A tunneling device and a method for controlling negative pressure transportation of slag therefrom

Abstract

The invention discloses a tunneling device and a method for controlling the negative pressure transportation of slag thereof. The tunneling device and the method for controlling the negative pressure transportation of slag thereof utilize indirect parameters such as wind pressure and flow rate to automatically determine the relationship between the amount of slag, suction nozzle height, and tunneling speed, thereby solving the problem of unstable slag discharge caused by the mismatch between the suction nozzle height and the slag discharge amount and tunneling speed, and realizing automatic control of the suction nozzle height and tunneling speed. Meanwhile, risks such as pipeline blockage and pipeline damage can be identified and prevented, thereby ensuring the stability, economy, and safety of the slag discharge system to the greatest extent.

Description

Technical Field

[0001] The invention relates to the technical field of excavation equipment, in particular to a tunneling equipment, and also to a method for controlling negative pressure conveying of slag by the tunneling equipment. Background Art

[0002] During the excavation of a vertical shaft, the excavation depth can reach hundreds of meters, and the working conditions are particularly harsh. Conventional slag discharge methods such as scrapers and mud-water circulation are inefficient and have complex procedures. The negative pressure conveying slag discharge method has been applied to the development of vertical shaft projects due to its high slag discharge efficiency and simple installation. In the actual operation of the existing negative pressure slag discharge system for vertical shafts, due to changes in the geology of the excavation layer or changes in the excavation speed, the slag discharge volume of the front excavation layer slag is often quite unstable, and the amount of slag often increases or decreases instantly. In order to achieve rapid slag discharge, the suction nozzle of the existing slag discharge system is often directly fixed above the excavation tool and maintains the initial suction height as small as possible. When the amount of excavated slag at the front end changes instantaneously, the height of the suction nozzle from the material layer also changes indirectly. In addition, the height of the suction nozzle cannot be automatically adjusted, which will cause the instantaneous suction volume to fluctuate, which increases the instability of the slag discharge system to a certain extent. When more serious situations occur, such as the suction nozzle being empty or buried, the slag discharge system will run idle or be instantly overloaded, resulting in huge energy waste. It is also very easy to cause serious accidents such as pipeline blockage and pipeline damage, causing huge economic losses and safety hazards to the construction unit.

[0003] The existing common negative pressure conveying systems are mostly aimed at powdery and granular materials or materials with an equivalent diameter of less than 20mm, and their control systems are mostly suitable for small particle size conditions. However, the material particle size under the shaft condition is large (the particle size is generally concentrated in the range of 30mm to 100mm), the humidity is high, and the working conditions are more complex. The different shapes, particle sizes, properties of the materials and the complex working conditions put forward higher requirements on the system control methods, feedback adjustment effects, etc., and the accurate judgment and adjustment of the system are more difficult. Summary of the invention

[0004] In order to solve the problem that the above-mentioned slag discharge system is prone to abnormal operation, the present invention provides a tunneling equipment and a method for controlling the negative pressure transportation of slag therefor. The tunneling equipment and the method for controlling the negative pressure transportation of slag therefor utilize indirect parameters such as wind pressure and flow rate to automatically determine the relationship between the amount of slag, suction nozzle height, and tunneling speed. The problem of unstable slag discharge caused by the mismatch between the suction nozzle height and the slag discharge amount and tunneling speed is solved, and automatic control of the suction nozzle height and tunneling speed is achieved. At the same time, risks such as pipeline blockage and pipeline damage can be identified and prevented, thereby ensuring the stability, economy, and safety of the slag discharge system to the greatest extent.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A tunneling device, comprising a tunneling device, a slag conveying pipeline, an exhaust device and a control system, wherein the tunneling speed of the tunneling device can be adjusted, the inlet end of the slag conveying pipeline faces the tunneling device, the distance between the inlet end of the slag conveying pipeline and the tunneling device can be adjusted, the outlet end of the slag conveying pipeline is connected to the exhaust device, the slag conveying pipeline includes a curved pipe section, and the power of the exhaust device can be adjusted;

[0007] The slag conveying pipeline is provided with at least a first wind pressure sensor, a second wind pressure sensor, a third wind pressure sensor, a fourth wind pressure sensor, a first air volume sensor, a second air volume sensor, a third air volume sensor, a slag flow sensor and an air supply device, and the control system can control the operation of the excavation equipment.

