Back matching trailer, steering method of back matching trailer and shield machine

Abstract

The application provides a rear matching trailer, a rear matching trailer steering method and a shield tunneling machine, and relates to the technical field of tunnel construction, to solve the problem of deviation of the rear matching trailer in related technologies. The rear matching trailer comprises a trailer, a rubber-coated wheel, a main controller and a sub-controller. The sub-controller is configured to obtain an inclination angle value of the trailer when the trailer is inclined. The sub-controller is further configured to judge the inclination angle value of the trailer and the actual deviation value of the trailer, and adjust the inclination angle value of the trailer to be less than or equal to a target correction value. The application can correct the rear matching trailer in real time, avoid the problem of deviation of the rear matching trailer, and ensure that the rear matching trailer moves along the preset route. Meanwhile, the device of the application can be applied to the direction adjustment of the rear matching trailer in different types of tunnels.

Description

Technical Field

[0001] This application relates to the field of tunnel construction technology, and in particular to a rear-mounted trailer, a steering method for the rear-mounted trailer, and a tunnel boring machine. Background Technology

[0002] With economic development and the acceleration of urbanization, tunnels for urban subways, water conservancy and hydropower projects, highways, and railways all require shield tunneling for excavation. Shield tunneling has gradually become more widespread due to its many advantages, such as safety and speed.

[0003] A tunnel boring machine (TBM) structurally includes a cutterhead, shield body, screw conveyor, belt conveyor, and rear-mounted trailer. During TBM construction, the rear-mounted trailer initially uses straight wheels for support and movement. After entering the tunnel, it needs to be replaced with inclined wheels, which travel along the inner wall of the completed tunnel segments. However, while traveling in the tunnel, the rear-mounted trailer is prone to deviation due to factors such as trailer tension, overall uneven load on the trailer, the flatness of the inner ring of the tunnel segments, and sand and soil conditions. This causes the trailer to slow down, reduce its speed, and hinder its stable operation. Summary of the Invention

[0004] This application provides a rear-mounted trailer, a steering method for the rear-mounted trailer, and a tunnel boring machine (TBM). The device can correct the rear-mounted trailer's deviation in real time, preventing it from veering off course and ensuring it travels along a preset route. Furthermore, the device is applicable to adjusting the direction of the rear-mounted trailer in different types of tunnels.

[0005] To achieve the above objectives, a first aspect of this application provides a rear-mounted trailer, including a trailer, rubber-coated wheels, a main controller, and a sub-controller. The rubber-coated wheels are connected to the bottom of the trailer. The main controller and the sub-controller are electrically connected. The main controller is configured to determine the actual deviation value of the trailer during driving and to set a target correction value for the trailer. The main controller is also configured to send the actual deviation value and the target correction value to the sub-controller, wherein the target correction value is less than the actual deviation value. The sub-controller is configured to acquire the tilt angle value of the trailer when the trailer is tilted. The sub-controller is also configured to determine the magnitude of the tilt angle value and the actual deviation value of the trailer, and adjust the tilt angle value of the trailer to be less than or equal to the target correction value.

[0006] In one possible implementation, a tilt sensor is installed on the trailer, and the tilt sensor is electrically connected to the sub-controller; the tilt sensor is configured to acquire the tilt sensor signal of the trailer when the trailer tilts, and the sub-controller is configured to acquire the tilt sensor signal and process the tilt sensor signal to obtain the tilt angle value of the trailer; the sub-controller is also configured to calculate the deviation of the rubber-coated wheel based on the tilt angle value of the trailer.

[0007] In one possible implementation, a steering cylinder is connected between the rubber-coated wheel and the trailer, the steering cylinder being used to perform a steering operation on the rubber-coated wheel; the sub-controller is configured to acquire the stroke of the steering cylinder, and the sub-controller is also configured to control the extension and retraction of the steering cylinder so that the extension and retraction amount of the steering cylinder is equal to the deviation amount of the rubber-coated wheel, thereby achieving the steering of the rubber-coated wheel.

[0008] In one possible implementation, the directional cylinder is equipped with a stroke sensor, which is electrically connected to the sub-controller, and the sub-controller is configured to acquire the stroke of the directional cylinder through the stroke sensor; and / or, the directional cylinder is equipped with an electro-hydraulic proportional valve, which is electrically connected to the sub-controller, and the sub-controller is configured to control the extension and retraction of the directional cylinder through the electro-hydraulic proportional valve.

[0009] In one possible implementation, a guiding device is further included, which is electrically connected to the sub-controller. The guiding device is configured to acquire the mileage of the trailer and send the mileage of the trailer to the sub-controller. And / or, the rear-mounted trailer further includes a touch control device, which is electrically connected to the main controller. The main controller is configured to acquire operation instructions from the field operator through the touch control device and send the operation instructions to the sub-controller.

