A vertical shield propulsion system simulation device

Abstract

The invention discloses a vertical shield propulsion system simulation device, which belongs to the field of shield machine simulation equipment. The device includes a six-axis platform system and a three-degree-of-freedom platform. The six-axis platform system propulsion system is simplified into six direct-connected electric cylinders. The six direct-connected electric cylinders are used to adjust the posture of the six-axis platform to simulate the tunneling working condition of the shield machine, thereby ensuring the response speed of the control and simplifying the model of the propulsion system. The six-axis platform system is placed on the upper platform of the three-degree-of-freedom platform in a manner of a support shoe at the bottom, and the ring composed of the six support shoes is co-centered with the upper platform. In this way, the shield propulsion system simulation device is placed vertically to reduce the floor space of the equipment, and the simulation of the pitch, yaw and other working conditions of the shield machine is realized by changing the elongation of the reciprocating electric cylinder of the three-degree-of-freedom platform. The device occupies a small area, can reduce costs, has a safe system and good stability, and can also more accurately simulate the shield propulsion system.

Description

Technical Field

[0001] The present invention belongs to the field of shield machine simulation equipment, and more specifically, relates to a vertical shield machine propulsion system simulation device. Background Art

[0002] Research on shield propulsion technology is inseparable from experimental verification. However, since experimental operations on a real shield machine are complicated and have great safety hazards, it is easy to cause damage to the shield machine and threaten the life safety of the operator. Therefore, it is more feasible to use a shield simulation device for experimental verification.

[0003] Shield construction model test is an important means to study shield technology. By simulating the tunneling process of the shield machine, the shield machine model test in the laboratory can conduct kinematic or mechanical research on its construction process and analyze the influence of the oil cylinder or electric cylinder in its propulsion system on the shield excavation posture.

[0004] The existing shield machine propulsion system is relatively complex, and is generally composed of dozens of groups of hydraulic cylinders. If the propulsion system of the shield machine model is also designed in this way, many hydraulic cylinders or electric cylinders are required, which will inevitably lead to high costs and will also cause the shield model equipment to be too large, which is not conducive to experimental testing in the laboratory; moreover, many existing shield machine simulation devices are only designed for the shield body part, and cannot directly simulate working conditions such as posture changes. Therefore, it is generally necessary to design an experimental platform for the shield machine simulation device to be placed sideways for testing. Similarly, this will also cause the problem of occupying a large area. In addition, some existing shield machine simulation devices use hydraulic cylinders to form a propulsion system, which is prone to leakage due to wear, temperature and other factors, thereby polluting the environment and causing safety hazards, and the control is not simple and accurate enough. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a vertical shield propulsion system simulation device, thereby solving the technical problems of the existing shield simulation devices, such as complex design, large space, high cost, and insufficient safety and stability of the system.

[0006] To achieve the above-mentioned object, according to a first aspect of the present invention, a vertical shield propulsion system simulation device is provided, comprising: a six-axis platform system and a three-degree-of-freedom platform;

[0007] The six-axis platform system includes a circular cover plate, a cylindrical outer cover, a disc, six directly connected electric cylinders and six support shoes. The circular cover plate and the disc are respectively fixed to the top surface and the bottom surface of the cylindrical outer cover. One end of the six directly connected electric cylinders is fixedly connected to the inner side surface of the circular cover plate and is evenly arranged on the circular cover plate in a circle of six equal parts. The other end passes through the disc and is connected to the six support shoes one by one. The six support shoes form a ring and are placed on the three-degree-of-freedom platform.

[0008] The three-degree-of-freedom platform includes an upper platform, a first, second, and third reciprocating electric cylinders, an intermediate column, a rotating table, a turntable bearing, and a bottom support seat; the upper platform and the rotating table are both cylindrical, and the center points are on the same vertical line as the center points of the circular ring, the circular cover plate, and the circular disk; the rotating table is connected to the bottom support seat through a coaxial turntable bearing; the intermediate column, the first and second reciprocating electric cylinders are vertically placed between the upper platform and the rotating table; wherein one end of the intermediate column is connected to the The bottom surface of the upper platform is at the center point S, and the other end is fixedly connected to the rotating table; the two ends of the first reciprocating electric cylinder are respectively connected to the upper platform and the rotating table through the second and third universal joints; the two ends of the second reciprocating electric cylinder are respectively connected to the upper platform and the rotating table through the fourth and fifth universal joints; the geometric center point of the contact surface between the second universal joint and the upper platform is S1, and the geometric center point of the contact surface between the fourth universal joint and the upper platform is S2, and the line connecting S1 and S is perpendicular to the line connecting S2 and S.

[0009] The third reciprocating electric cylinder is horizontally placed on the rotating table, one end of which is connected to the rotating hinge mounting seat on the rotating table through a Hook hinge, and the other end is connected to the tail rotating hinge mounting seat, and the tail rotating hinge mounting seat is placed on the bottom support seat.

[0010] According to a second aspect of the present invention, a vertical shield propulsion system simulation method is provided, which is applied to the vertical shield propulsion system simulation device as described in the first aspect, comprising:

[0011] The extension of the six direct-connected electric cylinders is controlled to simulate the tunneling condition of the shield machine; the extension of the first reciprocating electric cylinder is controlled to simulate the pitch condition of the shield machine; the extension of the second reciprocating electric cylinder is controlled to simulate the yaw condition of the shield machine; the extension of the third reciprocating electric cylinder is controlled to simulate the rolling condition of the shield machine.

