A shield tunneling attitude auxiliary control system for soft strata

Abstract

An attitude-assisting control system for shield tunneling in soft strata according to the present invention includes a ground constant-tension output device and a support mechanism. The ground constant-tension output device is jointly driven by three hydraulic motors. By adjusting the hydraulic oil pressure output to the hydraulic motors, the online adjustment of the output force of the tension output device is realized. The steel cable on the steel cable reel is connected to the center of the shield body of the shield machine after being guided by the support mechanism. When the shield machine tunnels downward, the steel cable reel tightens the steel cable under the drive of the hydraulic motor, and through the traction of the steel cable, part of the self-weight of the shield machine is borne to prevent the shield machine from slipping. When the shield machine needs to turn upward, the thrust output by the thrust cylinders of the shield machine cannot meet the turning requirements of the shield machine. At this time, the tightened steel cable increases the working load of the propulsion cylinders by pulling the shield body of the shield machine, improves the output thrust of the propulsion cylinders of the shield machine, ensures that the shield machine has sufficient turning torque, and realizes the attitude adjustment of the shield machine under soft rock strata.

Description

Technical Field

[0001] This application belongs to the technical field of shield tunneling, and specifically relates to a shield tunneling attitude auxiliary control system for soft strata. Background Art

[0002] When a traditional shield machine operates in soft strata, due to the influence of its own gravity when the shield machine operates downward, the overall shield machine is prone to position deviation, reducing the operation safety of the shield machine. At the same time, because the rock and soil in front are relatively soft, the rock-breaking resistance received by the cutter head of the shield machine is small, resulting in difficulty for the propulsion cylinders of the shield machine to output a large thrust. When the shield machine turns upward, the thrust output by the propulsion cylinders of the shield machine cannot meet the turning requirements of the shield machine, resulting in difficulty for the shield machine to adjust its attitude according to the expected tunneling trajectory and reducing the construction accuracy. Summary of the Invention

[0003] Based on the above problems, this application relates to a shield tunneling attitude auxiliary control system for soft strata. The shield tunneling attitude auxiliary system is mainly used for auxiliary traction when the shield machine tunnels downward in soft strata to prevent the whole machine equipment from slipping under the influence of gravity; at the same time, when the shield machine excavates upward in soft strata, the shield tunneling attitude auxiliary system can effectively increase its turning torque and ensure the attitude adjustment of the shield machine in soft strata. The technical solution is as follows.

[0004] A shield tunneling attitude auxiliary control system for soft strata includes a motor, a fixed-displacement pump, and a plurality of hydraulic motors. The motor is connected to the fixed-displacement pump. The fixed-displacement pump is respectively connected to a first reversing valve, a second reversing valve, and a third reversing valve through pressure-reducing valves. Two ports of the third reversing valve are respectively connected to two ports of the hydraulic motor through a third group of pilot-operated check valves. The hydraulic motor is connected to a cable drum. The cable on the cable drum passes through the guiding pulley of the support mechanism and is connected to the center of the shield body of the shield machine. The first reversing valve is connected to two oil chambers of a double-acting single-rod hydraulic cylinder through a first group of pilot-operated check valves. The second reversing valve is connected to two oil chambers of another double-acting single-rod hydraulic cylinder through a second group of pilot-operated check valves. Displacement sensors are provided on the piston rods of the two double-acting single-rod hydraulic cylinders. The displacement sensors, the first reversing valve, and the second reversing valve are all connected to a position controller.

[0005] Preferably, the fixed-displacement pump is respectively connected to a first accumulator through a first pressure-reducing valve, connected to a second accumulator through a second pressure-reducing valve, and connected to an oil tank through an overflow valve. A pressure sensor is provided between the second pressure-reducing valve and the second accumulator. The second pressure-reducing valve and the pressure sensor are both connected to a tension controller.

[0006] Preferably, the first accumulator is respectively connected to the first reversing valve and the second reversing valve, the first reversing valve is connected to the second reversing valve, two ports of the first reversing valve are respectively connected to two oil cavities of the double-acting single-rod hydraulic cylinder through the first hydraulic control check valve of the first group of hydraulic control check valves and the A port of the second hydraulic control check valve, the C port of the first hydraulic control check valve is connected to the A port of the second hydraulic control check valve, the C port of the second hydraulic control check valve is connected to the A port of the first hydraulic control check valve, and the B ports of the first hydraulic control check valve and the second hydraulic control check valve are respectively connected to two oil cavities of the double-acting single-rod hydraulic cylinder; two ports of the second reversing valve are respectively connected to two oil cavities of the double-acting single-rod hydraulic cylinder through the third hydraulic control check valve of the second group of hydraulic control check valves and the A port of the fourth hydraulic control check valve, the C port of the third hydraulic control check valve is connected to the A port of the fourth hydraulic control check valve, the C port of the fourth hydraulic control check valve is connected to the A port of the third hydraulic control check valve, and the B ports of the third hydraulic control check valve and the fourth hydraulic control check valve are respectively connected to two oil cavities of another double-acting single-rod hydraulic cylinder.

[0007] Preferably, the second accumulator is connected to the third reversing valve, two ports of the third reversing valve are respectively connected to the A ports of the fifth hydraulic control check valve and the sixth hydraulic control check valve of the third group of control check valves, the C port of the fifth hydraulic control check valve is connected to the A port of the sixth hydraulic control check valve, and the C port of the sixth hydraulic control check valve is connected to the A port of the fifth hydraulic control check valve; the B port of the fifth hydraulic control check valve is connected to the A ports of all hydraulic motors through a plurality of stop valves, and the B port of the sixth hydraulic control check valve is connected to the B ports of all hydraulic motors through a plurality of stop valves.

[0008] Preferably, the hydraulic motor is installed on a hydraulic motor mounting base. The main body of the hydraulic motor mounting base is a plate-like structure, the upper part is arc-shaped, the lower part in contact with the ground is provided with a rectangular boss, and an installation hole for installing the hydraulic motor is provided in the middle. The bottom of the hydraulic motor mounting base is fixedly connected to the steel cable reel mounting base, and a connecting rib plate is provided between the two; a speed reducer is installed on the steel cable reel mounting base, the input end of the speed reducer is connected to the gear drive disc through a key, and the output end of the speed reducer is connected to the steel cable reel through a key; the main body of the steel cable reel is a cylinder, and annular baffles are provided at both ends. The steel cable reel is installed on the steel cable reel mounting base; the main body of the gear drive disc is a circular ring structure, a hollow frustum is connected inside it through spokes, a keyway is provided inside the hollow frustum, a large gear ring is connected to one side of the spokes through interference fit, the hydraulic motor is connected to a small gear through a key, and at the same time the small gear meshes with the large gear ring.

