A double-layer independent support shoe system for a shaft tunneling machine in soft and fractured strata

Abstract

The present invention discloses a double-layer independent support shoe system for a shaft tunneling machine in soft and fractured strata, belonging to the technical field of soil drilling. It includes: a propulsion beam; a support shoe mechanism, which is evenly arranged at a certain angle along the circumferential direction of the propulsion beam. The support shoe mechanism includes a support column; a shoe plate, which is arranged on the outer side surface of the support column, and a pressure sensor is arranged on the shoe plate; an alignment mechanism, which is arranged on the upper end surface of the propulsion beam. Among them, a steering oil cylinder for steering and a propulsion oil cylinder for propulsion are connected between the support column and the propulsion beam. Through the present invention, the tightening pressure of the tightening oil cylinder supporting the side wall of the shaft can be monitored in real time. After the tightening oil cylinder pushes out the shoe plate so that the shoe plate fits with the wall surface of the shaft, the pressure sensor arranged on the shoe plate can quickly measure the pressure between the shoe plate and the wall surface of the shaft. Based on the pressure value, it can be determined whether the wall surface of the shaft at this place is a soft and fractured surface.

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 tunneling machine and its construction method. The annular support shoes are connected to the tunneling main machine through the support shield. The support shield is connected to the fixed part of the annular rotary drive of the tunneling main machine through a telescopic device. The rotary part of the annular rotary drive is connected to a swingable cutting device. By controlling the swing of the cutting device and the telescopic stroke of the annular support shoe device, excavations with different diameters can be achieved. However, this support shoe device is mainly used to expand the stepping stroke to improve the tunneling efficiency and reduce the disturbance of the tunnel wall soil mass caused by frequent stepping, and it cannot enhance the support capacity of the support shoe system in soft, fractured, and cavity-collapse strata.

[0007] For another example, Chinese invention patent CN116971781 A proposes a shaft tunneling machine applied to composite strata, and the support shoe module can gradually move downward with the tunneling action of the cutter head. This support shoe system is mainly used to ensure the stable movement and precise guidance of the shaft tunneling machine in composite strata, and it cannot sense the soft and fractured degree of the surrounding rock of the shaft wall during tunneling.

[0008] In summary, the existing single-layer linkage support shoe system of shaft tunneling machines has relatively limited oil cylinder support functions, cannot sense the soft and fractured degree of the surrounding rock during tunneling, is prone to insufficient support force on the side wall of the shaft, and is difficult to meet the requirements of safe and efficient tunneling of shaft tunneling machines in soft, fractured strata.

[0009] Therefore, a new solution is needed 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 tunneling machine in soft, fractured strata, which solves the problem in the prior art that the soft and fractured degree of the surrounding rock cannot be sensed during shaft excavation.

[0011] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions: A double-layer independent support shoe system for a shaft tunneling machine in soft, fractured strata, comprising:

[0012] A propulsion beam;

[0013] A support shoe mechanism, the support shoe mechanism is evenly arranged at a certain angle along the circumferential direction of the propulsion beam, and the support shoe mechanism includes a support column;

[0014] A shoe plate, arranged on the outer side surface of the support column, a pressure sensor is arranged on the shoe plate, and the pressure sensor is connected to a control terminal;

[0015] An alignment mechanism, arranged on the upper end surface of the propulsion beam;

[0016] Wherein, 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 shoe plate and the support column.

[0017] By adopting the above technical solution, the tightening pressure of the tightening cylinder supporting 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 fits against the wall surface of the shaft, the pressure sensor arranged on the shoe plate can quickly measure the pressure between the shoe plate and the shaft wall. From the magnitude of the pressure, it can be determined whether the shaft wall here is a soft and broken surface.

[0018] The present invention is further configured as: the support column is in an inverted "L" shape, and a connecting ring seat is arranged at one end of the support column, and adjacent support columns are connected to each other through the connecting ring seat.

[0019] By adopting the above technical solution, the support columns are connected to each other through the connecting ring seat, so that the structure of the whole system 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 a bolt structure. The connecting ring seat can play a certain role in positioning and supporting the installation of the support column, improving the convenience of installation.

