Double-layer independent gripper shoe system of vertical shaft heading machine for soft and broken stratum

Abstract

The invention discloses a double-layer independent gripper shoe system of a vertical shaft heading machine for a soft and broken stratum, and belongs to the technical field of soil layer drilling. Comprising a propulsion beam; the supporting shoe mechanisms are evenly arranged in the circumferential direction of the propelling beam at intervals of a certain angle, and each supporting shoe mechanism comprises a supporting column; the shoe plate is arranged on the outer side face of the supporting column, and a pressure sensor is arranged on the shoe plate; the direction adjusting mechanism is arranged on the upper end face of the propelling beam. A direction adjusting oil cylinder used for steering and a propelling oil cylinder used for propelling are connected between the supporting column and the propelling beam. By means of the device, the supporting pressure of the supporting oil cylinder supported on the side wall of the vertical shaft can be monitored in real time, and after the supporting oil cylinder ejects the shoe plate out and the shoe plate is attached to the wall face of the vertical shaft, the pressure sensor arranged on the shoe plate can rapidly measure the pressure between the shoe plate and the wall face of the vertical shaft; whether the wall surface of the vertical shaft is a soft broken surface or not can be judged according to the pressure.

Description

Technical Field

[0001] The invention relates to a double-layer independent support shoe system of a shaft boring machine used in soft and broken strata, belonging to the technical field of soil layer drilling. Background Art

[0002] Pumped storage is a green and low-carbon energy source for the power system with the most mature technology, the most significant carbon emission reduction benefits over its entire life cycle, the best economy and the best conditions for large-scale development.

[0003] The rock mass strength of the shaft of the early pumped storage power station was relatively high and the integrity was relatively good. The single-layer linkage support shoe system can relatively well meet the support requirements of the shaft boring machine. However, with the gradual promotion and application of pumped storage power station projects, the demand for shaft construction under adverse geological conditions is increasing day by day. Taking the formation with only local soft and broken and collapsed cavities as an example, during the excavation of the full-section shaft boring machine, the support cylinder uses the support shoe to softly and crush the rock mass. When it is difficult to provide sufficient reaction force, the shoe plate is often difficult to support the tunnel wall. The shaft boring machine is very likely to slide due to insufficient support pressure, inducing serious engineering safety accidents. In addition, since the extension and contraction state of the support cylinder of the single-layer linkage support shoe system cannot be independently controlled, when encountering a local collapse position of the tunnel wall, the shoe plate often cannot contact the shaft wall. The shaft boring machine is prone to insufficient support area or excessive ground pressure and slide, causing casualties and huge economic losses. How to ensure the reliability of the support shoe system of the shaft boring machine in the soft and broken stratum has become a key technical problem that needs to be solved urgently for the safe and efficient construction of pumped storage power stations.

[0004] In order to improve the adaptability of the support shoe system of shaft boring machines in soft and broken strata, domestic scholars have carried out a lot of research and analysis on the reliability optimization design of full-section shaft boring machines.

[0005] For example, Chinese patent CN118601575 A proposes a combined propulsion system for a shaft reamer, in which a support mechanism is provided with hydraulic support shoes, and the upper and lower sides of the hydraulic support shoes are rotatably connected to a first telescopic rod, and the first telescopic rod is rotatably connected to the support mechanism, which is conducive to ensuring the stability of the support shoe system. However, when the shaft boring machine is excavating in a soft, broken and collapsed formation, the hydraulic support shoe solution still has problems such as difficulty in contacting the rock wall and failure to provide sufficient support reaction force.

[0006] For another example, Chinese invention patent CN116677386 A proposes a shaft boring machine and its construction method, in which an annular support shoe is connected to the boring machine through a support shield, and the support shield is connected to the fixed part of the annular rotary drive of the boring machine through a telescopic device, and the rotary part of the annular rotary drive is connected to a swingable cutting device, and excavation of different diameters can be achieved by controlling the swing of the cutting device and the telescopic stroke of the annular support shoe device. However, the support shoe device is mainly used to expand the stepping stroke to improve the excavation efficiency and reduce the disturbance of the tunnel wall soil caused by frequent stepping, and cannot improve the support capacity of the support shoe system in weak, broken and collapsed strata.