[0008] A method for controlling the negative pressure transportation of soil in a tunneling device, wherein the method adopts the tunneling device described above and comprises the following steps:

[0009] Step 1, setting a first upper limit value A and a first lower limit value B of a first pressure difference value ΔP detected by a first wind pressure sensor and a second wind pressure sensor, setting an upper limit value C and a lower limit value D of an air volume value Q detected by a third wind volume sensor; setting a second upper limit value E and a second lower limit value F of a second pressure difference value ΔU detected by a third wind pressure sensor and a fourth wind pressure sensor, setting an upper limit value G and a lower limit value J of an air volume difference value ΔQ detected by a first wind volume sensor and a second wind volume sensor, and setting an upper limit value K and a lower limit value L of a slag flow rate of a slag flow rate value W detected by a slag flow rate sensor;

[0010] Step 2: when the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is within a normal range, the inlet end of the slag conveying pipeline is moved downward, and the excavation speed of the excavation device is increased until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range;

[0011] When the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ exceeds the air volume difference upper limit value G, the control system issues an early warning of pipeline damage and stops the operation of the excavation device and the exhaust device;

[0012] When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q exceeds the air volume lower limit value D, the slag flow value W exceeds the slag flow upper limit value K, and the air volume difference value ΔQ is within the normal range, the inlet end of the slag conveying pipeline is moved upward, and the excavation speed of the excavation device is reduced until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range;

[0013] When the first pressure difference ΔP exceeds the first upper limit A, the air volume value Q exceeds the air volume lower limit D, the slag flow value W exceeds the slag flow lower limit L, and the air volume difference ΔQ is within the normal range, the control system starts the air supply device to move the inlet end of the slag conveying pipeline upward and increase the power of the exhaust device; if within the set time, the first pressure difference ΔP, the air volume value Q and the slag flow value W do not change, then on the basis of increasing the power of the exhaust device, the power of the exhaust device is further increased, and the inlet end of the slag conveying pipeline is moved downward, until the first pressure difference ΔP exceeds the first lower limit B, the power of the exhaust device is reduced, the air supply device is closed, the first pressure difference ΔP, the air volume value Q and the slag flow value W are re-monitored, and the height of the inlet end of the slag conveying pipeline and the excavation speed of the excavation device are adjusted until the first pressure difference ΔP, the air volume value Q and the slag flow value W are all within the normal range;

[0014] When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q is within the normal range, the slag flow value W is within the normal range and the air volume difference value ΔQ is within the normal range, a process for eliminating attachments or retention is implemented, and the method for implementing the process for eliminating attachments or retention is: the control system controls the air supply device to start within a specified time to move the inlet end of the slag conveying pipeline upward, closes the air supply device, restores the inlet end of the slag conveying pipeline to its original height, and re-monitors the first pressure difference value ΔP. If the first pressure difference value ΔP exceeds the first upper limit value A, the process for eliminating attachments or retention is repeated until the first pressure difference value ΔP is within the normal range.

[0015] The beneficial effect of the present invention is that the excavation equipment and the method for controlling the negative pressure transportation of slag solve the problem of instability of the slag discharge system caused by the failure of real-time automatic matching of the slag discharge volume with the suction nozzle height and the excavation speed during shaft excavation. Through the indirect parameter monitoring method, the changes in the front-end slag volume and the trends of pipeline blockage and pipeline damage can be automatically judged, and the corresponding suction nozzle height, excavation speed and air supply volume can be controlled to match, thereby effectively improving the stability, economy and safety of the shaft slag discharge system operation, and avoiding huge economic losses and safety hazards for the construction unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0017] Figure 1 Schematic diagram of the tunneling equipment described in the present invention.

[0018] The following are the descriptions of the reference numerals:

[0019] 101, a first wind pressure sensor; 102, a second wind pressure sensor; 103, a third wind pressure sensor; 104, a fourth wind pressure sensor;

[0020] 201, a first air volume sensor; 202, a second air volume sensor; 203, a third air volume sensor;

[0021] 3. Muck flow sensor; 4. Air supply device; 5. Adjustable suction nozzle device;

[0022] 6. Excavation device; 601. Cutting and crushing device;

[0023] 7. Exhaust device; 8. Frame;

[0024] 9. Storage tank; 901. Feed inlet;

[0025] 10. Pipeline fixing device;

[0026] 11. Sludge conveying pipeline; 1101. Bend section; 1102. Vertical section; 1103. Horizontal section;

