An Automatic Adjustment Method for the Perpendicularity of the Chain Cutter Assembly of a TPD Construction Machine

Abstract

The invention discloses an automatic verticality adjustment method for a chain cutter assembly of a TPD construction method machine, belonging to the technical field of construction machinery. The method constructs a three-dimensional motion platform for the chain cutter assembly through the hinge relationship between the rotating gantry and the fixed gantry and the sliding connection of the lifting frame; uses the left and right inclination sensors installed on both sides of the rotating gantry and the inclination detection unit inside the cutter box to collect the spatial attitude data of the chain cutter assembly; when the traveling system is in a non-working state, collects the angle signals of the left and right inclination sensors of the rotating gantry and converts them into the inclination angles relative to the horizontal plane; compares the relative angle data of the inclination detection unit of the cutter box, and when the deviation value exceeds the set angle, corrects the horizontal attitude of the rotating gantry through the telescopic movement of the left and right inclination adjustment cylinders. The method also includes the step of automatically adjusting the front and rear inclination angles, and performs angle compensation through the front and rear inclination cylinders. The invention can realize the precise automatic adjustment of the verticality of the chain cutter assembly, and improve the construction precision and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of diaphragm wall construction equipment, and particularly relates to an automatic verticality adjustment method for the chain cutter assembly of a TPD method machine. Background Art

[0002] In diaphragm wall construction, the construction method of a dam composite flexible impervious wall is called Trenchcutting Plastic pile-mixing Deep wall method in English. This construction method adds polymer impervious plates on the basis of the TRD method (full name: TrenchCutting Re-mixing Deep Wall Method), and is abbreviated as the TPD method.

[0003] As the core equipment for diaphragm wall construction, the TPD method machine undertakes the key task of high-precision and high-efficiency trench forming operations. It forms a diaphragm wall structure through the continuous cutting and trench forming of the chain cutter assembly, and is widely used in scenarios such as subways, foundation pit support, and water conservancy projects. The performance of the TPD method machine directly determines the construction quality and efficiency, and the verticality control of the chain cutter assembly is particularly crucial - if the verticality deviation is too large, it is easy to cause problems such as uneven wall surface and joint leakage, and in severe cases, it may even lead to engineering accidents.

[0004] Traditional TPD method machines mainly consist of the following core components:

[0005] Chassis system: Adopting a crawler or wheeled structure, it provides overall support and walking functions for the equipment to meet the movement requirements on complex terrains;

[0006] Frame: Installed on the chassis system, it serves as the main framework to carry the loads of the gantry system and the chain cutter assembly;

[0007] Gantry system: Fixed to the frame, it controls the vertical lifting movement of the chain cutter assembly through a guiding mechanism to ensure the trench forming accuracy;

[0008] Chain cutter assembly: It performs continuous cutting through the guidance of the gantry system, and its movement stability directly determines the trench forming quality.

[0009] However, in the prior art, the gantry system usually adopts a rigid fixed structure or a single-axis adjustment method, which has the following limitations:

[0010] Low adjustment freedom: The traditional gantry system can only achieve the vertical lifting of the chain cutter assembly, and it is difficult to flexibly adjust the left and right tilting angles, resulting in insufficient verticality control of the chain cutter assembly under complex geological conditions (such as inclined rock formations and strata with uneven hardness);

[0011] Dependent on external adjustment devices: Some equipment needs to rely on additional auxiliary devices (such as ground cylinders or manual adjustment mechanisms) to correct the inclination angle, which is cumbersome to operate and inefficient.

[0012] To address the above problems, there is an urgent need for a gantry rotation system that can achieve multi-degree-of-freedom inclination adjustment of the gantry, independently control the perpendicularity of the chain cutter assembly, and have high stability. The technical solution proposed by the present invention significantly improves the adjustment ability and reliability of the gantry system through hydraulic drive and multi-axis coordinated adjustment, and is especially suitable for high-precision construction requirements under complex geological conditions.