[0012] According to a third aspect of the present invention, a vertical shield propulsion system simulation method is provided, which is applied to the vertical shield propulsion system simulation device as described in the first aspect, comprising:

[0013] Control the extension of the first reversible electric cylinder to rotate the upper platform and generate a pitch angle of -α. At the same time, control the extension of the six direct-connected electric cylinders so that the cover plate remains horizontal when the upper platform rotates, thereby simulating the pitch condition of the shield machine, wherein the pitch angle corresponding to the pitch condition is α;

[0014] Control the extension of the second reciprocating electric cylinder to rotate the upper platform and generate a yaw angle of -β. At the same time, control the extension of the six direct-connected electric cylinders so that the cover plate remains horizontal when the upper platform rotates, thereby simulating the yaw condition of the shield machine, wherein the yaw angle corresponding to the yaw condition is β;

[0015] The extension of the third reciprocating electric cylinder is controlled to simulate the rolling condition of the shield machine.

[0016] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0017] The vertical shield propulsion system simulation device provided by the present invention includes a six-axis platform system and a three-degree-of-freedom platform. The propulsion system of the six-axis platform system is simplified into six direct-connected electric cylinders. The six direct-connected electric cylinders are used to adjust the posture of the six-axis platform to simulate the tunneling working condition of the shield machine, thereby ensuring the response speed of the control, simplifying the model of the propulsion system, facilitating the experimental control operation, and reducing the cost. The six-axis platform system is placed on the bottom surface of the upper platform of the three-degree-of-freedom platform in a manner of a support shoe at the bottom, and the circular ring composed of the six support shoes is co-centered with the bottom surface of the upper platform. In this way, the shield propulsion system simulation device is placed vertically to reduce the footprint of the equipment. During the movement, the pitch, yaw and other working conditions of the shield machine are simulated by the change in the elongation of the reciprocating electric cylinder of the three-degree-of-freedom platform. The device occupies a small area, can reduce costs, has a safe system and good stability, and can more accurately simulate the propulsion system of the shield machine.

[0018] The vertical shield propulsion system simulation method provided by the present invention controls the elongation of six directly-connected electric cylinders to adjust its own posture to adapt to the posture change caused by the three-degree-of-freedom platform. That is, when the three-degree-of-freedom platform changes its posture at all times due to the elongation and shortening of the three reciprocating electric cylinders, in the experiment, the elongation of the six electric cylinders of the six-axis platform system is constantly adjusted to adapt to the posture change brought about by the three-degree-of-freedom platform. While keeping the cover plate of the six-axis platform system horizontal, the working conditions of posture changes such as yaw and pitch in actual shield excavation are effectively simulated, thereby ensuring the safety of the simulation experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall main structural view of the vertical shield propulsion system simulation device provided by an embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the side view structure of a Hooke's hinge provided by an embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of the front structural view of the Hooke's hinge provided by an embodiment of the present invention.

[0022] Figure 4 It is an isometric side view structural diagram of a six-axis platform system of a vertical shield propulsion system simulation device provided in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the bottom-up structure of the six-axis platform system provided by an embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of the main structure of the six-axis platform system provided by an embodiment of the present invention.

[0025] Figure 7 It is a side view structural schematic diagram of a three-degree-of-freedom platform provided in an embodiment of the present invention.

[0026] Figure 8 It is a schematic diagram of the upward-looking structure of a three-degree-of-freedom platform provided in an embodiment of the present invention.

[0027] Fig. 9 It is a schematic diagram of the main structure of a three-degree-of-freedom platform provided in an embodiment of the present invention.

[0028] Fig.10 It is a schematic diagram of the main structure of the first reciprocating electric cylinder provided in an embodiment of the present invention.

[0029] Fig.11 It is a schematic diagram of the bottom view structure of the first reciprocating electric cylinder provided in an embodiment of the present invention.

[0030] Fig.12 It is a schematic diagram of the side view structure of the first reciprocating electric cylinder provided in an embodiment of the present invention.

[0031] Fig.13 It is a schematic diagram of the isometric side view of the direct-connected electric cylinder provided in an embodiment of the present invention.

[0032] Fig.14 It is a schematic diagram of the main structure of a direct-connected electric cylinder provided in an embodiment of the present invention.

[0033] Fig.15 It is a schematic top view of the three-degree-of-freedom platform provided by an embodiment of the present invention without being blocked by the upper platform.

[0034] Fig.16 It is a schematic diagram of a coordinate system established on a three-degree-of-freedom platform provided in an embodiment of the present invention.

[0035] Fig.17 It is a schematic diagram of the overall side view structure of the vertical shield propulsion system simulation device provided by an embodiment of the present invention.

