hydraulic oil flowing out of the 79B port A part of the pressurized oil flows into the proportional relief valve 80 through the 80A port of the proportional relief valve 80, and the hydraulic oil flows directly back to the oil tank 81 through the 80 port of the proportional relief valve 80 after passing through the proportional relief valve 80. The hydraulic oil flowing out of the 79B port flows into the proportional throttle valve 73 through the 73A port of the proportional throttle valve 73 after the pressure regulation of the proportional relief valve 80, and the hydraulic oil flows out of the 73B port of the proportional throttle valve 73 after passing through the 73B port, and the hydraulic oil flowing out of the 73B port flows into the ninth three-position four-way proportional reversing valve 72 through the 72P port of the ninth three-position four-way proportional reversing valve 72, and the hydraulic oil flows out of the 72A port of the ninth three-position four-way proportional reversing valve 72 after passing through the 72A port of the ninth three-position four-way proportional reversing valve 72, and the hydraulic oil flowing out of the 72A port flows into the seventh three-position four-way proportional reversing valve 62 through the 62A port of the seventh hydraulically controlled one-way valve 62. The seventeen hydraulically controlled one-way valves 62 flow into the eighteenth hydraulically controlled one-way valve 63 through the 63C port of the eighteenth hydraulically controlled one-way valve 63. At this time, the eighteenth hydraulically controlled one-way valve 63 is in a two-way conduction state. The hydraulic oil flows out from the 62B port after passing through the seventeenth hydraulically controlled one-way valve 62. The hydraulic oil flowing out of the 62B port flows into the seventeenth stop valve 44 through the 44A port of the seventeenth stop valve 44. The hydraulic oil flows out from the 44B port after passing through the seventeenth stop valve 44. The hydraulic oil flows out from the 44B port flows into the ninth pressure sensor 18 through the 18A port of the ninth pressure sensor 18, and flows into the left chamber of the double-acting double-rod hydraulic cylinder 9 through the 9A port of the double-acting double-rod hydraulic cylinder 9. The double-acting double-rod hydraulic cylinder 9 is The hydraulic oil in the right chamber of the rod hydraulic cylinder 9 flows out through its 9B port, the hydraulic oil flowing out of the 9B port flows into the eighteenth stop valve 45 through the 45B port of the eighteenth stop valve 45, the hydraulic oil flows out from the 45A port after passing through the eighteenth stop valve 45, the hydraulic oil flowing out of the 45A port flows into the eighteenth hydraulic control check valve 63 through the 63B port of the eighteenth hydraulic control check valve 63, the hydraulic oil flows out from the 63A port after passing through the eighteenth hydraulic control check valve 63, the hydraulic oil flowing out of the 63A port flows into the ninth three-position four-way proportional reversing valve 72 through the 72B port of the ninth three-position four-way proportional reversing valve 72, the hydraulic oil flows back to the oil tank 81 directly from the 72T port after passing through the ninth three-position four-way proportional reversing valve 72;The piston rod position of the double-acting double-rod hydraulic cylinder 9 is actively adjusted by switching the valve core position of the ninth three-position four-way proportional reversing valve 72 and the valve opening of the proportional throttle valve 73. The piston rod of the double-acting double-rod hydraulic cylinder 9 outputs force and displacement under the action of high-pressure oil. The active bearing force output by the piston rod of the double-acting double-rod hydraulic cylinder 9 is transmitted to the main drive lower base plate 84 through the slider 90. The main drive lower base plate 84 transmits the force to the main drive 86 through a fixed connection. The piston rod of the double-acting double-rod hydraulic cylinder 9 outputs the active bearing force and outputs a reaction force at the same time. The reaction force output by the piston rod of the double-acting double-rod hydraulic cylinder 9 is transmitted to the roller base 94 through the axial hydraulic cylinder end cover 91 and the axial hydraulic cylinder body 93. The force transmitted to the roller base 94 is offset by the friction between the several roller assemblies 95 arranged below and the rock wall below. The movement of the piston rod of the double-acting double-rod hydraulic cylinder 9 drives the main drive lower bottom plate 84 to move. The movement of the main drive lower bottom plate 84 drives the main driver 86 to move along the axial direction of the TBM shell, thereby realizing the axial position and load active bearing function of the main driver 86. ;

