Method, device and equipment for evaluating abrasion of cutter head and cutter of shield tunneling machine

Abstract

The invention relates to the field of shield tunneling machine cutterhead abrasion evaluation, in particular to a shield tunneling machine cutterhead cutter abrasion evaluation method, device and equipment, and the method comprises the steps: determining the real-time abrasion loss of each cutter based on the motion parameters of each cutter in a current shield tunneling machine cutterhead system; based on the real-time abrasion loss of each cutter, the single cutter abrasion degree of each cutter is determined; based on the single tool wear degree of each tool, determining the overall damage degree of the same type of tools; and determining the health state grade of the current shield tunneling machine cutterhead system based on the overall damage degrees of the various types of cutters and the number of the various types of cutters. Therefore, single, same-type and integral states in the shield tunneling machine cutterhead system can be rapidly, comprehensively and accurately monitored, and the problems of high cost, low precision and efficiency and influence on the safety and tunneling efficiency of the shield tunneling machine when the abrasion of the cutterhead and the cutter is evaluated in the prior art are solved.

Description

Technical Field

[0001] The invention relates to the technical field of shield cutter head wear assessment, and in particular to a shield machine cutter head tool wear assessment method, device and equipment. Background Art

[0002] With the rapid development of my country's economy, the efficient development and utilization of urban underground space has also become one of the goals of many urban infrastructure construction. The shield method has been widely used in urban subway tunnel construction in recent years due to its advantages such as less environmental hazards such as vibration and noise, and less impact on ground buildings and underground pipelines.

[0003] However, during the tunnel construction process, the shield machine faces a complex and changeable geological environment. At the same time, the shield machine cutterhead performs excavation work at low speed, heavy load and harsh working conditions for a long time, which can easily cause the cutter teeth to break, break, fall off and abnormal wear, resulting in the shield machine being unable to excavate efficiently or even shutting down. During the shield machine excavation process, the wear and damage assessment of the damage state of the shield machine cutterhead tool can accurately determine the maintenance time of the shield machine cutterhead tool, improve excavation efficiency, reduce maintenance costs, and shorten construction time.

[0004] At present, most evaluation methods for the wear and damage of the cutterhead tools of shield machines require manual measurement of the specific wear thickness, tooth collapse, fracture and shedding of each tool on the cutterhead, and then evaluate and grade the damage status of the cutterhead tools based on the measurement data. This method requires the shield machine to be shut down, and the manual measurement speed is slow, which may affect the working time of the shield machine. The evaluation method of measuring tool wear in real time by deploying sensors is accurate and time-saving, but during the excavation process, the sensor may be damaged due to the friction and cutting between the cutterhead and the rock mass, resulting in a significant decrease in sensor accuracy or even complete damage to the sensor and inability to transmit data. Therefore, the above cutterhead tool monitoring methods all have shortcomings. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a method, device and equipment for evaluating cutter wear of a shield machine cutter head, so as to overcome the problem of poor detection effect of cutter wear of a shield machine cutter head.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present application provides a shield machine cutter head tool wear assessment method, comprising:

[0008] Based on the motion parameters of each cutter in the current shield machine cutter system, determine the real-time wear of each cutter;

[0009] Determine the individual tool wear degree of each tool based on the real-time wear amount of each tool; wherein the individual tool wear degree includes a plurality of individual tool wear degree levels;

[0010] Determining the overall damage degree of the same type of tool based on the individual tool wear degree of each tool; wherein the overall wear degree includes multiple wear degree levels;

[0011] Based on the overall damage degree of each type of cutter and the number of each type of cutter, the health status level of the current shield machine cutter head system is determined.