[0027] 12. Muck; 13. Storage device. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other, and specific cases that are not mentioned but can be adjusted using the method should also be within the scope of protection. The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0029] A tunneling device, comprising a tunneling device 6, a slag conveying pipeline 11, an exhaust device 7 and a control system, wherein the tunneling device 6 comprises the tunneling device 6, the tunneling speed of the tunneling device 6 can be adjusted, the inlet end of the slag conveying pipeline 11 faces the tunneling device 6, the distance between the inlet end of the slag conveying pipeline 11 and the tunneling device 6 can be adjusted, the outlet end of the slag conveying pipeline 11 is connected to the exhaust device 7, the slag conveying pipeline 11 comprises a curved pipe section 1101, and the power of the exhaust device 7 can be adjusted;

[0030] The slag conveying pipeline 11 is provided with at least a first wind pressure sensor 101, a second wind pressure sensor 102, a third wind pressure sensor 103, a fourth wind pressure sensor 104, a first air volume sensor 201, a second air volume sensor 202, a third air volume sensor 203, a slag flow sensor 3 and an air supply device 4, and the control system can control the operation of the excavation equipment;

[0031] The first wind pressure sensor 101, the second wind pressure sensor 102, the third wind pressure sensor 103, the fourth wind pressure sensor 104, the first air volume sensor 201, the second air volume sensor 202, the third air volume sensor 203 and the slag flow sensor 3 are all connected to the control system, such as Figure 1 The slag flow sensor 3 can be an existing solid flow meter or solid flow sensor.

[0032] In this embodiment, the first wind pressure sensor 101 is located at the outlet of the slag conveying pipeline 11, the second wind pressure sensor 102 is located at the inlet of the slag conveying pipeline 11, the third wind pressure sensor 103 is located at the outlet of the bend section 1101, and the fourth wind pressure sensor 104 is located at the inlet of the bend section 1101; the first air volume sensor 201 is located at the outlet of the bend section 1101, the second air volume sensor 202 is located at the inlet of the bend section 1101, the third air volume sensor 203 is located at the outlet of the slag conveying pipeline 11, and the air supply device 4 is located at the inlet of the slag conveying pipeline 11.

[0033] In this embodiment, the excavation equipment is a shaft boring machine, and the excavation equipment also includes a storage trough 9, the storage trough 9 has a feed port 901, the excavation device 6, the storage trough 9 and the slag conveying pipeline 11 are arranged in sequence from bottom to top. In the vertical direction, the storage trough 9 is located between the inlet end of the slag conveying pipeline 11 and the excavation device 6, and the inlet end of the slag conveying pipeline 11 corresponds to the feed port 901 (facing each other from top to bottom).

[0034] The excavation device 6 includes two cutting and crushing devices 601 arranged on the left and right sides, and the inlet end of the slag conveying pipe 11 is located above the cutting and crushing devices 601. In the left-right direction, the inlet end of the slag conveying pipe 11 is located between the two cutting and crushing devices 601. The excavation equipment also includes a pushing device, which can push the cutting and crushing device 601 of the excavation device 6 to move downward. The excavation speed of the excavation device 6 includes the rotation speed and the downward movement speed of the cutting and crushing device 601. Increasing the excavation speed of the excavation device 6 increases the amount of slag 12 generated; reducing the excavation speed of the excavation device 6 reduces the amount of slag 12 generated; adjusting and increasing the excavation speed of the excavation device 6 increases or decreases the amount of slag 12 generated.

[0035] The slag 12 excavated by the cutting and crushing device 601 can pass upward through the feed port 901 and enter the inlet end of the slag conveying pipe 11. The outlet of the slag conveying pipe 11 is provided with a storage device 13. Due to the negative pressure suction of the exhaust device 7, the slag 12 enters the inlet end of the slag conveying pipe 11 and enters the storage device 13 for storage and transportation, while the air is discharged from the outlet end of the exhaust device 7 after being filtered. The storage tank 9 is fixed relative to the frame 8 described below, and the distance between the inlet end of the slag conveying pipe 11 and the excavation device 6 can be adjusted. For example, the distance H between the inlet end of the slag conveying pipe 11 and the slag 12 in the storage tank 9 can be adjusted.

[0036] In this embodiment, the excavation equipment further includes an adjustable suction nozzle device 5, a pipe fixing device 10 and a frame 8 which are connected in sequence. The adjustable suction nozzle device 5 can adjust the distance between the inlet end of the slag conveying pipe 11 and the cutting and crushing device 601. The excavation device 6 is located below the slag conveying pipe 11. The lower part of the slag conveying pipe 11 is provided with a movable telescopic section (the existing telescopic bellows can be used). The adjustable suction nozzle device 5 can move the inlet end of the slag conveying pipe 11 up and down, thereby adjusting the distance H between the inlet end of the slag conveying pipe 11 and the storage tank 9, as shown in FIG. Figure 1 shown.

