A method, device and medium for adjusting propulsion load of shield machine

Abstract

The present invention discloses a method, device and medium for adjusting the propulsion load of a shield machine, and relates to the technical field of shield construction. The method includes monitoring the current resistance and the current friction force, determining the actual resistance and the actual friction force according to the relationship between the preset parameters and the two, wherein the preset parameters include the preset resistance, the preset friction force, the critical thrust, the tunneling resistance, the friction force and the pulling force between the shield tail and the pipe segment; determining different working conditions of the shield machine through the relationship between the first sum of the actual resistance and the actual friction force and the difference resistance, and then adjusting the current propulsion load value under different working conditions, so as to realize the self-adaptive adjustment of the propulsion load of the shield machine according to the actual working conditions, avoiding the propulsion load fluctuation problem of the existing shield machine during the tunneling process, which leads to the difficulty of the shield machine to advance and the occurrence of the jamming and stagnation phenomenon, improving the construction efficiency of the shield machine, and reducing the construction risk.

Description

Technical Field

[0001] The invention relates to the technical field of shield construction, and in particular to a method, a device and a medium for adjusting the propulsion load of a shield machine. Background Art

[0002] The shield method is widely used in the construction of various rail transit, water conservancy and hydropower, coal mine inclined shaft and other tunnel projects due to its advantages of high construction efficiency, safety and reliability, and green environmental protection. During this period, many projects encountered complex geological conditions and poor regularity in the construction process, especially in the construction of large-diameter and ultra-large-diameter cross-river tunnels with strict construction requirements.

[0003] Due to the complex and changeable geological conditions of shield tunneling, the thrust load output by the shield machine fluctuates due to the instantaneous changes of external forces (such as excavation face pressure, friction between the shield shell and the soil layer, etc.). The unpredictable changes in external forces make it difficult to predict the fluctuations in the thrust load, and even the shield machine may find it difficult to continue to advance due to excessive excavation face pressure, or when the thrust load output by the shield machine is constant, the shield machine may get stuck and stop due to external forces such as excessive actual friction resistance between the shield shell and the soil layer, which seriously affects the construction efficiency and poses certain construction risks.

[0004] Therefore, how to adjust the propulsion load of the shield machine is an urgent problem that technical personnel in this field need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a method, a device and a medium for adjusting the propulsion load of a shield machine, so as to improve the construction efficiency of the shield machine and reduce the construction risk.

[0006] In order to solve the above technical problems, the present invention provides a method for adjusting the propulsion load of a shield machine, comprising:

[0007] Obtain preset parameters for characterizing the propulsion mechanism of the shield machine, the current propulsion load value, the current resistance of the excavation chamber, and the current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on;

[0008] Determine the difference resistance according to the relationship among critical thrust, driving resistance, friction and pulling force, determine the actual resistance and actual friction according to the relationship among preset parameters, current resistance and current friction, and obtain the first sum value according to the actual resistance and actual friction;

[0009] Determine whether the first sum is less than or equal to the difference resistance;

[0010] If so, the current propulsion load value is adjusted to a second sum value, wherein the second sum value is the sum of the actual resistance, the actual friction force, the excavation resistance, the friction force and the pulling force;

[0011] If not, the current propulsion load value is adjusted to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, the actual friction force and the preset friction force so that the shield machine can advance normally.

[0012] Preferably, the critical thrust is greater than or equal to a third sum, wherein the third sum is the sum of a preset resistance, a preset friction force, a tunneling resistance, a friction force and a pulling force.

[0013] Preferably, the differential resistance is determined according to the relationship among critical thrust, driving resistance, friction and pulling force, including:

[0014] Difference is obtained by subtracting critical thrust, driving resistance, friction and tension;

[0015] The differential resistance is determined based on the relationship between the difference and the preset coefficient.

[0016] Preferably, when the first sum is less than or equal to the differential resistance, adjusting the current propulsion load value to the second sum comprises:

[0017] Obtaining an adjustment step for adjusting the current propulsion load value;

[0018] Determine whether the current propulsion load value is greater than the second sum value;

[0019] If yes, then based on the current propulsion load value, the adjustment step is reduced to obtain the adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value;

[0020] If not, then the adjustment step is increased on the basis of the current propulsion load value to obtain the adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value.

[0021] Preferably, when the first sum is greater than the difference resistance, the current propulsion load value is adjusted to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally, including:

[0022] Obtaining a first adjustment step for adjusting the actual resistance and a second adjustment step for adjusting the actual friction force, wherein the first adjustment step, the second adjustment step, and the step value of the adjustment step are all different;

[0023] When the actual resistance is less than or equal to the preset resistance and the actual friction force is greater than the preset friction force, the second adjustment step is reduced on the basis of the actual friction force to obtain an adjusted actual friction force, and an adjusted current propulsion load value is obtained according to the adjusted actual friction force until the adjusted current propulsion load value is less than or equal to the critical thrust;

[0024] When the actual resistance is greater than the preset resistance and the actual friction force is less than or equal to the preset friction force, the first adjustment step is reduced on the basis of the actual resistance to obtain an adjusted actual resistance, and an adjusted current propulsion load value is obtained according to the adjusted actual resistance until the adjusted current propulsion load value is less than or equal to the critical thrust;

[0025] When the actual resistance is greater than the preset resistance and the actual friction is greater than the preset friction, the second adjustment step is reduced on the basis of the actual friction to obtain the adjusted actual friction, the first adjustment step is reduced on the basis of the actual resistance to obtain the adjusted actual resistance, and a third sum is obtained according to the sum of the adjusted actual resistance and the adjusted actual friction;

[0026] When the third sum is less than or equal to the differential resistance, an adjusted current propulsion load value is obtained according to the third sum until the adjusted current propulsion load value is less than or equal to the critical thrust.