[0082] When this embodiment is used, during the excavation process, due to the rock-breaking effect of the cutterhead on the rock wall in front, the rock wall will apply a load torque opposite to the direction of the cutterhead to the TBM cutterhead. The load torque is transmitted to the hydraulic cylinder group through the TBM main driver 86. The hydraulic cylinder group applies a stabilizing torque under the action of the hydraulic oil to stabilize the TBM main driver 86. The hydraulic cylinder group transmits the force to the support shell below the TBM through the end ball hinge. The force transmitted to the support shell below the TBM is finally offset by the static friction between the roller assembly 95 and the underlying rock and soil. The first outer edge rolling layer 958 is subjected to an axial static friction force F1 from the rock and soil. The first outer edge rolling layer 958 transmits the force F2 to the cover plate 9510 through a bolt connection. One side of the cover plate 9510 acts on the shoulder of the first central axis 957 and transmits the force F3 to the first central axis 957. The two different shoulders of the first central axis 957 respectively transmit the force F4 to the second circular The inner ring of the tapered roller bearing 955 transmits force F5 to the inner ring of the first tapered roller bearing 954. The inner ring of the first tapered roller bearing 954 transmits force to its outer ring through its internal tapered rollers. The outer ring of the first tapered roller bearing 954 transmits force F6 to the left and right roller shells through the annular groove of the roller shell. The inner ring of the second tapered roller bearing 955 transmits force to its outer ring through its internal tapered rollers. The outer ring of the second tapered roller bearing 955 transmits force F7 to the left and right roller shells through the annular groove of the roller shell. The left and right roller shells transmit force F8 to the roller base 94 through bolt connection. The force F14 received by the roller base 94 is transmitted to the hydraulic cylinder group. The hydraulic cylinder group ensures the stability of the position of its piston under the action of the high-pressure oil inside it. The torque from the cutter head received by the TBM main beam and the stabilizing torque applied by the hydraulic cylinder group offset each other, ensuring the stability of the position and posture of the TBM main driver 86.

[0083] During the TBM excavation process, the shell of this embodiment moves forward, and the moving components of the roller assembly 95 roll forward along the rock and soil below. The first outer edge rolling layer 958 drives the first center shaft 957 to rotate together through a key connection, and the inner rings of the first tapered roller bearing 954 and the second tapered roller bearing 955 rotate with the first center shaft 957 through an interference fit.

[0084] Example 2

[0085] See also Figure 17-Figure 21The difference between this embodiment and embodiment 1 is that the roller assembly 95 includes a second central axis 951 (the two ends of the second central axis 951 are non-rotating bosses, such as bosses with rectangular, triangular or trapezoidal cross-sections, etc.), a positioning bolt 9517, a bearing end cover 9518, a third tapered roller bearing 9519, a second outer edge rolling layer 9520, a second connecting bolt 9521, a dynamic seal ring 9522, an adjusting gasket 9523, a positioning sleeve 9524, a second roller left shell 9525, a second roller right shell 9526, a second connecting threaded hole 9527, and a third connecting bolt 9528.

[0086] The left side shell 9525 of the second roller is connected to the right side shell 9526 of the second roller by the third connecting bolt 9528; an annular and rectangular grooves are provided inside the shell of the roller assembly 95; the inner ring of the third tapered roller bearing 9519 is installed on the second center shaft 9516 by interference fit, and the outer ring of the third tapered roller bearing 9519 is installed in the annular groove of the outer edge wear-resistant layer 9521 by interference fit; rectangular bosses are provided at both ends of the second center shaft 9516, and the second center shaft 9516 is installed in the rolling shell by the shape matching of the rectangular bosses at both ends and the rectangular grooves inside the shell of the roller assembly 95, and the circumferential rotation of the second center shaft 9516 is realized by the mutual cooperation between the rectangular boss of the second center shaft 9516 and the rectangular groove of the rolling shell. Positioning, the bearing end cover 9518 is connected to the second outer edge rolling layer 9520 by the second connecting bolt 9521; the bearing end cover 9518 is provided with an annular boss for axially positioning the outer ring of the third tapered roller bearing 9519; the positioning sleeve 9524 is connected to the second center axis 9516 by the positioning bolt 9517; the adjusting gasket 9523 is installed between the third tapered roller bearing 9519 and the positioning sleeve 9524, and the axial positioning and pre-tightening of the third tapered roller bearing 9519 are achieved by adjusting the thickness of the adjusting gasket 9523; the bearing end cover 9518 is provided with a second dynamic dust ring 9522 near the second center axis 9516; the second dynamic dust ring 9522 can effectively prevent dust from entering the interior of the third tapered roller bearing 9519.