[0012] Further, in some embodiments of the present application, the motion parameters include the outer diameter of the cutter arrangement, the cutter rotation speed, the excavation distance and the excavation rate, and the real-time wear amount of each cutter is determined based on the motion parameters of each cutter in the current shield machine cutter head, including:

[0013] Based on the soil wear coefficient, the outer diameter of the cutter, the cutter rotation speed, the excavation distance and the excavation rate, determine the basic formula for calculating the real-time wear of the cutter when there is only one cutter on each rotation path;

[0014] According to the number of cutting tools on the same rotating path, the correction ratio of the soil wear coefficient in the basic formula is determined to correct the basic formula and obtain a real-time wear calculation formula;

[0015] The actual soil wear coefficient is determined, and the actual soil wear coefficient and the current motion parameters of the tool are brought into the real-time wear calculation formula to obtain the real-time wear of the tool.

[0016] Further, in some embodiments of the present application, determining the actual soil wear coefficient includes:

[0017] Based on the ratio of the length of each stratum cut by the cutter to the total length during one rotation of the cutterhead, the wear coefficient of the single soil of each stratum is weighted and calculated to obtain the weighted soil wear coefficient of the section.

[0018] The average value of the cross-section weighted soil wear coefficients of all cross-sections is taken as the actual soil wear coefficient.

[0019] Furthermore, in some embodiments of the present application, the wear levels of the single tool include: healthy, light wear, moderate wear, heavy wear and severe wear.

[0020] Furthermore, in some embodiments of the present application, determining the overall damage degree of tools of the same type based on the wear degree of the individual tools of each tool includes:

[0021] For the same type of tools, the wear degree of the single tool with the highest number is determined as the overall damage degree of the tool of this type.

[0022] Furthermore, in some embodiments of the present application, it also includes:

[0023] Determine whether to shut down the machine based on the real-time wear of the cutter, the wear degree of each cutter and the health status level of the shield machine cutterhead system.

[0024] In a second aspect, the present application provides a shield machine cutter head tool wear assessment device, comprising:

[0025] A calculation module is used to determine the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield machine cutter head system;

[0026] A first grading module is used to determine the individual tool wear degree of each tool based on the real-time wear amount of each tool; wherein the individual tool wear degree includes a plurality of individual tool wear degree levels;

[0027] A second grading module is used to determine the overall damage degree of the same type of tools based on the individual tool wear degree of each tool; wherein the overall wear degree includes multiple wear degree levels;

[0028] The third grading module is used to determine the health status level of the current shield machine cutter head system based on the overall damage degree of each type of cutter and the number of each type of cutter.

[0029] In a third aspect, the present application provides a shield machine cutter head tool wear assessment device, including a processor and a memory, wherein the processor is connected to the memory:

[0030] Wherein, the processor is used to call and execute the program stored in the memory;

[0031] The memory is used to store the program, and the program is at least used to execute the shield machine cutter head tool wear assessment method as described above.

[0032] The present invention relates to the technical field of shield cutter wear assessment, and specifically to a shield cutter wear assessment method, device and equipment, the method specifically comprising: determining the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield cutter system; determining the wear degree of each cutter of each cutter based on the real-time wear amount of each cutter; wherein the wear degree of each cutter includes multiple wear degree levels; determining the overall damage degree of the same type of cutter based on the wear degree of each cutter; wherein the overall wear degree includes multiple wear degree levels; determining the health status level of the current shield cutter system based on the overall damage degree of each type of cutter and the number of each type of cutter. In this way, the status of a single, same type and overall cutter in the shield cutter system can be quickly, comprehensively and accurately monitored, solving the problems of high cost and low precision in assessing cutter wear in the prior art, and affecting the safety of shield equipment and tunneling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a flow chart of a shield machine cutter head tool wear assessment method provided in an embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of the distribution of the shield machine cutter head in the shield machine cutter head tool wear assessment method provided in an embodiment of the present invention.

[0036] Figure 3 It is a schematic diagram of maintenance in the shield machine cutter head tool wear assessment method provided in an embodiment of the present invention.

[0037] Figure 4 It is a schematic structural diagram of a shield machine cutter head tool wear assessment device provided in an embodiment of the present invention.

[0038] Figure 5 It is a schematic structural diagram of a shield machine cutter head tool wear assessment device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0040] Figure 1 is a flow chart of a shield machine cutter head tool wear assessment method provided by an embodiment of the present invention, please refer to Figure 1 , this embodiment may include the following steps:

[0041] S101. Determine the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield machine cutter head system.