[0027] Preferably, when the third sum is greater than the difference resistance, the method further comprises:

[0028] When the third sum is greater than the differential resistance, a high-pressure escape instruction is initiated to obtain a high-pressure thrust and a third adjustment step for adjusting the high-pressure thrust, wherein the third adjustment step is different from the first adjustment step, the second adjustment step, and the step value of the adjustment step;

[0029] Determine whether the high pressure thrust is less than the current propulsion load value;

[0030] If yes, then the third adjustment step is added to the high pressure thrust to obtain the adjusted high pressure thrust;

[0031] If not, then reducing the third adjustment step length on the basis of the high pressure thrust to obtain the adjusted high pressure thrust;

[0032] When the adjusted high-pressure thrust is equal to the adjusted current propulsion load value, the high-pressure escape instruction is turned off, and the adjusted current propulsion load value is adjusted to be less than or equal to the critical thrust.

[0033] Preferably, adjusting the adjusted current propulsion load value to be less than or equal to the critical thrust includes:

[0034] Determine whether the current propulsion load value after adjustment is less than or equal to the critical thrust;

[0035] If not, then reducing the adjustment step size based on the adjusted current propulsion load value to obtain the next adjusted current propulsion load value and returning to the step of determining whether the adjusted current propulsion load value is less than or equal to the critical thrust;

[0036] If so, the adjusted current thrust load value is output so that the shield machine can advance normally.

[0037] In order to solve the above technical problems, the present invention also provides a method for adjusting the propulsion load of a shield machine, comprising:

[0038] An acquisition module is used to acquire preset parameters for characterizing the propulsion mechanism of the shield machine, the current propulsion load value, the current resistance of the excavation chamber, and the current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on;

[0039] A determination module, used to determine the difference resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force, determine the actual resistance and the actual friction force according to the relationship among the preset parameters, the current resistance and the current friction force, and obtain a first sum value according to the actual resistance and the actual friction force;

[0040] A judging module, used for judging whether the first sum is less than or equal to the difference resistance, and if so, triggering the first regulating module, and if not, triggering the second regulating module;

[0041] A first adjustment module is used to adjust the current propulsion load value to a second sum value, wherein the second sum value is a sum value of actual resistance, actual friction, excavation resistance, friction and pulling force;

[0042] The second adjustment module is used to adjust the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, the actual friction force and the preset friction force so that the shield machine can tunnel normally.

[0043] In order to solve the above technical problems, the present invention further provides a propulsion load adjustment device for a shield machine, comprising:

[0044] Memory for storing computer programs;

[0045] A processor is used to implement the steps of the above-mentioned method for adjusting the propulsion load of the shield machine when executing a computer program.

[0046] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the propulsion load adjustment method of the shield machine as mentioned above are implemented.

[0047] The present invention provides a method for adjusting the propulsion load of a shield machine, comprising obtaining preset parameters for characterizing the propulsion mechanism of the shield machine, a current propulsion load value, a current resistance of an excavation chamber, and a current friction between a shield shell and a soil layer, wherein the preset parameters include a preset resistance, a preset friction force, a critical thrust, a tunneling resistance, and friction and tension between a shield tail and a pipe segment; determining a differential resistance according to the relationship between the critical thrust, the tunneling resistance, the friction force, and the tension force, determining an actual resistance and an actual friction force according to the relationship between the preset parameters, the current resistance, and the current friction force, and obtaining a first sum value according to the actual resistance and the actual friction force; judging whether the first sum value is less than or equal to the differential resistance; if so, adjusting the current propulsion load value to a second sum value, wherein the second sum value is the sum value of the actual resistance, the actual friction force, the tunneling resistance, the friction force, and the tension force; if not, adjusting the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally. The method monitors the current resistance and the current friction force and determines the actual resistance and the actual friction force according to the relationship between the preset parameters and the two. The different working conditions of the shield machine are determined through the relationship between the first sum of the actual resistance and the actual friction force and the differential resistance, and then the current propulsion load value is adjusted under different working conditions to achieve adaptive adjustment of the propulsion load of the shield machine according to the actual working conditions, avoid the propulsion load fluctuation problem of the existing shield machine during the excavation process, which makes it difficult for the shield machine to advance and the occurrence of jamming and stagnation, improve the construction efficiency of the shield machine, and reduce construction risks.

[0048] In addition, the present invention also provides a propulsion load adjustment device and medium for a shield machine, which have the same beneficial effects as the propulsion load adjustment method for a shield machine described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for adjusting propulsion load of a shield machine provided by an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of the installation position of a sensor on the front bulkhead of a shield provided by an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the installation position of a sensor in the circumferential direction of a shield body provided by an embodiment of the present invention;

[0053] Figure 4A structural diagram of a propulsion load adjustment device for a shield machine provided in an embodiment of the present invention;

[0054] Figure 5 A structural diagram of another propulsion load adjustment device for a shield machine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] 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.

[0056] The core of the present invention is to provide a method, device and medium for adjusting the propulsion load of a shield machine, so as to improve the construction efficiency of the shield machine and reduce the construction risk.

[0057] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0058] It should be noted that the shield machine propulsion load adjustment method provided by the present invention comprises a propulsion mechanism, a monitoring mechanism, a grouting and grease injection mechanism, a pressure maintaining mechanism, a circulation mechanism, a driving mechanism and a high-pressure auxiliary mechanism.