[0009] Preferably, the support mechanism includes a tunnel installation base, an upper support arm, a lower support arm, a guide pulley installation base, and a guide pulley. The main body of the tunnel installation base is a cross-arc structure, and an installation mechanism connected to the upper support arm is provided at one end away from the tunnel; the main bodies of the upper support arm and the lower support arm are both U-shaped beam structures, and the upper support arm and the lower support arm are respectively connected to the tunnel installation base and the guide pulley installation base through connecting pin shafts; the guide pulley is connected to the guide pulley installation base.

[0010] Preferably, when the spools of the first reversing valve and the second reversing valve are in the neutral position, their ports A, B, and T are in the conducting state, and their port P is in the cut-off state; when the spool is in the right position, its ports A and P are in the conducting state, and its ports B and T are in the conducting state; when the spool is in the left position, its ports A and T are in the conducting state, and its ports B and P are in the conducting state.

[0011] Preferably, the attitude adjustment function of the tunneling attitude assistance system:

[0012] When the shield machine is tunneling downward in soft strata, driven by the hydraulic motor, the pinion transmits the rotational torque to the gear drive disc through the meshing with the large gear ring. The gear drive disc transmits the torque to the reducer through a key connection. The output end of the reducer moves together with the steel cable drum. The steel cable outputs a constant tension under the action of the steel cable drum. The other end of the steel cable is connected to the center of the shield body of the shield machine through the support mechanism. The shield machine transfers a part of its own weight to the ground constant tension output device under the action of the traction steel cable; the tension controller will adjust the hydraulic oil pressure input to the hydraulic motor online according to the actual working conditions of the shield machine and the pressure signal of the pressure sensor. The tunneling attitude assistance control system ensures that the shield machine does not slip during the downward tunneling process by adjusting the tension output by the steel cable; when the shield machine is tunneling horizontally in soft strata, the output force of the ground constant tension output device is zero at this time, and the cutting resistance from the rock and soil received by the cutter head at its front end is balanced with the thrust output by the shield machine's propulsion cylinders; when the shield machine turns upward along the predetermined trajectory, due to the insufficient output force of the shield machine's propulsion cylinders, it is unable to provide enough turning torque for the shield machine, resulting in the shield machine being difficult to adjust its attitude according to the preset trajectory. At this time, the tunneling attitude assistance control system starts the ground constant tension output device, and the ground constant tension output device outputs the required tension of the system according to the actual working conditions of the shield machine. At this time, the sum of the resistance from the front and the tension of the ground constant tension output device received by the shield body is balanced with the thrust output by the shield machine's thrust cylinders; the tunneling attitude assistance control system controls the ground constant tension output device to output a certain tension, increases the output force of the shield machine's thrust cylinders, and ensures that the shield machine has enough turning torque to achieve the upward attitude adjustment of the shield machine under soft strata.

[0013] Beneficial effects

[0014] The present invention is provided with a ground constant tension output device and a support mechanism. The ground constant tension output device is jointly driven by three hydraulic motors. By adjusting the hydraulic oil pressure output to the hydraulic motors, the on-line adjustment of the output force of the tension output device is realized. The output torque of the hydraulic motors is amplified by a gear set and a speed reducer and then transmitted to a wire rope drum. The wire rope on the wire rope drum is connected to the center of the shield body of the shield machine after being guided by the support mechanism. When the shield machine tunnels downward, the wire rope drum tightens the wire rope under the drive of the hydraulic motors, and bears part of the self-weight of the shield machine through the traction of the wire rope, preventing the shield machine from slipping. In addition, since the soft rock formation cannot provide enough rock-breaking resistance for the cutter head, the thrust output by the shield machine's propulsion cylinders is very limited. When the shield machine needs to turn upward, the thrust output by the shield machine's thrust cylinders cannot meet the turning requirements of the shield machine. At this time, the tightened wire rope increases the working load of the propulsion cylinders by pulling the shield body of the shield machine, improving the output thrust of the shield machine's propulsion cylinders, ensuring that the shield machine has enough turning torque, and realizing the attitude adjustment of the shield machine under the soft rock formation. Description of the Drawings

[0015] Figure 1 It is the system hydraulic schematic diagram;

[0016] Figure 2 It is the schematic diagram of the shield tunneling attitude auxiliary control system tunneling downward;

[0017] Figure 3 It is the schematic diagram of the shield tunneling attitude auxiliary control system tunneling horizontally;

[0018] Figure 4 It is the schematic diagram of the shield tunneling attitude auxiliary control system tunneling upward;

[0019] Figure 5 It is the schematic diagram of the connection relationship between the ground constant tension output device and the hydraulic motor;

[0020] Figure 6 It is the schematic diagram of the main structure of the support mechanism;

[0021] Figure 7 It is the schematic diagram of the ground constant tension output device;

[0022] Figure 8 It is the schematic diagram of the tunnel installation base structure;

[0023] Figure 9 It is the schematic diagram of the upper support arm structure;

[0024] Figure 10 It is the schematic diagram of the lower support arm structure;

[0025] Figure 11 It is the schematic diagram of the guide pulley installation base structure;

[0026] Figure 12 Schematic diagram of the guide pulley structure.

[0027] 1-motor, 2-metering pump, 3-overflow valve, 4-first proportional pressure reducing valve, 5-second proportional pressure reducing valve, 6-first accumulator, 7-second accumulator, 8-pressure sensor, 9-tension controller, 10-first displacement sensor, 11-second displacement sensor, 12-first double-acting single-rod hydraulic cylinder, 13-second double-acting single-rod hydraulic cylinder, 14-first hydraulically controlled one-way valve, 15-second hydraulically controlled one-way valve, 16-third hydraulically controlled one-way valve, 17-fourth hydraulically controlled one-way valve, 18-three-position four-way proportional reversing valve one, 19-three-position four-way proportional reversing valve two, 20-position controller, 21-stop valve one, 22-stop valve two, 23-stop valve three, 24-stop valve four, 25-stop valve Five, 26-stop valve six, 27-first hydraulic motor, 28-second hydraulic motor, 29-third hydraulic motor, 30-ground constant tension output device, 301-hydraulic motor mounting base, 302-reducer, 303-cable drum, 304-gear transmission plate, 305-connecting ribs, 306-cable drum mounting base, 307-small gear, 308-large gear ring, 31-support mechanism, 311-tunnel mounting base, 312-upper support arm, 313-lower support arm, 314-guide pulley mounting base, 315-guide pulley, 32-shield machine shield, 33-oil tank, 34-three-position four-way proportional reversing valve three, 35-fifth hydraulically controlled one-way valve, 36-sixth hydraulically controlled one-way valve. DETAILED DESCRIPTION

[0028] The following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those of ordinary skill in the art to which the present application belongs. It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application.