[0010] In one possible implementation, the number of rubber-coated wheels includes multiple wheels connected to different positions on the bottom of the trailer; the number of tilt sensors includes multiple tilt sensors, which are at least located at the front and rear ends of the trailer; the number of steering cylinders includes multiple steering cylinders, which are connected one-to-one between the multiple rubber-coated wheels and the trailer; and the number of stroke sensors includes multiple stroke sensors, which are one-to-one mounted on the multiple steering cylinders.

[0011] A second aspect of this application provides a steering method for a rear-mounted trailer. The method includes: acquiring a tilt angle sensor signal and processing the signal to obtain the trailer's tilt angle value; calculating the misalignment of the rubber-coated wheel; acquiring the stroke of a steering cylinder; acquiring the trailer's mileage; determining the actual misalignment value of the trailer during travel and setting a target correction value for the trailer; judging the magnitude of the trailer's tilt angle value and the actual misalignment value; when the trailer's tilt angle value is greater than or equal to the actual misalignment value, recording the current stroke of the steering cylinder and controlling its extension and retraction; when the difference between the current stroke and the previous stroke is not less than the misalignment of the rubber-coated wheel, recording the trailer's current mileage and setting the correction loop number N = 0; when the trailer's tilt angle value is less than the actual misalignment value, returning to "Tilt angle of the trailer". The process involves several steps: First, judging the magnitude of the tilt angle and the actual deviation of the trailer. Second, the trailer continues forward. When the difference between the current mileage and the previous mileage is not less than the width of one complete ring segment, the current stroke of the steering cylinder is recorded. The number of correction rings is then set to N + 1. Third, when the tilt angle is less than the target correction value, the correction is successful, and the steering cylinder is reset. When the difference between the current stroke and the previous stroke is not less than the deviation of the rubber-coated wheel, the process returns to the step of "judging the magnitude of the tilt angle and the actual deviation of the trailer." Fourth, when the tilt angle is greater than the target correction value and less than the actual deviation, the process returns to the step of "the trailer continues forward." Fifth, when the tilt angle is greater than the actual deviation, an automatic steering malfunction is detected, requiring manual intervention for steering adjustment, and the steering program is automatically exited.

[0012] In one possible implementation, the step of "acquiring tilt sensor signals and processing the tilt sensor signals to obtain the tilt angle value of the trailer" specifically includes: the tilt sensor signals are multiple continuous signal values; multiple continuous tilt angle values ​​are obtained after processing the multiple tilt sensor signals; and the average value of the multiple tilt angle values ​​is taken. The step of "calculating the deviation of the rubber-coated wheel" specifically includes: setting the inner diameter of a completed ring segment; calculating the deviation of the rubber-coated wheel based on the tilt angle value of the trailer; the formula for calculating the deviation of the rubber-coated wheel is: L = 2 × R × sinθ / 2, where L is the deviation of the rubber-coated wheel, θ is the average value of the multiple tilt angle values, and R is the inner diameter of a completed ring segment.

[0013] In one possible implementation, the step of "when the difference between the current mileage of the trailer and the previous mileage of the trailer is not less than the width of one complete ring segment after assembly" specifically includes: setting the width of a complete ring segment, and the formula for calculating the mileage of the trailer during the correction process is: S = N × W, where S is the mileage of the trailer during the correction process, N is the number of correction rings, and W is the width of a complete ring segment.

[0014] A third aspect of the embodiments of this application also provides a tunnel boring machine, which includes at least a cutterhead, a shield body, and a rear-mounted trailer; the cutterhead is connected to the shield body, the cutterhead is located at the tunneling end of the tunnel boring machine, and the rear-mounted trailer is located at the rear end of the shield body.

[0015] The following embodiments of this application provide a rear-mounted trailer, a steering method for the rear-mounted trailer, and a tunnel boring machine. The rear-mounted trailer includes a trailer, rubber-coated wheels, a main controller, and a sub-controller. The sub-controller is further configured to determine the tilt angle value and the actual deviation value of the trailer, and adjust the tilt angle value of the trailer to be less than or equal to the target correction value. This allows for real-time correction of the rear-mounted trailer, preventing deviation and ensuring it travels along a preset route. Furthermore, the device of this application is applicable to the direction adjustment of rear-mounted trailers in different types of tunnels.

[0016] The structure of this application, as well as its other objectives and beneficial effects, will become more apparent from the description of the preferred embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of the rear-mounted trailer provided in the embodiments of this application. Figure 1 ;

[0019] Figure 2 A schematic diagram of the structure of the rear-mounted trailer provided in the embodiments of this application. Figure 2 ;

[0020] Figure 3 A schematic diagram of the control method for the rear-mounted trailer provided in the embodiments of this application;

[0021] Figure 4 This is a schematic flowchart illustrating the steering method for the rear-mounted trailer provided in an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures:

[0023] 100-Rear trailer;

[0024] 110 - Trailer; 120 - Rubber-coated wheels; 130 - Tilt sensor;

[0025] 140 - Main controller; 150 - Sub-controller; 160 - Stroke sensor;

[0026] 170 - Electro-hydraulic proportional valve; 180 - Directional cylinder; 190 - Guide device. Detailed Implementation

[0027] A tunnel boring machine (TBM) is a specialized engineering machine for tunnel excavation, capable of excavating and cutting soil, transporting excavated material, assembling tunnel lining, and measuring and guiding. Tunnel construction using TBMs is characterized by high automation, labor savings, and rapid construction speed. It is particularly economical and rational for tunnels with long tunnel lengths and significant depths.