[0042] S102: Determine the wear degree of each tool based on the real-time wear amount of each tool.

[0043] The wear degree of a single tool includes a plurality of wear degree levels of a single tool.

[0044] S103: Determine the overall damage degree of tools of the same type based on the wear degree of each tool.

[0045] Among them, the overall wear degree includes multiple wear degree levels;

[0046] S104. Determine the health status level of the current shield machine cutter head system based on the overall damage degree of each type of cutter and the number of each type of cutter.

[0047] The shield machine cutter head tool wear assessment method provided in the present application determines the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield machine cutter head system; determines the wear degree of each cutter of each cutter based on the real-time wear amount of each cutter; wherein the wear degree of each cutter includes multiple wear degree levels; determines the overall damage degree of the same type of cutter based on the wear degree of each cutter; wherein the overall wear degree includes multiple wear degree levels; determines the health status level of the current shield machine cutter head system based on the overall damage degree of each type of cutter and the number of each type of cutter. In this way, the status of individual, same type and overall in the shield machine cutter head system can be quickly, comprehensively and accurately monitored, the detection and assessment efficiency can be improved and the cost can be reduced, and the problems of high cost, low precision and efficiency, and impact on shield machine equipment safety and excavation efficiency in the prior art when assessing cutter head tool wear are solved.

[0048] Furthermore, in some embodiments of the present application, the motion parameters may specifically include the outer diameter of the cutter arrangement, the cutter rotation speed, the excavation distance and the excavation rate. On this basis, based on the motion parameters of each cutter in the current shield machine cutter head, the real-time wear amount of each cutter is determined, which may include: based on the soil wear coefficient, the outer diameter of the cutter arrangement, the cutter rotation speed, the excavation distance and the excavation rate, determining the basic formula for calculating the real-time wear amount of the cutter when there is only one cutter on each rotation path; for the number of cutters on the same rotation path, determining the correction ratio of the soil wear coefficient in the basic formula to correct the basic formula and obtain the real-time wear amount calculation formula; determining the actual soil wear coefficient, and bringing the actual soil wear coefficient and the current motion parameters of the cutter into the real-time wear amount calculation formula to obtain the real-time wear amount of the cutter.

[0049] Specifically, firstly, based on the soil wear coefficient, the outer diameter of the cutter, the cutter rotation speed, the excavation distance and the excavation rate, a basic formula for calculating the real-time wear of the cutter when there is only one cutter on each rotation path is determined. The specific formula is as follows:

[0050]

[0051] Among them, δ refers to the real-time wear of the tool (mm); k is the soil wear coefficient (mm / km); D is the outer diameter of the tool (mm); N is the tool speed (rpm); L is the excavation distance (km); V is the excavation rate (mm / min).

[0052] On this basis, considering that when there are multiple tools on each rotation path, the wear of each tool will decrease, the soil wear coefficient is corrected. Specifically, the soil wear coefficient k in the above basic formula is adjusted to k for the effect when there are n tools on the rotation path. n , the specific calculation formula is:

[0053]

[0054] In this way, the above k n Substitute it into the basic formula to obtain the real-time wear calculation formula after correcting the basic formula:

[0055]

[0056] Here, in the formula, i represents the number of the tool.

[0057] At this time, the motion parameters of each tool in the shield machine cutter system during the current period can be obtained, and the actual soil wear coefficient can be determined. The actual soil wear coefficient and the current motion parameters of the tool can be brought into the corrected real-time wear calculation formula to obtain the real-time wear of each tool.

[0058] Furthermore, in the present application, the actual soil wear coefficient can be determined by weighted value taking, such as based on the ratio of the length of each stratum cut by the tool to the total length during one rotation of the cutter disc in the section, a weighted calculation is performed on the single soil wear coefficient of each stratum to obtain the cross-section weighted soil wear coefficient; the average value of the cross-section weighted soil wear coefficients of all sections is taken as the actual soil wear coefficient.

