Tunneling machine segment erector driving method, device, system, equipment and medium

Abstract

The application provides a shield tunnel segment erector driving method, device, system, equipment and medium. The method comprises the following steps: after a suction cup of a shield tunnel segment erector sucks a segment, it is determined whether a counter torque needs to be provided to a rotating frame of the shield tunnel segment erector according to a rotating direction of the rotating frame and an angle position of the segment; if it is determined that the counter torque needs to be provided, a speed reduction ratio between the rotating frame and a generator is adaptively adjusted according to a size of the required counter torque, so that the rotating frame drives the generator to generate electricity at a corresponding rotating speed while providing the required size of the counter torque to the rotating frame under different negative load conditions. The application can adaptively provide the rotating frame with a counter torque of a suitable size under different negative load conditions, prevent different negative loads from causing shaking of rotating movement, and recycle energy in the process, so as to improve energy saving of the segment erector system.

Description

Technical Field

[0001] This application relates to the field of engineering machinery and equipment technology, and in particular, to a method, device, system, equipment and medium for driving a tunnel boring machine segment assembly machine. Background Technology

[0002] In my country, many infrastructure projects, such as subways, highways, railways, and water diversion projects, require the construction of tunnels using the shield tunneling method. During tunnel construction, the shield tunneling machine uses a segment assembler to assemble segments for support. In this process, the assembler grabs and rotates the segments to different locations. Because the assembler requires significant torque to rotate the segments, and considering the compactness of its mechanical structure, a high-power-density hydraulic motor is generally used to drive the rotation, rather than an electric motor. When the hydraulic motor drives the assembler to rotate downwards, gravity necessitates a balance valve to provide back pressure to the hydraulic motor's return oil. This back pressure counteracts the torque of the rotation, effectively preventing vibrations caused by heavy loads. While the balance valve ensures rotational stability, the large pressure difference across it wastes energy and negatively impacts the system's energy efficiency.

[0003] Therefore, it is necessary to develop a drive system for a tunnel boring machine segment assembly machine that can prevent the negative load from causing vibration during the downward rotation of the assembly machine, and at the same time recover the energy in this process, thereby improving the energy efficiency of the assembly machine system. Summary of the Invention

[0004] This application provides a method for driving a tunnel boring machine segment assembler, which aims to solve the technical problem that energy waste exists and is not conducive to system energy saving when the existing tunnel boring machine segment assembler uses a balance valve to ensure rotational stability.

[0005] The technical solution adopted in this invention is as follows:

[0006] A method for driving a tunnel boring machine segment assembly machine includes the following steps:

[0007] After the suction cup of the tunnel boring machine segment assembly machine picks up the segment, it is determined whether to provide counter torque to the rotating frame based on the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the segment.

[0008] If it is determined that a counter-torque is required, the reduction ratio between the rotating frame and the generator is adaptively adjusted according to the magnitude of the required counter-torque, so that while the rotating frame drives the generator to generate electricity at the corresponding speed, it provides the required counter-torque to the rotating frame under different load conditions.

[0009] Furthermore, after the suction cup of the tunnel boring machine segment assembly machine picks up the segment, it determines whether to provide counter-torque to the rotating frame based on the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the segment. This specifically includes the following steps:

[0010] When the rotating frame of the tunnel boring machine segment assembly machine rotates clockwise or counterclockwise, if the segment moves from top to bottom in the area between vertically upward and vertically downward, it is determined that a counter torque needs to be provided to the rotating frame.

[0011] Furthermore, if it is determined that a counter-torque is needed, the reduction ratio between the rotating frame and the generator is adaptively adjusted according to the magnitude of the required counter-torque, so that while the rotating frame drives the generator to generate electricity at the corresponding speed, it provides the required counter-torque to the rotating frame under different load conditions. This specifically includes the following steps:

[0012] Based on the angular position θ of the tunnel segment, the distance L from the tunnel segment to the center of rotation, and the mass m of the tunnel segment, the torque T under the negative load condition is established, and the magnitude of the current negative load is obtained:

[0013] T = f(θ,L,m);

[0014] If the rotational speed of the rotating frame is n, then the speed transmitted to the generator through the reducer is n1 = n × i 减速机 The counter torque generated by the generator is then calculated as follows:

[0015] T 发电机 =f1(n1);

[0016] To balance the negative load, the amplified counter-torque after passing through the reducer and rotating frame is T. 反 :

[0017] T 反 =i 减速机 ×i 旋转架 ×T 发电机 =i 减速机 ×i 旋转架 ×f1(n1)

[0018] Among them, i 减速机 Let i be the reduction ratio of the reducer. 旋转架 This is the reduction ratio between the rotating frame and the input end of the reducer;

[0019] By T 反 =T can be used to calculate the reduction ratio between the rotating frame and the generator to generate the required counter-torque under different load conditions:

[0020]

[0021] The rotating frame drives the generator to generate electricity at the corresponding speed, while providing the required amount of counter-torque to the rotating frame under different load conditions.