[0028] During tunnel boring machine (TBM) construction, the rear trailer initially uses straight wheelsets for support and movement. Once inside the tunnel, it needs to be switched to inclined wheelsets, which travel along the inner wall of the completed tunnel segments. However, when the rear trailer is moving through the tunnel, it is prone to deviation due to factors such as trailer pulling force, overall uneven load on the trailer, the flatness of the inner ring of the tunnel segments, and sand and soil conditions. This causes the rear trailer to slow down and its operation to be unstable.

[0029] To address the aforementioned technical problems, this application provides a rear-mounted trailer, a steering method for the rear-mounted trailer, and a tunnel boring machine. The rear-mounted trailer includes a trailer, rubber-coated wheels, a main controller, and a sub-controller. The sub-controller is further configured to determine the magnitude of the trailer's tilt angle and actual deviation, and adjust the trailer's tilt angle to be less than or equal to a target correction value. This allows for real-time correction of the rear-mounted trailer, preventing deviation and ensuring it travels along a preset route. Furthermore, the device described in this application is applicable to the direction adjustment of rear-mounted trailers in different types of tunnels.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This application provides a tunnel boring machine (TBM), which is mainly used in tunnels to construct tunnel strata. The TBM includes at least a cutterhead and a shield body. "At least" means that in addition to the cutterhead and shield body, the TBM also includes other structures such as a muck removal device, a screw conveyor, and a belt conveyor; these will not be elaborated upon in this application.

[0032] The tunnel boring machine (TBM) consists of a front shield, a middle shield, and a tail shield, with the middle shield connecting the front and tail shields. Specifically, the front shield is located on the side of the TBM closer to the excavation end, and the tail shield is located on the side farther from the excavation end, also known as the excavation end, which is located at the very front of the TBM. The cutterhead is connected to the front shield and is located at the excavation end of the TBM. The cutterhead is used to excavate the tunnel strata.

[0033] The shield body is equipped with a rear-mounted trailer 100 and a main unit. The main unit of the tunnel boring machine is used to excavate the soil at the front of the tunnel face. The rear-mounted trailer 100 is connected to the rear end of the main unit of the tunnel boring machine. The rear-mounted trailer 100 consists of multiple carriages, each carriage is called a trolley. The rear-mounted trailer 100 of the tunnel boring machine is used to carry the control system and other supporting equipment of the main unit of the tunnel boring machine.

[0034] Reference Figure 1 and Figure 2 As shown, this embodiment of the application provides a rear-mounted trailer 100, which may include a trailer 110 and rubber-coated wheels 120. The rubber-coated wheels 120 are connected to the bottom of the trailer 110 and are used to support the entire weight of the trailer 110 and its equipment to propel it forward within the laid tunnel. This embodiment does not limit the connection method between the rubber-coated wheels 120 and the trailer 110.

[0035] The rear trailer 100 may include a main controller 140 and a sub-controller 150, which are electrically connected. For example, the main controller 140 and the sub-controller 150 may be electrically connected via a wired connection, or they may be electrically connected via a wireless connection; this embodiment does not limit the connection in this way.

[0036] In some embodiments, the main controller 140 in this application can be a host computer, which is a computer that can directly issue control commands. In some embodiments, the sub-controller 150 in this application can be a PLC (Programmable Logic Controller). This embodiment does not limit this.

[0037] The main controller 140 determines the actual deviation value of the trailer 110 during the driving process and sets the target deviation value of the trailer 110. The main controller 140 is also used to send the actual deviation value and the target deviation value to the sub-controller 150. The target deviation value is less than the actual deviation value.

[0038] It should be noted that the deviation value is the angle between the actual travel path of the trailer 110 and the preset travel path, in degrees. The actual deviation value of the trailer 110 is determined by the on-site operator, who records it in the main controller 140. The target correction value for the trailer 110 is the target value after correction is required when the trailer 110 deviates from its intended path; this value is set by the main controller 140 based on the actual situation.

[0039] For example, the actual deviation value of trailer 110 can be labeled as T1, and the target deviation correction value of trailer 110 can be labeled as T2.

[0040] For example, suppose the actual deviation of trailer 110 is 2° and the target correction value of trailer 110 is 0.5°. In this case, when the deviation angle between the actual travel path of trailer 110 and the preset travel path is any value less than 0.5°, it means that trailer 110 is not deviating and its travel status is good. Conversely, when the deviation angle between the actual travel path of trailer 110 and the preset travel path is any value greater than 2°, it means that trailer 110 has deviated and correction is required.