[0007] For another example, Chinese invention patent CN116971781 A proposes a shaft boring machine for composite formations, in which the shoe module can gradually move downward as the cutterhead moves. The shoe system is mainly used to ensure the smooth movement and accurate guidance of the shaft boring machine for composite formations, and cannot sense the degree of weakness and fracture of the surrounding rock of the shaft wall during excavation.

[0008] In summary, the existing single-layer linkage support shoe system of the shaft boring machine has a relatively limited cylinder support function, is unable to sense the degree of softness and crushing of the surrounding rock during excavation, and is prone to insufficient support for the shaft side walls, making it difficult to meet the needs of safe and efficient excavation of shaft boring machines in soft and crushed strata.

[0009] Therefore, a new solution needs to be proposed to solve this problem. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a double-layer independent support shoe system for a shaft boring machine used in soft and broken strata, which solves the problem in the prior art that the degree of softness and brokenness of surrounding rocks cannot be sensed during shaft excavation.

[0011] The technical problem to be solved by the present invention is achieved by adopting the following technical solution: A double-layer independent support shoe system for a shaft boring machine for soft and broken strata, comprising: Propulsion beam; A shoe support mechanism, wherein the shoe support mechanism is evenly arranged at regular angles along the circumferential direction of the propulsion beam, and the shoe support mechanism comprises a support column; A boot plate, arranged on the outer side of the support column, wherein a pressure sensor is arranged on the boot plate, and the pressure sensor is connected to a control terminal; A direction adjustment mechanism, arranged on the upper end surface of the propulsion beam; Among them, a steering cylinder for steering and a propulsion cylinder for propulsion are connected between the support column and the propulsion beam, and a tightening cylinder for supporting the side wall of the shaft is connected between the boot plate and the support column.

[0012] By adopting the above technical solution, the tightening pressure of the tightening cylinder supported on the side wall of the shaft can be monitored in real time. After the tightening cylinder pushes out the shoe plate so that the shoe plate and the wall of the shaft fit each other, the pressure sensor arranged on the shoe plate can quickly measure the pressure between the shoe plate and the shaft wall, and the pressure can be used to determine whether the shaft wall here is a weak crushing surface.

[0013] The present invention is further configured as follows: the support column is in an inverted "L" shape, a connecting ring seat is provided at one end of the support column, and adjacent support columns are connected to each other through the connecting ring seat.

[0014] By adopting the above technical solution, the support columns are connected to each other through the connecting ring seat, so that the entire system structure is more stable. During the installation process, it is necessary to first splice and fix the connecting ring seat on the propulsion beam, and then install the support column on the connecting ring seat through the bolt structure. The connecting ring seat can play a certain positioning and supporting role for the installation of the support column, thereby improving the convenience of installation.

[0015] The present invention is further configured as follows: the boot plate has two layers, an upper layer and an lower layer, which are respectively arranged at the upper and lower ends of the support column through the tightening oil cylinder.

[0016] By adopting the above technical solution, two layers of boot plates are arranged on the supporting columns, which greatly increases the contact area between the boot plates and the shaft wall, effectively reduces the ground pressure ratio, and thus makes it possible for the shaft wall of the same hardness to withstand a greatly increased support pressure under the same working conditions, and the support strength is effectively improved.

[0017] The present invention is further configured as follows: the pressure sensors are distributed on the boot plate, the pressure sensors are connected to the control terminal via wireless transmission, and the control terminal is used to analyze the data on the pressure sensors and perform pressure feedback adjustment on the tightening cylinder based on the analyzed data.

[0018] By adopting the above technical solution, after the tightening pressure between the shaft wall and the shoe plate is monitored in real time by the pressure sensor, the weakness of the shaft wall can be determined by analyzing the data, thereby adjusting the tightening force of the tightening cylinder on the shoe plate.

[0019] The present invention is further configured as follows: the propulsion cylinder is arranged at the bottom of the support shoe system along an oblique direction, one end of the propulsion cylinder is hinged to the bottom of the propulsion beam, and the other end is hinged to the middle position of the support column, and each propulsion cylinder is independently controlled.