[0037] In this embodiment, the slag conveying pipeline 11 further includes a vertical section 1102 and a horizontal section 1103, the bend section 1101 is located between the vertical section 1102 and the horizontal section 1103, the vertical section 1102, the bend section 1101 and the horizontal section 1103 are connected in sequence, and the bend section 1101 can be a 90-degree elbow. The number of the vertical section 1102, the bend section 1101 and the horizontal section 1103 can be one or more, and the slag flow sensor 3 is located on the vertical section 1102, and the slag flow sensor 3 can measure the slag flow in the vertical section 1102.

[0038] In this embodiment, the air supply device 4 can automatically adjust the flow rate of the gas entering the slag conveying pipeline 11. The air supply device 4 can adopt an active air supply device or a passive air supply device. The active air supply device can be a blower, and the power of the blower can be adjusted. The passive air supply device can be an air intake window, and the flow area of ​​the air intake window can be adjusted, which is equivalent to the opening size of the window being adjustable.

[0039] The following is a method for controlling the negative pressure transportation of soil in a tunneling device. The method for controlling the negative pressure transportation of soil in a tunneling device uses the tunneling device described above. The method for controlling the negative pressure transportation of soil in a tunneling device comprises the following steps:

[0040] Step 1, setting a first upper limit value A and a first lower limit value B of the first pressure difference value ΔP detected by the first wind pressure sensor 101 and the second wind pressure sensor 102, setting an upper limit value C and a lower limit value D of the wind volume value Q detected by the third wind volume sensor 203; setting a second upper limit value E and a second lower limit value F of the second pressure difference value ΔU detected by the third wind pressure sensor 103 and the fourth wind pressure sensor 104, setting an upper limit value G and a lower limit value J of the wind volume difference value ΔQ detected by the first wind volume sensor 201 and the second wind volume sensor 202, and setting an upper limit value K and a lower limit value L of the slag flow rate of the slag flow rate value W detected by the slag flow sensor 3;

[0041] The first pressure difference ΔP is the absolute value of the wind pressure value detected by the first wind pressure sensor 101 minus the wind pressure value detected by the second wind pressure sensor 102, and the second pressure difference ΔU is the absolute value of the wind pressure value detected by the third wind pressure sensor 103 minus the wind pressure value detected by the fourth wind pressure sensor 104. The air volume difference ΔQ is the absolute value of the wind volume value detected by the first wind volume sensor 201 minus the wind volume value detected by the second wind volume sensor 202.

[0042] The specific values ​​of the upper limits (including the first upper limit A, the air volume upper limit C, the second upper limit E, the air volume difference upper limit G, and the slag flow rate upper limit K) can be determined based on a limited number of experiments and experience. The specific values ​​of the lower limits (including the first lower limit B, the air volume lower limit D, the second lower limit F, the air volume difference lower limit J, and the slag flow rate lower limit L) can be determined based on a limited number of experiments and experience.

[0043] The setting of the material conveying mixing ratio is the key to ensure the efficient operation of the pneumatic conveying system. If the mixing ratio is too large, the system is prone to blockage, and if the mixing ratio is too small, the system conveying efficiency is low and the energy consumption is high. Therefore, the preferred range of the mixing ratio will be set when designing the conveying system. According to this preferred range, the first upper limit A and the first lower limit B of the first pressure difference value ΔP can be set, and the upper limit C and lower limit D of the air volume value Q of the third air volume sensor 203 can be set; the second upper limit E and the second lower limit F of the second pressure difference ΔU before and after the elbow or elbow are set, the upper limit G and the lower limit J of the air volume difference ΔQ are set, and the upper limit K and the lower limit L of the slag flow rate of the slag flow rate value W detected by the slag flow sensor 3 are set.

[0044] During the actual operation of the conveying system, when ΔP, Q, ΔQ, ΔU, and W change, and the changes exceed the upper and lower limits, it can be said that the conveying state (or material conveying mixture ratio) of the pneumatic conveying system has changed, and even exceeds the original design of the mixture ratio preferred range. At this time, for the pneumatic conveying system, it may cause pipeline blockage, high energy consumption and low energy efficiency. The factors that cause the sudden changes of ΔP, Q, ΔQ, ΔU, and W mainly include changes in excavation speed, changes in slag discharge, changes in nozzle height, changes in pipeline blockage, and changes in pipeline damage. The changes in ΔP, Q, ΔQ, ΔU, and W caused by changes in each influencing factor are different.