[0059] Figure 1 A flow chart of a method for adjusting the propulsion load of a shield machine provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0060] S11: Obtain preset parameters for characterizing the propulsion mechanism of the shield machine, the current propulsion load value, the current resistance of the excavation chamber, and the current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on.

[0061] According to the proposed project and the determined design parameters of the shield machine, the preset parameters used to characterize the propulsion mechanism of the shield machine during the shield machine excavation process are set, among which the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment.

[0062] Specifically, the preset resistance is the excavation chamber propulsion resistance F 11 The preset friction force is the friction resistance F between the shield shell and the soil layer. 22The excavation resistance is the cutter head excavation resistance F3, the friction between the shield tail and the segment F4, the pulling force is the rear supporting system pulling force F5, and the critical thrust F0 is the maximum thrust of the shield machine when the high-pressure pump is not turned on.

[0063] Current propulsion load value F t The thrust load value introduced for the propulsion mechanism of the shield machine. The shield moves in three directions during excavation, namely the X-axis, Y-axis and Z-axis. During the excavation process, the shield will be subjected to forces from the propulsion cylinder, soil, etc. The multiple torque loads and environmental loads generated by it are collectively referred to as the thrust load value.

[0064] The current resistance of the excavation chamber and the current friction between the shield shell and the soil layer are obtained through sensors. Figure 2 A schematic diagram of the installation position of a sensor on the front bulkhead of a shield provided by an embodiment of the present invention, Figure 3 A schematic diagram of the installation position of a sensor in the circumferential direction of a shield provided by an embodiment of the present invention, such as Figure 2 As described above, sensors P11-P15 collect the current resistance value of the excavation chamber. Sensor P111 is installed on the upper part of the front bulkhead of the shield body, sensors P122 and P133 are installed on the left and right sides of the middle of the front bulkhead, sensors P144 and P155 are installed on the left and right sides of the middle and lower parts of the front bulkhead, and grease injection holes 6 are installed between sensor P111 and sensor P122, sensor P144 and sensor P155 respectively. Figure 3 As shown, sensors P21-P26 collect the current friction between the shield body and the excavated stratum, and are arranged along the circumference of the front middle shield shell. Sensor P217 is installed at the top of the circumference, sensor P228 and sensor P239 are installed on the left and right sides of the upper middle part of the circumference, sensor P2410 and sensor P2511 are installed on the left and right sides of the lower middle part of the circumference, sensor P2612 is installed at the bottom of the circumference, and the drilling and injection integrated port 13 is installed between sensor P217 and sensor P228, sensor P239 and sensor P2511.

[0065] S12: Determine the differential resistance according to the relationship among the critical thrust, the excavation resistance, the friction force and the pulling force, determine the actual resistance and the actual friction force according to the relationship among the preset parameters, the current resistance and the current friction force, and obtain a first sum value according to the actual resistance and the actual friction force.

[0066] The differential resistance F is determined according to the relationship among the critical thrust F0, the excavation resistance F3, the friction force F4 and the pulling force F5 in the preset parameters in step S11, and the preset parameters, the current resistance and the current friction force collected by the sensor are respectively input into the programmable controller (PLC) of the shield machine control processing system through the programmer and the input module of the shield machine, and the actual resistance F1 and the actual friction force F2 of the excavation chamber are calculated according to the input conditions, as well as the first sum value F1' obtained according to the actual resistance F1 and the actual friction force F2.

[0067] S13: Determine whether the first sum is less than or equal to the difference resistance, if so, proceed to step S14, if not, proceed to step S15.

[0068] Determine whether the first sum F1' is less than or equal to the differential resistance F to adjust the current propulsion load value under different working conditions. When the first sum F1' is less than or equal to the differential resistance F, enter step S14; when the first sum F1' is greater than the differential resistance F, enter step S15.

[0069] S14: Adjust the current propulsion load value to a second sum value, wherein the second sum value is the sum of actual resistance, actual friction, excavation resistance, friction and pulling force.

[0070] In step S13, when the first sum F1' is less than or equal to the difference resistance F, the current propulsion load value F t Adjust to the second sum value F2', wherein the second sum value is the sum value of the actual resistance F1, the actual friction force F2, the excavation resistance F3, the friction force F4 and the pulling force F5.

[0071] It should be noted that adjusting the current propulsion load value F t The adjustment can be performed according to the adjustment step until the second sum value F2' is reached and the adjustment is stopped. t Compared with the second sum value F2', there are two cases: one is the current propulsion load value F t If it is greater than the second sum value F2', the adjustment step needs to be reduced; the other is the current propulsion load value F t If the value F2 is less than the second sum value F2', the adjustment step length needs to be increased. The step length values ​​of the adjustment step lengths set in the two cases can be the same or different. The present invention does not make specific restrictions and can be set according to actual conditions. For example, in an actual shield machine, the current propulsion load value F t It is often greater than the second sum F2', and has a large difference with the second sum F2'. It is rarely less than the second sum F2'. When it is less than the second sum F2', the difference is small. In order to complete the adjustment as quickly as possible, the adjustment step size is set differently at this time.

[0072] S15: According to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force, the current thrust load value is adjusted to be less than or equal to the critical thrust so that the shield machine can tunnel normally.

[0073] In step S13, when the first sum F1' is greater than the difference resistance F, it is necessary to simultaneously adjust the actual resistance F1 and the preset resistance F 11 , actual friction force F2 and preset friction force F 22 The current propulsion load value is adjusted according to the relationship between the two relationships. The two relationships form four combinations. According to the relationship conditions under different combinations, the working condition of the current propulsion load value is determined, and then the current propulsion load value is adjusted according to different working conditions.