[0022] Another embodiment of this application also provides a drive device for a tunnel boring machine segment assembly machine, including:

[0023] The anti-torque judgment module is used to determine whether to provide anti-torque to the rotating frame after the suction cup of the tunnel boring machine segment assembly machine picks up the segment, based on the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the suction cup or the segment.

[0024] The anti-torque adjustment module is used to adaptively adjust the reduction ratio between the rotating frame and the generator according to the required anti-torque if it is determined that anti-torque is needed, so that the rotating frame drives the generator to generate electricity at the corresponding speed while providing the required anti-torque to the rotating frame under different load conditions.

[0025] Furthermore, the anti-torque adjustment module includes:

[0026] The negative load calculation module is used to establish the torque T under negative load conditions based on the angular position θ of the tunnel segment, the distance L from the tunnel segment to the center of rotation, and the mass m of the tunnel segment, and then obtain the current negative load magnitude.

[0027] T = f(θ,L,m);

[0028] The motor reverse torque calculation module is used to calculate the speed of the rotating frame if its rotational speed is n, then the speed transmitted to the generator through the reducer is n1 = n × i. 减速机 The counter torque generated by the generator is then calculated as follows:

[0029] T 发电机 =f1(n1);

[0030] The counter-torque calculation module is used to balance the negative load; the counter-torque amplified by the reducer and rotating frame is T. 反 :

[0031] T 反 =i 减速机 ×i 旋转架 ×T 发电机 =i 减速机 ×i 旋转架 ×f1(n1)

[0032] Among them, i 减速机 i is the reduction ratio between the rotating frame and the generator. 旋转架 This is the reduction ratio between the hydraulic motor and the rotating frame;

[0033] The reduction ratio adjustment module is used by T 反=T can be used to calculate the reduction ratio between the rotating frame and the generator to generate the required counter-torque under different load conditions:

[0034]

[0035] The rotating frame drives the generator to generate electricity at the corresponding speed, while providing the required amount of counter-torque to the rotating frame under different load conditions.

[0036] Another embodiment of this application also provides a tunnel boring machine segment assembly machine drive system, including:

[0037] The rotation command device is used to issue rotation speed and direction commands to the tunnel boring machine segment assembler;

[0038] An angle sensor is used to detect the rotation angle of the rotating frame of the tunnel boring machine segment assembly machine to determine the angular position of the segment.

[0039] The stroke sensor is used to detect the stroke of the lifting cylinder of the tunnel boring machine segment assembly machine to obtain the distance L from the segment to the center of rotation;

[0040] A speed sensor is used to detect the rotation speed of the rotating frame of the tunnel boring machine segment assembly machine;

[0041] A generator, used to generate electricity and provide counter-torque;

[0042] The speed reducer is a variable speed ratio speed reducer, used to transmit the power of the rotating frame to the generator according to the corresponding speed reduction ratio, and to transmit the counter torque of the generator to the rotating frame;

[0043] A clutch is located between the input ends of the reducer and the generator, and is used for engaging and disengaging power between the reducer and the generator.

[0044] Memory, which stores computer programs;

[0045] The controller, connected to the rotation command unit, angle sensor, stroke sensor, speed sensor, reducer, clutch, and memory, is used to execute the computer program stored in the memory to implement the steps of the tunnel boring machine segment assembly machine drive method.

[0046] Furthermore, it also includes a proximity switch, which is installed on the suction cup of the tunnel boring machine segment assembler and connected to the controller signal, for detecting whether the suction cup has grabbed a segment.

[0047] Furthermore, the reducer adopts a CVT transmission, an AT transmission, or a dual-clutch transmission.

[0048] Another embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the tunnel boring machine segment assembly machine driving method.

[0049] Another embodiment of this application also provides a storage medium, the storage medium including a stored program, which, when the program is executed, controls the device where the storage medium is located to perform the steps of the tunnel boring machine segment assembly machine driving method.

[0050] Compared with the prior art, this application has the following advantages:

[0051] This application provides a method, device, system, equipment, and medium for driving a tunnel boring machine (TBM) segment assembler. The method, after determining the required counter-torque to be provided to the rotating frame based on its rotation direction and the angular position of the segments, adaptively adjusts the reduction ratio between the rotating frame and the generator according to the magnitude of the required counter-torque. Ultimately, by changing the generator's rotational speed, the rotating frame drives the generator to generate electricity at a corresponding speed while simultaneously providing appropriate counter-torque to the rotating frame under different load conditions. This prevents vibrations caused by varying loads during rotational motion and also allows for energy recovery during this process, improving the energy efficiency of the assembly machine system.