[0036] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0037] 1-circular cover; 2-columnar cover; 3-disc; 4-direct-connected electric cylinder; 41-externally threaded rod; 42-front end cover; 43-cylinder body; 44-rear end cover; 45-motor; 5-shoe; 6-ball head; 7-six-axis platform system; 8-ball joint cover; 9-three-degree-of-freedom platform; 10-first reciprocating electric cylinder; 101-first hollow tube; 102-first externally threaded rod; 103-first front end cover; 104-first cylinder body; 105-first motor; 106-first rear end cover; 107-first motor mounting plate; 108-first wheel cover; 109-first electric cylinder front hinge fork; 1010-first electric cylinder rear hinge fork; 11 -Hook hinge; 111-lower hinge shaft; 112-hinge front cover; 113-hinge seat; 12-upper platform; 13-middle hinge adapter plate; 14-platform hinge; 15-platform hinge shaft; 16-platform hinge fork; 17-middle column; 18-lower hinge shaft of electric cylinder; 19-lower hinge of electric cylinder; 20-turntable bearing; 21-tail rotary hinge mounting seat; 22-rotating table; 23-bottom support seat; 24-foot cup; 25-upper hinge mounting plate of electric cylinder; 26-upper hinge of electric cylinder; 27-electric cylinder hinge shaft; 28-rotating hinge mounting seat; 29-second reciprocating electric cylinder; 30-third reciprocating electric cylinder; 31-platform pin shaft. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] The embodiment of the present invention provides a vertical shield propulsion system simulation device, such as Figure 1 As shown, it includes: a six-axis platform system 7 and a three-degree-of-freedom platform 9. The six-axis platform system 7 is placed on the three-degree-of-freedom platform 9. The three-degree-of-freedom platform 9 simulates the pitch and yaw conditions of the shield machine, and the six-axis platform system 7 simulates the tunneling condition of the shield machine.

[0040] The six-axis platform system 7 includes a circular cover plate 1, a cylindrical outer cover 2, a disc 3, six directly-connected electric cylinders and six support shoes. The circular cover plate 1 and the disc 3 are respectively fixed to the top surface and the bottom surface of the cylindrical outer cover 2. One end of the six directly-connected electric cylinders is fixedly connected to the inner side surface of the circular cover plate 1, and is evenly arranged on the circular cover plate 1 in six equal parts of a circle. The other end passes through the disc 3 and is connected to the six support shoes one by one. The six support shoes form a circular ring and are placed on the three-degree-of-freedom platform 9.

[0041] Specifically, Figure 1 , 4-6, a circular cover plate 1 is installed on the top of the six-axis platform system 7, and a hollow cylindrical outer cover 2 is fixed on one side of the circular cover plate 1. The lower side of the cylindrical outer cover 2 is connected to the disc 3, and six direct-connected electric cylinders with the same structure are distributed in a circle on the inner side of the circular cover plate 1. Taking any one of the direct-connected electric cylinders 4 as an example, the direct-connected electric cylinder 4 is fixed to the circular cover plate 1 in a surface contact form, and the front end of the direct-connected electric cylinder 4 is connected to the support shoe 5 through a ball hinge.

[0042] There is a circular hole in the middle of the support shoe 5 for connecting the ball joint cover 8. The ball head 6 is placed in the ball joint cover 8. The ball joint connecting the support shoe 5 and the direct-connected electric cylinder 4 is composed of the ball head 6 and the ball joint cover 8. The six support shoes 5 form a circular ring and contact the upper platform 12 of the three-degree-of-freedom platform 9. They are placed above the upper platform 12, and the circular ring is co-centered with the bottom surface of the upper platform 12. Such a setting is conducive to the support shoe 5 to transfer the deadweight of the six-axis platform system 7 to the three-degree-of-freedom platform 9 on the lower side, ensuring the stability of the six-axis platform system 7. At the same time, relying on the ball joint connection, the posture change of the six-axis platform system 7 relative to the upper platform 12 can be achieved by changing the elongation of the six direct-connected electric cylinders 4.

[0043] The disc 3 has six holes (which can be as follows) distributed evenly on a circumference. Figure 4 The square holes shown in the figure may also be other shapes), the six holes are used for six direct-connected electric cylinders to pass through, and in order to observe the working conditions of each direct-connected electric cylinder, preferably, a larger concentric hole is set at the center of the disc 3, and accordingly, the disc 3 is annular, and the disc 3, the circular cover 1 and the cylindrical outer cover 2 form a semi-sealed cylindrical hollow cylinder.

[0044] The direct-connected electric cylinder 4 includes a motor 45, a rear end cover 44, a cylinder body 43, a front end cover 42, an externally threaded rod 41 and a ball joint cover 8 from bottom to top. The motor 45 is at the tail of the cylinder body 43, and the direct-connected electric cylinders 4 are evenly distributed on the circular cover plate 1 in a circle. The cylinder body 43 passes through the center of the square hole. The number of the direct-connected electric cylinders 4 and the number of the square holes are set in a 1:1 ratio, which just allows six direct-connected electric cylinders 4 to pass through the square holes to support the circular cover plate 1 of the six-axis platform system 7 to form a propulsion system and adjust the posture of the six-axis platform system 7. That is, by controlling the elongation of the six direct-connected electric cylinders, the excavation condition of the shield machine can be simulated.