[0059] Specifically, the above-mentioned real-time wear calculation formula is applicable to calculating the wear amount when the shield is excavating in a single stratum, while the strata traversed by the shield in actual engineering are mostly composite strata. In this case, the value of the wear coefficient k in the formula is difficult to determine. Therefore, in order to further improve the accuracy of detection and evaluation, in some embodiments of the present application, the actual soil wear coefficient can be determined by weighted value selection for each stratum in the section.

[0060] For example, for a certain section, when the cutterhead rotates one circle, the ratio of the length of each layer cut by the cutter to the total length has an influence on the wear coefficient K of the single soil of each layer. Ji Perform weighted calculation (where i in the formula is the number of the stratum) to obtain the weighted soil wear coefficient K of the section. J(R，x) , where R is the tool installation radius and x is the section position.

[0061] It should be noted that in this application, according to engineering experience and analysis of the characteristics of stratum formation, the inclination angle of the stratum boundary line within the cutterhead cross section is small. Therefore, the inclination angle of the stratum boundary interface within the cutterhead section at the same cross section can be ignored in the calculation process. It is considered that the stratum boundary interface is horizontal within the cutterhead section. Taking the stratum cut during shield tunneling as an example, which is composed of five strata, the specific calculation process is as follows:

[0062]

[0063] In the above formula, where: α i is the arc of the cutting trajectory in different strata (rad); H i K is the height difference between the stratum boundary and the lower edge of the cutterhead (m); Ji is the soil wear coefficient of different strata (μm / km); R is the tool installation radius, i.e., tool trajectory radius (m); K J(R，x) is the weighted soil wear coefficient (μm / km).

[0064] Further K J(R，x) It is the weighted formation wear coefficient of a certain section, that is, the weighted soil wear coefficient of the section, and K is defined as J(R) It is the K at different mileages (corresponding to different sections) of the same installation radius during the excavation process. J(R，x)According to the definition of soil wear coefficient, K J(R) It is the main factor that determines the amount of tool wear after shield tunneling is completed. The specific calculation formula is as follows:

[0065]

[0066] Among them, K J(R) is the weighted soil wear coefficient corresponding to the trajectory with different cross-section radius R in the whole interval (μm / km); K J(R,xj) Mileage x j The weighted soil wear coefficient corresponding to the trajectory with radius R at the cross section (μm / km); K Ji is the wear coefficient of different formations (μm / km); α i(R,xj) Mileage x j The trajectory with a radius of R at the cross section corresponds to the arc (rad) of the trajectory cut in formation i.

[0067] On this basis, the individual tool wear degree of each tool is determined based on the calculated real-time wear amount of each tool.

[0068] Specifically, in this application, the wear degree of a single tool can be divided into multiple levels, including healthy, light wear, moderate wear, heavy wear, and severe wear. The specific level standards are shown in Table 1:

[0069] Table 1 Wear level of single tool

[0070] Wear level healthy Light wear Moderate wear Heavy wear Severe wear Wear 0-0.2H 0.2-0.4H 0.4-0.6H 0.6-0.8H 0.8-1.0H

[0071] Among them, H in Table 1 is the blade thickness. Based on the ratio of the real-time wear amount to the tool blade thickness, the wear is graded, so that the wear grade of each individual tool is determined based on the real-time wear amount, which is used to characterize the wear degree of the individual tool.

[0072] In addition, it should be noted that the tool fails after abnormal wear occurs, that is, it loses the function of cutting soil and protecting the scraper. At this time, it can be considered that the abnormal wear of the tool corresponds to the failure of the blade to the limit thickness during normal wear. Through the transformation of abnormal wear and normal wear limit state, the abnormal wear can be quantified, that is, the wear amount of the tool with abnormal wear is the blade thickness, corresponding to the above Table 1, that is, the wear amount of the tool with abnormal wear is H, and the level is severe wear.

[0073] On this basis, the overall damage degree of the same type of tool is determined based on the wear degree of each tool. For the same type of tool, the wear degree of the tool with the highest number is determined as the overall damage degree of the tool of this type.