[0041] In one possible implementation, refer to Figure 1 As shown, a tilt sensor 130 can be installed on the trailer 110, and the tilt sensor 130 is electrically connected to the sub-controller 150. The tilt sensor 130 is used to acquire the tilt sensor 130 signal when the trailer 110 tilts. The sub-controller 150 is used to acquire the tilt sensor 130 signal and process the signal to obtain the tilt angle value of the trailer 110. The sub-controller 150 is also used to calculate the deviation of the rubber-coated wheel 120 based on the tilt angle value of the trailer 110.

[0042] The tilt sensor 130, also known as a tilt meter, inclinometer, level, or inclinometer, is a sensor used to measure and detect the tilt angle of an object. It can accurately measure the tilt angle of an object and feed the measurement result back to the sub-controller 150. The working principle of the tilt sensor 130 is to detect the tilt angle of the object.

[0043] The sub-controller 150 acquires the signal from the tilt sensor 130 and processes it to obtain the tilt angle value of the trailer 110. Specifically, the tilt sensor 130 signal consists of multiple consecutive signal values. The sub-controller 150 performs analog-to-digital conversion and filtering on these consecutive tilt sensor 130 signals to obtain multiple consecutive tilt angle values. The analog-to-digital conversion works by dividing the analog signal into a series of discrete samples and converting each sample value into a corresponding digital representation. The filtering process removes or reduces unwanted frequency components through a filter, thereby obtaining the desired signal.

[0044] It should be noted that since the tilt angle values ​​obtained after signal processing from multiple tilt sensors 130 are also multiple consecutive values, in order to improve data accuracy, the average value of multiple consecutive tilt angle values ​​is taken to finally obtain the tilt angle value of the trailer 110 during the movement.

[0045] The sub-controller 150 is also used to calculate the deviation of the rubber-coated wheel 120 based on the tilt angle value of the trailer 110. Specifically, the calculation can be performed based on trigonometric functions. For example, the formula for calculating the deviation of the rubber-coated wheel 120 is: L = 2 × R × sinθ / 2, where L is the deviation of the rubber-coated wheel 120, θ is the average value of multiple tilt angle values, and R is the inner diameter of a complete ring segment after assembly. The inner diameter of the complete ring segment can be set by the main controller 140 according to the instructions of the on-site operator and is a known parameter.

[0046] In one possible implementation, a steering cylinder 180 can be connected between the rubber-coated wheel 120 and the trailer 110. The steering cylinder 180 is used to perform a steering operation on the rubber-coated wheel 120. A sub-controller 150 is used to acquire the stroke of the steering cylinder 180 and to control the extension and retraction of the steering cylinder 180 so that the extension and retraction amount of the steering cylinder 180 is equal to the deviation amount of the rubber-coated wheel 120, thereby achieving the steering of the rubber-coated wheel 120.

[0047] It should be noted that the purpose of setting the extension and retraction of the directional cylinder 180 to be equal to the deviation of the rubber-coated wheel 120 is as follows: assuming that the deviation of the rubber-coated wheel 120 calculated according to the trigonometric function relationship is 5°, then the directional cylinder 180 needs to extend or retract to the length corresponding to the deviation of 5° in order to correct the deviation of the rubber-coated wheel 120 and thus ensure that the rubber-coated wheel 120 travels along the preset route.

[0048] For example, when the rubber-coated wheel 120 deviates 5° to the left, the directional cylinder 180 can extend to the length corresponding to the 5° deviation; when the rubber-coated wheel 120 deviates 5° to the right, the directional cylinder 180 can retract to the length corresponding to the 5° deviation. Alternatively, the configuration can be reversed; for example, when the rubber-coated wheel 120 deviates 5° to the left, the directional cylinder 180 can retract to the length corresponding to the 5° deviation; when the rubber-coated wheel 120 deviates 5° to the right, the directional cylinder 180 can extend to the length corresponding to the 5° deviation. This embodiment does not limit this specific configuration.

[0049] In one possible implementation, a stroke sensor 160 may be provided on the directional cylinder 180. The stroke sensor 160 is electrically connected to a sub-controller 150, which is configured to acquire the stroke of the directional cylinder 180 through the stroke sensor 160.

[0050] For example, the stroke sensor 160 in this embodiment can be a pull-rope sensor. A pull-rope sensor measures the linear displacement or angular change of an object. It achieves the measurement through a rope and a pulley, with the displacement measured based on the length of the rope. Specifically, when the object moves, the rope stretches or contracts, changing its length. The device on the pulley detects this change and transmits the signal to the measurement circuit inside the sensor. Finally, the measurement result is output through the output interface.

[0051] For example, the stroke sensor 160 can be disposed inside the directional cylinder 180, or the stroke sensor 160 can be disposed on the directional cylinder 180 and installed parallel to the directional cylinder 180. This embodiment does not limit this.