[0045] Step 2: Based on the changes in the first pressure difference value ΔP, the air volume value Q, the air volume difference ΔQ, the second pressure difference value ΔU and the slag flow value W, it is determined whether the slag amount, the excavation speed and the suction nozzle height match each other, especially whether the suction nozzle is buried or sucked empty, and whether the pipeline is blocked or damaged, and the excavation speed, the suction nozzle height and the air intake are adjusted in real time, so as to achieve the best excavation speed and suction nozzle height matching in real time with the change of the front-end slag amount, and ensure the efficient, stable and safe operation of the pneumatic conveying system; the details are as follows:

[0046] Working condition 1: When the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is in the normal range, that is, the wind pressure difference between the inlet end of the slag conveying pipeline 11 and the inlet of the exhaust device 7 is significantly reduced, the air volume is significantly increased, the material flow rate is suddenly reduced, and the air volume difference before and after the bend or elbow has a normal trend, indicating that the air flow in the conveying system pipeline is significantly greater than the corresponding material volume, and the suction nozzle has a tendency to suck empty. It is judged that the slag discharge amount at the front end of the conveying system is relatively small compared to the standard slag amount corresponding to the existing suction nozzle height, and the excavation speed is relatively small compared to the standard excavation speed corresponding to the existing suction nozzle height. According to the above judgment, the inlet end of the slag conveying pipeline 11 is moved downward, and the excavation speed of the excavation device 6 is increased at the same time, until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all in the normal range, and the adjustment is stopped;

[0047] Working condition two: when the first pressure difference ΔP exceeds the first lower limit B, the air volume value Q exceeds the air volume upper limit C, the slag flow value W exceeds the slag flow lower limit L, and the air volume difference ΔQ exceeds the air volume difference upper limit G, there is a trend that the front and rear wind pressure difference is significantly reduced, the air volume is significantly increased, and the material flow rate decreases sharply. The large change in air volume before and after the bend section 1101 indicates that the air flow in the pipeline of the conveying system is significantly greater than the material volume, and the suction nozzle is at risk of empty suction or pipeline damage. The air volume difference before and after the bend section 1101 increases sharply, that is, the air volume at the rear end of the bend section 1101 is significantly greater than the air volume at the front end. It can be first determined that there is a tendency for damage at the bend or elbow of the conveying system. According to the above judgment, the control system issues an early warning of pipeline damage and stops the operation of the excavation device 6 and the exhaust device 7;

[0048] Working condition three: When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q exceeds the air volume lower limit value D, the slag flow value W exceeds the slag flow upper limit value K, and the air volume difference value ΔQ is within the normal range, that is, the wind pressure difference between the inlet end of the slag conveying pipeline 11 and the inlet of the exhaust device 7 increases significantly, the air volume decreases significantly, the material flow increases, and the air volume difference before and after the bend section 1101 has a normal trend, indicating that the amount of material in the conveying system pipeline is significantly greater than the corresponding air volume, and the suction nozzle has a tendency to be buried. It is judged that the slag discharge amount at the front end of the conveying system is larger than the standard slag amount corresponding to the existing suction nozzle height, and the excavation speed is larger than the standard excavation speed corresponding to the existing suction nozzle height. According to the above judgment, the inlet end of the slag conveying pipeline 11 is moved upward, and the excavation speed of the excavation device 6 is reduced until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range, and the adjustment is stopped;

[0049] Working condition 4: When the first pressure difference ΔP exceeds the first upper limit A, the air volume value Q exceeds the air volume lower limit D, the slag flow value W exceeds the slag flow lower limit L, and the air volume difference ΔQ is within the normal range, that is, there is a significant increase in the front and rear wind pressure difference, a significant decrease in the air volume, and a sudden decrease in the material flow, indicating that the air flow and material delivery in the conveying system pipeline are both lower than the limit, and the system can no longer convey materials normally, and it is judged that there is a trend of local blockage inside the pipeline. According to the above judgment, the control system starts the air replenishment device 4 to move the inlet end of the slag conveying pipeline 11 upward, increase the power of the exhaust device 7, and use the instantaneous increase in wind speed to impact the blockage; if within the set time (which can be determined based on a limited number of experiments or experience), the first pressure difference ΔP, the air volume value Q and the slag flow value W do not change, then on the basis of increasing the power of the exhaust device 7, the power of the exhaust device 7 is further increased, and the inlet end of the slag conveying pipeline 11 is moved downward, and the instantaneous suction is used to suck new material from the suction nozzle. The newly inhaled materials hit the blockage until the first pressure difference value ΔP exceeds the first lower limit value B, and the blockage is determined to be relieved, the power of the exhaust device 7 is reduced to a normal value, the air supply device 4 is closed, and the first pressure difference value ΔP, the air volume value Q and the slag flow value W are re-monitored to determine the amount of slag at the front end, and the height of the inlet end of the slag conveying pipeline 11 and the excavation speed of the excavation device 6 are adjusted until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range, and the adjustment is stopped;