[0052] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0053] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0054] Figure 1 This is a schematic flowchart of the tunnel boring machine segment assembly machine driving method according to a preferred embodiment of this application.

[0055] Figure 2 This is a schematic diagram of the tunnel boring machine segment assembly machine according to a preferred embodiment of this application.

[0056] Figure 3 This is a schematic diagram of the tunnel boring machine segment assembly machine rotating clockwise according to a preferred embodiment of this application.

[0057] Figure 4 This is a schematic diagram of the tunnel boring machine segment assembly machine rotating counterclockwise according to a preferred embodiment of this application.

[0058] Figure 5This is a flowchart illustrating a sub-step of step S2 in a preferred embodiment of this application.

[0059] Figure 6 This is a schematic diagram of the shield tunnel segment assembly machine drive device module of an embodiment of this application.

[0060] Figure 7 This is a schematic diagram of a sub-module of the anti-torque adjustment module in a preferred embodiment of this application.

[0061] Figure 8 This is a schematic diagram of the tunnel boring machine segment assembly machine drive system according to a preferred embodiment of this application.

[0062] Figure 9 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application.

[0063] Figure 10 This is an internal structural diagram of a computer device according to a preferred embodiment of this application.

[0064] In the picture:

[0065] 101. Suction cup; 102. Fixing frame; 103. Hydraulic motor; 104. Generator; 105. Rotating frame; 106. Angle sensor; 107. Lifting cylinder; 108. Stroke sensor; 109. Speed ​​sensor; 1. Motor; 2. Coupling; 3. Hydraulic pump; 4. Check valve; 5. Safety valve; 6. Proportional directional valve; 7. Hydraulic check valve assembly; 7.1. First hydraulic check valve; 7.2. Second hydraulic check valve; 8. Hydraulic motor reducer; 9. Reducer; 10. Clutch; 11. Power processing unit; 12. Controller; 13. Proximity switch; 14. Rotation command device; 15. Other electrical components. Detailed Implementation

[0066] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0067] Reference Figure 1 A preferred embodiment of the present invention provides a method for driving a tunnel boring machine segment assemblies, comprising the following steps:

[0068] S1. After the suction cup of the tunnel boring machine segment assembly machine picks up the segment, it is determined whether to provide counter torque to the rotating frame according to the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the segment.

[0069] S2. If it is determined that a counter-torque is required, the reduction ratio between the rotating frame and the generator is adaptively adjusted according to the magnitude of the required counter-torque, so that while the rotating frame drives the generator to generate electricity at the corresponding speed, the required counter-torque is provided to the rotating frame under different load conditions.

[0070] like Figure 2 As shown, the basic structure of the tunnel boring machine segment assembly machine involved in this embodiment mainly consists of a suction cup 101, a fixed frame 102, a hydraulic motor 103, a rotating frame 105, and a lifting cylinder 107. The fixed frame 102 provides fixed support for the rotation of the assembly machine. The rotating frame 105 is rotatably mounted on the fixed frame 102, and its function is to drive the lifting cylinder 107, the suction cup 101, and the segments to rotate. The suction cup 101 is mounted on the rotating frame 105, and its function is to grip the segments using vacuum. The hydraulic motor 103 provides the rotational speed and torque for the assembly machine's rotation. The lifting cylinder 107 is located between the rotating frame 105 and the suction cup 101, and its function is to drive the suction cup 101 to extend and retract in the radial direction of the tunnel.

[0071] This embodiment provides a driving method for a tunnel boring machine segment assembler. After determining the required counter-torque to be provided to the rotating frame based on the rotation direction of the rotating frame and the angular position of the segment, the method can adaptively adjust the reduction ratio between the rotating frame and the generator according to the magnitude of the required counter-torque. Ultimately, by changing the generator's rotational speed, the rotating frame drives the generator to generate electricity at the corresponding speed while providing an appropriate counter-torque to the rotating frame under different load conditions. This prevents vibration caused by different loads on the rotational motion and also allows for energy recovery during this process, thereby improving the energy efficiency of the assembly machine system.

[0072] Preferably, after the suction cup of the tunnel boring machine segment assembly machine picks up the segment, it determines whether to provide counter-torque to the rotating frame based on the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the segment. This specifically includes the following steps:

[0073] S11. When the rotating frame of the tunnel boring machine segment assembly machine rotates clockwise or counterclockwise, if the segment moves from top to bottom in the area between vertically upward and vertically downward, it is determined that a counter torque needs to be provided to the rotating frame.