[0013] The prior art urgently needs to be improved to address the above problems. Summary of the Invention

[0014] In order to solve the technical problems of the low adjustment degree of freedom, cumbersome operation and low efficiency, and insufficient perpendicularity control of the chain cutter assembly in the existing TPD method machine gantry system, and to achieve the technical effects of significantly improving the adjustment ability and reliability of the gantry system, multi-degree-of-freedom inclination adjustment, independently controlling the perpendicularity of the chain cutter assembly, and adapting to high-precision construction requirements under complex geological conditions, the present invention provides an automatic perpendicularity adjustment method for the chain cutter assembly of a TPD method machine.

[0015] The technical solution adopted by the present invention to solve its technical problems is: providing an automatic perpendicularity adjustment method for the chain cutter assembly of a TPD method machine, including the following steps:

[0016] Step S1: Construct a three-dimensional motion platform for the chain cutter assembly through the hinge relationship between the rotating gantry and the fixed gantry, and the sliding connection of the lifting frame.

[0017] Step S2: Collect the spatial attitude data of the chain cutter assembly through the left and right inclination sensors a installed on both sides of the rotating gantry and the inclination detection unit c inside the tool box.

[0018] Step S3: Automatic left and right inclination adjustment:

[0019] - When the traveling system is in a non-working state, collect the left and right angle signals of the left and right inclination sensors a of the rotating gantry.

[0020] - Convert the left and right angle signals into the left and right inclination angles of the rotating gantry relative to the horizontal plane.

[0021] - Compare the relative angle data of the inclination detection unit c of the tool box. When the deviation value exceeds the set angle, correct the horizontal attitude of the rotating gantry through the telescopic movement of the left and right inclination adjustment cylinders.

[0022] Preferably, the set angle in step S3 is set according to the cutting depth during the operation of the chain cutter assembly.

[0023] Preferably, the spatial attitude data in step S2 further includes the front and rear angle signals obtained by the front and rear inclination sensors b of the fixed gantry and the tool box mounting seat; the method for automatically adjusting the verticality of the chain cutter assembly of the TPD construction machine further includes the front and rear inclination automatic adjustment step S4:

[0024] - When the traveling system is working or the lateral oil cylinder is operating, synchronously collect the front and rear angle signals of the front and rear inclination sensors b of the fixed gantry and the tool box mounting seat;

[0025] - Convert the front and rear angle signals into the front and rear inclination angles of the fixed gantry relative to the horizontal plane;

[0026] - Calculate the difference between the front and rear inclination angles of the tool box mounting seat and the fixed gantry. When the difference exceeds the set threshold, drive the front and rear inclination oil cylinders to perform angle compensation.

[0027] Preferably, the gantry system is arranged on the vehicle frame, and the vehicle frame is connected to the gantry system through the front and rear inclination oil cylinders; the gantry system includes a fixed gantry, a rotating gantry hinged to the fixed gantry, and a lifting frame slidably arranged on the rotating gantry; the chain cutter assembly is installed on the lifting frame; left and right inclination sensors a are respectively installed on both sides of the rotating gantry, and front and rear inclination sensors b are installed on the tool box mounting seat and the fixed gantry; at least two tool boxes inside the chain cutter assembly are provided with an inclination detection unit c for providing a relative angle reference.

[0028] Preferably, the middle part of the fixed gantry is provided with a central shaft hole and a plurality of strip-shaped shaft holes centered on the central shaft hole; the middle part of the rotating gantry is provided with a central shaft hole and a plurality of secondary shaft holes centered on the central shaft hole; the fixed gantry and the rotating gantry are hinged through a central shaft tooling, and the central shaft tooling passes through the central shaft holes of both; a plurality of secondary shaft toolings respectively pass through the strip-shaped shaft holes of the fixed gantry and the secondary shaft holes of the rotating gantry; the cylinder end of the left and right inclination adjustment oil cylinder is hinged to the fixed gantry, and the output shaft end is hinged to the rotating gantry, and is used to drive the rotating gantry to rotate around the central shaft tooling, and adjust the left and right inclination angles by the movement of the secondary shaft tooling in the strip-shaped shaft holes.