[0029] The first reversing valve is a three-position four-way proportional reversing valve 18, whose A port, B port, P port and T port are respectively represented by 18A, 18B, 18P and 18T in the figure, and the representation of other components is similar.

[0030] The second reversing valve is a three-position four-way proportional reversing valve 2 19 , and the third reversing valve is a three-position four-way proportional reversing valve 3 34 .

[0031] System hydraulic circuit: The oil tank 33 is respectively connected to the 2A port of the fixed-displacement pump 2, the 3B port of the relief valve 3, the 18T port of the three-position four-way proportional directional valve 18, the 19T port of the three-position four-way proportional directional valve 19, and the 34T port of the three-position four-way proportional directional valve 34; the 2B port of the fixed-displacement pump 2 is respectively connected to the 4A port of the first proportional pressure-reducing valve 4, the 5A port of the second proportional pressure-reducing valve 5, and the 3A port of the relief valve 3; the 4B port of the first proportional pressure-reducing valve 4 is respectively connected to the 6A port of the first accumulator 6, the 18P port of the three-position four-way proportional directional valve 18, and the 19P port of the three-position four-way proportional directional valve 19; the 5B port of the second proportional pressure-reducing valve 5 is respectively connected to the 7A port of the second accumulator 7, the 8A port of the pressure sensor 8, and the 34P port of the three-position four-way proportional directional valve 34; the 34A port of the three-position four-way proportional directional valve 34 is respectively connected to the 35A port of the fifth hydraulic control check valve 35 and the 36C port of the sixth hydraulic control check valve 36; the 34B port of the three-position four-way proportional directional valve 34 is respectively connected to the 35C port of the fifth hydraulic control check valve 35 and the 36A port of the sixth hydraulic control check valve 36; the 35B port of the fifth hydraulic control check valve 35 is respectively connected to the 22A port of the stop valve 22, the 24A port of the stop valve 4, and the 26A port of the stop valve 6; the 36B port of the sixth hydraulic control check valve 36 is respectively connected to the 21A port of the stop valve 1, the 23A port of the stop valve 3, and the 25A port of the stop valve 5; the 22B port of the stop valve 22 is connected to the 27A port of the first hydraulic motor 27; the 27B port of the first hydraulic motor 27 is connected to the 21B port of the stop valve 1; the 24B port of the stop valve 4 is connected to the 28A port of the second hydraulic motor 28; the 28B port of the second hydraulic motor 28 is connected to the 23B port of the stop valve 3; the 26B port of the stop valve 6 is connected to the 29A port of the third hydraulic motor 29; the 29B port of the third hydraulic motor 29 is connected to the 25B port of the stop valve 5; the 18A port of the three-position four-way proportional directional valve 18 is respectively connected to the 14A port of the first hydraulic control check valve 14 and the 15C port of the second hydraulic control check valve 15; the 18B port of the three-position four-way proportional directional valve 18 is respectively connected to the 14C port of the first hydraulic control check valve 14 and the 15A port of the second hydraulic control check valve 15; the 14B port of the first hydraulic control check valve 14 is connected to the 12A port of the first double-acting single-rod hydraulic cylinder 12; the 12B port of the first double-acting single-rod hydraulic cylinder 12 is connected to the 15B port of the second hydraulic control check valve 15; the 19A port of the three-position four-way proportional directional valve 19 is respectively connected to the 16A port of the third hydraulic control check valve 16 and the 17C port of the fourth hydraulic control check valve 17; the 19B port of the three-position four-way proportional directional valve 19 is respectively connected to the 16C port of the third hydraulic control check valve 16 and the 17A port of the fourth hydraulic control check valve 17; the 16B port of the third hydraulic control check valve 16 is connected to the 13A port of the second double-acting single-rod hydraulic cylinder 13; the 13B port of the second double-acting single-rod hydraulic cylinder 13 is connected to the 17B port of the fourth hydraulic control check valve 17.

[0032] System mechanical structure: The ground constant tension output device 30 includes a hydraulic motor mounting base 301, a reducer 302, a cable drum 303, a gear transmission disc 304, a connecting rib plate 305, a cable drum mounting base 306, a pinion gear 307, and a large gear ring 308. The main body of the hydraulic motor mounting base 301 is a plate-like structure, with an arc shape at its upper part, a rectangular boss at the part in contact with the ground at its lower part, and a mounting hole for mounting the hydraulic motor in the middle. The bottom of the hydraulic motor mounting base 301 is fixedly connected to the cable drum mounting base 306, and a connecting rib plate 305 is provided between the two to improve the structural strength of the hydraulic motor mounting base 301; the reducer 302 is fixedly connected to the cable drum mounting base 306 by bolts, the input end of the reducer 302 is connected to the gear transmission disc 304 by a key, and the output end of the reducer 302 is connected to the cable drum 303 by a key; the main body of the cable drum 303 is a cylinder, with annular baffles at both ends, and the cable drum 303 is mounted on the cable drum mounting base 306; the main body of the gear transmission disc 304 is a circular ring structure, with a hollow frustum connected by spokes inside, a keyway inside the hollow frustum, a large gear ring 308 connected by interference fit on one side of the spokes, the pinion gear 307 is connected to the hydraulic motor by a key and meshes with the large gear ring 308 at the same time.

[0033] The support mechanism 31 includes a tunnel mounting base 311, an upper support arm 312, a lower support arm 313, a guide pulley mounting base 314, and a guide pulley 315. The main body of the tunnel mounting base 311 is a cross-arc structure, and its arc structure can fit well with the inner wall of the tunnel. An installation mechanism for connecting to the upper support arm 312 is provided at the end away from the tunnel; the main bodies of the upper support arm 312 and the lower support arm 313 are both U-shaped beam structures, and the upper support arm 312 and the lower support arm 313 are respectively connected to the tunnel mounting base 311 and the guide pulley mounting base 314 by connecting pin shafts; the guide pulley 315 is connected to the guide pulley mounting base 314.