[0052] An electro-hydraulic proportional valve 170 can be installed on the directional cylinder 180. The electro-hydraulic proportional valve 170 is electrically connected to the sub-controller 150, and the sub-controller 150 controls the extension and retraction of the directional cylinder 180 through the electro-hydraulic proportional valve 170. Specifically, the sub-controller 150 sends the result of its calculation as a command to the electro-hydraulic proportional valve 170, which in turn drives the extension and retraction of the directional cylinder 180.

[0053] The electro-hydraulic proportional valve 170 is a device that controls the movement of the directional cylinder 180 through an electrical signal. When the electro-hydraulic proportional valve 170 is energized, it converts the electrical signal into a hydraulic signal, which controls the hydraulic valve of the directional cylinder 180 to regulate the flow and pressure of the hydraulic fluid, thereby achieving precise control of the operation of the directional cylinder 180.

[0054] In one possible implementation, refer to Figure 2As shown, it may also include a guiding device 190, which is electrically connected to the sub-controller 150. The guiding device 190 acquires the mileage of the trailer 110 and sends the mileage of the trailer 110 to the sub-controller 150. For example, the guiding device 190 in this embodiment can be a total station, a laser tracker, or a positioning device.

[0055] The rear trailer 100 may also include a touch control device, which is electrically connected to the main controller 140. The main controller 140 obtains operation instructions from the on-site operator through the touch control device and sends the operation instructions to the sub-controller 150. For example, the touch control device in this embodiment can be a touch screen.

[0056] For example, the main controller 140 can acquire the operation instructions from the on-site operator, such as entering or exiting the automatic steering degree and setting parameters, and send the acquired operation instructions to the sub-controller 150. The sub-controller 150 combines the information sent by the main controller 140 and the guiding device 190 to perform calculations. The sub-controller 150 sends the result of the calculation as an instruction to the electro-hydraulic proportional valve 170, which in turn drives the steering cylinder 180 to execute. The data acquired by the sub-controller 150 and the calculation results are sent to the main controller 140, which displays them on the touch screen for the on-site operator to view.

[0057] In one possible implementation, the number of rubber-coated wheels 120 may include multiple wheels, which are connected to different positions on the bottom of the trailer 110. For example, the number of rubber-coated wheels 120 may include two, three, four, or more. In this embodiment, four rubber-coated wheels 120 are used as an example, with two wheels connected to the front end of the trailer 110 and the other two wheels connected to the rear end. The number of tilt sensors 130 may include multiple tilt sensors 130, which are at least located at the front and rear ends of the trailer 110. For example, the number of tilt sensors 130 may include two, three, four, or more. In this embodiment, two tilt sensors 130 are used as an example, with the two tilt sensors respectively located at the front and rear ends of the trailer 110.

[0058] The number of directional cylinders 180 can be multiple, and the multiple directional cylinders 180 are connected one-to-one between the multiple rubber-coated wheels 120 and the trailer 110. For example, the number of directional cylinders 180 can be two, three, four, or more; in this embodiment, four directional cylinders 180 are used as an example. The number of stroke sensors 160 can be multiple, and the multiple stroke sensors 160 are disposed one-to-one on the multiple directional cylinders 180. For example, the number of stroke sensors 160 can be two, three, four, or more; in this embodiment, four stroke sensors 160 are used as an example.

[0059] In this way, the trailer 110 can be adjusted from different positions, maximizing the adjustment accuracy of the trailer 110, thereby avoiding the problem of the rear trailer 100 running off course, and further ensuring that the rear trailer 100 travels along the preset route.

[0060] Reference Figure 3 and Figure 4 As shown in the embodiment of this application, a steering method for a rear-mounted trailer 100 is also provided. The steering method for the rear-mounted trailer 100 may include:

[0061] S100: Acquires tilt sensor signal and processes the tilt sensor signal to obtain the tilt angle value of the trailer; calculates the deviation of the rubber-coated wheel; obtains the stroke of the steering cylinder; obtains the mileage of the trailer; determines the actual deviation value of the trailer during the driving process and sets the target deviation value of the trailer.

[0062] In some embodiments, taking the setting of two tilt sensors 130 as an example, the two tilt sensors 130 are respectively set at the front end and rear end of the trailer 110. The sub-controller 150 acquires the signals from the two tilt sensors 130, and performs analog-to-digital conversion and filtering on the tilt sensor signals from the front and rear ends to obtain the tilt angle value of the trailer 110. In order to improve the accuracy of the data, the tilt angle value is averaged to finally obtain the tilt angle value of the trailer 110 during the movement.

[0063] It should be noted that the tilt angle of trailer 110 during travel is an absolute value.

[0064] In some embodiments, taking the setup of four rubber-coated wheels 120 and four steering cylinders 180 as an example, the sub-sensor acquires the strokes of the four steering cylinders 180 in real time and labels them as S1, S2, S3, and S4, respectively. The sub-sensor acquires the mileage D1 of the trailer 110, and the deviation of the rubber-coated wheels 120 is calculated as L based on trigonometric relationships.