[0045] The three-degree-of-freedom platform 9 includes an upper platform 12, a first reciprocating electric cylinder 10, a second reciprocating electric cylinder 29, a third reciprocating electric cylinder 30, an intermediate column 17, a rotating table 22, a turntable bearing 20 and a bottom support seat 23; the upper platform 12 and the rotating table 22 are both cylindrical, and the center points are on the same vertical line as the center points of the ring, the circular cover plate 1 and the disk 3, and the rotating table 22 is connected to the bottom support seat 23 through the coaxial turntable bearing 20; the intermediate column 17, the first and second reciprocating electric cylinders 10, 29 are vertically placed between the upper platform 12 and the rotating table 22; wherein the intermediate column One end of the column 17 is connected to the bottom center point S of the upper platform 12 through the first universal coupling, and the other end is fixedly connected to the rotating table 22; the two ends of the first reciprocating electric cylinder 10 are respectively connected to the upper platform 12 and the rotating table 22 through the second and third universal couplings; the two ends of the second reciprocating electric cylinder 29 are respectively connected to the upper platform 12 and the rotating table 22 through the fourth and fifth universal couplings; the geometric center point of the contact surface between the second universal coupling and the upper platform 12 is S1, and the geometric center point of the contact surface between the fourth universal coupling and the upper platform 12 is S2, and the line between S1 and S is perpendicular to the line between S2 and S; Fig.15 As shown, the contact surface between the second universal joint and the upper platform 12 and the contact surface between the fourth universal joint and the upper platform 12 are both rectangular.

[0046] The third reciprocating electric cylinder 30 is horizontally placed on the rotating table 22, one end of which is connected to the rotating hinge mounting seat 28 on the rotating table 22 through a Hook's hinge 11, and the other end is connected to the tail rotating hinge mounting seat 21, and the tail rotating hinge mounting seat 21 is placed on the bottom support seat 23.

[0047] For ease of understanding, the current Figure 1 , 15 -17 is used as a reference, and a world coordinate system {O} is established with a certain point in the first universal joint (for example, the center point of the first universal joint) directly below the position of point S as the origin O. The vector direction perpendicular to the horizontal plane and starting from the origin O is taken as the positive direction of the Z axis, the vector direction from point S to the geometric center point S1 of the contact surface between the second universal joint and the upper platform 12 is taken as the positive direction of the Y axis, and the vector direction from point S to the geometric center point S2 of the contact surface between the fourth universal joint and the upper platform 12 is taken as the positive direction of the X axis; that is, Figure 1 , 15 -17, the positive direction of the X-axis of the spatial coordinate system points to the second return electric cylinder 29, and the positive direction of the Y-axis points to the first return electric cylinder 10. Fig.15 It can be seen that the first reciprocating electric cylinder 10 and the second reciprocating electric cylinder 29 are placed vertically, while the third reciprocating electric cylinder 30 is placed horizontally.

[0048] The top of the three-degree-of-freedom platform 9 is a cylindrical upper platform 12, which is connected to the middle column 17 at point S through a first universal joint. At the same time, the upper platform 12 is connected to two vertical reciprocating electric cylinders (i.e., the first and second reciprocating electric cylinders 10 and 29) at two points on the lower side edge (i.e., point S1 and point S2) through second and fourth universal joints, respectively. The second reciprocating electric cylinder 29 is in the positive direction of the X-axis of the coordinate system {O}, and the first reciprocating electric cylinder 10 is in the positive direction of the Y-axis of the coordinate system {O}; these two vertical directions The reciprocating electric cylinders (i.e., the first and second reciprocating electric cylinders 10 and 29) are respectively connected to the cylindrical rotating table 22 via the third and fifth universal joints, the rotating table 22 is fixed to the middle column 17, the rotating table 22 is connected to one end of the horizontally placed third reciprocating electric cylinder 30 by a Hooke's hinge 11, the rotating table 22 is connected to the bottom support seat 23 at the bottom of the three-degree-of-freedom platform 9 through the coaxial turntable bearing 20, and the protruding part of the bottom support seat 23 on one side is connected to the other end of the horizontally placed third reciprocating electric cylinder 30 through the fixed tail rotating hinge mounting seat 21.

[0049] The structures of the first, second and third reciprocating motors are exactly the same. Taking the first reciprocating electric cylinder 10 as an example, it includes a first electric cylinder rear hinge 1010, a first electric cylinder front hinge 109, a first wheel cover 108, a first motor mounting plate 107, a first rear end cover 106, a first motor 105, a first cylinder body 104, a first front end cover 103, a first externally threaded rod 102 and a first hollow tube 101, and the first motor 105 is on the side of the first cylinder body 104.

[0050] The first to fifth universal couplings may all be conventional universal couplings, and the embodiment of the present invention does not impose any exclusive limitation on this.

[0051] As an example, the first universal coupling includes a middle hinge adapter plate 13, a platform hinge 14, a platform hinge shaft 15, a platform hinge fork 16 and a platform pin shaft 31, the platform pin shaft 31 passes through two circular holes of the platform hinge fork 16 and is fixed to the platform hinge fork 16, the platform hinge shaft 15 is perpendicular to the platform pin shaft 31, and the platform pin shaft 31 passes through the lateral circular hole of the platform hinge shaft 15 to constrain the platform hinge shaft 15 between the two circular holes of the platform hinge fork 16, and the two sides of the platform hinge shaft 15 pass through a circular hole of the platform hinge 14, and the two platform hinges 14 are symmetrically distributed on the middle hinge adapter plate 13, and the platform hinge 14 is connected to the middle hinge adapter plate 13 by screws;

