Single-motor-driven full-face tunnel boring machine and slag discharge control method thereof

Abstract

The application discloses a single-motor-driven full-face tunnel boring machine and a slag discharging control method thereof. The full-face tunnel boring machine is driven by a single motor, thereby solving the problem of asynchronization of multiple motor driving, and having the advantages of high transmission efficiency and large adjustable range of rotating speed. Meanwhile, the complicated speed reduction mechanism, cooling and lubricating pipeline and the like are omitted, so that the structure is simple and the maintenance workload is small. In addition, the main driving motor is driven by a high-voltage frequency converter, the frequency converter can be arranged outside the tunnel, a transformer required by low-voltage driving is omitted, the length of the rear supporting system is shortened, and the cable consumption of low-voltage frequency converter driving is reduced. Moreover, the bottom slag discharging design is adopted, fast slag discharging can be realized, a slag cleaner is designed for auxiliary slag discharging, the accumulation of slag at the bottom of the cutter head is effectively prevented, and the tunneling efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-face tunnel boring machine, in particular, relates to a single motor driven full-face tunnel boring machine, and in addition, relates to a slag control method of the full-face tunnel boring machine. BACKGROUND

[0002] The full-face tunnel boring machine is a large tunnel construction equipment integrating machine, electricity, liquid, light and gas systems, which can be used for tunneling, supporting, slagging and other construction processes and continuous operation, has the advantages of fast tunneling speed, environmental protection and high comprehensive benefits, and is rapidly increasing in application in tunnel engineering of China railway, hydropower, transportation, mine and municipal administration. The main driving system as a key component of the full-face tunnel boring machine provides rotating torque for the cutter head and drives the cutter head to rotate and tunnel, and directly determines whether the tunnel boring machine can work normally. The main driving system of the existing tunnel boring machine adopts a multi-motor synchronous driving mode, which brings many problems, specifically as follows: 1) since the working characteristics of each driving motor are not the same, there is a speed difference between the motors, thereby causing unbalanced torque and low driving system transmission efficiency; 2) each driving motor needs to be driven in parallel with a planetary gear reducer, and the reducer needs to be additionally configured with water cooling, lubrication and the like, which leads to large driving system volume, complex structure, many cooling and lubrication pipelines and large maintenance workload; 3) the multi-motor driving means power dispersion, and each driving unit has small power, so that low-voltage motors can only be used, thereby leading to an increase in the number of driving devices such as frequency converters and transformers, short electric energy transmission distance, complex connection lines and long tunnel boring machine supporting system. SUMMARY

[0003] The present application provides a single motor driven full-face tunnel boring machine and a slag control method thereof, to solve at least one defect of the main driving system of the existing full-face tunnel boring machine due to the use of multi-motor synchronous driving.

[0004] According to one aspect of the present application, a single motor driven full-face tunnel boring machine is provided, which comprises a cutter head, a main driving motor, an extensible shield, a propelling oil cylinder, a bracing shield, a rear supporting system, a slag cleaner and a belt conveyor, the cutter head is connected with the rotating end of the main driving motor, the extensible shield is connected with the tail of the main driving motor, the tail of the extensible shield is connected with the bracing shield through the propelling oil cylinder, the rear supporting system is connected with the tail of the bracing shield, a stabilizer is arranged in the extensible shield, a bracing shoe is arranged in the bracing shield, a slag discharge channel is arranged at the bottom of the main driving motor, the extensible shield and the propelling oil cylinder, the belt conveyor is arranged in the slag discharge channel and used to convey the slag to outside of the tunnel boring machine, the slag cleaner is arranged at the bottom rear of the cutter head and is connected with the belt conveyor and used to transfer the slag falling from the cutter head to the belt conveyor.

[0005] Further, the main drive motor comprises a motor outer shell, a motor inner shell, connecting steel plates, a rotating shaft, a stator core, a stator coil, a first bearing and a second bearing, the motor outer shell is a tunneling machine shield, the motor inner shell is connected with the motor outer shell through a plurality of connecting steel plates which are uniformly and circumferentially spaced, the stator core is fixedly installed on the motor inner shell, the stator coil is wound on the stator core, the rotating shaft is installed on the motor inner shell through the first bearing and the second bearing at the front and rear ends thereof respectively, and a fan-shaped area surrounded by two adjacent connecting steel plates at the bottom constitutes a bottom slag discharge channel.

[0006] Further, first and second sealing members are further arranged between the rotating shaft and the motor inner shell, and the first and second sealing members are respectively located in front of and behind the first bearing to play a sealing role.