[0074] This embodiment provides specific measures to determine whether to provide counter-torque to the rotating frame based on the rotation direction of the tunnel boring machine's segment assembly machine and the angular position of the segment. Figure 3As shown, when the rotating frame rotates clockwise, it is determined that a counter-torque needs to be provided to the rotating frame when it moves from top to bottom in the area between vertically upward and vertically downward. That is, when the rotating frame drives the tube segment to rotate clockwise from region 1 to region 4, there is a negative load due to the superposition of gravity, so it is determined that a counter-torque needs to be provided to the rotating frame. However, when the rotating frame continues to rotate clockwise from region 3 to region 2, there is no negative load, so it is determined that no counter-torque needs to be provided to the rotating frame.

[0075] Similarly, such as Figure 4 As shown, when the rotating frame rotates counterclockwise, it is determined that a counter-torque needs to be provided to the rotating frame when it moves from top to bottom in the area between vertically upward and vertically downward. That is, when the rotating frame drives the tube segment to rotate counterclockwise from region 2 to region 3, there is a negative load due to the superposition of gravity, so it is determined that a counter-torque needs to be provided to the rotating frame. However, when the rotating frame continues to rotate counterclockwise from region 4 to region 1, there is no negative load, so it is determined that no counter-torque needs to be provided to the rotating frame.

[0076] Specifically, such as Figure 5 As shown, if it is determined that a counter-torque is needed, the reduction ratio between the rotating frame and the generator is adaptively adjusted according to the magnitude of the required counter-torque, so that while the rotating frame drives the generator to generate electricity at the corresponding speed, it provides the required counter-torque to the rotating frame under different load conditions. Specifically, this includes the following steps:

[0077] S21. Based on the angular position θ of the tunnel segment, the distance L from the tunnel segment to the center of rotation, and the mass m of the tunnel segment, establish the torque T under the negative load condition to obtain the current negative load magnitude:

[0078] T = f(θ,L,m);

[0079] S22. If the rotational speed of the rotating frame is n, then the speed transmitted to the generator through the reducer is n1 = n × i 减速机 The counter torque generated by the generator is then calculated as follows:

[0080] T 发电机 =f1(n1);

[0081] S23. To balance the negative load, the amplified counter-torque after passing through the reducer and rotating frame is T. 反 :

[0082] T 反 =i 减速机 ×i 旋转架 ×T 发电机 =i 减速机 ×i 旋转架 ×f1(n1)

[0083] Among them, i 减速机 i is the reduction ratio between the rotating frame and the generator. 旋转架 This is the reduction ratio between the rotating frame and the input end of the reducer;

[0084] S24, by T 反 =T can be used to calculate the reduction ratio between the rotating frame and the generator to generate the required counter-torque under different load conditions:

[0085]

[0086] The rotating frame drives the generator to generate electricity at the corresponding speed, while providing the required amount of counter-torque to the rotating frame under different load conditions.

[0087] This embodiment provides a specific process for adaptively adjusting the reduction ratio between the rotating frame and the generator according to the required counter-torque, so that the rotating frame drives the generator to generate electricity at the corresponding speed while providing the required counter-torque for the rotating frame under different load conditions. To reduce vibration, when there is a load condition during rotation, the generator needs to generate a corresponding counter-torque to offset it. The load on the hydraulic system can be understood as the torque of the entire assembly machine structure and the weight of the segments about the rotation center. This torque is related to the assembly machine angle θ, the stroke L of the lifting cylinder, and the mass m of the segments. Therefore, this embodiment first obtains a mathematical model of the torque T under the load condition based on several parameters related to the load. Then, to reduce vibration, the reduction ratio between the rotating frame and the generator, and the function of the generator, is to balance the above torque T. When the rotation speed of the assembly machine is n, the rotation speed transmitted to the generator through the reducer 9 is n1. Since the internal structure of the generator is fixed, when the input speed of the generator is n1, the counter-torque generated by the generator is T. 发电机 =f1(n1), then the amplified reverse torque T after passing through the reducer and rotating frame can be obtained. 反 The expression for the reverse torque T. 反 The magnitude is determined by the counter torque T generated by the generator. 发电机 The reduction ratio i between the rotating frame and the generator 减速机 The reduction ratio i between the rotating frame and the input end of the reducer 旋转架 Calculations show that, under equilibrium conditions, T 反 =T, therefore it can be achieved through the reverse torque T 反 Solving the expression yields the reduction ratio i between the rotating frame and the generator. 减速机 That is, the current reduction ratio of reducer 9, which causes the generator to produce a counter-torque T. 发电机 =f1(n1) can be amplified by a reducer and a rotating frame to obtain a counter-torque T that is consistent with the torque T under negative load conditions.反 .

[0088] like Figure 6 As shown, another embodiment of this application also provides a shield tunneling machine segment assembly machine drive device, including:

[0089] The anti-torque judgment module is used to determine whether to provide anti-torque to the rotating frame after the suction cup of the tunnel boring machine segment assembly machine picks up the segment, based on the rotation direction of the rotating frame of the tunnel boring machine segment assembly machine and the angular position of the suction cup or the segment.