[0074] It should be noted that the present invention is only applicable to F1≤F 11 And F2>F 22 、F2≤F 22 And F1>F 11 、F1>F 11 And F2>F 22 Adjustment is performed in three cases. For F1≤F 11 And F2≤F 22 No adjustment is made. According to the three adjustment situations mentioned above, the adjustment strategies are respectively carried out until the thrust load value F output by the shield machine propulsion system reaches t ≤F0, the shield machine excavates normally.

[0075] The present invention provides a method for adjusting the propulsion load of a shield machine, comprising obtaining preset parameters for characterizing the propulsion mechanism of the shield machine, a current propulsion load value, a current resistance of an excavation chamber, and a current friction between a shield shell and a soil layer, wherein the preset parameters include a preset resistance, a preset friction force, a critical thrust, a tunneling resistance, and friction and tension between a shield tail and a pipe segment; determining a differential resistance according to the relationship between the critical thrust, the tunneling resistance, the friction force, and the tension force, determining an actual resistance and an actual friction force according to the relationship between the preset parameters, the current resistance, and the current friction force, and obtaining a first sum value according to the actual resistance and the actual friction force; judging whether the first sum value is less than or equal to the differential resistance; if so, adjusting the current propulsion load value to a second sum value, wherein the second sum value is the sum value of the actual resistance, the actual friction force, the tunneling resistance, the friction force, and the tension force; if not, adjusting the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally. The method monitors the current resistance and the current friction force and determines the actual resistance and the actual friction force according to the relationship between the preset parameters and the two. The different working conditions of the shield machine are determined through the relationship between the first sum of the actual resistance and the actual friction force and the differential resistance, and then the current propulsion load value is adjusted under different working conditions to achieve adaptive adjustment of the propulsion load of the shield machine according to the actual working conditions, avoid the propulsion load fluctuation problem of the existing shield machine during the excavation process, which makes it difficult for the shield machine to advance and the occurrence of jamming and stagnation, improve the construction efficiency of the shield machine, and reduce construction risks.

[0076] Based on the above embodiment, the critical thrust is greater than or equal to a third sum, wherein the third sum is the sum of the preset resistance, the preset friction, the excavation resistance, the friction and the pulling force.

[0077] Specifically, the critical thrust F0 is the maximum thrust of the shield machine when the high-pressure pump is not turned on, ensuring that F0 ≥ F3', where F3' = F 11 +F 22 +F3+F4+F5 is the preset resistance F 11 , preset friction force F 22 , the sum of excavation resistance F3, friction force F4 and tension F5.

[0078] The critical thrust provided by the embodiment of the present invention is greater than or equal to the sum of the preset resistance, the preset friction, the excavation resistance, the friction and the pulling force, so as to provide an important reference basis for the subsequent adjustment of the current propulsion load value.

[0079] Based on the above embodiment, the step S12 of determining the differential resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force includes:

[0080] Difference is obtained by subtracting critical thrust, driving resistance, friction and tension;

[0081] The differential resistance is determined based on the relationship between the difference and the preset coefficient.

[0082] Specifically, the difference F' is obtained by subtracting the critical thrust F0, the excavation resistance F3, the friction force F4 and the pulling force F5, and the difference resistance F is determined according to the relationship between the difference F' and the preset coefficient k. The formula is as follows:

[0083] (F0-F3-F4-F5)×k=F

[0084] The embodiment of the present invention provides a method for determining the differential resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force, which provides an important reference for the subsequent adjustment of the current propulsion load value.

[0085] On the basis of the above embodiment, when the first sum value is less than or equal to the difference resistance, adjusting the current propulsion load value to the second sum value includes:

[0086] Obtaining an adjustment step for adjusting the current propulsion load value;

[0087] Determine whether the current propulsion load value is greater than the second sum value;

[0088] If yes, then based on the current propulsion load value, the adjustment step is reduced to obtain the adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value;

[0089] If not, then the adjustment step is increased on the basis of the current propulsion load value to obtain the adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value.

[0090] Specifically, an adjustment step for adjusting the current propulsion load value is obtained, and the adjustment method is determined according to the relationship between the current propulsion load value and the second sum value. When the current propulsion load value is greater than the second sum value, the adjustment step is reduced on the basis of the current propulsion load value to obtain the adjusted current propulsion load value, until the adjusted current propulsion load value is equal to the second sum value.

[0091] When the current propulsion load value is less than or equal to the second sum value, the adjustment step is increased on the basis of the current propulsion load value to obtain the adjusted current propulsion load value, until the adjusted current propulsion load value is equal to the second sum value. It should be noted that the adjustment step has the same step value for different adjustment methods in this embodiment, and the step value can be set according to actual conditions without specific limitations. When the current propulsion load value is obtained, the number of adjustments is determined according to the step value. The larger the step value, the fewer the number of adjustments. Obviously, it is not a direct adjustment at one time, but can be adjusted multiple times, tending to a dynamic adjustment process.

[0092] According to an embodiment of the present invention, when the first sum value is less than or equal to the differential resistance, the current propulsion load value is adjusted to the second sum value, so as to facilitate the normal excavation of the shield machine.