[0034] Among them, the first displacement sensor 10 is used to detect the movement position of the first double-acting single-rod hydraulic cylinder 12, and the second displacement sensor 11 is used to detect the movement position of the second double-acting single-rod hydraulic cylinder 13.

[0035] Among them, when the spools of the three-position four-way proportional directional valve 18 and the three-position four-way proportional directional valve 19 are in the middle position, their A ports, B ports, and T ports are in a conducting state, and their P ports are in a cut-off state; when the spool is in the right position, its A port and P port are in a conducting state, and its B port and T port are in a conducting state; when the spool is in the left position, its A port and T port are in a conducting state, and its B port and P port are in a conducting state.

[0036] Among them, the supporting hydraulic system 1 includes a first displacement sensor 10, a first double-acting single-rod hydraulic cylinder 12, a first hydraulically controlled one-way valve 14, a second hydraulically controlled one-way valve 15, a three-position four-way proportional directional valve 18, a three-position four-way proportional directional valve 2 19, and a supporting mechanism 31; the supporting hydraulic system 2 includes a second displacement sensor 11, a second double-acting single-rod hydraulic cylinder 13, a third hydraulically controlled one-way valve 16, a fourth hydraulically controlled one-way valve 17, a three-position four-way proportional directional valve 2 19, and a supporting mechanism 31; at the same time, the number of supporting hydraulic systems can be increased according to actual conditions to meet the operating requirements of the shield machine.

[0037] Attitude adjustment function of the tunneling attitude auxiliary system: When the shield machine is tunneling downward in a soft stratum, since the rock and soil around the shield machine are relatively soft, in order to improve the operating safety of the shield machine in the soft rock stratum, the present application is provided with a ground constant tension output device 30; driven by the hydraulic motor, the small gear 307 transmits the rotational torque to the gear transmission disk 304 through the meshing action with the large gear ring 308, and the gear transmission disk 304 transmits the torque to the reducer 302 through the key connection, and the output end of the reducer 302 moves together with the cable drum 303, and the cable moves on the cable drum 303. The other end of the steel cable is connected to the center of the shield body of the shield machine through the support mechanism 31. The shield machine transfers part of its own weight to the ground constant tension output device 30 under the action of the traction steel cable; the tension controller 9 will adjust the hydraulic oil pressure input to the hydraulic motor online according to the actual working condition of the shield machine and the pressure signal of the pressure sensor 8. The tunneling posture auxiliary control system ensures that the shield machine does not slip during the downward tunneling process by adjusting the tension output by the steel cable. In addition, when the shield machine is tunneling downward, the ground constant tension output device 30 outputs the system's required Tension, in disguise, increases the output thrust of the thrust cylinder of the shield machine, ensures that the shield machine has sufficient downward turning torque, and realizes the downward posture adjustment of the shield machine in the soft bottom layer; when the shield machine is horizontally excavating in the soft stratum, the output force of the ground constant tension output device 30 is zero, and the rock breaking resistance of the front cutter head from the rock and soil is balanced with the thrust output by the thrust cylinder of the shield machine; when the shield machine turns upward along the predetermined trajectory, the output force of the thrust cylinder of the shield machine is insufficient, and it is unable to provide sufficient turning torque for the shield machine, which makes it difficult for the shield machine to adjust its posture according to the preset trajectory. Adjustment, at this time, the tunneling posture auxiliary control system starts the ground constant tension output device 30, and the ground constant tension output device 30 outputs the pulling force required by the system according to the actual operation of the shield machine. At this time, the shield body of the shield machine is subjected to the sum of the pulling force from the front resistance and the ground constant tension output device 30, and the thrust output by the thrust cylinder of the shield machine is balanced; the tunneling posture auxiliary control system controls the ground constant tension output device 30 to output a certain pulling force, thereby increasing the output force of the thrust cylinder of the shield machine, ensuring that the shield machine has sufficient turning moment, and realizing the upward posture adjustment of the shield machine under the soft bottom layer.