[0050] Working condition five: When the first pressure difference ΔP exceeds the first upper limit value A, the air volume value Q is within the normal range, the slag flow value W is within the normal range, and the air volume difference ΔQ is within the normal range, that is, the front and rear wind pressure difference increases significantly, the air volume is normal, and the material flow is normal, indicating that the air flow and material delivery in the conveying system pipeline are normal, and the pressure loss increases significantly, then it is judged that there is a trend of increasing attachments or local material retention inside the pipeline. According to the above judgment, the process of eliminating attachments or retention is implemented, and the method of implementing the process of eliminating attachments or retention is: the control system controls the air supply device 4 to start within the specified time, so that the inlet end of the slag conveying pipeline 11 moves upward, and the instantaneous air flow is used to eliminate attachments or retention, and then the air supply device 4 is closed to restore the inlet end of the slag conveying pipeline 11 to its original height;

[0051] The first pressure difference value ΔP is re-monitored. If the first pressure difference value ΔP exceeds the first upper limit value A, the process of eliminating the deposits or residues is repeated until the first pressure difference value ΔP is within a normal range, and the adjustment is stopped.

[0052] The excavation equipment further comprises a pushing device, which can push the excavation device 6, that is, the pushing device can move the excavation device 6 downward;

[0053] Working condition six: When working condition one is present, and after adjustment of working condition one, the suction nozzle height has been adjusted to the lowest setting value, but the values ​​of ΔP, Q, and W have not yet reached the normal range, indicating that after increasing the excavation speed and lowering the suction nozzle height, the amount of slag discharged from the front end is still too small, and it is judged that the excavation tool has a tendency to hollow out in the excavation layer. That is, when the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is in the normal range, the inlet end of the slag conveying pipe 11 is moved downward, and the excavation speed of the excavation device 6 is increased at the same time. When the inlet end of the slag conveying pipe 11 has moved downward to the lower limit position, but the first pressure difference value ΔP, the air volume value Q, and the slag flow value W are not in the normal range;

[0054] According to the above judgment, the control system controls the pushing device of the tunneling equipment to advance the tunneling device 6, that is, the pushing device moves the tunneling device 6 downward, and continues to monitor the first pressure difference value ΔP, the air volume value Q, the slag flow value W and the air volume difference ΔQ, judges the amount of slag at the front end, and adjusts the vertical position of the inlet end of the slag conveying pipe 11 and the tunneling speed of the tunneling device 6 until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range, and stops the adjustment.

[0055] The above-mentioned being in the normal range means that the corresponding numerical value is between the corresponding upper limit and lower limit. For example, when the first pressure difference value ΔP is between the first upper limit value A and the first lower limit value B, the first pressure difference value ΔP is in the normal range; when the air volume value Q is between the air volume upper limit value C and the air volume lower limit value D, the air volume value Q is in the normal range; when the second pressure difference value ΔU is between the second upper limit value E and the second lower limit value F, the second pressure difference value ΔU is in the normal range; when the air volume difference value ΔQ is between the air volume difference upper limit value G and the air volume difference lower limit value J, the air volume difference value ΔQ is in the normal range; when the slag flow value W is between the slag flow upper limit value K and the slag flow lower limit value L, the slag flow value W is in the normal range.

[0056] The core of the present invention is the automatic judgment and automatic matching based on the relationship among the amount of muck at the front end, the height of the suction nozzle, and the tunneling speed. The most difficult to directly monitor is the instantaneous amount of muck at the front end. Direct monitoring methods such as video, infrared, mass weighing, and ultrasonic can also be used, combined with a real-time monitoring device for the height of the suction nozzle, to ultimately achieve the automatic adjustment of the muck output at the front end, the height of the suction nozzle, and the tunneling speed, and achieve the best mucking effect. For example, the amount of muck at the front end is monitored in real time through infrared or video, and at the same time, the height of the suction nozzle from the material layer is measured. When the amount of muck increases and exceeds the corresponding standard height of the suction nozzle, the height of the suction nozzle can be adjusted through the control system, and at the same time, the tunneling speed of the cutter is adjusted to maintain the matching of the height of the suction nozzle, the tunneling speed, and the muck output at the front end. According to this idea, the problem of mismatch among the amount of muck, the height of the suction nozzle, and the tunneling speed under various working conditions can be solved. However, the direct monitoring method also faces many problems. First, affected by the coupling of multiple factors, the change of the instantaneous amount of muck is relatively fast, which requires the direct measurement method to have a high monitoring frequency. Second, the on-site working conditions of the shaft tunneling machine are very harsh, such as poor light, large dust, high noise, large vibration, high humidity, etc., which requires the direct measurement method equipment to have very high reliability and environmental adaptability. Third, the space at the front end of the shaft tunneling machine is very compact, with high requirements for the equipment size, which requires the direct measurement method equipment to be highly integrated. Under the constraints of the above limiting factors, the direct measurement method is significantly higher than the indirect measurement method in terms of cost, technical requirements, installation environment, etc., and is difficult to implement.

