An adjustable shield tunneling machine cutterhead based on lidar

Abstract

This invention belongs to the field of tunnel boring machine (TBM) technology, and particularly relates to an adjustable TBM cutterhead based on lidar. It includes: a lidar device mounted in the center of the cutterhead frame on the TBM, used to accurately measure the distance between the cutterhead frame and the target object ahead of the tunnel; several sets of cutterhead tilt adjustment devices arranged circumferentially along the cutterhead frame, used to adjust the tilt angle of the cutterhead rollers mounted on their bodies; and a PLC control system, with the lidar device and cutterhead tilt adjustment devices electrically connected to the PLC control system. This invention proposes a lightweight lidar model that can be integrated into a TBM. While meeting performance requirements, the structure is sufficiently simple, improving the stability of the lidar operation and enabling real-time adjustment of the cutterhead tilt angle to match the tunnel angle, thus improving tunneling efficiency.

Description

Technical Field

[0001] This invention belongs to the field of tunnel boring machine technology, and particularly relates to an adjustable tunnel boring machine cutterhead based on lidar. Background Technology

[0002] A tunnel boring machine (TBM) is a large-scale mechanical device specifically designed for underground tunnel construction. It plays a vital role in tunnel projects such as urban subways, railways, highways, and hydropower projects. The cutterhead is the core component of the TBM's excavation system; its opening and the arrangement of the cutting tools directly affect the TBM's excavation efficiency, project progress, and economic benefits.

[0003] However, traditional tunnel boring machine (TBM) excavation has the following drawbacks: the TBM cannot detect tunnel defects and obstacles in a timely manner during the tunneling process; the cutterhead of the TBM cannot fine-tune the installation angle of the cutters in a single project to respond to the above problems; from detection to fine-tuning of the cutters, it depends on manual labor and cannot be handled by the TBM itself.

[0004] Therefore, in response to the existing problems, an adjustable shield machine cutterhead based on lidar was designed to reduce rock breaking energy consumption and extend the cutterhead life. Summary of the Invention

[0005] The purpose of this invention is to provide an adjustable shield tunneling machine cutterhead based on lidar to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides an adjustable shield tunneling machine cutterhead based on lidar, comprising:

[0007] A lidar device is installed in the middle of the cutterhead frame on the tunnel boring machine. The lidar device is used to accurately measure the distance between the cutterhead frame and the target object in front of the tunnel.

[0008] Several sets of cutter head tilt angle adjustment devices are arranged around the circumference of the cutter head frame. The cutter head tilt angle adjustment devices are used to adjust the tilt angle of the hobs mounted on their bodies.

[0009] The PLC control system includes a lidar device and a cutter head tilt adjustment device, both of which are electrically connected to the PLC control system.

[0010] Preferably, the lidar device includes a housing installed in the middle of the cutter head holder, a laser ranging sensor is rotatably connected to the middle of one end of the housing away from the cutter head holder, and an electronically controlled drive mechanism for driving the laser ranging sensor to rotate is provided inside the housing.

[0011] Preferably, a drive shaft is rotatably connected to the middle of the end of the housing away from the cutter head holder, the end of the drive shaft away from the cutter head holder is connected to the laser rangefinder sensor, and the other end of the drive shaft is in transmission cooperation with the electronically controlled drive mechanism.

[0012] Preferably, the electronically controlled drive mechanism includes a stator Pcb and a motor, the stator Pcb is electrically connected to the motor, the motor is equipped with a speed regulator, and the output shaft of the motor is driven by the drive shaft through a reduction gearbox.

[0013] Preferably, each set of the cutter head tilt angle adjustment devices includes a plurality of cutter head tilt angle adjustment devices arranged radially along the cutter head holder.

[0014] Preferably, the cutter head tilt angle adjustment device includes a flip-plate mechanism and a cutter fixing mechanism. The flip-plate mechanism is connected to the cutter head holder, the cutter fixing mechanism is used to fix the cutter, and the flip-plate mechanism is used to adjust the tilt angle of the cutter.

[0015] Preferably, the cutter head tilt angle adjustment device includes a mounting base connected to the cutter head holder, two brackets connected to the mounting base, a pin rotatably connected between the two brackets, a base rotatably connected to the pin, a tilt angle sensor mounted on the base, a hydraulic rod hinged to the end of the mounting base away from the brackets, the telescopic end of the hydraulic rod hinged to the end of the base away from the pin, the tilt angle sensor electrically connected to the PLC control system, and the hobbing cutter fixing mechanism connected to the side of the base away from the mounting base.