[0052] The second and fourth universal couplings each include an upper hinged mounting plate of an electric cylinder, an upper hinge of an electric cylinder and an electric cylinder hinge shaft. Two upper hinges of the electric cylinder are fixed on the upper hinged mounting plate of the electric cylinder by screws, and the two upper hinges of the electric cylinder are symmetrically distributed. The two upper hinges of the electric cylinder are respectively passed through by two ends of the electric cylinder hinge shaft, and a circular hole is passed through the lateral center of the electric cylinder hinge shaft. A pin is fixed on the front hinge fork of the electric cylinder connected to the universal coupling, and the pin is perpendicular to the electric cylinder hinge shaft and passes through the circular hole of the above-mentioned electric cylinder hinge shaft, thereby constraining the electric cylinder hinge shaft in the middle of the corresponding front hinge fork of the electric cylinder;

[0053] The third and fifth universal joints each include an electric cylinder lower hinge shaft and an electric cylinder lower hinge. A pin is fixed on the electric cylinder rear hinge fork connected to the universal joint. The pin is perpendicular to the electric cylinder lower hinge shaft and passes through the lateral center circular hole of the electric cylinder lower hinge shaft, thereby constraining the electric cylinder lower hinge shaft in the middle of the corresponding electric cylinder rear hinge fork. An electric cylinder lower hinge is connected to each of the two ends of the electric cylinder lower hinge shaft. The two electric cylinder lower hinges are symmetrically distributed and are connected to the rotating table by screws.

[0054] Specifically, the middle column 17 is connected to the upper platform 12 of the three-degree-of-freedom platform 9 through a first universal joint. The first universal joint is composed of a middle hinge adapter plate 13, a platform hinge 14, a platform hinge shaft 15, a platform hinge fork 16 and a platform pin shaft 31. The connection form of the first universal joint can realize the upper platform 12 to rotate around the X-axis and Y-axis of the coordinate system {O}. The lower end of the middle column 17 is fixed to the rotating table 22 by screws. Such a design can effectively support the upper platform 12. At the same time, such a connection can realize the upper platform 12 to rotate around the Z-axis of the coordinate system {O}.

[0055] The upper ends of the first and second reciprocating electric cylinders 10 and 29 are connected one-to-one with the upper platform 12 of the three-degree-of-freedom platform 9 through the second and fourth universal joints respectively. The structure of the second universal joint is exactly the same as that of the third universal joint. Taking the second universal joint as an example, it includes: an upper hinged mounting plate 25 of the electric cylinder, an upper hinge 26 of the electric cylinder and a hinge shaft 27 of the electric cylinder.

[0056] The connection mechanisms between the lower ends of the first and second return electric cylinders 10 and 29 and the rotating platform 22 are the third and fifth universal couplings respectively. The third universal coupling has the same structure as the fifth universal coupling. Taking the third universal coupling as an example, it includes: the lower hinge shaft 18 of the electric cylinder and the lower hinge 19 of the electric cylinder.

[0057] By controlling the elongation of the first and second reciprocating electric cylinders 10 and 29, the upper platform 12 can be controlled to move in a tangent plane of a fixed-length radius sphere around a fixed point in the first universal joint on the upper part of the middle column 17, i.e., the coordinate origin O. Figure 15-16As shown, when the first reciprocating electric cylinder 10 changes its own extension, the posture change of the upper platform 12 around the X-axis of the rectangular coordinate system {O} can be achieved. By controlling the self-extension of the second reciprocating electric cylinder 29, the posture change of the upper platform 12 around the Y-axis of the rectangular coordinate system {O} can be achieved. Assuming that the rotation around the X-axis produces a pitch angle and the rotation around the Y-axis produces a yaw angle, then by controlling the extension of the first and second reciprocating electric cylinders 10 and 29, the pitch and yaw posture changes of the actual shield in horizontal excavation can be simulated.

[0058] The connection between the third horizontally placed reciprocating electric cylinder 30 and the rotating platform 22 is a Hook's hinge 11 composed of a lower hinge shaft 111, a hinge front end cover 112, and a hinge seat 113. The rotating platform 22 is directly connected to the Hook's hinge 11 with a rotating hinge mounting seat 28. The third horizontally placed reciprocating electric cylinder 30 is connected to the tail rotating hinge mounting seat 21 fixed to the bottom support seat 23 through another Hook's hinge 11. Figure 15-16 The third reciprocating electric cylinder 30 arranged in the horizontal direction controls the rotating table 22 to rotate around the turntable bearing 20 by changing its own elongation, thereby driving the intermediate column 17 fixed thereto to rotate, and finally realizing the rotation movement of the upper platform 12 around the Z axis in the rectangular coordinate system {O}. Assuming that the rotation around the Z axis produces a roll angle, the third reciprocating electric cylinder 30 can simulate the rolling condition of the shield machine in horizontal excavation by changing the elongation.

[0059] In order to facilitate the placement and movement of the simulation device, preferably, it also includes foot cups 24 arranged at the four corners of the bottom side of the bottom support seat 23.

[0060] Specifically, the bottom support seat 23 is connected to the tail rotary hinge mounting seat 21 by at least one screw, a turntable bearing 20 is fixed at the center thereof, and foot cups 24 are installed at the four corners of the lower side of the bottom support seat 23 .