[0020] By adopting the above technical solution, each propulsion cylinder is independently controlled, which avoids the situation where the entire propulsion system cannot operate due to failure of a single control system. At the same time, by controlling the propulsion degree of each propulsion cylinder separately, rapid steering of the entire device can be achieved, so that when encountering rocks that are difficult to drill, reasonable drilling angle adjustment can be made, thereby ensuring the normal operation of the drilling project.

[0021] The present invention is further configured as follows: the direction-adjusting oil cylinder controls the extension and contraction amount through the direction-adjusting mechanism to adjust the tunneling posture of the shaft boring machine, and each direction-adjusting oil cylinder is independently controlled.

[0022] By adopting the above technical solution, each directional cylinder is independently controlled, so that the drilling mechanism can achieve multi-angle changes through the directional cylinder, improving the variability of the drilling direction, which is beneficial for drillers to judge and plan the best drilling angle in real time according to specific working conditions.

[0023] The present invention is further configured as follows: the direction adjustment mechanism is arranged in a block-shaped ring, each block is independently disassembled and assembled, and each block is respectively connected to the connecting ring seat on the support column.

[0024] By adopting the above technical solution and installing by means of block splicing, each block constituting the direction adjustment mechanism can be disassembled and installed separately, which is convenient for transportation and helps to realize the lightweight design of the shaft boring machine.

[0025] The present invention is further configured as follows: the adjustment mechanism also includes a support shoe ring seat, which is arranged on the support column. The support shoe ring seat is spliced ​​by multiple connecting blocks, each connecting block is respectively connected to the blocks on the adjustment mechanism, and each connecting block is provided with a wireless sensor for sensing the drilling angle. Real-time sensing is performed through the wireless sensor and displayed online in the form of a time curve, and dynamic feedback adjustment is performed on the adjustment cylinder pressure based on this.

[0026] By adopting the above technical solution, the direction adjustment mechanism is spliced ​​by multiple connecting blocks and is arranged in a circle on the support column. Each connecting block is provided with a wireless sensor for sensing the drilling angle. The drilling angle is sensed in all directions through multiple wireless sensors, thereby making the entire drilling path more accurate and the drilling deviation smaller.

[0027] The present invention is further configured as follows: the gripper system includes a method for identifying a weak and broken bottom layer, specifically comprising the following steps: S1: Read the tension cylinder pressure s ij and surrounding rock strain monitored by pressure sensors e ij ; S2: By tightening the cylinder pressure sij divided by the surrounding rock strain monitored by the pressure sensor e ij Solving the deformation modulus of surrounding rock E ij ; S3: Calculate the arithmetic mean of the deformation modulus of the surrounding rock at several pressure sensor monitoring locations on the same shoe plate E i ; S4: Calculate the deformation modulus of the surrounding rock at the pressure sensor monitoring position on the same shoe plate E ij With the average E i Deviation rate l ij ; S5: Judgment deviation rate l ij Whether it exceeds the critical threshold of 40%. If it exceeds the critical threshold, it is considered that the formation at the shoe plate position corresponding to the pressure sensor is partially broken. If it does not exceed the critical threshold, it is considered that the formation at the shoe plate position corresponding to the pressure sensor is relatively intact; S6: Calculate the arithmetic mean of the deformation modulus of the surrounding rock at the monitoring positions of the pressure sensors on different shoe plates E i The average E ; S7: Calculate the average deformation modulus of the surrounding rock at each monitoring position on different shoe plates E i With its average E Deviation rate x i ; S8: Determination Deviation Rate x i Whether it exceeds the critical threshold of 50%. If it exceeds the critical threshold, it is considered that there is a soft stratum during the excavation of the shaft boring machine. If it does not exceed the critical threshold, it is considered that the stratum excavated by the shaft boring machine is relatively uniform.

[0028] By adopting the above technical solution, the weakness of the shaft wall can be calculated quickly and accurately, so as to determine whether the shaft wall meets the support standard, and provide reliable reference data for the boot plate to find a favorable shaft support surface.

[0029] The beneficial effects of the present invention are as follows: by distributing the gripper ring seat structure in a circumferential direction around the thrust beam, the gripper ring seat adopts a six-block annular design and a double-layer structure arrangement, and each gripper ring seat split can be independently disassembled, assembled and transported, which helps to achieve a lightweight structural design of the shaft boring machine.