[0029] Preferably, there are two left and right inclination adjustment oil cylinders, which are horizontally arranged in parallel on the upper and lower sides of the central shaft hole, and the cylinder end and the output shaft end are respectively hinged to the connecting seats of the fixed gantry and the rotating gantry.

[0030] Preferably, the orientations of the left and right inclination adjustment oil cylinders on the upper and lower sides are the same. When one left and right inclination adjustment oil cylinder pushes outwards, the other left and right inclination adjustment oil cylinder pulls back synchronously to realize the inclination adjustment of the rotating gantry.

[0031] Preferably, both the central rotating shaft tooling and the auxiliary rotating shaft tooling include: a rotating shaft body, with a retaining ring protruding radially outward at its first end, and an annular groove recessed in the outer surface of its second end; a washer sleeved on the first end of the rotating shaft body and located inside the retaining ring; after the rotating shaft body passes through the corresponding shaft holes of the fixed gantry and the rotating gantry, the washer and the retaining ring are pressed against the surface of the gantry; a locking plate fixedly connected to the washer and at least partially inserted into the annular groove of the rotating shaft body.

[0032] Preferably, there are two locking plates, and the two locking plates enclose an annular structure, and its inner ring is embedded in the annular groove; there are threaded holes on the washer, and through holes on the locking plate, and bolts pass through the through holes and are fixedly connected to the threaded holes to realize the fixation of the locking plate and the washer, and rely on the locking plate to be embedded in the annular groove on the rotating shaft body to achieve the locking and fixation of the fixed gantry and the rotating gantry.

[0033] Preferably, an oil passage is provided inside the rotating shaft body, the oil passage inlet is opened on the end face of the first end of the rotating shaft body, and at least two oil passage outlets are opened on the side surface of the rotating shaft body between the washer and the retaining ring; for the central rotating shaft tooling, its oil passage outlets are respectively communicated with the oil grooves in the central shaft hole of the fixed gantry and the central shaft hole of the rotating gantry; for the auxiliary rotating shaft tooling, its oil passage outlets are respectively communicated with the oil grooves in the strip-shaped shaft hole of the fixed gantry and the auxiliary shaft hole of the rotating gantry.

[0034] The beneficial effects of the present invention are as follows:

[0035] 1. Through the hinge structure of the rotating gantry and the fixed gantry and the multi-cylinder cooperative adjustment system, the adjustment ability and reliability of the gantry system are significantly improved, enabling the chain cutter assembly to maintain an ideal verticality under complex geological conditions and solving the problem of low adjustment freedom of the traditional gantry system;

[0036] 2. Adopting a multiple detection mechanism of the left and right inclination sensors a, the front and rear inclination sensors b and the inclination detection unit c inside the tool box, the accurate monitoring of the attitude of the chain cutter assembly is realized, and through the cooperative work of the left and right inclination adjustment cylinders and the front and rear inclination cylinders, the multi-degree-of-freedom inclination adjustment is realized, and it can flexibly cope with different construction environments;

[0037] 3. By setting an angle threshold (such as 0.5°) to trigger the automatic correction mechanism, the autonomous control of the verticality of the chain cutter assembly is realized, the construction accuracy is improved, and construction quality problems such as uneven wall surface and joint leakage are avoided;

[0038] 4. It is especially suitable for high-precision construction requirements under complex geological conditions such as inclined rock formations and strata with uneven hardness. Without the need for additional auxiliary devices, the accurate adjustment of the verticality of the chain cutter assembly can be completed, improving the construction efficiency and reducing the operation complexity. Description of the Drawings

[0039] Figure 1 A three-dimensional schematic diagram of a gantry rotation system provided for this application (without a top frame).

[0040] Figure 2 A front schematic diagram of a gantry rotation system provided for this application (with a top frame).

[0041] Figure 3 An assembly schematic diagram of a fixed gantry and a rotating gantry provided for this application.