[0061] An embodiment of the present invention provides a vertical shield propulsion system simulation method, which is applied to a vertical shield propulsion system simulation device as described in any of the above embodiments, comprising:

[0062] The extension of the six direct-connected electric cylinders is controlled to simulate the tunneling condition of the shield machine; the extension of the first reciprocating electric cylinder is controlled to simulate the pitch condition of the shield machine; the extension of the second reciprocating electric cylinder is controlled to simulate the yaw condition of the shield machine; the extension of the third reciprocating electric cylinder is controlled to simulate the rolling condition of the shield machine.

[0063] Specifically, when the vertical shield propulsion system simulation device is working, first, according to Figure 1-17As shown, the device can simulate the pitch, yaw and roll posture changes of the shield machine in actual working conditions by controlling the three reciprocating electric cylinders (10, 29 and 30) of the three-degree-of-freedom platform 9, wherein the first reciprocating electric cylinder 10 and the second reciprocating electric cylinder 29 arranged in the vertical direction respectively control the posture changes of the upper platform 12 rotating around the X-axis and Y-axis of the rectangular coordinate system {O}, and the third reciprocating electric cylinder 30 placed horizontally controls the posture changes of the upper platform 12 rotating around the Z-axis of the rectangular coordinate system {O}, and the upper six-axis platform system 7 can propel the circular cover plate 1 through a propulsion system composed of six mutually parallel direct-connected electric cylinders 4, thereby simulating the excavation working conditions of the shield machine in actual engineering. In this way, the six-axis platform system 7 placed on the three-degree-of-freedom platform 9 becomes a vertical shield propulsion system simulation device. The posture change of the shield machine in the actual shield can be understood as the posture change of the shield body relative to the upper ring of assembled segments. In this way, assuming that the ground is always the assembled upper ring of segments, the posture change of the actual shield machine at work can be simulated by controlling the upper platform 12 of the three-degree-of-freedom platform 9 to change around the various coordinate axes of the coordinate system {O}; by controlling the six-axis platform system 7 through six mutually parallel direct-connected electric cylinders 4, the excavation process of the actual shield machine at work can be simulated. In this case, the circular cover plate 1 always remains parallel to the bottom surface of the upper platform 12, that is, there is no relative posture change inside the whole.

[0064] It can be understood that when the vertical shield propulsion system simulation device is controlled to work according to the above method, when the posture change of the upper platform 12 rotating around the X-axis and Y-axis of the rectangular coordinate system {O} causes tilt, it will cause the upper six-axis platform system 7 to tilt. If the six-axis platform system 7 is only freely placed on the three-degree-of-freedom platform 9, when the angle is large, the upper six-axis platform system 7 may slide relative to the three-degree-of-freedom platform 9. If the angle is even larger, there may even be a risk of the six-axis platform system 7 falling. Therefore, for the safety of the experiment, preferably, the above-mentioned simulation device also includes a fixing component for preventing the six-axis platform system 7 from tipping over or sliding relative to the three-degree-of-freedom platform 9 due to a large inclination angle.

[0065] The above-mentioned fixing components can be implemented in various forms. For example, the fixing components are strong glue, and each shoe is pasted on the upper platform 12 of the three-degree-of-freedom platform 9, or the fixing components are screws, and each shoe is nailed to the upper platform 12 of the three-degree-of-freedom platform 9 by screws.

[0066] Taking into account that some experiments (such as synchronous pushing and pulling experiments) require a single support shoe to retract with its corresponding direct-connected electric cylinder, that is, a single support shoe leaves the upper platform surface, while the other five support shoes are still fixed on the upper platform 12, if the fixing component is a strong glue or a screw, it cannot meet the requirements of such experiments; therefore, preferably, the fixing component is an iron chain or a rubber coating.

[0067] Specifically, a set of iron chains can be used to connect the disc 3 of the six-axis platform system 7 and the upper platform 12 of the three-degree-of-freedom platform 9. During normal experiments, the iron chains are not stretched straight, so they will not affect the control of the vertical shield propulsion system simulation device. However, if the six-axis platform system 7 tends to topple over due to a large inclination angle, the iron chains can be stretched straight in time to restrain the six-axis platform system 7, thereby protecting the equipment without restricting the up and down movement of the support boots. In addition, a rubber coating can be added to the upper platform 12 to increase the friction between the support boots 5 and the upper platform 12, which can effectively prevent the six-axis platform system 7 from sliding relative to the upper platform 12, thereby achieving a fixing effect without restricting the up and down movement of the support boots.

[0068] In order to further ensure the safety of the experiment, it is best to ensure that the circular cover plate 1 of the six-axis platform system 7 is always in a horizontal state during the experiment. Based on this, an embodiment of the present invention provides another vertical shield propulsion system simulation method, which is applied to the vertical shield propulsion system simulation device as described in the above embodiment, including:

[0069] The elongation of the first reciprocating electric cylinder 10 is controlled to rotate the upper platform 12 to generate a pitch angle of -α. At the same time, the elongation of the six direct-connected electric cylinders is controlled to keep the circular cover plate 1 horizontal when the upper platform 12 rotates, thereby simulating the pitch condition of the shield machine, wherein the pitch angle corresponding to the pitch condition is α;

[0070] The elongation of the second reversible electric cylinder 29 is controlled to rotate the upper platform 12 to generate a yaw angle of -β. At the same time, the elongation of the six direct-connected electric cylinders is controlled to keep the circular cover plate 1 horizontal when the upper platform 12 rotates, thereby simulating the yaw condition of the shield machine, wherein the yaw angle corresponding to the yaw condition is β;

[0071] The extension amount of the third reciprocating electric cylinder 30 is controlled to simulate the rolling condition of the shield machine.