[0090] The anti-torque adjustment module is used to adaptively adjust the reduction ratio between the rotating frame and the generator according to the required anti-torque if it is determined that anti-torque is needed, so that the rotating frame drives the generator to generate electricity at the corresponding speed while providing the required anti-torque to the rotating frame under different load conditions.

[0091] Specifically, such as Figure 7 As shown, the anti-torque adjustment module includes:

[0092] The negative load calculation module is used to establish the torque T under negative load conditions based on the angular position θ of the tunnel segment, the distance L from the tunnel segment to the center of rotation, and the mass m of the tunnel segment, and then obtain the current negative load magnitude.

[0093] T = f(θ,L,m);

[0094] The motor reverse torque calculation module is used to calculate the speed of the rotating frame if its rotational speed is n, then the speed transmitted to the generator through the reducer is n1 = n × i. 减速机 The counter torque generated by the generator is then calculated as follows:

[0095] T 发电机 =f1(n1);

[0096] The counter-torque calculation module is used to balance the negative load; the counter-torque amplified by the reducer and rotating frame is T. 反 :

[0097] T 反 =i 减速机 ×i 旋转架 ×T 发电机 =i 减速机 ×i 旋转架 ×f1(n1)

[0098] Among them, i 减速机 Let i be the reduction ratio of the reducer. 旋转架 This is the reduction ratio between the rotating frame and the input end of the reducer;

[0099] The reduction ratio adjustment module is used by T 反=T can be used to calculate the reduction ratio between the rotating frame and the generator to generate the required counter-torque under different load conditions:

[0100]

[0101] The rotating frame drives the generator to generate electricity at the corresponding speed, while providing the required amount of counter-torque to the rotating frame under different load conditions.

[0102] like Figure 8 As shown, another preferred embodiment of this application also provides a tunnel boring machine segment assembly machine drive system, including a rotation command unit 14, an angle sensor 106, a stroke sensor 108, a speed sensor 109, a generator 104, a reducer 9, a clutch 10, a proximity switch 13, a memory, and a controller 12, wherein:

[0103] The rotation command device 14 is used to send rotation speed and direction commands to the tunnel boring machine segment assembly machine;

[0104] The angle sensor 106 is used to detect the rotation angle of the rotating frame of the tunnel boring machine segment assembly machine and to determine the angular position of the segment.

[0105] The stroke sensor 108 is used to detect the stroke of the lifting cylinder 107 of the tunnel boring machine segment assembly machine to obtain the distance L from the segment to the rotation center;

[0106] The speed sensor 109 is used to detect the rotation speed of the rotating frame of the tunnel boring machine segment assembly machine;

[0107] The generator 104 is used to generate electricity and provide counter-torque. The electrical energy generated by the generator 104 is processed by the power processing unit 11 and can provide power to other electrical components 15, which is energy-saving and environmentally friendly.

[0108] The reducer 9 is a variable speed ratio reducer, used to transmit the power of the rotating frame 105 to the generator 104 according to the corresponding reduction ratio, and to transmit the counter torque of the generator 104 to the rotating frame 105.

[0109] The clutch 10 is disposed between the input end of the reducer and the generator, and is used for power engagement and disengagement between the reducer 9 and the generator 104.

[0110] The proximity switch 13 is installed on the suction cup of the tunnel boring machine segment assembly machine and is connected to the controller 12 via signal, and is used to detect whether the suction cup 101 has grabbed a segment.

[0111] The memory stores computer programs;

[0112] The controller 12 is connected to the rotation command unit 14, angle sensor 106, stroke sensor 108, speed sensor 109, reducer 9, clutch 10, and memory, and is used to implement the steps of the tunnel boring machine segment assembly machine drive method when executing the computer program stored in the memory.

[0113] This embodiment provides a drive system for a tunnel boring machine (TBM) segment assembly machine, including a rotation command unit 14, an angle sensor 106, a stroke sensor 108, a speed sensor 109, a generator 104, a reducer 9, a clutch 10, a proximity switch 13, a memory, and a controller 12. Additionally, the original hydraulic drive system of the TBM segment assembly machine includes a motor 1, a coupling 2, a hydraulic pump 3, a check valve 4, a safety valve 5, a proportional directional valve 6, a hydraulically controlled check valve group 7, and a hydraulic motor reducer 8. The motor 1 provides power to the hydraulic pump 3; the coupling 2 transmits the power from the motor 1 to the hydraulic pump 3. The hydraulic pump 3 provides oil for the rotation of the hydraulic motor 103; the check valve 4 prevents backflow of oil; the safety valve 5 limits the pressure of the hydraulic pump 3 to prevent it from exceeding the pressure limit; the proportional directional valve 6 controls the direction and speed of the hydraulic motor 3 according to the command issued by the rotation command device 14; the hydraulic control check valve group 7 includes a first hydraulic control check valve 7.1 and a second hydraulic control check valve 7.2, which provides a locking function for the hydraulic motor when the machine is stopped to prevent the assembly machine from rotating due to gravity; the hydraulic motor reducer 8 transmits the power of the hydraulic motor 103 to the rotating frame 105.