[0030] By designing the tensioning cylinder into a two-layer structure, the support area is significantly increased and the ground pressure is effectively reduced. For local soft, broken and collapsed formations, each tensioning cylinder can independently control the extension and contraction state to prevent safety accidents caused by the failure of the tensioning shoe to tighten.

[0031] By online sensing of the tensioning cylinder pressure and the deformation of the side wall surrounding rock, the pressure-deformation curves of different pressure sensors on the shoe plate are compared and analyzed, the degree of weakness and crushing of the side wall surrounding rock of the shaft is sensed in real time, and the tensioning cylinder pressure is adjusted based on dynamic feedback, so that the shoe plate's support of the shaft wall is more stable.

[0032] By adjusting the extension and retraction amount of each steering cylinder through the steering mechanism, the posture of the shaft boring machine can be reasonably adjusted to achieve drilling in multiple angles and directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a vertical section view of the double-layer independent support shoe system of the full-section shaft boring machine; Figure 2 This is a top view of the double-layer independent support shoe system of the full-section shaft boring machine; Figure 3 It is a schematic diagram of the arrangement of sensors and data transmission on the shoe plate of the shaft boring machine; Figure 4 This is a schematic diagram showing the principle of identifying soft and broken strata during the tunneling process of a shaft boring machine.

[0034] In the figure: 1. Shoe support mechanism; 2. Propulsion beam; 3. Connecting ring seat; 4. Support column; 5. Shoe support ring seat; 6. Tightening cylinder; 7. Propulsion cylinder; 8. Adjustment cylinder; 9. Adjustment mechanism; 10. Shoe plate; 11. Sensor; 12. Control terminal; 13. Shaft wall; 14. Weak crushing area. DETAILED DESCRIPTION

[0035] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0036] like Figure 1-Figure 3 As shown, a double-layer independent support shoe system for a shaft boring machine used in soft and broken formations comprises: The propulsion beam 2 and the shoe support mechanism 1 are evenly arranged at certain angles along the circumferential direction of the propulsion beam 2. The shoe support mechanism 1 includes a support column 4 and a shoe plate 10. The shoe plate 10 is fixedly installed on the outer side of the support column 4. A plurality of pressure sensors 11 are evenly distributed on the shoe plate 10.

[0037] The direction adjustment mechanism 9 is arranged on the upper end surface of the propulsion beam 2 and is used to measure the current drilling angle and control the extension and retraction of each direction adjustment cylinder 8.

[0038] Among them, a steering cylinder 8 for steering and a propulsion cylinder 7 for propulsion are connected between the support column 4 and the propulsion beam 2, and a tightening cylinder 6 for supporting the side wall of the shaft is connected between the shoe plate 10 and the support column 4.

[0039] During the construction of the full-section shaft boring machine, every time the boring machine advances a certain distance, it controls the shoe support system to find a new shoe support point. By controlling the extension and contraction of the tensioning cylinder 6, the shoe plate 10 is pushed out, so that the shoe plate 10 and the shaft wall 13 are in contact with each other. Through the multiple pressure sensors 11 set on the shoe plate 10, the pressure between the shoe plate 10 and the shaft wall 13 is sensed in real time, so as to find the most suitable shoe support point. During the drilling process of the boring machine, the extension and contraction of the adjustment cylinder 8 is controlled by the adjustment mechanism 9. The different extension and contraction amounts of each adjustment cylinder 8 can make the drilling angle tilted. When drilling to the right is required, the adjustment cylinder 8 at the left end is controlled to extend and the adjustment cylinder 8 at the right end is controlled to contract, so that the direction of the drilling head is biased to the right.

[0040] By arranging a plurality of pressure sensors 11 on the shoe plate 10, and transmitting the monitoring data on the pressure sensors 11 to the control terminal 12 by wireless transmission, real-time data analysis can be performed, thereby helping construction personnel to quickly determine the rock weakness on the shaft wall 13, thereby providing reliable data support for finding a stable support point. By coordinating the directional cylinder 8 with the propulsion cylinder 7, the entire shoe support system can achieve multi-angle steering in the shaft.