[0072] Specifically, the upper platform 12 of the three-degree-of-freedom platform 9 is always regarded as the upper ring of assembled segments. When the upper platform 12 of the three-degree-of-freedom platform 9 changes its posture relative to the horizontal plane where point O is located, it is necessary to keep the circular cover 1 level by continuously adjusting the elongation of the six directly-connected electric cylinders 4 in the six-axis platform system 7. Therefore, there is a relative posture change between the upper platform 12 and the six-axis platform system 7, and this relative posture change is caused by the posture change of the upper platform 12 relative to the horizontal plane passing through point O, while the posture of the six-axis platform system 7 itself has been horizontal and unchanged. This is similar to the actual operation of the shield machine, where the posture of the assembled segments does not change, but the shield body is relative to the segments. The situation of pitch and yaw attitude changes is opposite. Therefore, when this method is used to simulate the attitude change of the shield machine, the two angles α and β of the upper platform 12 rotating around the X and Y axes of the coordinate system {O} need to be regarded as the upper platform 12 always being horizontal, and the upper six-axis platform system 7 rotates -α and -β respectively relative to the upper platform 12 in the X and Y axis directions of the coordinate system {O}. Therefore, under this method, the pitch and yaw angles of the upper platform 12 relative to the horizontal plane simulate the actual shield machine excavation process. The shield body produces the same pitch and yaw angles in the opposite direction. The process will be explained with examples in conjunction with the figure later. The above introduces how to use this set of equipment to simulate the attitude changes of the actual shield. As for excavation, it can be achieved as long as the direct-connected electric cylinders 4 of the six-axis platform system 7 are extended. In short, this solution can simplify the shield simulation device, and reduce the floor space of the experimental equipment by placing it vertically, saving experimental space.

[0073] The sign of the angle around the X-axis is defined as the direction in which the thumb of the right hand points to the positive direction of the X-axis. The direction in which the other four fingers of the right hand surround the X-axis is considered a positive value, otherwise it is a negative value. The positive and negative signs of the angles around the other two axes are defined similarly.

[0074] like Figure 1 As shown, assuming that α is a positive value, when simulating the pitching condition of the actual shield machine with an angle of α, the first reciprocating electric cylinder 10 will be shortened in the direction of D, so that the upper platform 12 will make a tangent motion of a fixed-length radius sphere around point O. Further, in this case, the upper platform 12 will generate a rotation angle of -α around the X axis, as shown in FIG. Fig.17 As shown in FIG. 1 , the upper platform 12 rotates clockwise from the Z axis to the Y axis around the X axis of the coordinate system {O} by an angle of α, which is the rotation mode shown in FIG. When the upper platform 12 undergoes such a posture change, the circular cover plate 1 of the six-axis platform system 7 above always needs to remain horizontal. Then, when viewed from the side of the simulation device, that is, when Fig.17In the figure, along the positive direction of the Y axis of the coordinate system {O}, the elongation of the direct-connected electric cylinder 4 on the right side of the six-axis platform system 7 is longer, that is, the longer the length of the electric cylinder is. This also shows that in order to allow the circular cover plate 1 to remain horizontal when the upper platform 12 rotates an angle of α as shown in B, it is necessary to simultaneously control the elongation of the six direct-connected electric cylinders 4 of the six-axis platform system 7, so that the elongation of the direct-connected electric cylinder 4 on the right side is greater in the same period of time. Moreover, as can be seen from the above, the -α rotation angle generated by the upper platform 12 around the X-axis is also the -α rotation angle generated by the upper platform 12 relative to the circular cover plate 1. Conversely, it can be regarded as the upper platform 12 is stationary, and the circular cover plate 1 is relative to the upper platform 12. The rotation angle of α around the X-axis is also the pitch angle defined previously. In short, through the above analysis, it can be considered that the upper platform 12 produces a certain pitch angle around the X-axis, which simulates the actual shield machine working in the opposite direction. The pitch attitude changes with the same amount of change.

[0075] like Figure 1 As shown, β is a positive value. When simulating the yaw condition of the actual shield machine with an angle of β, the operation is similar to the simulated pitch condition, that is, the second reciprocating electric cylinder 29 extends in the direction of A, so that the upper platform 12 rotates clockwise around the Y axis by an angle of β, that is, it rotates according to the rotation mode of E. At the same time, in order to keep the circular cover plate 1 horizontal, Figure 1 The closer to the right direct-connected electric cylinder 4, the longer the extension is required. Finally, from the relationship of relative motion, it can be known that the -β rotation angle generated by the upper platform 12 around the Y-axis, that is, the β rotation angle generated by the circular cover 1 relative to the upper platform 12 around the Y-axis, is also the yaw angle defined before, which also simulates the working condition of the actual shield at the yaw β angle when working.

[0076] The third reciprocating electric cylinder 30 arranged horizontally at position C in the figure can change the extension amount to realize the movement of the upper platform 12 and the six-axis platform system 7 rotating around the Z axis, simulating the rolling change of the posture of the shield machine during excavation. When the six direct-connected electric cylinders 4 of the six-axis platform system 7 are all extended, the six-axis platform system 7 will be pushed up, which simulates the actual excavation condition of the shield machine underground.