[0042] Figure 4 A schematic diagram of the rotating gantry (without a top frame).

[0043] Figure 5 A schematic diagram of the fixed gantry.

[0044] Figure 6 An assembly schematic diagram of a central rotating shaft tooling or a secondary rotating shaft tooling.

[0045] Figure 7 A sectional view of the assembly of the central rotating shaft tooling or the secondary rotating shaft tooling.

[0046] Figure 8 A side structure schematic diagram of a TPD method machine.

[0047] Figure 9 A top structure schematic diagram of a TPD method machine. Detailed implementation manners

[0048] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0049] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more, unless otherwise clearly defined.

[0051] In the present invention, unless otherwise clearly specified and defined, terms such as "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0053] As Figures 1-9 shown, this embodiment provides a gantry rotation system of a TPD construction machine, including a fixed gantry 1, a rotating gantry 2, a central rotating shaft tooling 3, a plurality of auxiliary rotating shaft toolings 4, and left and right inclination adjustment oil cylinders 5. The gantry system is arranged on a vehicle frame 7, and the vehicle frame 7 is connected to the gantry system through front and rear inclination oil cylinders 6. A chain cutter assembly 9 is installed on a lifting frame 8, and the lifting frame 8 is slidably arranged on the rotating gantry 2.

[0054] The middle part of the fixed gantry is provided with a central shaft hole 100 and a plurality of strip-shaped shaft holes 101 centered on the central shaft hole 100. The middle part of the rotating gantry 2 is provided with a central shaft hole 100 and a plurality of auxiliary shaft holes 202 centered on the central shaft hole 100. The central rotating shaft tooling 3 is inserted through the central shaft hole 100 of the fixed gantry 1 and the central shaft hole 100 of the rotating gantry 2. A plurality of auxiliary rotating shaft toolings 4 respectively pass through the strip-shaped shaft holes 101 of the fixed gantry 1 and the auxiliary shaft holes 202 of the rotating gantry 2. The cylinder end and the output shaft end of the left and right inclination adjusting oil cylinders 5 are respectively hinged to the connecting seats 103 of the fixed gantry 1 and the rotating gantry 2. The left and right inclination adjusting oil cylinders 5 drive the rotating gantry 2 to rotate around the central rotating shaft tooling 3, and adjust the left and right inclination angles of the rotating gantry 2 through the moving range of the auxiliary rotating shaft tooling 4 in the strip-shaped shaft hole 101.

[0055] Specifically, the fixed gantry 1 provides stable support and guiding functions through the central shaft hole 100 and the strip-shaped shaft holes 101, ensuring the stability of the rotating gantry 2 during the rotation process. The rotating gantry 2 is connected to the fixed gantry 1 through the central shaft hole 100 and the auxiliary shaft holes 202 to achieve rotation and inclination adjustment. The central rotating shaft tooling 3 serves as the rotation center of the rotating gantry 2, ensuring the stability of the rotating gantry 2 rotating around the fixed shaft. The auxiliary rotating shaft tooling 4 adjusts the left and right inclination angles of the rotating gantry 2 by restricting the moving range of the strip-shaped shaft hole 101, thereby achieving multi-degree-of-freedom adjustment. The left and right inclination adjusting oil cylinders 5 drive the rotating gantry 2 to rotate and, through the movement of the auxiliary rotating shaft tooling 4 in the strip-shaped shaft hole 101, achieve the inclination adjustment of the rotating gantry 2, thus solving the technical problem that it is difficult to flexibly adjust the left and right inclination angles of the gantry system under complex geological conditions.

[0056] The technical solution of this application significantly improves the adjustment ability and reliability of the gantry system through hydraulic drive and multi-axis coordinated adjustment. The structural design of the fixed gantry 1 and the rotating gantry 2 ensures the stability of the system, and the cooperation of the central rotating shaft tooling 3 and the auxiliary rotating shaft tooling 4 achieves multi-degree-of-freedom adjustment of the rotating gantry 2. The left and right inclination adjusting oil cylinders 5 make the inclination adjustment of the rotating gantry 2 more flexible and precise through the synchronous pushing and pulling drive mode. Compared with the prior art, the technical solution of this application can better adapt to and adjust the perpendicularity of the chain cutter assembly under complex geological conditions, improving the construction accuracy and efficiency.