[0057] For the convenience of understanding and description, absolute position relationships are used in the present invention. Unless otherwise specified, the orientation word "up" represents Figure 1 the upper side direction in Figure 1 it, the orientation word "down" represents Figure 1 the lower side direction in Figure 1 it, the orientation word "left" represents

[0058] As described above, the above are only specific embodiments of the present invention and cannot limit the scope of the invention implementation. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the scope of protection of the present invention patent, should still fall within the scope covered by this patent. In addition, the technical features in the present invention can be freely combined and used among technical features, between technical features and technical solutions, between technical solutions and technical solutions, and between embodiments and embodiments.

Claims

1. A tunneling device, characterized in that: The excavation equipment comprises an excavation device (6), a slag conveying pipeline (11), an exhaust device (7) and a control system. The excavation speed of the excavation device (6) can be adjusted. The inlet end of the slag conveying pipeline (11) faces the excavation device (6). The distance between the inlet end of the slag conveying pipeline (11) and the excavation device (6) can be adjusted. The outlet end of the slag conveying pipeline (11) is connected to the exhaust device (7). The slag conveying pipeline (11) includes a curved pipe section (1101). The power of the exhaust device (7) can be adjusted. The slag conveying pipeline (11) is provided with at least a first wind pressure sensor (101), a second wind pressure sensor (102), a third wind pressure sensor (103), a fourth wind pressure sensor (104), a first air volume sensor (201), a second air volume sensor (202), a third air volume sensor (203), a slag flow sensor (3) and an air supply device (4); the control system can control the operation of the excavation equipment; The first wind pressure sensor (101) is located at the outlet of the slag conveying pipeline (11), the second wind pressure sensor (102) is located at the inlet of the slag conveying pipeline (11), the third wind pressure sensor (103) is located at the outlet of the curved pipe section (1101), and the fourth wind pressure sensor (104) is located at the inlet of the curved pipe section (1101); The first air volume sensor (201) is located at the outlet of the curved pipe section (1101), the second air volume sensor (202) is located at the inlet of the curved pipe section (1101), and the third air volume sensor (203) is located at the outlet of the slag conveying pipeline (11); Through the indirect parameter monitoring method, the changes in the amount of debris at the front end and the changing trends of pipeline blockage and pipeline damage are automatically judged, and the corresponding suction nozzle height, excavation speed, and air supply volume are controlled and matched.

2. The excavation equipment according to claim 1, characterized in that: The excavation equipment is a shaft boring machine, and the excavation equipment also includes a material storage trough (9), the material storage trough (9) includes a material inlet (901), and along the vertical direction, the material storage trough (9) is located between the inlet end of the slag conveying pipeline (11) and the excavation device (6), and the inlet end of the slag conveying pipeline (11) corresponds to the material inlet (901).

3. The excavation equipment according to claim 1, characterized in that: The excavation device (6) comprises two cutting and crushing devices (601) arranged on the left and right. The inlet end of the slag conveying pipeline (11) is located above the cutting and crushing devices (601). In the left-right direction, the inlet end of the slag conveying pipeline (11) is located between the two cutting and crushing devices (601).

4. The excavation equipment according to claim 1, characterized in that: The excavation equipment also includes an adjustable suction nozzle device (5), a pipeline fixing device (10) and a frame (8) which are connected in sequence. The adjustable suction nozzle device (5) can adjust the distance between the inlet end of the slag conveying pipeline (11) and the excavation device (6).

5. The excavation equipment according to claim 4, characterized in that: The excavation device (6) is located below the slag conveying pipeline (11). The lower part of the slag conveying pipeline (11) is provided with a movable telescopic section. The adjustable suction nozzle device (5) can move the inlet end of the slag conveying pipeline (11) up and down.

6. The excavation equipment according to claim 1, characterized in that: The slag conveying pipeline (11) further comprises a vertical section (1102) and a horizontal section (1103), the curved pipe section (1101) is located between the vertical section (1102) and the horizontal section (1103), and the slag flow sensor (3) is located on the vertical section (1102).