[0077] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertical shield propulsion system simulation device, characterized in that: include: Six-axis platform system (7) and three-degree-of-freedom platform (9); The six-axis platform system (7) comprises a circular cover plate (1), a cylindrical outer cover (2), a disc (3), six directly connected electric cylinders and six support shoes, wherein the circular cover plate (1) and the disc (3) are respectively fixed to the top surface and the bottom surface of the cylindrical outer cover (2), one end of the six directly connected electric cylinders is fixedly connected to the inner side surface of the circular cover plate (1) and is evenly arranged on the circular cover plate (1) in a circle with six equal parts, and the other end passes through the disc (3) and is connected to the six support shoes one by one, and the six support shoes form a circular ring and are placed on the three-degree-of-freedom platform (9); The three-degree-of-freedom platform (9) comprises an upper platform (12), a first, a second, and a third reciprocating electric cylinder (10, 29, 30), an intermediate column (17), a rotating table (22), a turntable bearing (20), and a bottom support seat (23); the upper platform (12) and the rotating table (22) are both cylindrical, and their center points are on the same vertical line as the center points of the circular ring, the circular cover plate (1), and the circular disk (3); the rotating table (22) is connected to the bottom support seat (23) via a coaxial turntable bearing (20); the intermediate column (17), the first and the second reciprocating electric cylinder (10, 29) are all vertically placed between the upper platform (12) and the rotating table (22); wherein the intermediate column (17) and the first and the second reciprocating electric cylinder (10, 29) are vertically placed between the upper platform (12) and the rotating table (22); One end of the column (17) is connected to the bottom center point S of the upper platform (12) through a first universal coupling, and the other end is fixedly connected to the rotating table (22); the two ends of the first reciprocating electric cylinder (10) are connected to the upper platform (12) and the rotating table (22) through a second universal coupling and a third universal coupling, respectively; the two ends of the second reciprocating electric cylinder (29) are connected to the upper platform (12) and the rotating table (22) through a fourth universal coupling and a fifth universal coupling, respectively; the geometric center point of the contact surface between the second universal coupling and the upper platform (12) is S1, and the geometric center point of the contact surface between the fourth universal coupling and the upper platform (12) is S2, and the line connecting S1 and S is perpendicular to the line connecting S2 and S; The third reciprocating electric cylinder (30) is horizontally placed on the rotating platform (22), one end of which is connected to a rotating hinge mounting seat (28) on the rotating platform (22) via a Hooke's hinge (11), and the other end of which is connected to a tail rotating hinge mounting seat (21), and the tail rotating hinge mounting seat (21) is placed on the bottom support seat (23); The six direct-connected electric cylinders are used to simulate the tunneling conditions of a tunnel boring machine; the first, second and third reciprocating electric cylinders are respectively used to simulate the pitching condition, yaw condition and rolling condition of the tunnel boring machine.

2. The device according to claim 1, characterized in that The center of the disc (3) is provided with a circular hole which is concentric with the disc (3).

3. The device according to claim 1, characterized in that It also includes foot cups (24) arranged at the four corners of the bottom side of the bottom support seat (23).

4. The device according to any one of claims 1 to 3, characterized in that: Also includes: A fixing component is used to prevent the six-axis platform system (7) from sliding relative to the three-degree-of-freedom platform (9).

5. The device according to claim 4, characterized in that The fixing component is an iron chain, and the iron chain binds the disc (3) and the upper platform (12); Alternatively, the fixing component is a rubber coating, and the rubber coating is placed above the upper platform (12).

6. A method for simulating a vertical shield propulsion system, applied to a vertical shield propulsion system simulation device as claimed in any one of claims 1 to 5, characterized in that: include: The extension amounts of the six direct-connected electric cylinders are controlled to simulate the tunneling condition of a shield machine; the extension amount of the first reciprocating electric cylinder (10) is controlled to simulate the pitching condition of a shield machine; the extension amount of the second reciprocating electric cylinder (29) is controlled to simulate the yaw condition of a shield machine; and the extension amount of the third reciprocating electric cylinder (30) is controlled to simulate the rolling condition of a shield machine.

7. A method for simulating a vertical shield propulsion system, applied to a vertical shield propulsion system simulation device as claimed in any one of claims 1 to 5, characterized in that: include: Controlling the extension of the first reversible electric cylinder (10) to rotate the upper platform (12) and generate a pitch angle of -α; at the same time, controlling the extension of the six direct-connected electric cylinders to keep the circular cover plate (1) horizontal when the upper platform (12) rotates, thereby simulating the pitch working condition of the shield machine, wherein the pitch angle corresponding to the pitch working condition is α; The extension amount of the second reversible electric cylinder (29) is controlled to rotate the upper platform (12) to generate a yaw angle of -β. At the same time, the extension amounts of the six direct-connected electric cylinders are controlled to keep the circular cover plate (1) horizontal when the upper platform (12) rotates, thereby simulating the yaw condition of the shield machine, wherein the yaw angle corresponding to the yaw condition is β; The extension amount of the third reciprocating electric cylinder (30) is controlled to simulate the rolling condition of the shield machine.

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