[0007] Further, the motor inner shell is further provided with a grease channel, a gear oil channel and a cooling water channel.

[0008] Further, the slag cleaner comprises a slag cleaning plate, a first rotating head and a second rotating head, the slag cleaning plate is obliquely arranged and designed in an isosceles trapezoidal shape, used for carrying the slag soil cut off by the cutter head, the top edge of the slag cleaning plate is butt-jointed with the belt conveyor and has the same width, the first and second rotating heads are rotatably and oppositely installed on the slag cleaning plate, and the rotating directions of the first and second rotating heads are opposite, a plurality of raking teeth are arranged on the first and second rotating heads, and the slag soil on the slag cleaning plate is conveyed to the belt conveyor through the opposite rotation of the two rotating heads.

[0009] Further, the cutter head comprises a cutter head panel, cutters and a cutter head support, the cutters are fixedly installed on the cutter head panel, the cutter head support is fixedly installed on the back of the cutter head panel, and a circular ring at the middle of the cutter head support is fixedly connected with the rotating end of the main drive motor through a connecting flange.

[0010] In addition, the application further provides a slag discharge control method of the full-face tunnel boring machine, which is used for controlling the slag discharge operation of the full-face tunnel boring machine and comprises the following contents.

[0011] The advancing speed of the tunneling machine is set;

[0012] The slag soil volume T1 cut by the cutter head per unit time and the slag soil volume T2 cleaned by the slag cleaner per unit time are calculated, and the rotating head rotating speed V2 of the slag cleaner is calculated according to the set slag discharge condition: T1=T2,

[0013] T1=2πRV1

[0014] T2=nL 2dsinβ(2-cosβ)V2

[0015] Wherein, R is the radius of the cutter head, n is the number of teeth of the slag remover rotating head, L is the length of the teeth of the slag remover rotating head, d is the height of the teeth of the slag remover rotating head, β is the included angle between two teeth of the slag remover rotating head, V1 is the advancing speed, and V2 is the rotating head speed of the slag remover;

[0016] judging whether the calculated rotating head speed exceeds the maximum rotating speed and correcting the advancing speed and the rotating head speed, and calculating the belt machine speed V3 based on the corrected rotating head speed, wherein V3=2πr(r+h)V2, r is the radius of the middle rotating disc of the slag remover rotating head, and h is the vertical distance between the top of the slag remover and the ground;

[0017] controlling the reamer to perform the slag removal operation based on the corrected advancing speed, the rotating head speed, and the belt machine speed.

[0018] Further, the process of judging whether the calculated rotating head speed exceeds the maximum rotating speed and correcting the advancing speed and the rotating head speed is specifically:

[0019] If V2≤V 2max , V 2max represents the maximum rotating speed of the slag remover rotating head, then V1 and V2 remain unchanged;

[0020] If V2>V 2max , then V2=V 2max , and the slag soil volume T 2max cleaned by the slag remover per unit time is calculated, T 2max =nL 2 dsinβ(2-cosβ)V 2max , the size relationship between (T1-T 2max ) and T p is judged, T p is the slag soil volume allowed to accumulate at the bottom of the cutter head, wherein α is the sector included angle of the telescopic shield bottom slag removal channel, if (T1-T 2max )≤T p , then after correction: V1 remains unchanged, and V2=V 2max , if (T1-T 2max )>T p , then after correction: V2=V 2max .

[0021] Further, the following contents are further included:

[0022] Detect the accumulation height of the slag on the slag cleaner, if the accumulation height of the slag cut by the cutter head exceeds the first threshold value and the duration exceeds the preset threshold value, the advancing speed, the rotating head rotating speed of the slag cleaner and the belt machine speed are adjusted to reduce the accumulation height of the slag, if the accumulation height of the slag cut by the cutter head exceeds the second threshold value and the duration exceeds the preset threshold value, the second threshold value is greater than the first threshold value, the tunneling machine is controlled to stop working.