[0065] In some embodiments, the main controller 140 sets an inner diameter R and a width W of a complete ring segment. The main controller 140 determines the actual deviation value of the trailer 110 during driving and sets a target correction value for the trailer 110, and transmits the above values ​​to the sub-controller 150. Here, the inner diameter R is the inner diameter of a completed ring segment, and W is the width of a completed ring segment.

[0066] In some embodiments, the actual deviation value of the trailer 110 is obtained by the on-site operator after judgment. The operator records the actual deviation value of the trailer 110 in the main controller 140. The target correction value of the trailer 110 is the target value after the trailer 110 needs to be corrected when it deviates. It is the value set by the main controller 140 according to the actual situation.

[0067] S200: Determine the magnitude of the trailer's tilt angle and actual deviation. For example, assuming the actual deviation of trailer 110 is 2°, and the tilt angle of trailer 110 is the deviation value measured by tilt sensor 130 and calculated by sub-sensor during travel, when the tilt angle of trailer 110 is greater than 2°, it indicates that trailer 110 has deviated from its course, and at this time, trailer 110 needs to be corrected.

[0068] S300: When the tilt angle of the trailer is greater than or equal to the actual deviation of the trailer, record the current stroke of the steering cylinder and control the extension and retraction of the steering cylinder. When the difference between the current stroke of the steering cylinder and the previous stroke is not less than the deviation of the rubber-coated wheel, record the current mileage of the trailer and make the number of correction loops N = 0.

[0069] When the tilt angle of trailer 110 is greater than or equal to the actual deviation of trailer 110, it means that trailer 110 is in a deviation state. At this time, sub-controller 150 records the current stroke of the steering cylinder 180, which can be marked as S11, S21, S31 and S41 respectively. Sub-controller 150 issues a command to make all four steering cylinders 180 extend or retract the deviation amount L of the rubber-coated wheel 120. When |S11-S1|>=L and |S21-S2|>=L and |S31-S3|>=L and |S41-S4|>=L, sub-controller 150 records the current mileage of trailer 110, marked as D11, and the number of correction loops N=0.

[0070] For example, |S11-S1|>=L and |S21-S2|>=L and |S31-S3|>=L and |S41-S4|>=L is: ΔS1=ΔS2=ΔS3=ΔS4>=L.

[0071] It should be noted that S11, S21, S31, and S41 are the previous strokes of the directional cylinder 180, while S1, S2, S3, and S4 are the real-time strokes of the directional cylinder 180. The purpose of setting |S11-S1|>=L and |S21-S2|>=L and |S31-S3|>=L and |S41-S4|>=L is to ensure that the difference between the previous stroke and the real-time stroke of the four directional cylinders 180 is not less than the deviation of the rubber-coated wheel 120. This helps to completely correct the deviation of the rubber-coated wheel 120, thereby ensuring that all four rubber-coated wheels 120 travel along the preset trajectory.

[0072] It should be noted that since the tunnel boring machine moves forward while assembling the tunnel segments, or moves forward after assembling the entire ring of tunnel segments, the assembled tunnel segment is a complete ring, referred to as one ring. When the number of correction rings N=1, it means that the trailer 110 has traveled one ring. When the number of correction rings N=2, it means that the trailer 110 has traveled two rings.

[0073] S400: When the trailer's tilt angle is less than its actual deviation, return to step two. For example, assuming the trailer 110's actual deviation is 2° and its tilt angle is 1.5°, since the trailer 110 continues to move forward, it needs to return and execute step two again. This continuously judges the tilt angle and actual deviation of the trailer 110 during its forward movement until the trailer 110's tilt angle is less than or equal to the target correction value, at which point the correction is successful.

[0074] S500: The trailer continues to move forward. When the difference between the current mileage of the trailer and the previous mileage of the trailer is not less than the width of one complete ring segment after assembly, the current stroke of the directional cylinder is recorded, so that the number of correction rings N = N + 1.

[0075] For example, the width of N complete ring segments after assembly is calculated using the formula: S = N × W, where N is the number of correction rings and W is the width of one complete ring segment. For instance, the distance traveled by trailer 110 when it moves forward one ring is 1 × W, the distance traveled by trailer 110 when it moves forward two rings is 2 × W, and the distance traveled by trailer 110 when it moves forward N rings is N × W.

[0076] For example, in step 1, the real-time mileage of trailer 110 is marked as D1, and in step 3, the initial mileage of trailer 110 is marked as D11. When |D1-D11|>=1×W, sub-controller 150 records the current stroke of the steering cylinder 180, which can be marked as S12, S22, S32, and S42 respectively. It records the current mileage of trailer 110, which is marked as D12. Sub-controller 150 calculates the current number of correction loops N=1, and then enters the judgment program to judge the tilt angle value of trailer 110 and the target correction value of trailer 110.

[0077] It should be noted that the purpose of setting |D1-D11|>=N×W is to ensure that the trailer 110 has moved forward for several full loops.

[0078] S600: When the tilt angle of the trailer is less than the target correction value of the trailer, the correction is successful and the steering cylinder is reset. When the difference between the current stroke and the previous stroke of the steering cylinder is not less than the deviation of the rubber-coated wheel, return to step two.