[0041] The support column 4, the tightening cylinder 6, the propulsion cylinder 7, the steering cylinder 8 and the shoe plate 10 are evenly arranged every 60° along the circumferential direction in the horizontal plane with the axis of the propulsion beam 2 as the center, so as to provide more adjustment angles when turning.

[0042] The main structure of the shoe ring seat 5 is distributed circumferentially around the propulsion beam 2, and adopts a six-block annular design and a double-layer structure layout. Each segment of the shoe ring seat 5 can be independently disassembled and transported. The tightening cylinder 6 and the shoe plate 10 are designed as a two-layer structure. The shoe plate 10 is arranged at the upper and lower ends of the support column 4, and the upper and lower ends of the inner side surface of the support column 4 are connected to the propulsion beam 2 through the tightening cylinder 6, so that the support area of ​​the tightening cylinder 6 is significantly increased. The single-layer tightening cylinder 6 is evenly arranged every 60° along the circumferential direction. When encountering a stratum with a weak and broken area 14, each tightening cylinder 6 can independently control the telescopic state. By appropriately increasing the supporting pressure of the tightening cylinder 6 at the relatively intact position of the shaft wall 13, and reasonably reducing the supporting pressure of the tightening cylinder 6 at the weak and broken or collapsed position of the shaft wall 13, it is possible to prevent the shoe plate 10 from being unable to tighten, thereby avoiding safety accidents.

[0043] like Figure 3As shown, the pressure sensors 11 are distributed on the shoe plate 10, and the pressure sensors 11 are connected to the control terminal 12 through wireless transmission. The control terminal 12 is used to analyze the data on the pressure sensor 11 and perform pressure feedback adjustment on the tensioning cylinder 6 through the analyzed data. The stress data measured by each pressure sensor 11 on the shoe plate 10 can be intuitively reflected through the stress trend diagram, and finally analyzed in real time through the data terminal 12, so as to quickly determine the degree of weakness and crushing of the shaft wall 13 at each point corresponding to the position.

[0044] The pressure sensor 11 is arranged in a plum blossom shape on the shoe plate 10, which can sense the pressure of the tension cylinder 6 and the deformation of the shaft wall 13 online, and transmit it to the control terminal 12 of the shaft boring machine by wireless means, and display it in real time in the form of a time curve. By comparing and analyzing the pressure-deformation curve of the shoe plate 10, the degree of weakness and crushing of the surrounding rock of the shaft wall 13 is sensed in real time, and the tension pressure of each tension cylinder 6 is dynamically feedback-adjusted accordingly.

[0045] Specifically, for the pressure sensors 11 installed on the shoe plates 10 of different tightening cylinders 6, when the pressure value of the pressure sensor 11 on a certain shoe plate 10 is much smaller than the corresponding value of the pressure sensor 11 on other shoe plates 10, and the deformation value is much larger than the corresponding value of the pressure sensor 11 on other shoe plates 10, the shaft wall 13 corresponding to the support position of the shoe plate 10 is a relatively weak or collapsed formation. For the pressure sensors 11 on the shoe plates 10 of the same tightening cylinder 6, when there are significant differences in the pressure and deformation values ​​of different sensors 11, it is determined that the shaft wall 13 at the corresponding point is a weak and broken area 14.

[0046] like Figure 3 Taking the stress-strain curve analysis table in as an example, the stress at point 15 is significantly smaller than the stress in other areas. Therefore, the shaft wall 13 corresponding to the support position of the shoe plate 10 is a weak and broken area 14.

[0047] The propulsion cylinder 7 is arranged at the bottom of the entire support shoe system in an oblique direction. One end of the propulsion cylinder 7 is hinged to the bottom of the propulsion beam 2, and the other end is hinged to the middle position of the support column 4. Each propulsion cylinder 7 is independently controlled. The propulsion cylinder 7 is evenly arranged every 60° along the circumferential direction. The propulsion pressure of a single propulsion cylinder 7 can be independently controlled and sensed in real time by the pressure sensor 11, and displayed online in the form of a time curve on the control terminal 12. According to the attitude control requirements of the steering mechanism 9, the pressure of the propulsion cylinder 7 is adjusted by dynamic feedback.