7. The excavation equipment according to claim 1, characterized in that: The air supply device (4) is located at the inlet of the slag conveying pipeline (11), and the air supply device (4) can automatically adjust the flow rate of gas entering the slag conveying pipeline (11).

8. A method for controlling negative pressure conveying of soil slag by tunneling equipment, characterized in that: The method for controlling the negative pressure transportation of slag in the excavation equipment adopts the excavation equipment according to claim 1, and the method for controlling the negative pressure transportation of slag in the excavation equipment comprises the following steps: Step 1, setting a first upper limit value A and a first lower limit value B of a first pressure difference value ΔP detected by a first wind pressure sensor (101) and a second wind pressure sensor (102), setting an upper limit value C and a lower limit value D of an air volume value Q detected by a third wind volume sensor (203); setting a second upper limit value E and a second lower limit value F of a second pressure difference value ΔU detected by the third wind pressure sensor (103) and a fourth wind pressure sensor (104), setting an upper limit value G and a lower limit value J of an air volume difference value ΔQ detected by the first wind volume sensor (201) and the second wind volume sensor (202), and setting an upper limit value K and a lower limit value L of a slag flow rate of a slag flow rate value W detected by a slag flow rate sensor (3); Step 2: when the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is within a normal range, the inlet end of the slag conveying pipeline (11) is moved downward, and the excavation speed of the excavation device (6) is increased until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within a normal range; When the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ exceeds the air volume difference upper limit value G, the control system issues a warning of pipeline damage and stops the operation of the excavation device (6) and the exhaust device (7); When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q exceeds the air volume lower limit value D, the slag flow value W exceeds the slag flow upper limit value K, and the air volume difference value ΔQ is within a normal range, the inlet end of the slag conveying pipeline (11) is moved upward, and the excavation speed of the excavation device (6) is reduced until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within the normal range; When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q exceeds the air volume lower limit value D, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is within a normal range, the control system starts the air supply device (4) to move the inlet end of the slag conveying pipeline (11) upward to increase the power of the exhaust device (7); if within a set time, the first pressure difference value ΔP, the air volume value Q and the slag flow value W do not change, then on the basis of increasing the power of the exhaust device (7), On this basis, the power of the exhaust device (7) is increased, and the inlet end of the slag conveying pipeline (11) is moved downward until the first pressure difference value ΔP exceeds the first lower limit value B, the power of the exhaust device (7) is reduced, the air supply device (4) is closed, the first pressure difference value ΔP, the air volume value Q and the slag flow value W are re-monitored, and the height of the inlet end of the slag conveying pipeline (11) and the excavation speed of the excavation device (6) are adjusted until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within a normal range; When the first pressure difference value ΔP exceeds the first upper limit value A, the air volume value Q is within a normal range, the slag flow value W is within a normal range, and the air volume difference value ΔQ is within a normal range, a process for eliminating attachments or retention is implemented. The method for implementing the process for eliminating attachments or retention is as follows: the control system controls the air supply device (4) to start within a specified time, so that the inlet end of the slag conveying pipeline (11) moves upward, the air supply device (4) is closed, the inlet end of the slag conveying pipeline (11) is restored to its original height, and the first pressure difference value ΔP is re-monitored. If the first pressure difference value ΔP exceeds the first upper limit value A, the process for eliminating attachments or retention is repeated until the first pressure difference value ΔP is within a normal range.

9. The method for controlling soil negative pressure transportation of excavation equipment according to claim 8, characterized in that: The excavation equipment further comprises a pushing device, wherein the pushing device is capable of pushing the excavation device (6); In step 2, when the first pressure difference value ΔP exceeds the first lower limit value B, the air volume value Q exceeds the air volume upper limit value C, the slag flow value W exceeds the slag flow lower limit value L, and the air volume difference value ΔQ is within a normal range, the inlet end of the slag conveying pipeline (11) is moved downward, and the excavation speed of the excavation device (6) is increased. When the inlet end of the slag conveying pipeline (11) has moved downward to the lower limit position, but the first pressure difference value ΔP, the air volume value Q, and the slag flow value W are not within the normal range; The control system controls the pushing device of the tunneling equipment to advance the tunneling device (6), continues to monitor the first pressure difference value ΔP, the air volume value Q, the slag flow value W and the air volume difference value ΔQ, and adjusts the vertical position of the inlet end of the slag conveying pipeline (11) and the tunneling speed of the tunneling device (6) until the first pressure difference value ΔP, the air volume value Q and the slag flow value W are all within a normal range.

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