[0057] Further, the strip-shaped shaft hole 101 is an elliptical chute with a symmetric distribution, which is used to limit the movement range of the secondary rotating shaft tooling 4 and achieve lubrication through an oil groove. The design of the elliptical chute effectively limits the movement range of the secondary rotating shaft tooling 4 between the fixed gantry 1 and the rotating gantry 2, ensuring that the inclination angle adjustment of the rotating gantry 2 is within a controllable range. The oil groove provided therein can provide necessary lubrication during the movement of the secondary rotating shaft tooling 4, reduce friction, improve the stability of the system and its service life. Specifically, the symmetric distribution design of the elliptical chute enables the secondary rotating shaft tooling 4 to maintain balance during movement, avoiding structural deformation or damage caused by excessive unilateral force. The oil groove can be set on the inner wall of the strip-shaped shaft hole 101 or the surface of the secondary rotating shaft tooling 4, and the lubricating oil is transported to the friction part through an oil circuit system to ensure the lubrication effect. The lubricating oil circuit of the oil groove is specifically described below. Thus, through the synergistic effect of the elliptical chute and the oil groove, this technical solution not only solves the problem of excessive movement range of the secondary rotating shaft tooling 4, but also improves the operation efficiency of the system through the lubrication mechanism. Compared with the prior art, this design reduces the maintenance cost and extends the service life of the equipment while ensuring the stability of the gantry system.

[0058] As Figure 2 shown, there are two left and right inclination adjustment cylinders 5, which are respectively arranged horizontally and in parallel on the upper and lower sides of the central shaft hole 100, and the cylinder ends and the output shaft ends are respectively hinged to the corresponding connecting seats 103 of the fixed gantry 1 and the rotating gantry 2. Specifically, the horizontal parallel arrangement of the left and right inclination adjustment cylinders 5 enables the two cylinders to work synchronously when driving the rotating gantry 2, thereby achieving precise adjustment of the inclination angle of the rotating gantry 2. This setting method not only enhances the adjustment ability of the system, but also ensures the smoothness of the rotating gantry 2 during adjustment. The cylinder ends and the output shaft ends of the left and right inclination adjustment cylinders 5 are respectively hinged to the connecting seats 103 of the fixed gantry 1 and the rotating gantry 2, ensuring the stability and reliability of the cylinders when driving the rotating gantry 2 to rotate. In addition, the installation position and hinging method of the left and right inclination adjustment cylinders 5 can be adjusted according to the actual application scenario to meet different working requirements.

[0059] Thus, by providing two left-right inclination adjustment cylinders 5, which are respectively located on the upper and lower sides of the central axis hole 100 and are respectively hinged to the connecting seats 103 of the fixed gantry 1 and the rotating gantry 2, the adjustment ability of the gantry rotation system is significantly enhanced. The parallel arrangement of the two left-right inclination adjustment cylinders 5 makes the inclination adjustment of the rotating gantry 2 more stable and accurate, solving the problem of insufficient adjustment ability of a single left-right inclination adjustment cylinder 5. The cylinder body end and the output shaft end of the left-right inclination adjustment cylinder 5 are respectively hinged to the connecting seats 103 of the fixed gantry 1 and the rotating gantry 2, ensuring the stability and reliability of the left-right inclination adjustment cylinder 5 when driving the rotating gantry 2 to rotate. Compared with the prior art, the technical solution of the present application has significantly improved in terms of adjustment accuracy, stability and reliability, and is particularly suitable for the high-precision construction requirements under complex geological conditions.