[0020] The present invention is further configured as: the shoe plate has two layers, which are respectively arranged at the upper and lower ends of the support column through the tightening cylinder.

[0021] By adopting the above technical solution, the two-layer shoe plate is arranged on the support column, greatly increasing the contact area between the shoe plate and the shaft wall, effectively reducing the ground contact pressure, so that under the same working conditions, the tightening pressure that the shaft wall of the same hardness can withstand is greatly increased, and the tightening force is effectively improved.

[0022] The present invention is further configured as: the pressure sensors are distributed on the shoe plate, and the pressure sensors are connected to the control terminal through a wireless transmission method. The control terminal is used to analyze the data on the pressure sensors and perform pressure feedback adjustment on the tightening cylinder through the analyzed data.

[0023] By adopting the above technical solution, after the tightening pressure between the shaft wall and the shoe plate is monitored in real time through the pressure sensor, the softness degree of the shaft wall can be judged by analyzing the data, so as to adjust the tightening force of the tightening cylinder on the shoe plate.

[0024] The present invention is further configured as: the propulsion cylinders are arranged at the bottom of the shoe support system in an inclined direction. One end of each 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.

[0025] By adopting the above technical solution, each propulsion cylinder is independently controlled, avoiding the situation where the entire propulsion system cannot operate due to a failure in a single control system. At the same time, by separately controlling the propulsion degree of each propulsion cylinder, rapid steering of the entire device can be achieved, so that when encountering rocks that are difficult to drill through, reasonable adjustment of the drilling angle can be carried out, thus ensuring the normal operation of the drilling project.

[0026] The present invention is further configured as follows: the steering cylinder controls the telescopic amount through a steering mechanism to adjust the tunneling attitude of the shaft tunneling machine, and each steering cylinder is independently controlled.

[0027] By adopting the above technical solution, each steering cylinder is independently controlled, so that the drilling mechanism can achieve multi-angle transformation through the steering cylinder, improving the variability of the drilling direction, which is beneficial for the drilling personnel to judge according to the specific working conditions and plan the optimal drilling angle in real time.

[0028] The present invention is further configured as follows: the steering mechanism is arranged in a segmented ring shape, and each segment is independently disassembled and assembled, and each segment is respectively connected to the connecting ring seat on the support column.

[0029] By adopting the above technical solution, by using the method of segmented splicing for installation, each segment constituting the steering mechanism can be separately disassembled and installed, which is convenient for transportation and helps to realize the lightweight design of the mechanism of the shaft tunneling machine.

[0030] The present invention is further configured as follows: the steering mechanism further includes a support shoe ring seat arranged on the support column. The support shoe ring seat is formed by splicing a plurality of connecting blocks, and each connecting block is respectively connected to the segment on the steering mechanism. Each connecting block is provided with a wireless sensor for sensing the drilling angle, and through real-time sensing by the wireless sensor and online display in the form of a time history curve, the pressure of the steering cylinder is dynamically feedback-regulated accordingly.

[0031] By adopting the above technical solution, the steering mechanism is formed by splicing a plurality of connecting blocks and is arranged around the support column. Each connecting block is provided with a wireless sensor for sensing the drilling angle. Through the multiple wireless sensors, the drilling angle is sensed in all directions, so that the entire drilling path is more accurate and the drilling deviation is smaller.

[0032] The present invention is further configured as follows: the support shoe system includes a recognition method for soft and broken strata, specifically including the following steps:

[0033] S1: Read the pressure of the tightening cylinder σ ij and the surrounding rock strain monitored by the pressure sensor ε ij ;

[0034] S2: By dividing the pressure of the tension cylinder σ ij by the surrounding rock strain monitored by the pressure sensor ε ij to solve for the deformation modulus of the surrounding rock E ij ;

[0035] S3: Calculate the arithmetic mean of the deformation moduli of the surrounding rock at the monitoring positions of several pressure sensors on the same shoe plate E i ;

[0036] S4: Calculate the deformation modulus of the surrounding rock at the monitoring position of the pressure sensor on the same shoe plate E ij and the mean value E i of the deviation rate λ ij ;

[0037] S5: Determine whether the deviation rate λ ij 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 locally 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;