[0038] Force adjustment function of the ground constant tension output device: The attitude auxiliary control system of the shield machine outputs different pulling forces according to different working states of the shield. When it is necessary to increase the pulling force to tighten the steel cable, the spool of the three-position four-way proportional reversing valve III 34 switches from the middle position to the right position at this time. The fixed displacement pump 2 sucks the hydraulic oil in the oil tank 33 into the fixed displacement pump 2 through its 2A port under the drive of the motor 1. The hydraulic oil flows out from the 2B port of the fixed displacement pump 2 after being pressurized by the fixed displacement pump 2. The hydraulic oil flowing out from the 2B port flows into the second proportional pressure reducing valve 5 through the 5A port of the second proportional pressure reducing valve 5. The hydraulic oil flows out from the 5B port of the second proportional pressure reducing valve 5 after pressure regulation by the second proportional pressure reducing valve 5. When the pressure of the hydraulic oil flowing out from the 2B port exceeds the preset pressure of the relief valve 3, the hydraulic oil flowing out from the 2B port flows into the relief valve 3 through the 3A port of the relief valve 3. The hydraulic oil flows into the oil tank 33 through the 3B port of the relief valve 3 after passing through the relief valve 3. The hydraulic oil flowing out from the 5B port of the second proportional pressure reducing valve 5 flows into the second accumulator 7 through the 7A port of the second accumulator 7 respectively, flows into the pressure sensor 8 through the 8A port of the pressure sensor 8, and flows into the three-position four-way proportional reversing valve III 34 through the 34P port of the three-position four-way proportional reversing valve III 34. The hydraulic oil flows out from the 34A port of the three-position four-way proportional reversing valve III 34 after passing through the three-position four-way proportional reversing valve III 34. The hydraulic oil flowing out from the 34A port flows into the fifth hydraulic control check valve 35 through the 35A port of the fifth hydraulic control check valve 35 respectively, and flows into the sixth hydraulic control check valve 36 through the 36C port of the sixth hydraulic control check valve 36. The sixth hydraulic control check valve 36 is in the conducting state under the action of the hydraulic oil. The hydraulic oil flows out from the 35B port of the fifth hydraulic control check valve 35 after passing through the fifth hydraulic control check valve 35. The hydraulic oil flowing out from the 35B port flows into the stop valve II 22 through the 22A port of the stop valve II 22, flows into the stop valve IV 24 through the 24A port of the stop valve IV 24, and flows into the stop valve VI 26 through the 26A port of the stop valve VI 26. The hydraulic oil flows out from the 22B port of the stop valve II 22 after passing through the stop valve II 22. The hydraulic oil flowing out from the 22B port flows into the first hydraulic motor 27 through the 27A port of the first hydraulic motor 27. The hydraulic oil flows out from the 27B port of the first hydraulic motor 27 after passing through the first hydraulic motor 27. The hydraulic oil flowing out from the 27B port flows into the stop valve I 21 through the 21B port of the stop valve I 21. The hydraulic oil flows out from the 21A port of the stop valve I 21 after passing through the stop valve I 21. The hydraulic oil flows out from the 24B port of the stop valve IV 24 after passing through the stop valve IV 24. The hydraulic oil flowing out from the 24B port flows into the second hydraulic motor 28 through the 28A port of the second hydraulic motor 28. The hydraulic oil flows out from the 28B port of the second hydraulic motor 28 after passing through the second hydraulic motor 28. The hydraulic oil flowing out from the 28B port flows into the stop valve III 23 through the 23B port of the stop valve III 23. The hydraulic oil flows out from the 23A port of the stop valve III 23 after passing through the stop valve III 23. The hydraulic oil flows out from the 26B port of the stop valve VI 26 after passing through the stop valve VI 26. The hydraulic oil flowing out from the 26B port flows into the third hydraulic motor 29 through the 29A port of the third hydraulic motor 29. The hydraulic oil flows out from the 29B port of the third hydraulic motor 29 after passing through the third hydraulic motor 29. The hydraulic oil flowing out from the 29B port flows into the stop valve V 25 through the 25B port of the stop valve V 25. The hydraulic oil flows out from the 25A port of the stop valve V 25 after passing through the stop valve V 25,The hydraulic oil flowing out from ports 21A, 23A, and 25A flows into the sixth pilot-operated check valve 36 through port 36B of the sixth pilot-operated check valve 36 together. After passing through the sixth pilot-operated check valve 36, the hydraulic oil flows out from its port 36A. The hydraulic oil flowing out from port 36A flows into the three-position four-way proportional direction valve three 34 through port 34B of the three-position four-way proportional direction valve three 34. After passing through the three-position four-way proportional direction valve three 34, the hydraulic oil flows back to the oil tank 33 from its port 34T; when it is necessary to reduce the cable tension, at this time, the tension controller 9 adjusts the pressure of the hydraulic oil output from port 5A of the second proportional pressure reducing valve 5 online according to the pressure signal of the pressure sensor 8, and reduces the cable tension by reducing the outlet pressure of the fifth proportional pressure reducing valve 5; when it is necessary to relax the cable, at this time, the spool of the three-position four-way proportional direction valve three 34 is switched from the middle position to the left position. The fixed-displacement pump 2 sucks the hydraulic oil in the oil tank 33 into the fixed-displacement pump 2 through its port 2A under the drive of the motor 1. After being pressurized by the fixed-displacement pump 2, the hydraulic oil flows out from its port 2B. The hydraulic oil flowing out from port 2B flows into the second proportional pressure reducing valve 5 through port 5A of the second proportional pressure reducing valve 5. After being pressure-regulated by the second proportional pressure reducing valve 5, the hydraulic oil flows out from its port 5B. When the pressure of the hydraulic oil flowing out from port 2B exceeds the preset pressure of the relief valve 3, the hydraulic oil flowing out from port 2B flows into the relief valve 3 through port 3A of the relief valve 3. After passing through the relief valve 3, the hydraulic oil flows into the oil tank 33 from its port 3B. The hydraulic oil flowing out from port 5B flows into the second accumulator 7 through port 7A of the second accumulator 7 respectively, flows into the pressure sensor 8 through port 8A of the pressure sensor 8, and flows into the three-position four-way proportional direction valve three 34 through port 34P of the three-position four-way proportional direction valve three 34. After passing through the three-position four-way proportional direction valve three 34, the hydraulic oil flows out from its port 34B. The hydraulic oil flowing out from port 34B flows into the fifth pilot-operated check valve 35 through port 35C of the fifth pilot-operated check valve 35 respectively, and flows into the sixth pilot-operated check valve 36 through port 36A of the sixth pilot-operated check valve 36. The fifth pilot-operated check valve 35 is in a conducting state under the action of the hydraulic oil. After passing through the sixth pilot-operated check valve 36, the hydraulic oil flows out from its port 36B. The hydraulic oil flowing out from port 36B flows into the first stop valve 21 through port 21A of the first stop valve 21, flows into the third stop valve 23 through port 23A of the third stop valve 23, and flows into the fifth stop valve 25 through port 25A of the fifth stop valve 25. After passing through the first stop valve 21, the hydraulic oil flows out from its port 21B. The hydraulic oil flowing out from port 21B flows into the first hydraulic motor 27 through port 27B of the first hydraulic motor 27. After passing through the first hydraulic motor 27, the hydraulic oil flows out from its port 27A. The hydraulic oil flowing out from port 27A flows into the second stop valve 22 through port 22B of the second stop valve 22. After passing through the second stop valve 22, the hydraulic oil flows out from its port 22A. The hydraulic oil flowing out from port 23B flows into the second hydraulic motor 28 through port 28B of the second hydraulic motor 28. After passing through the second hydraulic motor 28, the hydraulic oil flows out from its port 28A. The hydraulic oil flowing out from port 28A flows into the fourth stop valve 24 through port 24B of the fourth stop valve 24. After passing through the fourth stop valve 24, the hydraulic oil flows out from its port 24A.The hydraulic oil flows out from its port 25B after passing through the stop valve five 25, and the hydraulic oil flowing out from port 25B flows into the third hydraulic motor 29 through port 29B of the third hydraulic motor 29. The hydraulic oil flows out from its port 29A after passing through the third hydraulic motor 29, and the hydraulic oil flowing out from port 29A flows into the stop valve six 26 through port 26B of the stop valve six 26. The hydraulic oil flows out from its port 26A after passing through the stop valve six 26. The hydraulic oil flowing out from ports 22A, 24A, and 26A flows into the fifth pilot-operated check valve 35 through port 35B of the fifth pilot-operated check valve 35. The hydraulic oil flows out from its port 35A after passing through the fifth pilot-operated check valve 35, and the hydraulic oil flowing out from port 35A flows into the three-position four-way proportional direction valve three 34 through port 34A of the three-position four-way proportional direction valve three 34. The hydraulic oil flows back to the oil tank 33 through its port 34T after passing through the three-position four-way proportional direction valve three 34; the first hydraulic motor 27, the second hydraulic motor 28, and the third hydraulic motor 29 start to rotate under the action of the hydraulic oil. The rotation of the hydraulic motor drives the small gear 307 connected to it to rotate. The small gear 307 drives the large gear ring 308 to rotate through the meshing action with the large gear ring 308. The large gear ring 308 drives the gear transmission disc 304 to rotate. The gear transmission disc 304 transmits the movement to the reducer 302 through key connection. The reducer 302 drives the cable reel 303 to rotate together. The tightening and loosening of the cable are realized by adjusting the cable reel 303; the tension controller 9 will adjust the pressure of the hydraulic oil output from port 5A of the proportional pressure reducing valve 5 online according to the pressure signal of the pressure sensor 8 to realize the force adjustment function of the ground constant tension output device.,