[0060] Furthermore, the left-right orientations of the left-right inclination adjustment cylinders 5 on the upper and lower sides are the same. When one of the left-right inclination adjustment cylinders 5 pushes outwards, the other left-right inclination adjustment cylinder 5 pulls back synchronously to achieve the inclination adjustment of the rotating gantry 2. Herein, the left-right orientations of the left-right inclination adjustment cylinders 5 being the same means that the installation directions of the two left-right inclination adjustment cylinders 5 are the same, that is, the relative positions of their cylinder bodies and output shafts remain consistent. This design enables the left-right inclination adjustment cylinders 5 to work together during the pushing and pulling process, avoiding movement interference caused by inconsistent directions. As a preferred implementation manner, the pushing and pulling actions of the left-right inclination adjustment cylinders 5 can be realized through a hydraulic control system, which can accurately control the telescopic speed and force of the left-right inclination adjustment cylinders 5 to ensure the synchronism of the two left-right inclination adjustment cylinders 5. In addition, the pushing and pulling actions of the left-right inclination adjustment cylinders 5 can also be monitored and adjusted in real time through sensors and a feedback system to further improve the accuracy and stability of the inclination adjustment.

[0061] Specifically, when one of the left-right inclination adjustment cylinders 5 pushes outwards, the other left-right inclination adjustment cylinder 5 pulls back synchronously. This pushing and pulling action enables the rotating gantry 2 to perform inclination adjustment around the central rotating shaft tooling 3. Through this synchronous pushing and pulling method, the inclination of the rotating gantry 2 can be accurately adjusted within a certain range, thus solving the technical problem of the inclination adjustment of the rotating gantry 2. Compared with the prior art, the technical solution of the present application ensures the consistency of the forces during the rotation in two directions and the data unity of the two cylinders during data acquisition through the synchronous pushing and pulling actions of the left-right inclination adjustment cylinders 5. It realizes the multi-degree-of-freedom inclination adjustment of the rotating gantry 2, significantly improving the adjustment ability and reliability of the gantry system, and is particularly suitable for the high-precision construction requirements under complex geological conditions.

[0062] In a specific solution, connection seats 103 are respectively provided on the fixed gantry 1 and the rotating gantry 2. The cylinder end of the left and right inclination adjustment cylinder 5 is hinged to the connection seat 103 of the fixed gantry 1, and the end of the output shaft is hinged to the connection seat 103 of the rotating gantry 2. The connection seat 103 can be designed in various forms. For example, the connection seat 103 can be a metal plate welded or bolted to the gantry, and its surface is provided with a hinge hole for hinging with the ends of the left and right inclination adjustment cylinders 5. Bearings or bushings can be installed in the hinge hole to reduce friction and improve the flexibility of the hinge. In addition, the position of the connection seat 103 can be adjusted according to the length of the left and right inclination adjustment cylinder 5 and the structure of the gantry to ensure that the left and right inclination adjustment cylinder 5 can provide sufficient torque and stability when driving the rotating gantry 2. As a preferred implementation mode, the material of the connection seat 103 can be selected as high-strength steel to withstand large loads and impact forces. By providing the connection seat 103, the cylinder end and the output shaft end of the left and right inclination adjustment cylinder 5 are respectively hinged to the fixed gantry 1 and the rotating gantry 2, ensuring that when the left and right inclination adjustment cylinder 5 drives the rotating gantry 2 to rotate, the connection can withstand large torque and impact forces, avoiding loosening or damage at the connection, thereby improving the stability and reliability of the system. Specifically, the hinge connection method allows the left and right inclination adjustment cylinder 5 to have a certain degree of freedom during the driving process, can adapt to the small displacement during the rotation of the gantry, reduce stress concentration, and extend the service life of the equipment. Compared with the prior art, this technical solution significantly improves the stability and reliability of the gantry system by optimizing the connection structure, and is particularly suitable for the high-precision construction requirements under complex geological conditions.