[0016] Preferably, the flipping mechanism includes a base plate, on which two brackets are connected, and a rotating shaft is rotatably connected between the two brackets, and the roller is fixedly sleeved on the rotating shaft.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects:

[0018] This invention provides an adjustable tunnel boring machine (TBM) cutterhead based on lidar. The lidar device accurately measures the distance between the cutterhead frame and the target object ahead of the TBM, as well as the tunnel's angle. This measurement information is transmitted in real-time to a PLC control system. The PLC then transmits the data to a PC on the TBM. The PC processes the data detected by the lidar device, and the cutterhead tilt adjustment device adjusts the angle of the cutterhead cutters. This achieves automatic cutterhead angle adjustment and accurate matching with the tunnel angle.

[0019] This invention proposes a lightweight lidar model that can be integrated into a tunnel boring machine. While meeting the performance requirements, the structure is simple enough to improve the stability and reliability of the lidar operation.

[0020] The present invention designs a number of protection measures for lidar in the working environment of strong vibration and large amount of sand and dust during the operation of a shield machine. The protective box and dust cover配套 with the lidar can effectively reduce the failure rate of the lidar operation. The installation of a DAD controller and a speed regulator can control the speed and direction of the rotation of the lidar probe, so as to adapt to the rotation state of the shield machine cutter head and improve the tunneling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0022] Figure 1 It is a schematic structural diagram of an adjustable shield machine cutter head based on lidar proposed by the present invention;

[0023] Figure 2 It is a schematic structural diagram of the lidar device in the present invention;

[0024] Figure 3 It is a schematic structural diagram of the cutter head inclination angle adjustment device in the present invention;

[0025] Where: 1. mounting seat; 2. first bracket; 3. pin shaft; 4. base; 5. hydraulic rod; 6. base plate; 7. second bracket; 8. rotating shaft; 9. hob; 10. housing; 11. stator Pcb; 12. motor; 13. transmission shaft; 14. laser distance sensor; 15. cutter head frame; 16. inclination angle sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0027] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments. <00,00062>

[0028] Refer to Figures 1 to 3 As shown, the present invention provides an adjustable shield machine cutter head based on lidar, including:

[0029] The lidar device is installed in the middle of the cutterhead frame 15 on the tunnel boring machine. The lidar device is used to accurately measure the distance between the cutterhead frame 15 and the target object in front of the tunnel.

[0030] Several sets of cutter head tilt angle adjustment devices are arranged around the circumference of the cutter head holder 15. The cutter head tilt angle adjustment devices are used to adjust the tilt angle of the hobs 9 on their bodies.

[0031] The PLC control system, lidar device, and cutter head tilt adjustment device are all electrically connected to the PLC control system.

[0032] In this embodiment, the PLC control system uses a Siemens S7-400 model, which is a commercially available component. The tunnel boring machine's rotary cutterhead frame 15 has no through holes; the lidar device is connected to the power lines from the DAD controller and power supply module through these through holes. The DAD controller is connected to the stator Pcb using twisted-pair cables, and also connected to the control room computer via twisted-pair cables to professional industrial buses such as Profibus and CAN. The power supply module includes power input / output interfaces, filters, step-down transformers, voltage regulators, rectifier circuits, and protection circuits. The power input interface connects to a 220V AC power supply from the tail of the shield. The rectifier circuit, filter capacitors, and voltage regulator are integrated into a specially designed electrical control box. The protection circuit is integrated adjacent to the voltage regulator for timely monitoring and response to circuit abnormalities.

[0033] The laser radar device can accurately measure the distance between the cutterhead frame 15 and the target object in front of the tunnel boring machine, as well as the angle information of the tunnel. The measurement information is transmitted to the PLC control system in real time. The PLC control system transmits the data to the PC on the tunnel boring machine. The PC calculates and processes the data detected by the laser radar device, and then inputs the processed data back to the PLC control system. The PLC control system controls the cutterhead tilt angle adjustment device to perform actions, thereby adjusting the tilt angle of the cutter head 9, and thus achieving automatic angle adjustment of the cutter head 9 to accurately match the angle of the tunnel.

[0034] Furthermore, the lidar device includes a housing 10 installed in the middle of the cutter head holder 15. A laser rangefinder 14 is rotatably connected to the middle of the end of the housing 10 away from the cutter head holder 15. An electronically controlled drive mechanism for driving the laser rangefinder 14 to rotate is provided inside the housing 10.