[0093] On the basis of the above embodiment, when the first sum is greater than the difference resistance, the current propulsion load value is adjusted to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally, including:

[0094] Obtaining a first adjustment step for adjusting the actual resistance and a second adjustment step for adjusting the actual friction force, wherein the first adjustment step, the second adjustment step, and the step value of the adjustment step are all different;

[0095] When the actual resistance is less than or equal to the preset resistance and the actual friction force is greater than the preset friction force, the second adjustment step is reduced on the basis of the actual friction force to obtain an adjusted actual friction force, and an adjusted current propulsion load value is obtained according to the adjusted actual friction force until the adjusted current propulsion load value is less than or equal to the critical thrust;

[0096] When the actual resistance is greater than the preset resistance and the actual friction force is less than or equal to the preset friction force, the first adjustment step is reduced on the basis of the actual resistance to obtain an adjusted actual resistance, and an adjusted current propulsion load value is obtained according to the adjusted actual resistance until the adjusted current propulsion load value is less than or equal to the critical thrust;

[0097] When the actual resistance is greater than the preset resistance and the actual friction is greater than the preset friction, the second adjustment step is reduced on the basis of the actual friction to obtain the adjusted actual friction, the first adjustment step is reduced on the basis of the actual resistance to obtain the adjusted actual resistance, and a third sum is obtained according to the sum of the adjusted actual resistance and the adjusted actual friction;

[0098] When the third sum is less than or equal to the differential resistance, an adjusted current propulsion load value is obtained according to the third sum until the adjusted current propulsion load value is less than or equal to the critical thrust.

[0099] Specifically, a first adjustment step for adjusting the actual resistance and a second adjustment step for adjusting the actual friction are obtained, wherein the first adjustment step, the second adjustment step and the step value of the adjustment step are all different; due to different adjustment objects, the step values ​​are different.

[0100] When the actual resistance is less than or equal to the preset resistance and the actual friction force is greater than the preset friction force, that is, F1≤F 11 And F2>F 22 , the corresponding instructions are output through the PLC output module to start the lubrication and friction reduction measures to reduce the actual friction until the thrust load value output by the shield machine is less than or equal to the critical thrust, that is, F t≤F0. To reduce the actual friction force, the second adjustment step is reduced on the basis of the actual friction force to obtain the adjusted actual friction force, and the adjusted current propulsion load value is obtained according to the mapping relationship between the actual friction force and the propulsion load value.

[0101] When the actual resistance is greater than the preset resistance and the actual friction force is greater than the preset friction force, that is, F2≤F 22 And F1>F 11 , the PLC output module outputs relevant instructions to start the depressurization and clearing measures to reduce the actual resistance of the excavation chamber until the thrust load value output by the shield machine is less than or equal to the critical thrust, that is, F t ≤F0. For reducing the actual resistance, the first adjustment step is reduced on the basis of the actual resistance to obtain the adjusted actual resistance, and the adjusted current propulsion load value is obtained according to the mapping relationship between the actual resistance and the propulsion load value.

[0102] When the actual resistance is greater than the preset resistance and the actual friction force is greater than the preset friction force, that is, F1>F 11 And F2>F 22 , the corresponding instructions are output through the output module of the PLC, and the lubrication and friction reduction measures and the pressure reduction and cabin cleaning measures are started at the same time. The corresponding adjusted actual friction force and adjusted actual resistance are adjusted according to their respective adjustment methods, and the third sum is obtained according to the sum of the adjusted actual resistance and the adjusted actual friction force.

[0103] When the third sum is less than or equal to the difference resistance, the adjusted current propulsion load value is obtained according to the mapping relationship among the actual resistance, the actual friction force and the propulsion load value.

[0104] It should be noted that when the adjusted current thrust load value is less than or equal to the critical thrust, the adjustment is stopped, otherwise, it is always in the adjustment state. During the process of adjusting the current thrust load value, the shield machine is in normal excavation work.

[0105] It is understandable that lubrication and friction reduction measures include the use of a grouting and grease injection system to inject at least one material such as bentonite mud, grease, and high-concentration bentonite with a viscosity of more than 40s into the space between the shield shell and the soil layer through the shield grease injection hole. Pressure reduction and clearing measures include using a pressure-maintaining system to appropriately reduce the pressure in the excavation chamber to ensure the pressure balance of the excavation chamber; adjusting the drive system to make the cutterhead rotate at a low speed, and at the same time, the main drive telescopic cylinder is retracted to separate the cutterhead from the face; and starting the circulation system to clear the chamber and discharge slag. High-quality sodium-based bentonite is used, and a variety of polymers are added to improve the suspension, wall protection and lubrication properties of the bentonite mud, and reduce cutting resistance.

[0106] According to the embodiment of the present invention, when the first sum is greater than the difference resistance, the current propulsion load value is adjusted to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force, so that the shield machine can tunnel normally. This avoids the problem of propulsion load fluctuation during the tunneling process of the existing shield machine, which causes the shield machine to be difficult to advance and the occurrence of jamming and stagnation, improves the construction efficiency of the shield machine, and reduces the construction risk.

[0107] On the basis of the above embodiment, when the third sum is greater than the difference resistance, the method further includes:

[0108] When the third sum is greater than the difference resistance, a high-pressure escape instruction is initiated to obtain the current high-pressure thrust and a third adjustment step for adjusting the current high-pressure thrust, wherein the third adjustment step is different from the first adjustment step, the second adjustment step, and the step value of the adjustment step;

[0109] Determine whether the current high pressure thrust is less than the current propulsion load value;

[0110] If yes, then the third adjustment step is added to the current high-pressure thrust to obtain the adjusted current high-pressure thrust;

[0111] If not, then reducing the third adjustment step length on the basis of the current high-pressure thrust to obtain the adjusted current high-pressure thrust;

[0112] When the adjusted current high-pressure thrust is equal to the adjusted current propulsion load value, the high-pressure escape instruction is turned off, and the adjusted current propulsion load value is adjusted to be less than or equal to the critical thrust.