[0023] Further, when the accumulation height of the slag cut by the cutter head exceeds the first threshold value and the duration exceeds the preset threshold value, the process of adjusting the advancing speed, the rotating head rotating speed of the slag cleaner and the belt machine speed is specifically:

[0024] If V2 2max , V2 is adjusted to V 2max , V3=2πr(r+h)V 2max ;

[0025] If V2=V 2max , it is continuously judged that if V2 , V2 is V If V2 , V2 is V

[0026] The present application has the following effects:

[0027] The single-motor-driven full-face tunneling machine adopts single-motor driving, solves the problem of asynchronization of multiple motors, has the advantages of high transmission efficiency and large adjustable range of rotating speed, meanwhile, the complex speed reduction mechanism, cooling and lubricating pipeline and the like are omitted, the structure is simple, and the maintenance workload is small. In addition, the main driving motor is driven by a high-voltage frequency converter, the frequency converter can be arranged outside the tunnel, the transformer required by low-voltage driving is omitted, the length of the rear supporting system is shortened, and the cable consumption of low-voltage frequency converter driving is reduced. Moreover, the bottom slag discharge design is adopted, the rapid slag discharge can be realized, and the slag cleaner is designed to assist the slag discharge, the accumulation of the slag at the bottom of the cutter head can be effectively prevented, and the tunneling efficiency is improved.

[0028] In addition, the slag discharge control method of the full-face tunneling machine can realize adaptive matching control of the slag discharge speed according to the tunneling speed, saves the equipment energy consumption, and can adjust the tunneling speed of the tunneling machine according to the slag discharge capacity, so as to realize the balance between the slag production and the slag discharge, improve the slag discharge efficiency, and prevent the accumulation of the slag in the tunneling machine from being too high, thereby greatly improving the tunneling efficiency.

[0029] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the application. In the drawings:

[0031] Figure 1 is a structural schematic diagram of a single-motor-driven full-face tunnel boring machine which is a preferred embodiment of the present application.

[0032] Figure 2 is a front view schematic diagram of a main drive motor which is a preferred embodiment of the present application.

[0033] Figure 3 is a side view schematic diagram of a main drive motor which is a preferred embodiment of the present application.

[0034] Figure 4 is a structural schematic diagram of a slag cleaner which is a preferred embodiment of the present application.

[0035] Figure 5 is a structural schematic diagram of a cutter head which is a preferred embodiment of the present application.

[0036] Figure 6 is a structural schematic diagram of a telescopic shield which is a preferred embodiment of the present application.

[0037] Figure 7 is a schematic diagram of a slag discharge control method of a full-face tunnel boring machine which is another embodiment of the present application, in which a detection device is arranged at the front end of the motor inner shell to detect the height of the slag accumulation.

[0038] BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 1, cutter head; 2, main drive motor; 3, connecting flange; 4, telescopic shield; 5, stabilizer; 6, pushing oil cylinder; 7, bracing shield; 8, bracing shoe; 9, rear matching system; 10, slag cleaner; 11, belt conveyor; 12, belt conveyor support frame; 21, motor outer shell; 22, motor inner shell; 23, connecting steel plate; 24, rotating shaft; 25, stator core; 26, stator coil; 27, first bearing; 28, second bearing; 29, bottom slag discharge passage; 210, first sealing member; 211, second sealing member; 212, grease passage; 213, gear oil passage; 214, cooling water passage; 215, bearing inner ring; 216, rolling element; 217, bearing outer ring; 101, slag cleaning plate; 102, first rotating head; 103, second rotating head; 111, cutter head panel; 112, cutter; 113, cutter head support frame; 41, telescopic shield shell; 42, telescopic shield support frame; 221, first detection device; 222, second detection device. DETAILED DESCRIPTION

[0040] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0041] Understandable, such as Figure 1 As shown, a preferred embodiment of the present invention provides a single-motor driven full-face tunnel boring machine, including a cutterhead 1, a main drive motor 2, a telescopic shield 4, a propulsion cylinder 6, a tensioning shield 7, a rear support system 9, a muck cleaner 10, and a belt conveyor 11. The cutterhead 1 is connected to the rotating end of the main drive motor 2, and the main drive motor 2 drives the cutterhead 1 to rotate to cut the tunnel face, thereby excavating the entire tunnel face. The telescopic shield 4 is connected to the tail of the main drive motor 2, and the tail of the telescopic shield 4 is connected to the tensioning shield 7 through the propulsion cylinder 6. The rear support system 9 is connected to the tail of the tensioning shield 7. A stabilizer 5 is installed inside the telescopic shield 4, which supports and stabilizes the excavation face and surrounding strata, and assists the tunnel boring machine in advancing. A support shoe 8 is installed inside the tensioning shield 7, which supports the tunnel wall during excavation and provides thrust for the tunnel boring machine to advance. The main drive motor 2 is driven by a high-voltage frequency converter, which is located outside the tunnel and supplies power to the main drive motor 2 through a high-voltage cable, which can greatly reduce the amount of cable used and the length of the downstream supporting system 9. The bottom of the main drive motor 2, the telescopic shield 4, and the propulsion cylinder 6 is provided with a muck discharge channel. The belt conveyor 11 is installed in the muck discharge channel to transport the muck to the outside of the tunneling machine. Specifically, it is installed in the muck discharge channel through the belt conveyor support frame 12. The muck cleaner 10 is located at the rear bottom of the cutterhead 1 and is connected to the belt conveyor 11 to transfer the muck cut off by the cutterhead 1 onto the belt conveyor 11.