[0038] S6: Calculate the mean value of the arithmetic means of the deformation moduli of the surrounding rock at the monitoring positions of the pressure sensors on different shoe plates E i ; E ;

[0039] S7: Calculate the deviation rate of the mean value of the deformation moduli of the surrounding rock at each monitoring position on different shoe plates E i from its mean value E ; ξ i ;

[0040] S8: Determine whether the deviation rate ξ i exceeds the critical threshold of 50%. If it exceeds the critical threshold, it is considered that there is a soft formation during the tunneling of the shaft boring machine. If it does not exceed the critical threshold, it is considered that the formation tunneled by the shaft boring machine is relatively uniform.

[0041] By adopting the above technical solution, the softness degree of the shaft wall can be calculated quickly and accurately, so as to determine whether the shaft wall meets the support standard, providing reliable reference data for finding a favorable shaft support surface for the shoe plate.

[0042] The beneficial effects of the present invention are as follows: By arranging the support shoe ring seat structure circumferentially around the propulsion beam, and adopting a six-piece annular design and a double-layer structure layout for the support shoe ring seat, each split part of the support shoe ring seat can be disassembled, assembled, and transported independently, which helps to achieve the lightweight design of the shaft tunneling machine structure.

[0043] By designing the jacking cylinder into an upper and lower two-layer structure, the support area is significantly increased and the ground contact pressure is effectively reduced. For local soft, fractured, and caving strata, each jacking cylinder can independently control the telescopic state to prevent safety accidents caused by the inability of the support shoe to be tightened.

[0044] By online sensing the pressure of the jacking cylinder and the deformation of the sidewall surrounding rock, comparing and analyzing the pressure-deformation curves of different pressure sensors on the shoe plate, the degree of softness and fracture of the sidewall surrounding rock of the shaft can be sensed in real time, and the pressure of the jacking cylinder can be dynamically feedback-regulated accordingly, so that the support of the shoe plate to the shaft wall is more stable.

[0045] By adjusting the telescopic amount of each steering cylinder through the steering mechanism and reasonably adjusting the attitude of the shaft tunneling machine, drilling can be achieved at multiple angles and in multiple directions. Description of the Drawings

[0046] Figure 1 is the vertical sectional view of the double-layer independent support shoe system of the full-face shaft tunneling machine;

[0047] Figure 2 is the top view of the double-layer independent support shoe system of the full-face shaft tunneling machine;

[0048] Figure 3 is the schematic diagram of the sensor arrangement and data transmission of the shoe plate of the shaft tunneling machine;

[0049] Figure 4 is the schematic diagram of the principle for identifying soft and fractured strata during the tunneling process of the shaft tunneling machine.

[0050] In the figures: 1. Support shoe mechanism; 2. Propulsion beam; 3. Connecting ring seat; 4. Support column; 5. Support shoe ring seat; 6. Jacking cylinder; 7. Propulsion cylinder; 8. Steering cylinder; 9. Steering mechanism; 10. Shoe plate; 11. Sensor; 12. Control terminal; 13. Shaft wall; 14. Soft and fractured area. Detailed Embodiments

[0051] In order to facilitate the understanding of the technical means, creative features, achieved purposes, and effects of the present invention, the present invention will be further described below with reference to specific drawings.

[0052] As Figures 1 - 3 shown, a double-layer independent support shoe system for a shaft tunneling machine used in soft and fractured strata includes:

[0053] The propulsion beam 2 and the support shoe mechanism 1 are arranged evenly at a certain angle along the circumferential direction of the propulsion beam 2. The support shoe mechanism 1 includes a support column 4 and a shoe plate 10. The shoe plate 10 is fixedly installed on the outer side surface of the support column 4, and a plurality of pressure sensors 11 are evenly distributed on the shoe plate 10.

[0054] The steering 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 telescopic movement of each steering cylinder 8.

[0055] Wherein, 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.