[0035] Specifically, a cylindrical hole is excavated in the center of the tunnel boring machine cutterhead frame 15 to accommodate the lidar device. The lidar device is covered with a protective cover to prevent damage from impacts by hard objects. The laser rangefinder 14 includes a protective housing, inside which are arranged a laser rangefinder, a laser, a transmitting reflector, a receiver, and a receiving reflector. The laser and the transmitting reflector together form a transmitting module to generate a laser beam and enhance the transmitted signal. The receiver and the receiving reflector together form a receiving module, located inside the protective housing of the laser rangefinder 14 on the side away from the laser and at a certain angle to the transmitting module, to capture the reflected signal and form an image, and is connected to the PLC control system through a signal line.

[0036] Furthermore, the engineering plastics used in the housing 10 are high-performance engineering plastics such as polycarbonate (PC) and polyetheretherketone (PEEK). The performance can be improved by adding fibers, which has little impact on the pulse signal. A drive shaft 13 is rotatably connected to the middle of the end of the housing 10 away from the cutter head 15. The end of the drive shaft 13 away from the cutter head 15 is connected to the laser rangefinder 14, and the other end of the drive shaft 13 is connected to the electric control drive mechanism. The laser rangefinder 14 is electrically connected to the PLC control system through a conductive slip ring and a twisted pair. The current-limiting resistor in the conductive slip ring adopts a low contact resistance to reduce energy loss and signal attenuation. At the same time, materials with high conductivity such as copper foil or copper strip and a multi-layer concentric ring structure are selected to achieve miniaturization and weight reduction of the conductive slip ring.

[0037] The laser rangefinder 14 is driven to rotate by the set electronically controlled drive mechanism, so that the laser rangefinder 14 rotates while the cutter head 15 rotates, thereby realizing all-round detection inside the tunnel and improving detection efficiency.

[0038] Furthermore, the electric drive mechanism includes a stator Pcb11 and a motor 12. The stator Pcb11 is electrically connected to the motor 12. The motor 12 is equipped with a speed regulator. The output shaft of the motor 12 is connected to the transmission shaft 13 through a reduction gearbox. The output shaft of the reduction gearbox is connected to the transmission shaft 13 through a flexible coupling. The flexible coupling is a plum blossom-shaped flexible coupling, which can adapt to harsh working environments. The elastic element in it can provide buffering and shock absorption effects.

[0039] Specifically, the rotor PCB is coated with a three-proof paint coating, and the stator PCB is etched with power supply circuits, level conversion circuits, encoder receiving circuits, and motor drive circuits, which facilitates the decoding and processing of pulse signals and enables efficient and stable control of the motor.

[0040] Furthermore, each set of cutter head tilt adjustment devices includes multiple cutter head tilt adjustment devices arranged radially along the cutter head holder 15.

[0041] Furthermore, the cutter head tilt angle adjustment device includes a flip-plate mechanism and a cutter fixing mechanism. The flip-plate mechanism is connected to the cutter head holder 15, the cutter fixing mechanism is used to fix the cutter 9, and the flip-plate mechanism is used to adjust the tilt angle of the cutter 9.

[0042] By controlling the tilt angle of the flipping mechanism, the tilt angle of the hob fixing mechanism can be controlled, thus achieving the tilt angle control of the hob 9.

[0043] Furthermore, the cutter head tilt adjustment device includes a mounting base 1 connected to the cutter head holder 15, two brackets 2 connected to the mounting base 1, a pin 3 rotatably connected between the two brackets 2, one end of a base 4 rotatably connected to the pin 3, a tilt sensor 16 mounted on the base 4, one end of a hydraulic rod 5 hinged to the end of the mounting base 1 away from the brackets 2, the telescopic end of the hydraulic rod 5 hinged to the end of the base 4 away from the pin 3, the tilt sensor 16 is electrically connected to the PLC control system, and the hobbing cutter fixing mechanism is connected to the side of the base 4 away from the mounting base 1.

[0044] The tilt sensor 16 can monitor the change in the tilt angle of the base 4 in real time, and thus monitor the change in the tilt angle of the hob 9. The monitored data is input to the PLC control system. The PLC control system detects the change in tunnel angle based on the laser rangefinder 14, and then calculates the data through the PC to control the flow rate and speed of hydraulic fluid in the hydraulic pump connected to the hydraulic rod 5 in real time. Specifically, the hydraulic pump is connected to the oil inlet of the hydraulic rod 5 through hydraulic pipelines and threaded joints. It is equipped with a servo valve to control the flow rate and speed of oil, so as to realize the change in the tilt angle of the base 4 relative to the mounting base 1.