[0042] It is understandable that the single-motor driven full-face tunnel boring machine of this embodiment solves the problem of asynchronous multi-motor drives by using a single motor drive. It has the advantages of high transmission efficiency and a wide adjustable speed range. At the same time, it eliminates complex reduction mechanisms, cooling and lubrication pipelines, etc., resulting in a simple structure and low maintenance workload. Furthermore, the main drive motor 2 is driven by a single high-voltage frequency converter, which can be installed outside the tunnel, eliminating the need for a transformer required for low-voltage drives. The trolley of the downstream supporting system 9 has no transformer, frequency converter, or other equipment, greatly shortening the length of the downstream supporting system 9 and reducing the amount of cables used for low-voltage frequency converter drives. Moreover, the bottom muck discharge design enables rapid muck removal, and a muck cleaner 10 is designed for auxiliary muck removal, effectively preventing the accumulation of muck at the bottom of the cutterhead and improving tunneling efficiency.

[0043] Understandable, such as Figure 2 and Figure 3As shown, the main drive motor 2 comprises a motor outer shell 21, a motor inner shell 22, connecting steel plates 23, a rotating shaft 24, a stator core 25, a stator coil 26, a first bearing 27 and a second bearing 28, the motor outer shell 21 is a shield of the tunneling machine, the motor inner shell 22 is connected with the motor outer shell 21 through a plurality of connecting steel plates 23 which are uniformly and circumferentially spaced, the stator core 25 is fixedly installed on the motor inner shell 22, the stator coil 26 is wound on the stator core 25, the rotating shaft 24 is installed on the motor inner shell 22 through the first bearing 27 and the second bearing 28 at the front and rear ends thereof respectively, and a fan-shaped area surrounded by two adjacent connecting steel plates 23 at the bottom constitutes a bottom slag discharge channel 29. In addition, the first and second bearings 27 and 28 are further provided with first and second sealing members 210 and 211 between the rotating shaft 24 and the motor inner shell 22, the first and second sealing members 210 and 211 are respectively located in front of and behind the first bearing 27 for sealing effect to prevent the cut slag from entering the first bearing 27. In addition, the motor inner shell 22 is further provided with grease channels 212, gear oil channels 213 and cooling water channels 214 for conveying lubricating grease, lubricating gear oil into the first bearing 27 and / or the second bearing 28 and conveying cooling water into the cooling pipeline in the motor inner shell 22. The first bearing 27 and the second bearing 28 are the same in structure and are composed of a bearing inner ring 215, a rolling element 216 and a bearing outer ring 217.

[0044] It can be understood that the main drive motor 2 is designed based on the principle of high-voltage permanent magnet motor, has high synchronization and high transmission efficiency, adopts double-shell design, the motor outer shell 21 serves as a shield of the tunneling machine and plays a supporting, protecting and wear-resistant role, the motor inner shell 22 is used for protecting the internal components of the motor and has the functions of dustproof, noise-proof, waterproof and electromagnetic interference shielding, and the bottom slag discharge channel 29 is designed at the bottom of the motor to ensure that the cut slag of the cutter head can be smoothly transported out. At the same time, the motor inner shell 22 integrates the functions of water cooling, grease, lubrication and sealing, the motor structure is simple and integrally formed, and a speed reducer is not needed, thereby saving a large number of cooling and lubricating pipelines.