[0087] When this embodiment is used, during the excavation process, due to the rock-breaking effect of the cutterhead on the rock wall in front, the rock wall will apply a load torque opposite to the direction of the cutterhead to the TBM cutterhead. The load torque is transmitted to the hydraulic cylinder group through the TBM main driver 86. The hydraulic cylinder group applies a stabilizing torque under the action of hydraulic oil to stabilize the TBM main driver 86. The hydraulic cylinder group transmits the force to the supporting shell below the TBM through the end ball hinge. The force transmitted to the supporting shell below the TBM is finally offset by the static friction between the roller assembly 95 and the underlying rock and soil. The second outer edge rolling layer 9520 is subjected to an axial static friction force F9 from the rock and soil. The first outer edge rolling layer 958920 transmits the force F10 to the outer ring of the third tapered roller bearing 9519 through the internal annular boss. The outer ring of the third tapered roller bearing 9519 squeezes its inner The tapered roller transmits the force to its inner ring. The inner ring of the third tapered roller bearing 9519 transmits the force F11 to the positioning sleeve 9524 through the annular boss. The positioning sleeve 9524 transmits the force F12 to the second center shaft 9516 through the positioning bolt 9517. The second center shaft 9516 transmits the force F13 to the left and right shells of the roller assembly 95 through its annular shoulder. The left and right shells of the roller transmit the force F14 to the roller base 94 through bolt connection. The force F14 received by the roller base 94 is transmitted to the hydraulic cylinder group. The hydraulic cylinder group ensures the stability of the position of its piston under the action of the high-pressure oil inside it. The torque from the cutter disc received by the TBM main driver 86 and the stabilizing torque applied by the hydraulic cylinder group offset each other, ensuring the stability of the position and posture of the TBM main driver 86 and realizing the transmission and balance of the force of the TBM rolling shell.

[0088] During the TBM excavation process, the shell of this embodiment moves forward, and the moving components of the roller assembly 95 roll forward along the rock and soil below. The outer ring of the tapered roller bearing 951 rotates together with the dynamic wear-resistant layer 9520 through an interference fit. The bearing end cover 9518 rotates together with the second outer edge rolling layer 9520 through a bolt connection. A second dynamic dust ring 9522 is provided between the bearing end cover 9518 and the positioning sleeve 9524 to prevent dust from entering the transmission mechanism. The inner ring of the tapered roller bearing 951 is fixedly connected to the second center shaft 9516 through an interference fit. The second center shaft 9516 realizes its own circumferential positioning through the rectangular shoulders at both ends, thereby completing the transmission of the movement of the flexible active compensation rolling type TBM shell.