[0074] Specifically, for the same type of tools (such as those classified by function), the cutting mechanism is the same, and the overall damage degree of the same type of tools is determined by the damage degree of each individual tool. Among them, the same type of tools are classified according to the number of different wear levels, and are also divided into five levels: healthy, light wear, moderate wear, heavy wear, and severe wear. The wear level of the individual tool with the highest number of tools of the same type is used as the overall wear level of the same type of tools.

[0075] On this basis, calculation coefficients were set for each level of the overall damage degree of the same type of cutting tools mentioned above. Specifically, the five levels of healthy, light wear, moderate wear, heavy wear and severe wear correspond to 0, 0.25, 0.5, 0.75 and 1 respectively, which are used for the subsequent health status level analysis of the shield machine cutter system.

[0076] On this basis, based on the overall damage degree of each type of cutter and the number of each type of cutter, the overall damage degree of different types of cutters is analyzed with the number of cutters as the weight to determine the health status level of the shield machine cutter system.

[0077] Specifically, the overall service health status coefficient of the shield machine cutter head system can be calculated by using the calculation coefficients set for each level of the overall damage degree of the same type of tools and the number of each type of tools, and then the health status level of the shield machine cutter head system can be determined based on preset standards.

[0078] For example, if there are n types of tools, the calculation can be performed using the following formula:

[0079]

[0080] Among them, S is the overall service health status coefficient of the cutter head tool; w is the calculation coefficient corresponding to each level of the overall damage degree of the same type of tool; a is the number of tools of each type.

[0081] Then, based on the overall evaluation grading table of the cutter, which is the following Table 2, determine the health status level of the shield machine cutter system and whether maintenance is required:

[0082] Table 2 Overall evaluation grading table for cutting tools

[0083] Service status Health Factor Maintenance status healthy 0-0.2 No maintenance required Minor injuries 0.2-0.4 No maintenance required Moderate injury 0.4-0.6 Consider overhaul Severe injuries 0.6-0.8 Consider repairing as soon as possible Serious injuries 0.8-1.0 Shutdown for maintenance

[0084] In addition, in some embodiments of the present application, it is also possible to determine whether to shut down the machine based on the real-time wear of the cutter, the wear degree of each cutter and the health status level of the cutter head system of the shield machine, as shown in the following example: Figure 3 As shown, by judging, it is determined whether to stop working for maintenance or replace the tool.

[0085] Compared with the prior art, the shield machine cutter head tool wear assessment method provided by the present invention is based on the micro-friction theory and uses a theoretical algorithm to obtain the real-time wear of the cutter on the cutter head. There is no need to install additional sensor collection equipment on the shield machine cutter head to collect the wear amount, which saves operating costs, improves accuracy and efficiency. In addition, the present invention can intuitively and effectively judge the health status of the cutter head based on the calculated tool wear amount combined with various wear classification information.

[0086] Based on the same inventive concept, the present application also provides a shield machine cutter head tool wear assessment device, such as Figure 4 As shown, specifically including:

[0087] The calculation module 11 is used to determine the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield machine cutter head system.

[0088] The first grading module 12 is used to determine the individual tool wear degree of each tool based on the real-time wear amount of each tool; wherein the individual tool wear degree includes a plurality of individual tool wear degree levels.

[0089] The second grading module 13 is used to determine the overall damage degree of the same type of tools based on the individual tool wear degrees of each tool; wherein the overall wear degree includes multiple wear degree levels.

[0090] The third grading module 14 is used to determine the health status level of the current shield machine cutter head system based on the overall damage degree of each type of cutter and the number of each type of cutter.

[0091] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0092] Based on the same inventive concept, the present invention also provides a shield machine cutter head tool wear assessment device for implementing the above method embodiment. Figure 5 Schematic diagram of the structure of the shield machine cutter head tool wear assessment device provided by the embodiment of the present invention, such as Figure 5 As shown, the shield machine cutter head tool wear assessment device of this embodiment includes a processor 21 and a memory 22, and the processor 21 is connected to the memory 22. The processor 21 is used to call and execute the program stored in the memory 22; the memory 22 is used to store the program, and the program is at least used to execute the shield machine cutter head tool wear assessment method in the above embodiment.