[0045] It can be understood that, as Figure 4As shown, the slag cleaner 10 includes a slag cleaning plate 101, a first rotating head 102, and a second rotating head 103. The slag cleaning plate 101 is inclined and has an isosceles trapezoidal design to carry the slag cut off by the cutter head 1. The top edge of the slag cleaning plate 101 is connected to the belt conveyor 11, and both are of equal width. The bottom edge of the slag cleaning plate 101 covers the bottom of the cutter head as much as possible, thereby increasing the slag cleaning range. The first rotating head 102 and the second rotating head 103 are rotatably mounted opposite each other on the slag cleaning plate 101, and their rotation directions are opposite. For example, the first rotating head 102 rotates counterclockwise and the second rotating head 103 rotates clockwise, or the first rotating head 102 rotates clockwise and the second rotating head 103 rotates counterclockwise. Both the first rotating head 102 and the second rotating head 103 are provided with multiple teeth. By rotating the two rotating heads in opposite directions, the slag on the slag cleaning plate 101 is transported to the belt conveyor 11. The two rotating heads have the same structure and each has its own rotating drive component, such as a motor. Each rotating head includes a central turntable, and the motor is installed at the center of the central turntable. The outer circumference of the central turntable is provided with multiple evenly spaced teeth. When the rotating head rotates, a series of teeth can move the slag. Since the two rotating heads rotate in opposite directions, the slag accumulated on the slag cleaning plate 101 is pushed from its middle area to its top edge, thereby transporting the slag to the belt conveyor 11.

[0046] Understandable, such as Figure 5 As shown, the cutterhead 1 includes a cutterhead panel 111, a cutter 112, and a cutterhead bracket 113. The cutter 112 is fixedly mounted on the cutterhead panel 111, and the cutterhead bracket 113 is fixedly mounted on the back of the cutterhead panel 111. The middle part of the cutterhead bracket 113 is a circular ring structure, which is connected to the outer ring of the cutterhead panel 111 by multiple support rods. The circular ring in the middle of the cutterhead bracket 113 is fixedly connected to the rotating end of the main drive motor 2 through a connecting flange 3. It can be understood that in order to realize the muck removal at the bottom of the tunneling machine, the cutterhead panel 111 is a flat structure without a bucket, which facilitates the direct fall of the cut muck to the bottom of the cutterhead. At the same time, in order to solve the problem of weakening of the mechanical connection between the cutterhead and the main drive caused by the structural change of the cutterhead panel 111, a cutterhead bracket 113 is designed on the back of the cutterhead panel 111 to enhance the mechanical connection strength between the cutterhead 1 and the rotating shaft 24.

[0047] Understandable, such as Figure 6As shown, the telescopic shield 4 comprises a telescopic shield shell 41 and a telescopic shield support 42 mounted in the telescopic shield shell 41, the propelling oil cylinder 6 and the stabilizer 5 are mounted on the telescopic shield support 42, and the telescopic shield support 42 and the telescopic shield shell 41 are formed with a slag discharge passage in the form of a sector area at the bottom, facilitating slag discharge. The specific structure of the telescopic shield 4 is prior art, and thus will not be described here again. The main innovation of the present application lies in that the slag discharge passage is designed at the bottom of the telescopic shield 4.

[0048] In addition, another embodiment of the present application also provides a slag discharge control method of a full-face tunnel boring machine, which is used for controlling the slag discharge operation of the full-face tunnel boring machine as described above, and comprises the following contents:

[0049] Setting the propelling speed of the tunnel boring machine;

[0050] Calculating the volume T1 of the slag soil cut by the cutter head in unit time and the volume T2 of the slag soil swept by the slag sweeper in unit time, and calculating the rotating head rotating speed V2 of the slag sweeper according to the set slag discharge condition: T1=T2,

[0051] T1=2πRV1

[0052] T2=nL 2 dsinβ(2-cosβ)V2

[0053] Wherein, R is the radius of the cutter head, n is the number of teeth of the rotating head of the slag sweeper, L is the length of the teeth of the rotating head of the slag sweeper, d is the height of the teeth of the rotating head of the slag sweeper, β is the included angle between two teeth of the rotating head of the slag sweeper, V1 is the propelling speed, and V2 is the rotating head rotating speed of the slag sweeper;

[0054] Judging whether the calculated rotating head rotating speed exceeds the maximum rotating speed, correcting the propelling speed and the rotating head rotating speed, and calculating the belt conveyor speed V3 based on the corrected rotating head rotating speed, wherein V3=2πr(r+h)V2, r is the radius of the middle rotating disc of the rotating head of the slag sweeper, and h is the vertical distance between the top of the slag sweeper and the ground;

[0055] Controlling the tunnel boring machine to perform the slag discharge operation based on the corrected propelling speed, rotating head rotating speed and belt conveyor speed.