[0089] The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0090] The above content shows and describes the basic principles, main features and beneficial effects of the present invention. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An active flexible support rolling shell for TBM, characterized in that: It comprises a main drive lower bottom plate (84) on which a main drive (86) is installed and a plurality of shield shell blocks, wherein the main drive lower bottom plate (84) and the shield shell blocks are hingedly connected in sequence to form a ring, a roller base (94) is arranged between two shield shell blocks located on both sides of the main drive lower bottom plate (84), a vertical position active adjustment hydraulic cylinder group is arranged between the top of the roller base (94) and the bottom of the main drive lower bottom plate (84), a roller assembly (95) is arranged at the bottom of the roller base (94), and an axial active load-bearing hydraulic cylinder (9) is arranged at the top, and the axial active load-bearing hydraulic cylinder (9) acts between the roller base (94) and the main drive lower bottom plate (84); The shield shell blocks include a left shell (82), a right shell (83), and a top shell, the upper end of the left shell (82) and the upper end of the right shell (83) are hinged to the two sides of the top shell, and the lower end of the left shell (82) and the lower end of the right shell (83) are hinged to the two sides of the main drive lower bottom plate (84); The main drive lower base plate (84) comprises a horizontal support plate and a vertical support plate located at the front side and / or the rear side of the horizontal support plate, the shield shell blocks are hingedly connected to the vertical support plate, the vertical position active adjustment hydraulic cylinder group is hingedly connected between the top of the roller base (94) and the bottom of the horizontal support plate, and the axial active load-bearing hydraulic cylinder (9) is connected between the roller base (94) and the vertical support plate; When the axial active load-bearing hydraulic cylinder (9) drives the main driving lower bottom plate (84) to move axially, the vertical support plate moves along the axial direction of the roller base (94); the upper end surface of the roller base (94) is a concave arc structure, and the lower end surface of the main driving lower bottom plate (84) is a convex arc structure; the concave arc structure and the convex arc structure are opposite to each other and have the same curvature; The axial active load-bearing hydraulic cylinder (9) is a double-acting double-rod hydraulic cylinder, the cylinder body (93) of the double-acting double-rod hydraulic cylinder is connected to a roller base (94), the piston rod (92) of the double-acting double-rod hydraulic cylinder is connected to a slider (90), the main drive lower base plate (84) is connected to a vertically arranged guide groove (89), and the slider (90) and the guide groove (89) are vertically slidably matched.

2. The active flexible support rolling shell for TBM according to claim 1, characterized in that: The vertical position active adjustment hydraulic cylinder group comprises a plurality of double-acting single-rod hydraulic cylinders, the plurality of double-acting single-rod hydraulic cylinders are divided into two rows that are symmetrical on the left and right, the axial active load-bearing hydraulic cylinder (9) is arranged on the roller base (94) between the two rows of double-acting single-rod hydraulic cylinders, and the axial active load-bearing hydraulic cylinder (9) is located in the middle position of the roller base (94) in the circumferential direction.

3. The active flexible support rolling shell for TBM according to claim 2, characterized in that: The vertical position active adjustment hydraulic cylinder group comprises a left cylinder group and a right cylinder group, the left cylinder group comprises a first double-acting single-rod hydraulic cylinder (1), a second double-acting single-rod hydraulic cylinder (2), a third double-acting single-rod hydraulic cylinder (3), and a fourth double-acting single-rod hydraulic cylinder (4), and the right cylinder group comprises a fifth double-acting single-rod hydraulic cylinder (5), a sixth double-acting single-rod hydraulic cylinder (6), a seventh double-acting single-rod hydraulic cylinder (7), and an eighth double-acting single-rod hydraulic cylinder (8), and the upper ends of the left cylinder group and the right cylinder group face the centroid of the main drive (86).

4. The active flexible support rolling shell for TBM according to any one of claims 1 to 3, characterized in that: The roller assembly (95) comprises a roller and an outer shell, the roller comprising an inner roller and an outer roller which are nested with each other, and the inner roller and the outer roller have two assembly modes: assembly mode 1: when the inner roller and the outer shell are rotationally matched, the outer roller and the inner roller are circumferentially fixed or circumferentially rotationally matched; assembly mode 2: when the inner roller and the outer shell are circumferentially fixed, the outer roller and the inner roller are circumferentially rotationally matched.

5. The active flexible support rolling shell for TBM according to claim 4, characterized in that: In the first assembly method, the roller includes a first central axis (957), and the outer shell includes a first roller left shell (9512) and a first roller right shell (9513) that are detachably connected. The first central axis (957) is arranged between the first roller left shell (9512) and the first roller right shell (9513) through a first bearing assembly, and a first sealing assembly is arranged between the first roller left shell (9512) and the first roller right shell (9513) to prevent contamination of the first bearing assembly.