[0039] Support mechanism position adjustment function: During the operation of the shield tunneling attitude auxiliary control system, it is necessary to adjust the position of the steel cable in real time. Here, only the adjustment of the support hydraulic control system 1 and the support hydraulic control system 2 is taken as an example to illustrate; when it is necessary to adjust the position of the steel cable downward, at this time, the spools of the three-position four-way proportional directional valve 18 and the three-position four-way proportional directional valve 19 are switched from the middle position to the right position. The fixed-displacement pump 2 sucks the hydraulic oil in the oil tank 33 into the fixed-displacement pump 2 through its 2A port under the drive of the motor 1. The hydraulic oil flows out from the 2B port of the fixed-displacement pump 2 after being pressurized by the fixed-displacement pump 2. The hydraulic oil flowing out from the 2B port flows into the first proportional pressure reducing valve 4 through the 4A port of the first proportional pressure reducing valve 4. The hydraulic oil flows out from the 4B port of the first proportional pressure reducing valve 4 after pressure regulation by the first proportional pressure reducing valve 4. When the pressure of the hydraulic oil flowing out from the 2B port exceeds the preset pressure of the relief valve 3, the hydraulic oil flowing out from the 2B port flows into the relief valve 3 through the 3A port of the relief valve 3. The hydraulic oil flows into the oil tank 33 through the 3B port of the relief valve 3 after passing through the relief valve 3. The hydraulic oil flowing out from the 4B port respectively flows into the first accumulator 6 through the 6A port of the first accumulator 6, flows into the three-position four-way proportional directional valve 18 through the 18P port of the three-position four-way proportional directional valve 18, and flows into the three-position four-way proportional directional valve 19 through the 19P port of the three-position four-way proportional directional valve 19. The hydraulic oil flows out from the 18A port of the three-position four-way proportional directional valve 18 after passing through the three-position four-way proportional directional valve 18. The hydraulic oil flowing out from the 18A port respectively flows into the first hydraulic control check valve 14 through the 14A port of the first hydraulic control check valve 14 and flows into the second hydraulic control check valve 15 through the 15C port of the second hydraulic control check valve 15. The second hydraulic control check valve 15 is in a conducting state under the action of the hydraulic oil. The hydraulic oil flows out from the 14B port of the first hydraulic control check valve 14 after passing through the first hydraulic control check valve 14. The hydraulic oil flowing out from the 14B port flows into the rodless cavity of the first double-acting single-rod hydraulic cylinder 12 through the 12A port of the first double-acting single-rod hydraulic cylinder 12. The piston of the first double-acting single-rod hydraulic cylinder 12 starts to move under the action of the high-pressure oil in its rodless cavity. The hydraulic oil in the rod chamber of the first double-acting single-rod hydraulic cylinder 12 flows out from its 12B port. The hydraulic oil flowing out from the 12B port flows into the second hydraulic control check valve 15 through the 15B port of the second hydraulic control check valve 15. The hydraulic oil flows out from the 15A port of the second hydraulic control check valve 15 after passing through the second hydraulic control check valve 15. The hydraulic oil flowing out from the 15A port flows into the three-position four-way proportional directional valve 18 through the 18B port of the three-position four-way proportional directional valve 18. The hydraulic oil flows into the oil tank 33 through the 18T port of the three-position four-way proportional directional valve 18 after passing through the three-position four-way proportional directional valve 18. The hydraulic oil flows out from the 19A port of the three-position four-way proportional directional valve 19 after passing through the three-position four-way proportional directional valve 19. The hydraulic oil flowing out from the 19A port respectively flows into the third hydraulic control check valve 16 through the 16A port of the third hydraulic control check valve 16 and flows into the fourth hydraulic control check valve 17 through the 17C port of the fourth hydraulic control check valve 17. The fourth hydraulic control check valve 17 is in a conducting state under the action of the hydraulic oil. The hydraulic oil flows out from the 16B port of the third hydraulic control check valve 16 after passing through the third hydraulic control check valve 16. The hydraulic oil flowing out from the 16B port flows into the rodless cavity of the second double-acting single-rod hydraulic cylinder 13 through the 13A port of the second double-acting single-rod hydraulic cylinder 13. The piston of the second double-acting single-rod hydraulic cylinder 13 starts to move under the action of the high-pressure oil in its rodless cavity.The hydraulic oil in the rod chamber of the second double-acting single-rod hydraulic cylinder 13 flows out through its port 13B. The hydraulic oil flowing out of port 13B flows into the fourth pilot-operated check valve 17 through port 17B of the fourth pilot-operated check valve 17. After passing through the fourth pilot-operated check valve 17, the hydraulic oil flows out through its port 17A. The hydraulic oil flowing out of port 17A flows into the three-position four-way proportional direction valve II 19 through port 19B of the three-position four-way proportional direction valve II 19. After passing through the three-position four-way proportional direction valve II 19, the hydraulic oil flows into the oil tank 33 through its port 19T. When it is necessary to adjust the position of the steel cable upward, at this time, the spools of the three-position four-way proportional direction valve I 18 and the three-position four-way proportional direction valve II 19 are switched from the middle position to the left position. The fixed-displacement pump 2 sucks the hydraulic oil in the oil tank 33 into the fixed-displacement pump 2 through its port 2A under the drive of the motor 1. After being pressurized by the fixed-displacement pump 2, the hydraulic oil flows out through its port 2B. The hydraulic oil flowing out of port 2B flows into the first proportional pressure reducing valve 4 through port 4A of the first proportional pressure reducing valve. After being pressure-regulated by the first proportional pressure reducing valve 4, the hydraulic oil flows out through its port 4B. When the pressure of the hydraulic oil flowing out of port 2B exceeds the preset pressure of the relief valve 3, the hydraulic oil flowing out of port 2B flows into the relief valve 3 through port 3A of the relief valve 3. After passing through the relief valve 3, the hydraulic oil flows into the oil tank 33 through its port 3B. The hydraulic oil flowing out of port 4B flows into the first accumulator 6 through port 6A of the first accumulator 6, flows into the three-position four-way proportional direction valve I 18 through port 18P of the three-position four-way proportional direction valve I 18, and flows into the three-position four-way proportional direction valve II 19 through port 19P of the three-position four-way proportional direction valve II 19. After passing through the three-position four-way proportional direction valve I 18, the hydraulic oil flows out through its port 18B. The hydraulic oil flowing out of port 18B flows into the first pilot-operated check valve 14 through port 14C of the first pilot-operated check valve 14 and into the second pilot-operated check valve 15 through port 15A of the second pilot-operated check valve 15. The first pilot-operated check valve 14 is in a conducting state under the action of the hydraulic oil. After passing through the second pilot-operated check valve 15, the hydraulic oil flows out through its port 15B. The hydraulic oil flowing out of port 15B flows into the rod chamber through port 12B of the first double-acting single-rod hydraulic cylinder 12. The piston of the double-acting single-rod hydraulic cylinder 12 starts to move under the action of the high-pressure oil in its rod chamber. The hydraulic oil in the non-rod chamber of the first double-acting single-rod hydraulic cylinder 12 flows out through its port 12A. The hydraulic oil flowing out of port 12A flows into the first pilot-operated check valve 14 through port 14B of the first pilot-operated check valve 14. After passing through the first pilot-operated check valve 14, the hydraulic oil flows out through its port 14A. The hydraulic oil flowing out of port 14A flows into the three-position four-way proportional direction valve 18 through port 18A of the three-position four-way proportional direction valve I 18. After passing through the three-position four-way proportional direction valve I 18, the hydraulic oil flows into the oil tank 33 through its port 18T. The hydraulic oil flows out through port 19B of the three-position four-way proportional direction valve II 19. The hydraulic oil flowing out of port 19B flows into the third pilot-operated check valve 16 through port 16C of the third pilot-operated check valve 16 and into the fourth pilot-operated check valve 17 through port 17A of the fourth pilot-operated check valve 17. The third pilot-operated check valve 16 is in a conducting state under the action of the hydraulic oil. After passing through the fourth pilot-operated check valve 17, the hydraulic oil flows out through its port 17B.The hydraulic oil flowing out from port 17B flows into the rod chamber of the second double-acting single-rod hydraulic cylinder 13 through port 13B of the second double-acting single-rod hydraulic cylinder 13. The piston of the second double-acting single-rod hydraulic cylinder 13 starts to move under the action of the high-pressure oil in its rod chamber. The hydraulic oil in the rodless chamber of the second double-acting single-rod hydraulic cylinder 13 flows out through its port 13A. The hydraulic oil flowing out from port 13A flows into the third hydraulic control check valve 16 through port 16B of the third hydraulic control check valve 16. After passing through the third hydraulic control check valve 16, the hydraulic oil flows out from its port 16A. The hydraulic oil flowing out from port 16A flows into the three-position four-way proportional reversing valve two 19 through port 19A of the three-position four-way proportional reversing valve two 19. After passing through the three-position four-way proportional reversing valve two 19, the hydraulic oil flows into the oil tank 33 through its port 19T. The position controller 20 adjusts the control signals output to the three-position four-way proportional reversing valve one 18 and the three-position four-way proportional reversing valve two 19 according to the displacement signals of the first displacement sensor 10 and the second displacement sensor 11, so as to realize the independent position adjustment of different support mechanisms. The movement of the piston rods of the first double-acting single-rod hydraulic cylinder 12 and the second double-acting single-rod hydraulic cylinder 13 drives the connected upper support arm 312, lower support arm 313 and guide pulley mounting base 314 to move together. The guide pulley 315 is installed on the guide pulley mounting base 314. The guide pulley 315 starts to move under the drive of the guide pulley mounting base 314. The steel cable is in close contact with the guide pulley 315. By changing the position of the guide pulley 315, the position adjustment between the support mechanism and the steel cable is realized.