[0056] It can be understood that the mucking control method of the full-face tunnel boring machine in the embodiment can automatically calculate the muck volume cut by the cutter head and the muck volume swept by the mucking device per unit time after the advancing speed is set, and pre-set the two equal as the mucking condition, so that the rotating head rotating speed of the mucking device can be calculated based on the set advancing speed. If the rotating head rotating speed does not exceed the maximum rotating speed, the advancing speed and the rotating head rotating speed are not corrected and adjusted. If the rotating head rotating speed exceeds the maximum rotating speed, the advancing speed and the rotating head rotating speed need to be corrected and adjusted, so that the mucking speed is as fast as possible and the muck volume accumulated at the bottom of the cutter head is ensured not to exceed the allowable value. The belt conveyor rotating speed is calculated based on the corrected rotating head rotating speed. Finally, the tunnel boring machine is controlled to perform mucking operation based on the corrected advancing speed, the rotating head rotating speed and the belt conveyor rotating speed. The mucking control method of the full-face tunnel boring machine in the embodiment can realize adaptive matching control of the mucking speed according to the tunneling speed, save the equipment energy consumption, and adjust the tunneling speed of the tunnel boring machine according to the mucking capacity, so as to realize the balance between mucking and mucking, improve the mucking efficiency, and prevent the muck from being accumulated too high in the tunnel boring machine, thereby greatly improving the tunneling efficiency.

[0057] Specifically, after the supporting shoe is controlled to stretch out and support the tunnel wall, the cutter head rotating speed, the advancing speed V1 and other tunneling control parameters are set. Then, according to the pre-set control program, the muck volume T allowed to be accumulated at the bottom of the cutter head T p , the muck volume T1 cut by the cutter head per unit time and the muck volume T2 swept by the mucking device per unit time can be automatically calculated. The specific calculation formula is as follows:

[0058]

[0059] T1=2πRV1

[0060] T2=nL 2 d sinβ(2-cosβ)V2

[0061] wherein R is the cutter head radius, h is the vertical distance between the top of the mucking device and the ground, n is the number of teeth of the rotating head of the mucking device, L is the tooth length of the rotating head of the mucking device, d is the tooth height of the rotating head of the mucking device, β is the included angle between two teeth of the rotating head of the mucking device, V1 is the advancing speed, V2 is the rotating head rotating speed of the mucking device, and α is the sector included angle of the mucking passage at the bottom of the telescopic shield.

[0062] Since the pre-set mucking condition is T1=T2, the rotating head rotating speed V2 of the mucking device can be calculated, and the belt conveyor rotating speed V3 can be calculated based on the rotating head rotating speed V2, V3=2πr(r+h)V2, and r is the radius of the middle rotating disc of the rotating head of the mucking device.

[0063] Then, determine whether the calculated rotational speed V2 of the rotating head exceeds the maximum speed V. 2max :

[0064] If V2≤V 2max V 2max This indicates the maximum rotational speed of the slag remover's rotating head. It means that based on the current propulsion speed V1, the slag discharge speed matches the slag production speed, and the slag cut by the cutterhead can be transported out in time. Therefore, V1, V2, and V3 remain unchanged.

[0065] If V2 > V 2max This means that the slag discharge rate cannot keep up with the slag production rate, and slag will accumulate at the bottom of the cutterhead. Therefore, let V2 = V 2max That is, using the maximum slag discharge rate, and calculating the volume T of slag cleaned by the slag cleaner per unit time at this rate. 2max T 2max =nL 2 dsinβ(2-cosβ)V 2max Determine (T1-T) 2max ) and T p The size relationship between them, if (T1-T 2max )≤T p After correction: V1 remains unchanged, V2 = V 2max V3=2πr(r+h)V 2max If (T1-T) 2max )>T p After correction: V2 = V 2max V3=2πr(r+h)V 2max That is, when the volume of slag accumulated at the bottom of the cutter head does not exceed the allowable value, the slag discharge speed is adjusted to the maximum while the propulsion speed remains unchanged. When the volume of slag accumulated at the bottom of the cutter head exceeds the allowable value, the propulsion speed is reduced while the slag discharge speed is adjusted to the maximum to reduce the slag generated by cutting, so that the volume of slag accumulated at the bottom of the cutter head is within the allowable value range.

[0066] After determining the propulsion speed V1, the rotational speed of the slag remover V2, and the belt conveyor speed V3, the propulsion cylinder is extended, and the tunneling machine is driven forward by the reaction force provided by the support shoe.