6. The active flexible support rolling shell for TBM according to claim 5, characterized in that: The first central shaft (957) includes a rolling portion and mounting portions at both ends of the rolling portion, the portion where the rollers are nested with each other is located in the rolling portion, and the first sealing assembly includes a sealing end cover (956) and a dustproof end cover (952), the sealing end cover (956) is located between the rolling portion and the mounting portion, and the dustproof end cover (952) is located outside the mounting portion.

7. The active flexible support rolling shell for TBM according to claim 6, characterized in that: The sealing end cover (956) comprises a first dynamic dust ring (9511) and a static dust ring (959); the first dynamic dust ring (9511) is installed between the outer shell and the outer peripheral surface of the mounting portion, and the static dust ring (959) is installed between the outer shell and the axial end surface of the rolling portion; an elastic gasket (951) is installed on the outer side of the dust cover (952).

8. The active flexible support rolling shell for TBM according to claim 5 or 6, characterized in that: The first bearing assembly comprises a first tapered roller bearing (954) and a second tapered roller bearing (955) which cooperate with the mounting portion, an annular groove is provided in the housing, the first tapered roller bearing (954) and the second tapered roller bearing (955) are arranged in the annular groove and positioned by the shoulder of the mounting portion, and an axial positioning nut (953) is provided at the end of the mounting portion.

9. The active flexible support rolling shell for TBM according to claim 8, characterized in that: The rolling portion comprises a first rolling portion body and a first outer edge rolling layer (958); the first outer edge rolling layer (958) and the first rolling portion body are radially clearance-matched and circumferentially fixed; both ends of the first outer edge rolling layer (958) are axially positioned with the first rolling portion body via a cover plate (9510); and the two cover plates (9510) are connected via stud bolts passing through the first rolling portion body.

10. The active flexible support rolling shell for TBM according to claim 4, characterized in that: In the second assembly method, the outer shell includes a second roller left shell (9525) and a second roller right shell (9526) that are detachably connected, the inner roller includes a second center shaft (9516), and the second center shaft (9516) is detachably arranged between the second roller left shell (9525) and the second roller right shell (9526), ​​and the outer roller includes a second outer edge rolling layer (9520), and the second outer edge rolling layer (9520) is rotatably matched with the second center shaft (9516) through a second bearing assembly, and a second sealing assembly is arranged between the second outer edge rolling layer (9520) and the second center shaft (9516) to prevent contamination of the second bearing assembly.

11. The active flexible support rolling shell for TBM according to claim 10, characterized in that: Both ends of the second center shaft (9516) are provided with non-rotating bosses and shoulders, the non-rotating bosses are matched with the outer shell in circumferential positioning, and the shoulders are matched with the outer shell in axial positioning. A positioning sleeve (9524) is sleeved between the middle part of the second center shaft (9516) and the non-rotating bosses, and the positioning sleeve (9524) is matched with the second center shaft (9516) in axial positioning and circumferential positioning.

12. The active flexible support rolling shell for TBM according to claim 11, characterized in that: The second bearing assembly comprises two third tapered roller bearings (9519) respectively arranged at two ends of the second outer edge rolling layer (9520); the inner ring of the third tapered roller bearing (9519) is mounted on the second central shaft (9516) by interference fit; the outer ring of the third tapered roller bearing (9519) is mounted in the annular groove of the second outer edge rolling layer (9520) by interference fit; an adjustment gasket (9523) is arranged between the third tapered roller bearing (9519) and the positioning sleeve (9524); and the thickness of the adjustment gasket (9523) is adjusted to achieve axial positioning and pre-tightening of the third tapered roller bearing (9519).

13. The active flexible support rolling shell for TBM according to claim 12, characterized in that: The second sealing assembly comprises a bearing end cover (9518), wherein the bearing end cover (9518) is detachably connected to the second outer edge rolling layer (9520), the bearing end cover (9518) is provided with an annular boss for axially positioning the outer ring of the third tapered roller bearing (9519), and a second dynamic dust ring (9522) is provided between the inner ring wall of the bearing end cover (9518) and the outer wall of the positioning sleeve (9524).

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