[0040] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A shield tunneling attitude auxiliary control system for soft strata, characterized in that It includes a motor, a fixed-displacement pump and multiple hydraulic motors. The motor is connected to the fixed-displacement pump. The fixed-displacement pump is respectively connected to a first reversing valve, a second reversing valve and a third reversing valve through a pressure reducing valve. Two ports of the third reversing valve are respectively connected to two ports of the hydraulic motor through a third group of pilot-operated check valves. The hydraulic motor is connected to a cable drum. The cable on the cable drum passes through a guide pulley of a support mechanism and is connected to the center of the shield body of the shield machine. The first reversing valve is connected to two oil chambers of a double-acting single-rod hydraulic cylinder through a first group of pilot-operated check valves. The second reversing valve is connected to two oil chambers of another double-acting single-rod hydraulic cylinder through a second group of pilot-operated check valves. Displacement sensors are provided on the moving rods of the two double-acting single-rod hydraulic cylinders. The displacement sensors, the first reversing valve and the second reversing valve are all connected to a position controller. The position controller adjusts the control signals output to the first reversing valve and the second reversing valve according to the displacement signals of the displacement sensors to realize the position adjustment of the support mechanism. The fixed-displacement pump is respectively connected to a first accumulator through a first pressure reducing valve, connected to a second accumulator through a second pressure reducing valve, and connected to an oil tank through an overflow valve. A pressure sensor is provided between the second pressure reducing valve and the second accumulator. The second pressure reducing valve and the pressure sensor are both connected to a tension controller. The tension controller will, according to the actual working conditions of the shield machine and the pressure signals of the pressure sensor, online adjust the hydraulic oil pressure input to the hydraulic motor. The shield tunneling attitude auxiliary control system ensures that the shield machine does not slip during the downward tunneling process by adjusting the tension output by the cable.