[0113] It should be noted that, after taking lubrication and friction reduction measures and depressurization and cabin cleaning measures, if the third sum is still greater than the difference resistance, that is, (F1+F2)>F, the PLC output module will output an escape command, temporarily start the high-pressure escape measures, and obtain the current high-pressure thrust F G Conduct shield tunneling to escape from difficulties, i.e. F t =F G .

[0114] When the current high pressure thrust F G When it is equal to the current propulsion load value, the adjustment of the current high-pressure thrust is stopped. It is necessary to obtain a third adjustment step for adjusting the current high-pressure thrust. In the present invention, since the adjustment objects corresponding to the adjustment parameters are different, the third adjustment step is different from the first adjustment step, the second adjustment step and the step value of the adjustment step.

[0115] Determine whether the current high-pressure thrust is less than the current propulsion load value. If so, increase the third adjustment step; if not, reduce the third adjustment step. Obtain the adjusted current high-pressure thrust according to different adjustment methods. When the adjusted current high-pressure thrust is equal to the adjusted current propulsion load value, turn off the high-pressure escape instruction, that is, turn off the high-pressure escape measure. At this time, continue to adjust the adjusted current propulsion load value to be less than or equal to the critical thrust.

[0116] High-pressure escape measures include introducing an ultra-high-pressure escape motor pump and introducing the ultra-high-pressure pump oil source into the propulsion system to increase the escape thrust; ensuring that the high-pressure escape measures are turned off after the shield machine is escaped, the shield machine propulsion system output propulsion load is adaptively adjusted, and the shield machine advances normally.

[0117] As a preferred embodiment, when the propulsion speed is greater than 0.5 mm / min and the pressure of the escape pump is less than 330 bar, and this state is maintained for 30 seconds, the escape can be considered to be complete. At this time, the escape pump is automatically unloaded, and then the high-pressure escape measures are turned off. The output propulsion load of the shield machine propulsion system is adaptively adjusted to Ft≤F0, and the shield machine excavates normally.

[0118] When the third sum is greater than the difference resistance, the embodiment of the present invention provides that the high-pressure escape instruction is started to obtain the current high-pressure thrust and the third adjustment step for adjusting the current high-pressure thrust to adjust the current high-pressure thrust until it is equal to the adjusted current propulsion load value, thereby increasing the escape thrust. It is ensured that the high-pressure escape measure is turned off after the shield machine is escaped, the shield machine propulsion system outputs the propulsion load adaptively adjusted, and the shield machine is excavated normally.

[0119] On the basis of the above embodiment, when the third sum is greater than the difference resistance, after the high-pressure escape measure is initiated to adjust the high-pressure thrust, the adjusted current propulsion load value is adjusted to be less than or equal to the critical thrust, including:

[0120] Determine whether the adjusted current propulsion load value is less than or equal to the critical thrust;

[0121] If not, then reducing the adjustment step size based on the adjusted current propulsion load value to obtain the next adjusted current propulsion load value and returning to the step of determining whether the adjusted current propulsion load value is less than or equal to the critical thrust;

[0122] If so, the adjusted current thrust load value is output so that the shield machine can advance normally.

[0123] Specifically, the adjusted current propulsion load value continues to be adjusted to be less than or equal to the critical thrust, then it is necessary to determine whether the value is less than or equal to the critical thrust, if so, no adjustment is required, if not, it is necessary to reduce the adjustment step to obtain the next adjusted current propulsion load value and return to the step of continuing to judge until the adjusted current propulsion load value is less than or equal to the critical thrust.

[0124] In addition, the shield machine analyzes and processes all input signal data and the like through the PLC, and the calculated data can be directly displayed on the control panel through the display screen and not only.

[0125] According to the embodiment of the present invention, when the third sum is greater than the difference resistance, the high-pressure escape measures are started to adjust the high-pressure thrust, and the adjusted current propulsion load value is adjusted to be less than or equal to the critical thrust, to ensure that the high-pressure escape measures are turned off after the shield machine is escaped, the shield machine propulsion system outputs the propulsion load adaptively adjusted, and the shield machine advances normally.

[0126] The above describes in detail various embodiments corresponding to the method for adjusting the propulsion load of a shield machine. On this basis, the present invention also discloses a device for adjusting the propulsion load of a shield machine corresponding to the above method. Figure 4 The structural diagram of a propulsion load adjustment device for a shield machine provided by an embodiment of the present invention. Figure 4 As shown, the thrust load adjustment device of the shield machine includes:

[0127] The acquisition module 14 is used to obtain preset parameters for characterizing the propulsion mechanism of the shield machine, the current propulsion load value, the current resistance of the excavation chamber, and the current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on;

[0128] A determination module 15 is used to determine the difference resistance according to the relationship between the critical thrust, the tunneling resistance, the friction force and the pulling force, determine the actual resistance and the actual friction force according to the relationship between the preset parameters, the current resistance and the current friction force, and obtain a first sum value according to the actual resistance and the actual friction force;

[0129] A judging module 16 is used to judge whether the first sum is less than or equal to the difference resistance, and if so, trigger the first adjusting module 17, and if not, trigger the second adjusting module 18;

[0130] A first adjustment module 17 is used to adjust the current propulsion load value to a second sum value, wherein the second sum value is the sum of the actual resistance, the actual friction force, the excavation resistance, the friction force and the pulling force;

[0131] The second adjustment module 18 is used to adjust the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally.

[0132] Since the embodiments of the device part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the device part, and will not be repeated here.