[0093] The specific implementation scheme of the shield machine cutter head tool wear assessment device provided in the embodiments of the present application can refer to the implementation scheme of the shield machine cutter head tool wear assessment method in any of the above embodiments, which will not be repeated here.

[0094] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0095] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0096] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0097] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0098] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0099] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0100] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0102] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A shield machine cutter head tool wear assessment method, characterized in that: include: Based on the motion parameters of each cutter in the current shield machine cutter system, determine the real-time wear of each cutter; Determine the individual tool wear degree of each tool based on the real-time wear amount of each tool; wherein the individual tool wear degree includes a plurality of individual tool wear degree levels; Determining the overall damage degree of the same type of tool based on the individual tool wear degree of each tool; wherein the overall wear degree includes multiple wear degree levels; Based on the overall damage degree of each type of cutter and the number of each type of cutter, the health status level of the current shield machine cutter head system is determined.

2. The shield machine cutter head tool wear assessment method according to claim 1, characterized in that: The motion parameters include the outer diameter of the cutter arrangement, the cutter rotation speed, the excavation distance and the excavation rate. The real-time wear amount of each cutter is determined based on the motion parameters of each cutter in the current shield machine cutter head, including: Based on the soil wear coefficient, the outer diameter of the cutter, the cutter rotation speed, the excavation distance and the excavation rate, determine the basic formula for calculating the real-time wear of the cutter when there is only one cutter on each rotation path; According to the number of cutting tools on the same rotating path, the correction ratio of the soil wear coefficient in the basic formula is determined to correct the basic formula and obtain a real-time wear calculation formula; The actual soil wear coefficient is determined, and the actual soil wear coefficient and the current motion parameters of the tool are brought into the real-time wear calculation formula to obtain the real-time wear of the tool.

3. The shield machine cutter head tool wear assessment method according to claim 2, characterized in that: The determination of the actual soil wear coefficient comprises: Based on the ratio of the length of each stratum cut by the cutter to the total length during one rotation of the cutterhead, the wear coefficient of the single soil of each stratum is weighted and calculated to obtain the weighted soil wear coefficient of the section. The average value of the cross-section weighted soil wear coefficients of all cross-sections is taken as the actual soil wear coefficient.

4. The shield machine cutter head tool wear assessment method according to claim 1, characterized in that: The wear degree grades of the single tool include: healthy, light wear, moderate wear, heavy wear and severe wear.

5. The shield machine cutter head tool wear assessment method according to claim 1, characterized in that: The overall damage degree of the same type of tools is determined based on the wear degree of the individual tools of each tool, including: For the same type of tools, the wear degree of the single tool with the highest number is determined as the overall damage degree of the tool of this type.

6. The shield machine cutter head tool wear assessment method according to claim 1, characterized in that: Also includes: Determine whether to shut down the machine based on the real-time wear of the cutter, the wear degree of each cutter and the health status level of the shield machine cutterhead system.

7. A shield machine cutter head tool wear assessment device, characterized in that: include: A calculation module is used to determine the real-time wear amount of each cutter based on the motion parameters of each cutter in the current shield machine cutter head system; A first grading module is used to determine the individual tool wear degree of each tool based on the real-time wear amount of each tool; wherein the individual tool wear degree includes a plurality of individual tool wear degree levels; A second grading module is used to determine the overall damage degree of the same type of tools based on the individual tool wear degree of each tool; wherein the overall wear degree includes multiple wear degree levels; The third grading module is used to determine the health status level of the current shield machine cutter head system based on the overall damage degree of each type of cutter and the number of each type of cutter.

8. A shield machine cutterhead tool wear assessment device, characterized in that: The invention comprises a processor and a memory, wherein the processor is connected to the memory: Wherein, the processor is used to call and execute the program stored in the memory; The memory is used to store the program, and the program is at least used to execute the shield machine cutter head tool wear assessment method described in any one of claims 1-6.

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