2. The shield tunneling attitude auxiliary control system for soft strata according to claim 1, characterized in that The first accumulator is respectively connected to the first reversing valve and the second reversing valve. The first reversing valve is connected to the second reversing valve. Two ports of the first reversing valve are respectively connected to two oil chambers of the double-acting single-rod hydraulic cylinder through the A ports of the first pilot-operated check valve and the second pilot-operated check valve of the first group of pilot-operated check valves. The C port of the first pilot-operated check valve is connected to the A port of the second pilot-operated check valve. The C port of the second pilot-operated check valve is connected to the A port of the first pilot-operated check valve. The B ports of the first pilot-operated check valve and the second pilot-operated check valve are respectively connected to two oil chambers of the double-acting single-rod hydraulic cylinder. Two ports of the second reversing valve are respectively connected to two oil chambers of the double-acting single-rod hydraulic cylinder through the A ports of the third pilot-operated check valve and the fourth pilot-operated check valve of the second group of pilot-operated check valves. The C port of the third pilot-operated check valve is connected to the A port of the fourth pilot-operated check valve. The C port of the fourth pilot-operated check valve is connected to the A port of the third pilot-operated check valve. The B ports of the third pilot-operated check valve and the fourth pilot-operated check valve are respectively connected to two oil chambers of another double-acting single-rod hydraulic cylinder.

3. The attitude auxiliary control system for shield tunneling facing soft strata according to claim 1, characterized in that The second energy accumulator is connected to the third reversing valve. Two ports of the third reversing valve are respectively connected to the A ports of the fifth hydraulic control check valve and the sixth hydraulic control check valve of the third group of control check valves. The C port of the fifth hydraulic control check valve is connected to the A port of the sixth hydraulic control check valve, and the C port of the sixth hydraulic control check valve is connected to the A port of the fifth hydraulic control check valve. The B port of the fifth hydraulic control check valve is connected to the A ports of all hydraulic motors through a plurality of stop valves, and the B port of the sixth hydraulic control check valve is connected to the B ports of all hydraulic motors through a plurality of stop valves.

4. The shield tunneling attitude auxiliary control system for soft strata according to claim 1, characterized in that It further includes a ground constant tension output device. The ground constant tension output device includes a hydraulic motor mounting base, a reducer, a cable reel, a gear transmission disc, a connecting rib plate, a cable reel mounting base, a pinion gear, and a large gear ring. The hydraulic motor is mounted on the hydraulic motor mounting base. The main body of the hydraulic motor mounting base is a plate-like structure, with an arc-shaped upper part, a rectangular boss provided at the part in contact with the ground at the lower part, and a mounting hole for mounting the hydraulic motor provided in the middle. The bottom of the hydraulic motor mounting base is fixedly connected to the cable reel mounting base, and a connecting rib plate is provided between the two. A reducer is mounted on the cable reel mounting base. The input end of the reducer is connected to the gear transmission disc through a key, and the output end of the reducer is connected to the cable reel through a key. The main body of the cable reel is a cylinder, with annular baffles provided at both ends. The cable reel is mounted on the cable reel mounting base. The main body of the gear transmission disc is an annular structure, with a hollow frustum connected inside through spokes. A keyway is provided inside the hollow frustum. A large gear ring is connected to one side of the spokes through interference fit. The hydraulic motor is connected to the pinion gear through a key, and at the same time, the pinion gear meshes with the large gear ring.

5. An attitude auxiliary control system for shield tunneling facing soft strata according to claim 1, characterized in that, The support mechanism includes a tunnel mounting base, an upper support arm, a lower support arm, a guide pulley mounting base, and a guide pulley. The main body of the tunnel mounting base is a cross-arc-shaped structure, and an installation mechanism for connecting to the upper support arm is provided at the end far from the tunnel. The main bodies of the upper support arm and the lower support arm are both U-shaped beam structures. The upper support arm and the lower support arm are respectively connected to the tunnel mounting base and the guide pulley mounting base through connecting pins. The guide pulley is connected to the guide pulley mounting base.

6. The shield tunneling attitude auxiliary control system for soft strata according to claim 1, wherein When the spools of the first reversing valve and the second reversing valve are in the neutral position, their A ports, B ports, and T ports are in a conducting state, and their P ports are in a cut-off state. When the spool is in the right position, its A port and P port are in a conducting state, and its B port and T port are in a conducting state. When the spool is in the left position, its A port and T port are in a conducting state, and its B port and P port are in a conducting state.

7. An attitude auxiliary control system for shield tunneling facing soft strata according to claim 4, characterized in that Tunneling attitude assistance system attitude adjustment function: When the shield machine is tunneling downward in soft strata, the pinion gear driven by the hydraulic motor transmits the rotational torque to the gear transmission disc through meshing with the large gear ring. The gear transmission disc transmits the torque to the reducer through key connection. The output end of the reducer moves together with the steel cable drum. The steel cable outputs a constant tension under the action of the steel cable drum. The other end of the steel cable is connected to the center of the shield body of the shield machine through a support mechanism. The shield machine transfers a part of its own weight to the ground constant tension output device under the action of the steel cable. The tension controller will adjust the hydraulic oil pressure input to the hydraulic motor online according to the actual working conditions of the shield machine and the pressure signal of the pressure sensor. The tunneling attitude auxiliary control system ensures that the shield machine does not slip during the downward tunneling process by adjusting the tension output by the steel cable. When the shield machine is tunneling horizontally in soft strata, the output force of the ground constant tension output device is zero at this time, and the rock-breaking resistance from the rock and soil received by the cutter head at its front end is balanced with the thrust output by the shield machine's propulsion cylinders. When the shield machine turns upward along the predetermined trajectory, due to the insufficient output force of the shield machine's propulsion cylinders, it is unable to provide enough turning torque for the shield machine, resulting in difficulty for the shield machine to adjust its attitude according to the preset trajectory. At this time, the tunneling attitude auxiliary control system activates the ground constant tension output device, and the ground constant tension output device outputs the required tension of the system according to the actual operation conditions of the shield machine. At this time, the sum of the resistance from the front and the tension of the ground constant tension output device received by the shield body of the shield machine is balanced with the thrust output by the shield machine's thrust cylinders. The tunneling attitude auxiliary control system controls the ground constant tension output device to output a certain tension, increases the output force of the shield machine's thrust cylinders, ensures that the shield machine has enough turning torque, and realizes the upward attitude adjustment of the shield machine under soft strata.

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