[0133] The present invention provides a propulsion load adjustment device for a shield machine, comprising obtaining preset parameters for characterizing the propulsion mechanism of the shield machine, a current propulsion load value, a current resistance of an excavation chamber, and a current friction between a shield shell and a soil layer, wherein the preset parameters include a preset resistance, a preset friction force, a critical thrust, a tunneling resistance, and friction and tension between a shield tail and a pipe segment; determining a differential resistance according to the relationship between the critical thrust, the tunneling resistance, the friction force, and the tension force, determining an actual resistance and an actual friction force according to the relationship between the preset parameters, the current resistance, and the current friction force, and obtaining a first sum value according to the actual resistance and the actual friction force; judging whether the first sum value is less than or equal to the differential resistance; if so, adjusting the current propulsion load value to a second sum value, wherein the second sum value is the sum value of the actual resistance, the actual friction force, the tunneling resistance, the friction force, and the tension force; if not, adjusting the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally. The device monitors the current resistance and the current friction force, determines the actual resistance and the actual friction force according to the relationship between the preset parameters and the two, determines the different working conditions of the shield machine through the relationship between the first sum of the actual resistance and the actual friction force and the differential resistance, and then adjusts the current propulsion load value under different working conditions, so as to realize adaptive adjustment of the propulsion load of the shield machine according to the actual working conditions, avoid the propulsion load fluctuation problem of the existing shield machine during the excavation process, which makes it difficult to propel the shield machine and causes jamming and stagnation, thereby improving the construction efficiency of the shield machine and reducing construction risks.

[0134] Figure 5 A structural diagram of another propulsion load adjustment device for a shield machine provided in an embodiment of the present invention, such as Figure 5 As shown, the device comprises:

[0135] A memory 21, used for storing computer programs;

[0136] The processor 22 is used to implement the steps of the method for adjusting the propulsion load of the shield machine when executing the computer program.

[0137] The thrust load adjustment device of the shield machine provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0138] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0139] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used to store the following computer program 211, wherein, after the computer program is loaded and executed by the processor 22, it can implement the relevant steps of the propulsion load adjustment method of the shield machine disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, data involved in the propulsion load adjustment method of the shield machine, etc.

[0140] In some embodiments, the propulsion load adjustment device of the shield machine may also include a display screen 23 , an input / output interface 24 , a communication interface 25 , a power supply 26 , and a communication bus 27 .

[0141] Those skilled in the art can understand that Figure 5 The structure shown in the figure does not constitute a limitation on the propulsion load adjustment device of the shield machine, and may include more or fewer components than those shown in the figure.

[0142] The processor 22 implements the propulsion load adjustment method of the shield machine provided in any of the above embodiments by calling the instructions stored in the memory 21.

[0143] The present invention provides a propulsion load adjustment device for a shield machine, comprising obtaining preset parameters for characterizing the propulsion mechanism of the shield machine, a current propulsion load value, a current resistance of an excavation chamber, and a current friction between a shield shell and a soil layer, wherein the preset parameters include a preset resistance, a preset friction force, a critical thrust, a tunneling resistance, and friction and tension between a shield tail and a pipe segment; determining a differential resistance according to the relationship between the critical thrust, the tunneling resistance, the friction force, and the tension force, determining an actual resistance and an actual friction force according to the relationship between the preset parameters, the current resistance, and the current friction force, and obtaining a first sum value according to the actual resistance and the actual friction force; judging whether the first sum value is less than or equal to the differential resistance; if so, adjusting the current propulsion load value to a second sum value, wherein the second sum value is the sum value of the actual resistance, the actual friction force, the tunneling resistance, the friction force, and the tension force; if not, adjusting the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally. The device monitors the current resistance and the current friction force, determines the actual resistance and the actual friction force according to the relationship between the preset parameters and the two, determines the different working conditions of the shield machine through the relationship between the first sum of the actual resistance and the actual friction force and the differential resistance, and then adjusts the current propulsion load value under different working conditions, so as to realize adaptive adjustment of the propulsion load of the shield machine according to the actual working conditions, avoid the propulsion load fluctuation problem of the existing shield machine during the excavation process, which makes it difficult to propel the shield machine and causes jamming and stagnation, thereby improving the construction efficiency of the shield machine and reducing construction risks.

[0144] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the propulsion load adjustment method of the shield machine as described above are implemented.

[0145] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0146] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above-mentioned method for adjusting the propulsion load of the shield machine.

[0147] The above is a detailed introduction to a propulsion load adjustment method for a shield machine, a propulsion load adjustment device for a shield machine and a medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0148] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for adjusting the propulsion load of a shield machine, characterized in that: include: Obtaining preset parameters for characterizing the propulsion mechanism of the shield machine, the current propulsion load value, the current resistance of the excavation chamber, and the current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on; Determine the differential resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force, determine the actual resistance and the actual friction force according to the relationship among the preset parameters, the current resistance and the current friction force, and obtain a first sum value according to the actual resistance and the actual friction force; Determining whether the first sum value is less than or equal to the difference resistance; If yes, adjusting the current propulsion load value to a second sum value, wherein the second sum value is the sum of the actual resistance, the actual friction force, the excavation resistance, the friction force and the pulling force; If not, adjusting the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and between the actual friction force and the preset friction force so that the shield machine can tunnel normally; Correspondingly, when the first sum value is less than or equal to the differential resistance, adjusting the current propulsion load value to the second sum value includes: Obtaining an adjustment step for adjusting the current propulsion load value; Determining whether the current propulsion load value is greater than the second sum value; If yes, then reducing the adjustment step size based on the current propulsion load value to obtain an adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value; If not, increasing the adjustment step size on the basis of the current propulsion load value to obtain an adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value; Correspondingly, determining the differential resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force includes: Subtracting the critical thrust, the excavation resistance, the friction force and the pulling force to obtain a difference; The differential resistance is determined according to the relationship between the difference and a preset coefficient.