[0056] During the construction process of the full-face shaft tunneling machine, every time the tunneling machine advances a certain distance, the support shoe system is controlled to find a new support shoe position. By controlling the telescopic movement of the tightening cylinder 6, the shoe plate 10 is pushed out, so that the shoe plate 10 is in contact with the shaft wall 13. Through the plurality of pressure sensors 11 arranged on the shoe plate 10, the magnitude of the pressure between the shoe plate 10 and the shaft wall 13 is sensed in real time, so as to find the most suitable support shoe position. During the drilling process of the tunneling machine, the telescopic movement of the steering cylinder 8 is controlled by the steering mechanism 9. The different telescopic amounts of each steering cylinder 8 cause the drilling angle to tilt. When it is necessary to drill to the right, the left steering cylinder 8 is controlled to extend, and the right steering cylinder 8 is controlled to contract, so that the direction of the drill head is biased to the right.

[0057] 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 in a wireless transmission manner for real-time data analysis, it can help the construction personnel quickly judge the softness of the rock on the shaft wall 13, thereby providing reliable data support for finding a stable support position. By cooperating the steering cylinder 8 with the propulsion cylinder 7, the entire support shoe system can realize multi-angle steering in the shaft.

[0058] The support column 4, the tightening cylinder 6, the propulsion cylinder 7, the steering cylinder 8 and the shoe plate 10 are arranged evenly at intervals of 60° in the horizontal plane along the circumferential direction with the axis line of the propulsion beam 2 as the center, so that more adjustment angles can be provided when steering.

[0059] The main structure of the support shoe ring seat 5 is circumferentially distributed around the propulsion beam 2, adopting a six-piece circular design and a double-layer structure layout scheme. Each split of the support shoe ring seat 5 can be disassembled, assembled and transported independently. The tightening cylinder 6 and the shoe plate 10 are designed into an upper and lower two-layer structure. The shoe plate 10 is arranged at the upper and lower ends of the support column 4. The inner sides of the upper and lower ends 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 cylinders 6 are evenly arranged at intervals of 60° along the circumferential direction. When encountering a formation with a soft and broken area 14, each tightening cylinder 6 can independently control its telescopic state. By appropriately increasing the support pressure of the tightening cylinder 6 at a relatively intact local position of the shaft wall 13 and reasonably reducing the support pressure of the tightening cylinder 6 at a locally soft, broken or caved position of the shaft wall 13, the situation where the shoe plate 10 cannot be tightened can be prevented, thus avoiding the induction of safety accidents.

[0060] As Figure 3 shown, the pressure sensors 11 are distributed on the shoe plate 10. The pressure sensors 11 are connected to a control terminal 12 through a wireless transmission method. The control terminal 12 is used to analyze the data on the pressure sensors 11 and perform pressure feedback adjustment on the tightening 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 a stress trend diagram, and finally, real-time analysis is performed through the data terminal 12, so as to quickly judge the soft and broken degree of the shaft wall 13 at the corresponding position of each point.

[0061] The pressure sensors 11 are arranged in a plum blossom shape on the shoe plate 10, and can sense the pressure of the tightening cylinder 6 and the deformation of the shaft wall 13 online, and are transmitted to the control terminal 12 of the shaft tunneling machine through a wireless method and displayed in real time in the form of a time history curve. By comparing and analyzing the pressure-deformation curves of the shoe plate 10, the soft and broken degree of the surrounding rock of the shaft wall 13 is sensed in real time, and the tightening pressure of each tightening cylinder 6 is dynamically feedback-adjusted accordingly.

[0062] 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 sensors 11 on other shoe plates 10 and the deformation value is much larger than the corresponding value of the pressure sensors 11 on other shoe plates 10, the shaft wall 13 corresponding to the support position of the shoe plate 10 is a relatively soft or caved formation. For the pressure sensors 11 on the shoe plate 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 soft and broken area 14.

[0063] As Figure 3Taking the stress-deformation curve analysis table in as an example, the stress magnitude at point 15 is significantly smaller than that in other areas. Therefore, the shaft wall 13 corresponding to the support position of the shoe plate 10 is the weak and fractured area 14.

[0064] The propulsion cylinders 7 are arranged obliquely at the bottom of the entire shoe support system. One end of each 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 cylinders 7 are evenly arranged at intervals of 60° in the circumferential direction. The propulsion pressure of a single propulsion cylinder 7 can be independently controlled and is sensed in real time by the pressure sensor 11 and displayed online at the control terminal 12 in the form of a time history curve. According to the attitude control requirements of the steering mechanism 9, the pressure of the propulsion cylinders 7 is dynamically feedback-regulated.