[0079] For example, assuming the target correction value of trailer 110 is 0.5°, when the tilt angle of trailer 110 is less than 0.5°, for example 0.2°, it means that trailer 110 has successfully corrected its course. At this time, sub-controller 150 controls the steering cylinder 180 to reset.

[0080] For example, the method for controlling the resetting of the directional cylinder 180 is as follows: the sub-controller 150 issues a command to extend or retract each directional cylinder 180 by L, so as to reset the directional cylinder 180. When |S12-S1|>=L and |S22-S2|>=L and |S32-S3|>=L and |S42-S4|>=L, the process continues to return to step two.

[0081] It should be noted that the purpose of setting |S12-S1|>=L and |S22-S2|>=L and |S32-S3|>=L and |S42-S4|>=L is to ensure that the difference between the current stroke and the previous stroke of the four directional cylinders 180 is not less than the deviation of the rubber-coated wheel 120. This helps to completely correct the deviation of the rubber-coated wheel 120, thereby ensuring that all four rubber-coated wheels 120 travel along the preset trajectory.

[0082] It should be noted that the reason for returning to step two after the correction is successful is that since the trailer 110 continues to move forward, it is necessary to continuously judge the tilt angle value and the actual deviation value of the trailer 110 after each step forward to ensure that the trailer 110 can always be in a state of successful correction during the movement.

[0083] S700: When the trailer's tilt angle is greater than the trailer's target correction value but less than the trailer's actual deviation value, the trailer continues to move forward and returns to step five.

[0084] For example, assuming the target correction value of trailer 110 is 0.5°, the actual deviation value of trailer 110 is 2°, and the tilt angle of trailer 110 is 1.5°, the trailer continues to move forward and returns to step five. Step five continues to determine the relationship between the tilt angle value of trailer 110 and the actual deviation value of trailer 110 until the tilt angle value of trailer 110 is less than the target correction value of trailer 110, which means the correction is successful.

[0085] S800: When the tilt angle of the trailer is greater than the actual deviation of the trailer, an automatic steering fault is indicated, requiring manual intervention to adjust the steering signal, and the steering program is automatically exited.

[0086] For example, assuming the actual deviation of trailer 110 is 2° and the tilt angle of trailer 110 is 4°, it indicates that trailer 110 is in a deviation state. At this time, the sub-controller 150 prompts an automatic steering fault and requires manual intervention to adjust the steering signal, and automatically exits the steering program.

[0087] For example, the number of correction loops N in the above steps is 0. In addition, the sub-controller 150 can transmit alarm information to the main controller 140 and display it on the touch screen to prompt the on-site operator of the steering failure. The operator can then manually intervene and adjust the steering signal of the rear trailer 100.

[0088] The embodiments of this application provide a rear-mounted trailer, a steering method for the rear-mounted trailer, and a tunnel boring machine. The rear-mounted trailer includes a trailer, rubber-coated wheels, a main controller, and a sub-controller. The sub-controller is further configured to determine the tilt angle value and the actual deviation value of the trailer, and adjust the tilt angle value of the trailer to be less than or equal to a target correction value. This allows for real-time correction of the rear-mounted trailer, preventing deviation and ensuring that the trailer travels along a preset route. Furthermore, the device of this application is applicable to the direction adjustment of the rear-mounted trailer in different types of tunnels.

[0089] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0090] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0091] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A rear-mounted trailer, characterized in that, The system includes a trailer, rubber-coated wheels, a main controller, and a sub-controller. The rubber-coated wheels are connected to the bottom of the trailer. The main controller and the sub-controller are electrically connected. The main controller is configured to determine the actual deviation value of the trailer during driving and to set a target deviation value for the trailer. The main controller is also configured to send the actual deviation value and the target deviation value to the sub-controller, wherein the target deviation value is less than the actual deviation value. The sub-controller is configured to acquire the tilt angle value of the trailer when the trailer tilts, and the sub-controller is further configured to judge the magnitude of the tilt angle value of the trailer and the actual deviation value of the trailer, and adjust the tilt angle value of the trailer to be less than or equal to the target correction value.

2. The rear-mounted trailer according to claim 1, characterized in that, The trailer is equipped with a tilt sensor, which is electrically connected to the sub-controller. The tilt sensor is configured to acquire the tilt sensor signal of the trailer when the trailer is tilted, and the sub-controller is configured to acquire the tilt sensor signal and process the tilt sensor signal to obtain the tilt angle value of the trailer; the sub-controller is also configured to calculate the deviation of the rubber-coated wheel based on the tilt angle value of the trailer.

3. The rear-mounted trailer according to claim 2, characterized in that, A steering cylinder is connected between the rubber-coated wheel and the trailer, and the steering cylinder is used to adjust the direction of the rubber-coated wheel; The sub-controller is configured to acquire the stroke of the directional cylinder, and the sub-controller is also configured to control the extension and retraction of the directional cylinder so that the extension and retraction amount of the directional cylinder is equal to the deviation amount of the rubber-coated wheel, thereby realizing the directional adjustment of the rubber-coated wheel.