[0067] Optionally, the slag discharge control method further includes the following:

[0068] The system detects the height of the excavated soil accumulation on the excavator. If the height of the excavated soil accumulation caused by the cutterhead cutting exceeds the first threshold and the duration exceeds the preset threshold, the system adjusts the propulsion speed, the rotation speed of the excavator's rotating head, and the belt conveyor speed to reduce the height of the excavated soil accumulation. If the height of the excavated soil accumulation caused by the cutterhead cutting exceeds the second threshold and the duration exceeds the preset threshold, and the second threshold is greater than the first threshold, the system controls the tunneling machine to stop working.

[0069] Specifically, such as Figure 7 As shown, a first detection device 221 and a second detection device 222 are provided on the front end face of the motor inner housing 22. The second detection device 222 is above the first detection device 221. The installation position of the first detection device 221 corresponds to a first threshold of the accumulation height, and the installation position of the second detection device 222 corresponds to a second threshold of the accumulation height. The first detection device 221 and the second detection device 222 can be ultrasonic detection devices, laser detection devices, machine vision detection devices, or proximity switches, etc. The height of the slag accumulated on the slag remover is detected in real time by the first detection device 221 and the second detection device 222. If the first detection device 221 detects that the accumulation height of the slag cut by the cutterhead exceeds the first threshold and the duration exceeds a preset threshold, the pushing speed, the rotation speed of the slag remover's rotating head, and the belt conveyor speed need to be adjusted to increase the slag discharge speed and / or decrease the pushing speed to reduce the slag accumulation height. Wherein, if V2 < V 2max Then adjust V2 to V 2max V3=2πr(r+h)V 2max That is, first adjust the slag removal speed to the maximum, and do not adjust the propulsion speed at this time to improve tunneling efficiency; and if V2 = V at this time 2max If the slag discharge rate is already at its maximum, then continue to judge: if at this time... Then let If at this time Then let This involves reducing the advance speed to decrease the slag production rate and prevent excessive slag accumulation at the bottom of the cutterhead. When the second detection device 222 detects that the slag accumulation height exceeds a second threshold and the duration exceeds a preset threshold, it indicates excessive slag accumulation, triggering an alarm and stopping the tunneling machine. Further judgment is only made when the detection signals from the first and second detection devices 221 and 222 exceed the preset threshold duration (e.g., 2s, 5s, or 10s), preventing false detection of slag falling during the cutting process and improving detection accuracy.

[0070] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A method for controlling the mucking of a single-motor-driven full-face tunnel boring machine, the single-motor-driven full-face tunnel boring machine comprising a cutter head (1), a main drive motor (2), an extensible shield (4), a thrust cylinder (6), a bracing shield (7), a rear matching system (9), a mucker (10) and a belt conveyor (11), the cutter head (1) being connected to the rotating end of the main drive motor (2), the extensible shield (4) being connected to the tail of the main drive motor (2), the tail of the extensible shield (4) being connected to the bracing shield (7) through the thrust cylinder (6), the rear matching system (9) being connected to the tail of the bracing shield (7), the extensible shield (4) being provided with a stabilizer (5) and the bracing shield (7) being provided with a bracing shoe (8), the main drive motor (2), the extensible shield (4) and the bottom of the thrust cylinder (6) being provided with a mucking passage, the belt conveyor (11) being arranged in the mucking passage for conveying the muck to the outside of the tunnel boring machine, the mucker (10) being arranged at the bottom rear of the cutter head (1) and being in butt joint with the belt conveyor (11) for transferring the muck falling from the cutter head (1) to the belt conveyor (11), the mucker (10) comprising a mucking plate (101), a first rotating head (102) and a second rotating head (103), the mucking plate (101) being arranged obliquely and in the shape of an isosceles trapezoid for bearing the muck falling from the cutter head (1), the top edge of the mucking plate (101) being in butt joint with the belt conveyor (11) and having the same width, the first rotating head (102) and the second rotating head (103) being rotatably mounted on the mucking plate (101) and having opposite rotating directions, a plurality of raking teeth being arranged on the first rotating head (102) and the second rotating head (103), the muck on the mucking plate (101) being conveyed to the belt conveyor (11) by the opposite rotating directions of the two rotating heads, characterized in that, The method comprises the following steps: Setting the advancing speed of the tunneling machine; Calculating the volume of the muck cut by the cutter head per unit time T1 and the volume of the muck cleaned by the muck cleaner per unit time T2, and calculating the rotating head rotating speed V2 of the muck cleaner according to the set muck discharging condition T1=T2, ； Wherein, R is the radius of the cutter head, n is the number of teeth of the rotating head of the muck cleaner, L is the length of the teeth of the rotating head of the muck cleaner, d is the height of the teeth of the rotating head of the muck cleaner, β is the included angle between two teeth of the rotating head of the muck cleaner, V1 is the advancing speed, and V2 is the rotating head rotating speed of the muck cleaner; judging whether the calculated rotating head rotating speed exceeds the maximum rotating speed and correcting the advancing speed and the rotating head rotating speed, and calculating the belt machine speed V3 based on the corrected rotating head rotating speed, wherein r is the radius of the middle rotating disc of the slag cleaner rotating head, and h is the vertical distance from the top of the slag cleaner to the ground. Based on the corrected advancing speed, rotating head rotating speed and belt conveyor speed, the tunneling machine is controlled to carry out muck discharging operation.