[0045] Furthermore, the flipping mechanism includes a base plate 6, on which two brackets 7 are connected, and a rotating shaft 8 is rotatably connected between the two brackets 7. The roller cutter 9 is fixedly sleeved on the rotating shaft 8.

[0046] The roller cutter 9 is supported and fixed by two brackets 27 to ensure the stability of the roller cutter 9 during tunneling.

[0047] The adjustable shield tunneling machine cutterhead based on lidar provided by this invention operates as follows: During the tunneling process, motor 12 drives the transmission shaft 13 and the laser rangefinder 14 to rotate, accurately detecting the internal structure and angles of the tunnel. The measured information is transmitted in real-time to the PLC control system. The PLC control system then transmits the data to the PC on the shield tunneling machine. The processed data is then input back to the PLC control system. The PC calculates and processes the data detected by the laser rangefinder 14 and controls the power of the hydraulic pump via the PLC control system, thereby controlling the flow rate and speed of the hydraulic pipeline. This allows for the control of the length of the hydraulic rod 5. When the hydraulic rod 5 extends, the base 4 rotates around the bracket 2, increasing the angle between the base 4 and the mounting base 1. This, in turn, increases the tilt angle of the cutter 9 fixed on the base 4, and vice versa. The tilt angle sensor 16 monitors the changes in the tilt angle of the base 4 in real time, thereby monitoring the changes in the cutter 9. The PLC control system then uses the laser rangefinder sensor 14 to detect changes in the tunnel angle and dynamically adjusts the length of the hydraulic rod 5, thus achieving automatic angle adjustment of the cutter 9 and accurate matching with the tunnel angle.

[0048] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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 invention, and are not intended to 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 invention.

[0049] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An adjustable shield tunneling machine cutterhead based on lidar, characterized in that, include: A laser radar device is installed in the middle of the cutterhead frame (15) on the tunnel boring machine. The laser radar device is used to accurately measure the distance between the cutterhead frame (15) and the target object in front of the tunnel. Several sets of cutter head tilt angle adjustment devices are arranged around the circumference of the cutter head frame (15). The cutter head tilt angle adjustment devices are used to adjust the tilt angle of the hobbing cutter (9) on its body. The PLC control system includes a lidar device and a cutter head tilt angle adjustment device that are electrically connected to the PLC control system. The lidar device includes a housing (10) installed in the middle of the cutter head holder (15). A laser range sensor (14) is rotatably connected to the middle of one end of the housing (10) away from the cutter head holder (15). An electronically controlled drive mechanism for driving the laser range sensor (14) to rotate is provided inside the housing (10). A drive shaft (13) is rotatably connected to the middle of one end of the housing (10) away from the cutter head holder (15). One end of the drive shaft (13) away from the cutter head holder (15) is connected to the laser rangefinder (14), and the other end of the drive shaft (13) is in transmission cooperation with the electric control drive mechanism. The electric drive mechanism includes a stator Pcb (11) and a motor (12). The stator Pcb (11) is electrically connected to the motor (12). The motor (12) is equipped with a speed regulator. The output shaft of the motor (12) is driven by the drive shaft (13) through a reduction gearbox. Each set of the cutter head tilt angle adjustment devices includes a plurality of cutter head tilt angle adjustment devices arranged radially along the cutter head holder (15); The cutter head tilt angle adjustment device includes a flip plate mechanism and a roller cutter fixing mechanism. The flip plate mechanism is connected to the cutter head frame (15), the roller cutter fixing mechanism is used to fix the roller cutter (9), and the flip plate mechanism is used to adjust the tilt angle of the roller cutter (9). The cutter head tilt adjustment device includes a mounting base (1) connected to the cutter head holder (15), two brackets (2) connected to the mounting base (1), a pin (3) rotatably connected between the two brackets (2), one end of a base (4) rotatably connected to the pin (3), a tilt sensor (16) mounted on the base (4), one end of a hydraulic rod (5) hinged to the end of the mounting base (1) away from the brackets (2), the telescopic end of the hydraulic rod (5) hinged to the end of the base (4) away from the pin (3), the tilt sensor (16) electrically connected to the PLC control system, and the hobbing cutter fixing mechanism connected to the side of the base (4) away from the mounting base (1).

2. The adjustable shield tunneling machine cutterhead based on lidar according to claim 1, characterized in that, The flipping mechanism includes a base plate (6), on which two brackets (7) are connected, and a rotating shaft (8) is rotatably connected between the two brackets (7). The roller (9) is fixedly sleeved on the rotating shaft (8).

Images