[0048] Specifically, when the shaft boring machine excavates the ground from soft to hard (or from hard to soft), the thrust of the propulsion cylinder 7 should be appropriately increased (or decreased) according to the real-time sensing result of the sensor 11. When the shaft boring machine needs to deflect to the left (or right), the thrust of the right (or left) side propulsion cylinder 7 should be appropriately increased according to the real-time sensing result of the sensor 11.

[0049] The steering mechanism 9 also includes a shoe ring seat 5, which is arranged on the support column 4. The shoe ring seat 5 is composed of multiple connecting blocks, each of which is connected to the blocks on the steering mechanism 9 respectively. A wireless sensor 11 (not shown) is provided on each connecting block to sense the drilling angle. The wireless sensor 11 performs real-time sensing and displays it online in the form of a time curve, thereby dynamically feedback adjusting the pressure of the steering cylinder 8.

[0050] The support column 4 is in an inverted “L” shape. A connecting ring seat 3 is provided at one end of the support column 4 . Adjacent support columns 4 are connected to each other via the connecting ring seat 3 .

[0051] The support columns 4 are connected to each other through the connecting ring seat 3, so that the entire system structure is more stable. During the installation process, it is necessary to first splice and fix the connecting ring seat 3 on the propulsion beam 2, and then install the support column 4 on the connecting ring seat 3 through the bolt structure. The connecting ring seat 3 can play a certain positioning and supporting role for the installation of the support column 4, thereby improving the convenience of installation.

[0052] like Figure 4 As shown, the identification method for determining the weak and broken bottom layer includes the following steps: S1: Read the pressure of the tightening cylinder 6 s ij The surrounding rock strain monitored by the pressure sensor 11 e ij ; S2: By tightening the cylinder 6 pressure s ij divided by the surrounding rock strain monitored by pressure sensor 11 e ij Solving the deformation modulus of surrounding rock E ij ; S3: Calculate the arithmetic mean value of the deformation modulus of the surrounding rock at the monitoring positions of several pressure sensors 11 on the same shoe plate 10 E i ; S4: Calculate the deformation modulus of the surrounding rock at the monitoring position of the pressure sensor 11 on the same shoe plate 10 E ij With the average E i Deviation rate l ij ; S5: Judgment deviation rate l ij Whether it exceeds a critical threshold of 40%. If it exceeds the critical threshold, it is considered that the formation at the position of the shoe plate 10 corresponding to the pressure sensor 11 is partially broken. If it does not exceed the critical threshold, it is considered that the formation at the position of the shoe plate 10 corresponding to the pressure sensor 11 is relatively intact; S6: Calculate the arithmetic mean value of the deformation modulus of the surrounding rock at the monitoring position of the pressure sensor 11 on different shoe plates 10 E i The average value E; S7: Calculate the average value of the deformation modulus of the surrounding rock at each monitoring position on different shoe plates 10 E i The deviation rate from its mean value E x i ; S8: Judgment deviation rate x i Whether it exceeds the critical threshold of 50%. If it exceeds the critical threshold, it is considered that there is a weak and broken area 14 during the excavation of the shaft boring machine. If it does not exceed the critical threshold, it is considered that the stratum excavated by the shaft boring machine is relatively uniform.

[0053] The double-layer independent support shoe system senses the pressure of the support cylinder 6 and the weak and broken area 14 of the shaft side wall online, compares and analyzes the pressure-deformation curves of different pressure sensors 11 on the shoe plate 10, senses the degree of weak and broken surrounding rock of the shaft side wall in real time, and dynamically adjusts the pressure of the support cylinder 6 based on the feedback, so that the support of the shoe plate 10 to the shaft wall 13 is more stable.

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A double-layer independent support shoe system for a shaft boring machine used in soft and broken strata, characterized in that: include: Propulsion beam (2); A shoe support mechanism (1), the shoe support mechanism (1) being evenly arranged at regular angles along the circumferential direction of the propulsion beam (2), the shoe support mechanism (1) comprising a support column (4); A boot plate (10) is arranged on the outer side of the support column (4), a pressure sensor (11) is arranged on the boot plate (10), and the pressure sensor (11) is connected to a control terminal (12); A direction adjustment mechanism (9) is arranged on the upper end surface of the propulsion beam (2); A steering cylinder (8) for steering and a propulsion cylinder (7) for propulsion are connected between the support column (4) and the propulsion beam (2), and a tightening cylinder (6) for supporting the side wall of the shaft is connected between the boot plate (10) and the support column (4).

2. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 1, characterized in that: The support column (4) is in an inverted "L" shape, and a connecting ring seat (3) is provided at one end of the support column (4), and adjacent support columns (4) are connected to each other via the connecting ring seat (3).

3. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 1, characterized in that: The boot plate (10) has two layers, an upper layer and an lower layer, which are respectively arranged at the upper and lower ends of the support column (4) through the tightening oil cylinder (6).

4. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 1, characterized in that: The pressure sensor (11) is distributed on the boot plate (10), and the pressure sensor (11) is connected to the control terminal (12) via a wireless transmission method. The control terminal (12) is used to analyze data on the pressure sensor (11) and perform pressure feedback adjustment on the tightening cylinder (6) based on the analyzed data.

5. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 1, characterized in that: The propulsion cylinder (7) is arranged at the bottom of the support shoe system in an oblique direction, one end of the propulsion cylinder (7) is hinged to the bottom of the propulsion beam (2), and the other end is hinged to the middle position of the support column (4), and each propulsion cylinder (7) is independently controlled.

6. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 1, characterized in that: The direction-adjusting oil cylinder (8) controls the extension and contraction amount through the direction-adjusting mechanism (9) to adjust the excavation posture of the shaft boring machine, and each direction-adjusting oil cylinder (8) is independently controlled.

7. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 6, characterized in that: The direction adjustment mechanism (9) is arranged in a block-shaped ring shape, each block is independently disassembled and assembled, and each block is respectively connected to the connecting ring seat (3) on the support column (4).

8. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 7, characterized in that: The adjustment mechanism (9) further comprises a support shoe ring seat (5) which is arranged on the support column (4). The support shoe ring seat (5) is formed by splicing a plurality of connecting blocks, each connecting block being respectively connected to a block on the adjustment mechanism (9). A wireless sensor (11) is arranged on each connecting block for sensing a drilling angle. The wireless sensor (11) senses the drilling angle in real time and displays the angle online in the form of a time curve, thereby dynamically feedback adjusting the pressure of the adjustment cylinder (8).

9. The double-layer independent support shoe system for a shaft boring machine used in soft and broken strata according to claim 4, characterized in that: The invention comprises a method for identifying a weak and broken bottom layer, which specifically comprises the following steps: S1: Read the pressure of the tensioning cylinder (6) σ ij and surrounding rock strain monitored by pressure sensor (11) ε ij ; S2: By tightening the tension cylinder (6) σ ij divided by the surrounding rock strain monitored by the pressure sensor (11) ε ij Solving the deformation modulus of surrounding rock E ij ; S3: Calculate the arithmetic mean value of the deformation modulus of the surrounding rock at the monitoring positions of several pressure sensors (11) on the same shoe plate E i ; S4: Calculate the deformation modulus of the surrounding rock at the monitoring position of the pressure sensor (11) on the same shoe plate (10) E ij With the average E i Deviation rate λ ij ; S5: Judgment deviation rate λ ij whether it exceeds a critical threshold of 40%. If it exceeds the critical threshold, it is considered that the stratum at the position of the shoe plate (10) corresponding to the pressure sensor (11) is partially broken; if it does not exceed the critical threshold, it is considered that the stratum at the position of the shoe plate (10) corresponding to the pressure sensor (11) is relatively intact; S6: Calculate the arithmetic mean value of the deformation modulus of the surrounding rock at the monitoring positions of the pressure sensors (11) on different shoe plates (10) E i The average E ; S7: Calculate the average value of the deformation modulus of the surrounding rock at each monitoring position on different shoe plates (10) E i With its average E Deviation rate ξ i ; S8: Judgment deviation rate ξ i Whether it exceeds the critical threshold of 50%. If it exceeds the critical threshold, it is considered that there is a soft stratum during the excavation of the shaft boring machine. If it does not exceed the critical threshold, it is considered that the stratum excavated by the shaft boring machine is relatively uniform.

Images