2. The method of muck control for a full face tunnel boring machine of claim 1, wherein, The process of judging whether the calculated rotating head rotating speed exceeds the maximum rotating speed and correcting the advancing speed and the rotating head rotating speed comprises the following steps: If V2≤V 2max , V 2max represents the maximum rotation speed of the slag cleaner rotary head, then V1 and V2 are kept unchanged; If V2>V 2max , then let V2=V 2max , and calculate the volume of slag cleaned by the slag cleaner per unit time T 2max , , determine the size relationship between (T1-T 2max ) and T p , T p is the volume of slag allowed to accumulate at the bottom of the cutter head, wherein , α is the sector angle of the slag outlet channel at the bottom of the telescopic shield, if (T1-T 2max )≤T p , then after correction: V1 remains unchanged, V2=V 2max , if (T1-T 2max )>T p , then after correction: , V2=V 2max .

3. The method of muck control for a full face tunnel boring machine of claim 2, wherein, The method further comprises the following steps: Detecting the accumulation height of the muck on the muck cleaner, and if the accumulation height of the muck cut by the cutter head exceeds the first threshold value and the duration exceeds the preset threshold value, adjusting the advancing speed, the rotating head rotating speed of the muck cleaner and the belt conveyor speed to reduce the accumulation height of the muck; if the accumulation height of the muck cut by the cutter head exceeds the second threshold value and the duration exceeds the preset threshold value, the second threshold value being greater than the first threshold value, the tunneling machine is controlled to stop working.

4. The method of muck control for a full face tunnel boring machine of claim 3, wherein, When the accumulation height of the muck cut by the cutter head exceeds the first threshold value and the duration exceeds the preset threshold value, the process of adjusting the advancing speed, the rotating head rotating speed of the muck cleaner and the belt conveyor speed comprises the following steps: If at this time V2 < V 2max , then V2 is adjusted to V 2max , ; If at this time V2=V 2max , then continue to determine: if at this time , then let , if at this time , then let .

5. The method of muck pass control for a full face tunnel boring machine of claim 1, wherein, The main drive motor (2) comprises a motor outer shell (21), a motor inner shell (22), connecting steel plates (23), a rotating shaft (24), a stator core (25), a stator coil (26), a first bearing (27) and a second bearing (28). The motor outer shell (21) is a shield of the tunneling machine. The motor inner shell (22) is connected with the motor outer shell (21) through a plurality of connecting steel plates (23) which are uniformly and spacedly arranged in the circumferential direction. The stator core (25) is fixedly installed on the motor inner shell (22). The stator coil (26) is wound on the stator core (25). The front and rear ends of the rotating shaft (24) are respectively installed on the motor inner shell (22) through the first bearing (27) and the second bearing (28). The fan-shaped area surrounded by the two adjacent connecting steel plates (23) at the bottom constitutes a bottom muck discharging passage (29).

6. The method of muck pass control for a full face tunnel boring machine of claim 5, wherein, First and second sealing members (210) and (211) are further arranged between the rotating shaft (24) and the motor inner shell (22) to play a sealing role.

7. The method of muck pass control for a full face tunnel boring machine of claim 5, wherein, The motor inner shell (22) is further provided with a grease passage (212), a gear oil passage (213) and a cooling water passage (214).

8. The method for controlling the mucking of a full-face tunnel boring machine according to claim 1, characterized in that, The cutter head (1) comprises a cutter head panel (111), a cutter (112) and a cutter head support (113), the cutter (112) is fixedly installed on the cutter head panel (111), the cutter head support (113) is fixedly installed on the back of the cutter head panel (111), and the circular ring in the middle of the cutter head support (113) is fixedly connected with the rotating end of the main driving motor (2) through a connecting flange (3).

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