[0114] The working principle of the various embodiments will be described in detail below with reference to the accompanying drawings.

[0115] 1. When the assembly machine needs to rotate clockwise, the rotation command unit 14 will issue a clockwise rotation command, such as... Figure 3 As shown.

[0116] The rotation command device 14 issues a clockwise rotation command to control the proportional directional valve 6 to operate in the right position. Then, the oil from the hydraulic pump 3 passes sequentially through the check valve 4, the P-port to A-port channel of the proportional directional valve 6, and the first hydraulically controlled check valve 7.1 channel to enter the A-port of the hydraulic motor 103, thereby driving the hydraulic motor 103 to rotate, and driving the rotating frame 105 to rotate through the hydraulic motor reducer 8. The oil from the B-port of the hydraulic motor passes sequentially through the second hydraulically controlled check valve 7.2 channel and the B-port to T-port channel of the proportional directional valve 6 to return to the oil tank.

[0117] When the rotating frame 105 of the assembly machine drives the tunnel segment to rotate clockwise from region 1 to region 4, the signals from the rotation command device 14 and the angle sensor 106 are transmitted to the controller 12. The controller 12 determines that there is a negative load based on the rotation direction, rotation speed, and angular position of the tunnel segment of the rotating frame 105. At this time, the controller 12 executes the computer program stored in the memory to implement the steps of the tunnel segment assembly machine drive method, adaptively adjusts the reduction ratio of the reducer 9 between the rotating frame and the generator, and sends a command to the clutch 10 to engage the clutch. When 10 is closed, the hydraulic motor 103 drives the rotating frame 105 to rotate through the hydraulic motor reducer 8. The rotating frame 105 then drives the generator 10 to rotate at the corresponding speed through the reducer 9 and clutch 10 according to the adjusted reduction ratio. Since different reduction ratios will cause the generator to generate different counter torques, the generator 10 generates the corresponding counter torque and then generates counter torque on the rotating frame 105 through the clutch 10 and reducer 9 to offset the negative load caused by gravity, so that the assembly machine can rotate smoothly under negative load conditions. At the same time, it can also achieve the purpose of energy recovery.

[0118] Specifically, since the load size is related to whether the segment is being gripped, the rotation position, and the stroke of the lifting cylinder 107, the system uses proximity switch 13 to detect whether the assembly machine is gripping a segment, angle sensor 106 to detect the angle of the suction cup 101, and stroke sensor 108 to detect the stroke of the lifting cylinder 107. The controller 12 reads the data detected by proximity switch 13, angle sensor 106, and stroke sensor 108, calculates the load size, and adjusts the speed of generator 104 by changing the reduction ratio of reducer 9 in real time, thereby adjusting its power generation. Simultaneously, it adjusts the counter-torque of generator 104, which generates counter-torque on the rotating frame 105 through clutch 10 and reducer 9. Thus, this system provides different counter-torques and recovers corresponding energy based on the load size under different operating conditions.

[0119] When the rotating frame 105 of the assembly machine drives the pipe segments to rotate clockwise from region 3 to region 2, there is no negative load, and the rotating frame 105 does not require counter torque. At this time, the controller 12 controls the clutch 10 to release. Although the rotating frame 105 drives the reducer 9 to rotate, the power will not be transmitted to the generator 104. Therefore, the generator 104 will not generate counter torque on the rotating frame 105.

[0120] 2. When the assembly machine needs to rotate counterclockwise, the rotation command unit 14 will issue a counterclockwise command, such as... Figure 4 As shown.

[0121] The rotation command device 14 issues a counterclockwise rotation command to control the proportional directional valve 6 to operate in the left position. Then, the oil from the hydraulic pump 3 passes sequentially through the check valve 4, the P-to-B channel of the proportional directional valve 6, and the second hydraulically controlled check valve 7.2 channel into the B port of the hydraulic motor 103, thereby driving the hydraulic motor 103 to rotate, and driving the rotating frame 105 to rotate through the hydraulic motor reducer 8. The oil from the A port of the hydraulic motor passes sequentially through the first hydraulically controlled check valve 7.1 channel and the A-to-T channel of the proportional directional valve 6 back to the oil tank.