[0065] Specifically, when the formation excavated by the shaft tunneling machine changes from soft to hard (or from hard to soft), the thrust of the propulsion cylinders 7 should be appropriately increased (or decreased) according to the real-time sensing results of the sensor 11. When the shaft tunneling machine needs to deflect to the left (or right), the thrust of the propulsion cylinders 7 on the right (or left) side should be appropriately increased according to the real-time sensing results of the sensor 11.

[0066] The steering mechanism 9 further includes a shoe support ring seat 5 provided on the support column 4. The shoe support ring seat 5 is composed of multiple connecting blocks spliced together. Each connecting block is respectively connected to the segmented parts on the steering mechanism 9. A wireless sensor 11 (not shown) is provided on each connecting block for sensing the drilling angle. Through real-time sensing by the wireless sensor 11 and online display in the form of a time history curve, the pressure of the steering cylinders 8 is dynamically feedback-regulated accordingly.

[0067] The support column 4 is in an inverted "L" shape. One end of the support column 4 is provided with a connecting ring seat 3. Adjacent support columns 4 are connected to each other through the connecting ring seat 3.

[0068] By connecting the support columns 4 through the connecting ring seat 3, the structure of the entire system becomes 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, improving the convenience of installation.

[0069] As Figure 4 shown, the identification method for judging the weak and fractured formation includes the following steps:

[0070] S1: Read the pressure of the tightening cylinders 6 σ ij and the surrounding rock strain monitored by the pressure sensor 11 ε ij ;

[0071] S2: By comparing the pressure of the tightening cylinders 6σ ij Divided by the surrounding rock strain monitored by the pressure sensor 11 ε ij Solve for the deformation modulus of the surrounding rock E ij ;

[0072] S3: Calculate the arithmetic mean of the deformation moduli of the surrounding rock at the monitoring positions of several pressure sensors 11 on the same shoe plate 10 E i ;

[0073] S4: Calculate the deformation modulus of the surrounding rock at the monitoring positions of the pressure sensors 11 on the same shoe plate 10 E ij and the average value E i of the deviation rate λ ij ;

[0074] S5: Judge whether the deviation rate λ ij exceeds the 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 locally 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;

[0075] S6: Calculate the arithmetic mean E of the deformation moduli of the surrounding rock at the monitoring positions of the pressure sensors 11 on different shoe plates 10 E i ;

[0076] S7: Calculate the average value of the deformation moduli of the surrounding rock at each monitoring position on different shoe plates 10 E i and its deviation rate from the average value E ξ i ;

[0077] S8: Judge whether the deviation rate ξ i exceeds the critical threshold of 50%. If it exceeds the critical threshold, it is considered that there is a soft and broken area 14 during the tunneling process of the shaft boring machine. If it does not exceed the critical threshold, it is considered that the formation tunneled by the shaft boring machine is relatively uniform.

[0078] This double-layer independent shoe support system compares and analyzes the pressure-deformation curves of different pressure sensors 11 on the shoe plate 10 by online sensing the pressure of the tightening cylinder 6 and the soft and broken area 14 of the shaft sidewall, senses the soft and broken degree of the surrounding rock of the shaft sidewall in real time, and dynamically feedbacks and adjusts the pressure of the tightening cylinder 6 accordingly, so that the support of the shoe plate 10 on the shaft wall 13 is more stable.