[0063] Such as Figure 6 And Figure 7As shown in the figure, both the central rotating shaft tooling 3 and the secondary rotating shaft tooling 4 include: a rotating shaft body 301, at its first end there is a retaining ring 302 protruding radially outwards, and the outer surface of the second end is concavely formed with an annular groove 303; a washer 304, sleeved on the first end of the rotating shaft body 301 and located inside the retaining ring 302; after the rotating shaft body 301 passes through the corresponding shaft holes of the fixed gantry 1 and the rotating gantry 2, the washer 304 and the retaining ring 302 are pressed against the gantry surface; a locking plate 305, fixedly connected to the washer 304 and at least partially inserted into the annular groove 303 of the rotating shaft body 301. Among them, the retaining ring 302 of the rotating shaft body 301 and the washer 304 ensure the fixation of the rotating shaft tooling on the gantry by pressing against the gantry surface, preventing the rotating shaft from shifting during rotation. The locking plate 305 is fixedly connected to the washer 304 and further enhances the stability of the rotating shaft tooling by being inserted into the annular groove 303 of the rotating shaft body 301. Through the combined design of the retaining ring 302, the washer 304 and the locking plate 305, the central rotating shaft tooling 3 and the secondary rotating shaft tooling 4 can achieve quick disassembly and high stability without modifying the fixed gantry 1 and the rotating gantry 2, significantly improving the maintenance convenience and adaptability of the system. Specifically, the retaining ring 302 and the washer 304 jointly press against both sides of the corresponding shaft holes of the fixed gantry 1 and the rotating gantry 2 to ensure the stable installation of the rotating shaft; the locking plate 305 is fixed on the washer 304, and the locking plate 305 is inserted into the groove to form axial locking, further restricting the axial movement of the rotating shaft. Thus, this technical solution solves the technical problems of the installation stability, axial limiting ability and disassembly and assembly convenience of the rotating shaft tooling in the gantry rotation system. Compared with the prior art, it has higher installation efficiency and better maintenance convenience. In summary, through the combined design of the retaining ring 302, the washer 304 and the locking plate 305, and the oil circuit design inside the rotating shaft body 301, the present application effectively solves the problems of fixing and lubricating the rotating shaft tooling in the gantry rotation system, significantly improving the installation efficiency, maintenance convenience and operation stability of the system.

[0064] In a specific solution, the retaining ring 302 is a circular ring structure circumferentially arranged along the first end of the rotating shaft body 301. The design of the retaining ring 302 can be achieved in various ways. For example, the retaining ring 302 can be directly cast or forged with the rotating shaft body 301 by an integral molding method, or fixed to the first end of the rotating shaft body 301 by means such as welding or bolt connection. The material of the retaining ring 302 can be selected as high-strength steel or other wear-resistant materials to ensure its stability during long-term use. In addition, the circular ring structure of the retaining ring 302 can be designed as a continuous closed ring or a segmented ring for easy installation and disassembly. As an integral part of the rotating shaft body 301, the circular ring structure design of the retaining ring 302 enables the retaining ring 302 to be evenly distributed at the first end of the rotating shaft body 301. Thus, after the rotating shaft body 301 passes through the shaft hole of the gantry, the retaining ring 302 can effectively press against the surface of the gantry to ensure the firm connection between the rotating shaft body 301 and the gantry. Through this design, the retaining ring 302 not only enhances the connection strength between the rotating shaft body 301 and the gantry, making the circumferential force evenly distributed and solving the problem of unstable connection in the traditional design. Compared with the prior art, this design simplifies the installation and disassembly process and improves the overall stability and reliability of the system.