[0122] When the rotating frame 105 of the assembly machine drives the tunnel segment to rotate counterclockwise from region 2 to region 3, the signals from the rotation command device 14 and the angle sensor 106 are transmitted to the controller 12. The controller 12 determines that there is a negative load based on the rotation direction, rotation speed, and angular position of the tunnel segment of the rotating frame 105. At this time, the controller 12 executes the computer program stored in the memory to implement the steps of the tunnel segment assembly machine drive method, adaptively adjusts the reduction ratio of the reducer 9 between the rotating frame and the generator, and sends a command to the clutch 10 to activate the clutch. When 10 is closed, the hydraulic motor 103 drives the rotating frame 105 to rotate through the hydraulic motor reducer 8. The rotating frame 105 then drives the generator 10 to rotate at the corresponding speed through the reducer 9 and clutch 10 according to the adjusted reduction ratio. Since different reduction ratios will cause the generator to generate different counter torques, the generator 10 generates the corresponding counter torque and then generates counter torque on the rotating frame 105 through the clutch 10 and reducer 9 to offset the negative load caused by gravity, so that the assembly machine can rotate smoothly under negative load conditions. At the same time, it can also achieve the purpose of energy recovery.

[0123] When the rotating frame 105 of the assembly machine drives the pipe segments to rotate counterclockwise from region 4 to region 1, there is no negative load, and the rotating frame 105 does not require counter torque. At this time, the controller 12 controls the clutch 10 to release. Although the rotating frame 105 drives the reducer 9 to rotate, the power will not be transmitted to the generator 104. Therefore, the generator 104 will not generate counter torque on the rotating frame 105.

[0124] Optionally, the reducer adopts a CVT transmission, an AT transmission, or a dual-clutch transmission. In this embodiment, a CVT transmission with continuously variable transmission characteristics is used. Compared with AT transmissions or dual-clutch transmissions, the CVT transmission has a lower cost. It transmits power through a steel chain or steel belt and can achieve stepless adjustment of the reduction ratio. It can obtain an “infinite number” of reduction ratios between the maximum and minimum reduction ratios, and the adjustment process is smooth and shock-free. As the analysis above shows, the load on the tunnel segment assembler during rotation is constantly changing depending on the position of the segments. Therefore, a CVT transmission with infinitely adjustable reduction ratio can adapt well to this constantly changing process, obtain a more precise reduction ratio, and better achieve dynamic adaptive matching of the gear ratio. In contrast, AT transmissions or dual-clutch transmissions are transmissions with a fixed number of gears. That is to say, AT transmissions or dual-clutch transmissions can only provide a limited number of reduction ratios to drive the generator and obtain the corresponding counter torque. This counter torque can also prevent the load from causing vibration in the rotational motion to a certain extent, and can also recover energy in this process, improving the energy efficiency of the assembler system. However, in terms of technical performance, the CVT transmission is still the best.

[0125] like Figure 9 As shown, another preferred embodiment of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the tunnel boring machine segment assembly machine driving method.

[0126] Another preferred embodiment of this application provides a storage medium including a stored program that, when the program is executed, controls the device where the storage medium is located to perform the steps of the tunnel boring machine segment assembly machine driving method.

[0127] like Figure 10 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 10 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the tunnel boring machine segment assembly machine driving method in the above embodiment.

[0128] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0129] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0130] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0131] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0132] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0133] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, causing the instructions stored in the computer-readable storage medium to produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0135] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for driving a tunnel boring machine segment assembly machine, characterized in that, Including the following steps: After the suction cup (101) of the tunnel boring machine segment assembly machine picks up the segment, it is determined whether to provide counter torque to the rotating frame (105) based on the rotation direction of the rotating frame (105) of the tunnel boring machine segment assembly machine and the angular position of the segment. If it is determined that a counter-torque is required, the reduction ratio between the rotating frame (105) and the generator (104) is adaptively adjusted according to the magnitude of the required counter-torque. This allows the rotating frame (105) to drive the generator (104) to generate electricity at a corresponding speed while simultaneously providing the required counter-torque to the rotating frame (105) under different load conditions. The specific steps include: Based on the angle of the tunnel lining segment θ Distance from tunnel segment to center of rotation L Segment quality m Establish torque under negative load conditions T Get the current load size: ； If the rotational speed of the rotating frame (105) is n The speed transmitted to the generator (104) through the reducer (9) is then... n 1= n i 减速机 Then the counter torque generated by generator (104) is calculated as follows: ； To balance the negative load, the amplified counter-torque through the reducer (9) and rotating frame (105) is: T 反 : ； in, i 减速机 The reduction ratio of the reducer (9) is given. i 旋转架 The reduction ratio between the rotating frame (105) and the input end of the reducer; Depend on It can be concluded that, under different load conditions, in order to generate the required counter torque on the rotating frame (105), the reduction ratio between the rotating frame (105) and the generator (104) is calculated as follows: ， While the rotating frame (105) drives the generator (104) to generate electricity at the corresponding speed, it provides the required amount of counter torque to the rotating frame (105) under different load conditions.