2. The method for adjusting the propulsion load of a shield machine according to claim 1, characterized in that: The critical thrust is greater than or equal to a third sum, wherein the third sum is the sum of the preset resistance, the preset friction force, the excavation resistance, the friction force, and the pulling force.

3. The method for adjusting the propulsion load of a shield machine according to claim 1, characterized in that: When the first sum is greater than the difference resistance, the current propulsion load value is adjusted to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and between the actual friction force and the preset friction force so that the shield machine can tunnel normally, including: Acquire a first adjustment step for adjusting the actual resistance and a second adjustment step for adjusting the actual friction force, wherein the first adjustment step, the second adjustment step, and the step values ​​of the adjustment step are all different; When the actual resistance is less than or equal to the preset resistance and the actual friction force is greater than the preset friction force, the actual friction force after adjustment is obtained by reducing the second adjustment step on the basis of the actual friction force, and the current propulsion load value after adjustment is obtained according to the actual friction force after adjustment until the current propulsion load value after adjustment is less than or equal to the critical thrust; When the actual resistance is greater than the preset resistance and the actual friction force is less than or equal to the preset friction force, the first adjustment step is reduced on the basis of the actual resistance to obtain an adjusted actual resistance, and an adjusted current propulsion load value is obtained according to the adjusted actual resistance until the adjusted current propulsion load value is less than or equal to the critical thrust; When the actual resistance is greater than the preset resistance and the actual friction force is greater than the preset friction force, the second adjustment step is reduced on the basis of the actual friction force to obtain the adjusted actual friction force, the first adjustment step is reduced on the basis of the actual resistance to obtain the adjusted actual resistance, and a third sum is obtained according to the sum of the adjusted actual resistance and the adjusted actual friction force; When the third sum is less than or equal to the differential resistance, an adjusted current propulsion load value is obtained according to the third sum until the adjusted current propulsion load value is less than or equal to the critical thrust.

4. The method for adjusting the propulsion load of a shield machine according to claim 3, characterized in that: When the third sum is greater than the difference resistance, the method further includes: When the third sum is greater than the differential resistance, a high-pressure escape instruction is initiated to obtain a high-pressure thrust and a third adjustment step for adjusting the high-pressure thrust, wherein the third adjustment step is different from the first adjustment step, the second adjustment step, and the step value of the adjustment step; Determining whether the high-pressure thrust is less than the current propulsion load value; If yes, then increasing the third adjustment step size on the basis of the high-pressure thrust to obtain an adjusted high-pressure thrust; If not, reducing the third adjustment step size on the basis of the high-pressure thrust to obtain the adjusted high-pressure thrust; When the adjusted high-pressure thrust is equal to the adjusted current propulsion load value, the high-pressure escape instruction is turned off, and the adjusted current propulsion load value is adjusted to be less than or equal to the critical thrust.

5. The method for adjusting the propulsion load of a shield machine according to claim 4, characterized in that: The adjusting the adjusted current propulsion load value to be less than or equal to the critical thrust includes: determining whether the adjusted current propulsion load value is less than or equal to the critical thrust; If not, then reducing the adjustment step size based on the adjusted current propulsion load value to obtain the next adjusted current propulsion load value and returning to the step of determining whether the adjusted current propulsion load value is less than or equal to the critical thrust; If so, the adjusted current propulsion load value is output so that the shield machine can advance normally.

6. A propulsion load adjustment device for a shield machine, characterized in that: include: An acquisition module is used to acquire preset parameters for characterizing the propulsion mechanism of the shield machine, a current propulsion load value, a current resistance of the excavation chamber, and a current friction between the shield shell and the soil layer, wherein the preset parameters include preset resistance, preset friction, critical thrust, excavation resistance, friction and tension between the shield tail and the segment, and the critical thrust is the maximum thrust of the shield machine when the high-pressure pump is not turned on; a determination module, configured to determine a differential resistance according to a relationship among the critical thrust, the excavation resistance, the friction force, and the pulling force, determine an actual resistance and an actual friction force according to a relationship among the preset parameters, the current resistance, and the current friction force, and obtain a first sum value according to the actual resistance and the actual friction force; A judging module, used for judging whether the first sum is less than or equal to the difference resistance, and if so, triggering the first regulating module, and if not, triggering the second regulating module; The first adjustment module is used to adjust the current propulsion load value to a second sum value, wherein the second sum value is the sum of the actual resistance, the actual friction force, the excavation resistance, the friction force and the pulling force; The second adjustment module is used to adjust the current propulsion load value to be less than or equal to the critical thrust according to the relationship between the actual resistance and the preset resistance, and the actual friction force and the preset friction force so that the shield machine can tunnel normally; Correspondingly, when the first sum value is less than or equal to the differential resistance, adjusting the current propulsion load value to the second sum value includes: Obtaining an adjustment step for adjusting the current propulsion load value; Determining whether the current propulsion load value is greater than the second sum value; If yes, then reducing the adjustment step size based on the current propulsion load value to obtain an adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value; If not, increasing the adjustment step size on the basis of the current propulsion load value to obtain an adjusted current propulsion load value until the adjusted current propulsion load value is equal to the second sum value; Correspondingly, determining the differential resistance according to the relationship among the critical thrust, the tunneling resistance, the friction force and the pulling force includes: Subtracting the critical thrust, the excavation resistance, the friction force and the pulling force to obtain a difference; The differential resistance is determined according to the relationship between the difference and a preset coefficient.

7. A propulsion load adjustment device for a shield machine, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the method for adjusting the propulsion load of a shield machine as described in any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for adjusting the propulsion load of a shield machine as described in any one of claims 1 to 5 are implemented.

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