4. The rear-mounted trailer according to claim 3, characterized in that, The directional cylinder is equipped with a stroke sensor, which is electrically connected to the sub-controller. The sub-controller is configured to acquire the stroke of the directional cylinder through the stroke sensor; and / or, the directional cylinder is equipped with an electro-hydraulic proportional valve, which is electrically connected to the sub-controller. The sub-controller is configured to control the extension and retraction of the directional cylinder through the electrical signal of the electro-hydraulic proportional valve.

5. The rear-mounted trailer according to claim 4, characterized in that, It also includes a guiding device electrically connected to the sub-controller, the guiding device being configured to acquire the mileage of the trailer and send the mileage of the trailer to the sub-controller; and / or, the rear-mounted trailer also includes a touch control device electrically connected to the main controller, the main controller being configured to acquire operation instructions from on-site operators through the touch control device and send the operation instructions to the sub-controller.

6. The rear-mounted trailer according to claim 5, characterized in that, The number of rubber-coated wheels includes multiple ones, which are connected to different positions on the bottom of the trailer; the number of tilt sensors includes multiple ones, which are at least located at the front and rear ends of the trailer; the number of steering cylinders includes multiple ones, which are connected one-to-one between the multiple rubber-coated wheels and the trailer; the number of stroke sensors includes multiple ones, which are one-to-one located on the multiple steering cylinders.

7. A steering method for a rear-mounted trailer, used in any one of claims 1-6, characterized in that, The steering method of the rear-mounted trailer includes: The tilt angle of the trailer is obtained by acquiring the tilt sensor signal and processing the tilt sensor signal; the deviation of the rubber-coated wheel is calculated; the stroke of the steering cylinder is obtained; the mileage of the trailer is obtained; the actual deviation value of the trailer during the driving process is determined and the target deviation value of the trailer is set. The tilt angle value and the actual deviation value of the trailer are determined; When the tilt angle of the trailer is greater than or equal to the actual deviation of the trailer, the current stroke of the steering cylinder is recorded, and the extension and retraction of the steering cylinder is controlled. When the difference between the current stroke of the steering cylinder and the previous stroke is not less than the deviation of the rubber-coated wheel, the current mileage of the trailer is recorded, so that the number of correction loops N = 0. When the tilt angle of the trailer is less than the actual deviation of the trailer, return to the step of "judging the magnitude of the tilt angle of the trailer and the actual deviation of the trailer". The trailer continues to move forward. When the difference between the current mileage of the trailer and the previous mileage of the trailer is not less than the width of one complete ring segment after assembly, the current stroke of the directional cylinder is recorded; so that the number of correction rings N = N + 1. When the tilt angle of the trailer is less than the target correction value of the trailer, the correction is successful, and the steering cylinder is reset. When the difference between the current stroke and the previous stroke of the steering cylinder is not less than the deviation of the rubber-coated wheel, the process returns to the step of "judging the size of the tilt angle of the trailer and the actual deviation of the trailer". When the tilt angle of the trailer is greater than the target correction value of the trailer but less than the actual deviation value of the trailer, return to the step of "the trailer continues to move forward"; When the tilt angle of the trailer is greater than the actual deviation of the trailer, an automatic steering fault is indicated, requiring manual intervention to adjust the steering signal, and the steering adjustment program is automatically exited.

8. The steering method for the rear-mounted trailer according to claim 7, characterized in that, The step of "acquiring the tilt sensor signal and processing the tilt sensor signal to obtain the trailer's tilt angle value" specifically includes: The tilt sensor signal consists of multiple consecutive signal values. After processing the multiple tilt sensor signals, multiple consecutive tilt angle values ​​are obtained, and the average value of the multiple tilt angle values ​​is taken. The step of "calculating the deviation of the rubber-coated wheel" specifically includes: setting the inner diameter of a complete ring segment after assembly, and calculating the deviation of the rubber-coated wheel based on the tilt angle value of the trailer. The formula for calculating the deviation of the rubber-coated wheel is: L=2×R×sinθ / 2, where L is the deviation of the rubber-coated wheel, θ is the average value of multiple tilt angle values, and R is the inner diameter of a complete ring segment after assembly.

9. The steering method for the rear-mounted trailer according to claim 8, characterized in that, The step of "when the difference between the current mileage of the trailer and the previous mileage of the trailer is not less than the width of one complete ring segment after assembly" specifically includes: The formula for calculating the mileage of the trailer during the correction process is: S = N × W, where S is the mileage of the trailer during the correction process, N is the number of correction loops, and W is the width of a complete ring segment.

10. A tunnel boring machine, characterized in that, It includes at least a cutterhead, a shield body, and a rear-mounted trailer as described in any one of claims 1-6; the cutterhead is connected to the shield body, the cutterhead is located at the tunneling end of the tunnel boring machine, and the rear-mounted trailer is located at the rear end of the shield body.

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