2. The shield tunneling machine segment assembly machine driving method according to claim 1, characterized in that, After the suction cup (101) of the tunnel boring machine segment assembly machine picks up the segment, it determines whether to provide counter-torque to the rotating frame (105) based on the rotation direction of the rotating frame (105) of the tunnel boring machine segment assembly machine and the angular position of the segment. The specific steps include: When the rotating frame (105) of the tunnel boring machine segment assembly machine rotates clockwise or counterclockwise, if the segment moves from top to bottom in the area between vertically upward and vertically downward, it is determined that a counter torque needs to be provided to the rotating frame (105).

3. A drive device for a tunnel boring machine segment assembly machine, characterized in that, include: The anti-torque judgment module is used to determine whether to provide anti-torque to the rotating frame (105) of the tunnel boring machine segment assembly machine after the suction cup (101) picks up the segment, based on the rotation direction of the rotating frame (105) of the tunnel boring machine segment assembly machine, the suction cup (101) or the angular position of the segment. A counter-torque adjustment module is used to adaptively adjust the reduction ratio between the rotating frame (105) and the generator (104) according to the magnitude of the required counter-torque if it is determined that counter-torque is needed. This allows the rotating frame (105) to drive the generator (104) to generate electricity at a corresponding speed while providing the required counter-torque to the rotating frame (105) under different load conditions. The counter-torque adjustment module includes: The load calculation module is used to calculate the load based on the angle position of the tunnel segment. θ Distance from tunnel segment to center of rotation L Segment quality m Establish torque under negative load conditions T Get the current load size: ； The motor reverse torque calculation module is used if the rotational speed of the rotating frame (105) is... n The speed transmitted to the generator (104) through the reducer (9) is then... n 1= n i 减速机 Then the counter torque generated by generator (104) is calculated as follows: ； The counter-torque calculation module is used to calculate the counter-torque amplified by the reducer (9) and the rotating frame (105) to balance the negative load. T 反 : ； in, i 减速机 The reduction ratio between the rotating frame (105) and the generator (104) is... i 旋转架 The reduction ratio between the hydraulic motor (103) and the rotating frame (105); The reduction ratio adjustment module is used by... It can be concluded that, under different load conditions, in order to generate the required counter torque on the rotating frame (105), the reduction ratio between the rotating frame (105) and the generator (104) is calculated as follows: ， While the rotating frame (105) drives the generator (104) to generate electricity at the corresponding speed, it provides the required amount of counter torque to the rotating frame (105) under different load conditions.

4. A tunnel boring machine segment assembly machine drive system, comprising: Rotation command device (14) is used to send rotation speed and direction commands to the tunnel boring machine segment assembly machine; An angle sensor (106) is used to detect the rotation angle of the rotating frame (105) of the tunnel boring machine segment assembly machine and to determine the angular position of the segment. The stroke sensor (108) is used to detect the stroke of the lifting cylinder (107) of the tunnel boring machine segment assembly machine to obtain the distance from the segment to the center of rotation. L ; A speed sensor (109) is used to detect the rotation speed of the rotating frame (105) of the tunnel boring machine segment assembly machine; A generator (104) is used to generate electricity and provide counter-torque; The reducer (9) is a variable speed ratio reducer, used to transmit the power of the rotating frame (105) to the generator (104) according to the corresponding reduction ratio, and to transmit the counter torque of the generator (104) to the rotating frame (105); A clutch (10) is provided between the input end of the reducer (9) and the generator (104) for engaging and disengaging power between the reducer (9) and the generator (104); Memory, which stores computer programs; The controller (12) is connected to the rotation command unit (14), angle sensor (106), stroke sensor (108), speed sensor (109), reducer (9), clutch (10), and memory signal, and is used to implement the steps of the shield tunneling machine segment assembly machine drive method as described in any one of claims 1 to 2 when executing the computer program stored in the memory.

5. The tunnel boring machine segment assembly machine drive system according to claim 4, characterized in that: It also includes a proximity switch (13), which is installed on the suction cup (101) of the tunnel boring machine segment assembly machine and connected to the controller (12) for detecting whether the suction cup (101) has grabbed a segment.

6. The tunnel boring machine segment assembly machine drive system according to claim 4, characterized in that: The reducer (9) is a CVT, AT, or dual-clutch transmission.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the tunnel boring machine segment assembly machine driving method as described in any one of claims 1 to 2.

8. A storage medium comprising a stored program that, when the program is executed, controls a device containing the storage medium to perform the steps of the tunnel boring machine segment assembly machine drive method as described in any one of claims 1 to 2.

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