[0079] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and without departing from the spirit and scope of the present invention, there will be various changes and improvements to the present invention, and these changes and improvements all fall within the scope claimed by the present invention. The scope claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A double-layer independent support shoe system for a shaft tunneling machine in soft and fractured strata, characterized in that, Comprising: Advancing beam (2); Boot support mechanism (1), the boot support mechanism (1) is evenly arranged at a certain angle along the circumferential direction of the advancing beam (2), and the boot support mechanism (1) includes a support column (4); Boot plate (10), arranged on the outer side of the support column (4), a plurality of pressure sensors (11) are arranged on the boot plate (10), and the pressure sensors (11) are connected to a control terminal (12); Steering mechanism (9), arranged on the upper end surface of the advancing beam (2); Wherein, a steering oil cylinder (8) for steering and a propulsion oil cylinder (7) for propulsion are connected between the support column (4) and the advancing beam (2), and a tightening oil cylinder (6) for supporting the side wall of the shaft is connected between the boot plate (10) and the support column (4); The boot plate (10) has two layers, upper and lower; The pressure sensors (11) are distributed on the boot plate (10), and the pressure sensors (11) are connected to the control terminal (12) by wireless transmission. The control terminal (12) is used for analyzing the data on the pressure sensors (11) and performing pressure feedback adjustment on the tightening oil cylinder (6) through the analyzed data; The boot support system compares and analyzes the pressure-deformation curves of different pressure sensors (11) on the boot plate (10) by online sensing the pressure of the tightening oil cylinder (6) and the deformation of the surrounding rock of the shaft side wall, and real-time senses the soft and broken degree of the surrounding rock of the shaft side wall, and dynamically feedback-adjusts the pressure of the tightening oil cylinder (6) accordingly, so that the support of the boot plate (10) on the shaft wall is more stable. Among them, analyzing and sensing the soft and broken degree of the surrounding rock of the shaft side wall specifically includes the following steps: S1: Read the pressure of the tightening oil cylinder (6) σ ij and the surrounding rock strain monitored by the pressure sensor (11) ε ij ; S2: By dividing the pressure of the tensioning cylinder (6) σ ij by the surrounding rock strain monitored by the pressure sensor (11) ε ij to solve for the deformation modulus of the surrounding rock E ij ; S3: Calculate the arithmetic mean of the deformation moduli of the surrounding rocks 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 positions of the pressure sensors (11) on the same shoe plate (10) E ij from the arithmetic mean E i deviation rate λ ij ; S5: Determine the deviation rate λ ij Check whether it exceeds the 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 locally 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 of the deformation moduli of the surrounding rocks at the monitoring positions of the pressure sensors (11) on different shoe plates (10). E i The average value E ; S7: Calculate the arithmetic mean of the deformation moduli of the surrounding rock at each monitoring position on different boot plates (10). E i And its average value E Deviation rate ξ i ; S8: Determine the 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 tunneling process of the shaft tunneling machine. If it does not exceed the critical threshold, it is considered that the tunneling stratum of the shaft tunneling machine is relatively uniform.

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

3. A double-layer independent support shoe system for a shaft tunneling machine used in soft and broken strata according to claim 1, characterized in that: The upper and lower two-layer boot plates (10) 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 of a shaft tunneling machine for soft and fractured strata according to claim 1, characterized in that: The propulsion oil cylinder (7) is arranged obliquely at the bottom of the boot support system. One end of the propulsion oil cylinder (7) is hinged to the bottom of the advancing beam (2), and the other end is hinged to the middle position of the support column (4), and each propulsion oil cylinder (7) is independently controlled.

5. A double-layer independent support shoe system for a shaft tunneling machine used in soft and fractured strata, characterized in that: The steering oil cylinder (8) controls the telescopic amount through the steering mechanism (9) to adjust the tunneling attitude of the shaft tunneling machine, and each steering oil cylinder (8) is independently controlled.

6. The double-layer independent support shoe system of a shaft tunneling machine for soft and fractured strata according to claim 5, characterized in that: The steering mechanism (9) is arranged in a segmented annular shape, and each segment is independently disassembled and assembled, and each segment is respectively connected to the connecting ring seat (3) on the support column (4).

7. The double-layer independent support shoe system of a shaft tunneling machine for soft and fractured strata according to claim 6, characterized in that: The steering mechanism (9) further includes a boot support ring seat (5), the boot support ring seat (5) is formed by splicing a plurality of connecting blocks, each connecting block is respectively connected to the segments on the steering mechanism (9), and a wireless sensor is arranged on each connecting block for sensing the drilling angle, and is sensed in real time through the wireless sensor and displayed online in the form of a time history curve, and the pressure of the steering oil cylinder (8) is dynamically feedback-adjusted accordingly.

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