[0065] Further, there are two locking plates 305, and the two locking plates 305 enclose a circular ring structure, and its inner ring is fitted into the annular groove 303. Specifically, the design of the locking plate 305 adopts a multi-piece combination method. By enclosing a circular ring structure, the inner ring of the locking plate 305 can be tightly fitted into the annular groove 303 of the rotating shaft body 301. This design not only increases the contact area between the locking plate 305 and the washer 304 but also improves the fixing firmness between the locking plate 305 and the washer 304 through multiple fixing points. As a preferred implementation manner, the number of the locking plates 305 can be adjusted according to actual needs. For example, two, three or more locking plates 305 are used for enclosure to ensure the tight fit between the locking plate 305 and the annular groove 303. In addition, the material of the locking plate 305 can be selected as high-strength alloy steel to enhance its compressive and wear-resistant properties. In this regard, through the enclosure structure of multiple locking plates 305, the locking plates 305 can be more evenly distributed in the annular groove 303 of the rotating shaft body 301, thereby enhancing the overall stability and anti-vibration ability. Compared with the prior art, this design effectively solves the problem of the locking plate 305 not being firmly fixed to the washer 304, improves the reliability and service life of the equipment. By increasing the contact area and fixing points, the connection between the locking plate 305 and the washer 304 is more stable, reducing the loosening phenomenon caused by vibration or impact, thus improving the overall performance of the equipment.

[0066] In a specific solution, the washer 304 is provided with a threaded hole 306, and the locking plate 305 is provided with a through hole 307. The bolt passes through the through hole 307 and is fixedly connected to the threaded hole 306 to achieve the fixation of the locking plate 305 and the washer 304. Specifically, the threaded hole 306 is arranged on the surface of the washer 304, and the through hole 307 is arranged at the corresponding position of the locking plate 305. The bolt passes through the through hole 307 of the locking plate 305 and is threadedly connected to the threaded hole 306 on the washer 304, thereby tightly fixing the locking plate 305 and the washer 304 together. As a preferred implementation manner, the head of the bolt can be designed as a hexagon to facilitate the tightening operation using tools. In addition, the material of the bolt can be selected as high-strength steel to ensure that it will not loosen or break during long-term use. Through the above technical means, the fixation between the locking plate 305 and the washer 304 is more firm, avoiding the loosening problem caused by vibration or external force. This design ensures the connection reliability between the locking plate 305 and the washer 304 through the tightening effect of the bolt, thereby improving the stability of the overall structure. Compared with the prior art, this solution not only simplifies the fixation structure but also enhances the connection strength and durability, and is applicable to mechanical devices that require high stability and reliability.

[0067] As Figure 7 shown, an oil passage 309 is provided inside the rotating shaft body 301. The oil passage inlet 310 is opened on the end face of the first end of the rotating shaft body 301, and at least two oil passage outlets 311 are opened on the side of the rotating shaft body 301 between the washer 304 and the retaining ring 302. For the central rotating shaft tooling 3, its oil passage outlets 311 are respectively communicated with the oil grooves in the central shaft holes 100 of the fixed gantry 1 and the rotating gantry 2; for the secondary rotating shaft tooling 4, its oil passage outlets 311 are respectively communicated with the oil grooves in the strip-shaped shaft hole 101 of the fixed gantry 1 and the secondary shaft hole 202 of the rotating gantry 2. Specifically, the design of the oil passage 309 enables the lubricating oil to enter the inside of the rotating shaft body 301 through the oil passage inlet 310 and flow into the oil grooves in the shaft holes of the fixed gantry 1 and the rotating gantry 2 through the oil passage outlets 311. The position of the oil passage inlet 310 is set on the end face of the first end, facilitating the injection of the lubricating oil, while the position of the oil passage outlets 311 is set on the side of the rotating shaft body 301 between the washer 304 and the retaining ring 302, ensuring that the lubricating oil can be evenly distributed to the parts that need to be lubricated. For the central rotating shaft tooling 3, the oil passage outlets 311 are communicated with the oil grooves in the central shaft holes 100 of the fixed gantry 1 and the rotating gantry 2, ensuring that the central rotating shaft tooling 3 is fully lubricated during rotation. For the secondary rotating shaft tooling 4, the oil passage outlets 311 are communicated with the oil grooves in the strip-shaped shaft hole 101 of the fixed gantry 1 and the secondary shaft hole 202 of the rotating gantry 2, ensuring that the secondary rotating shaft tooling 4 is fully lubricated during movement.

[0068] As a preferred embodiment, the number of oil circuit outlets 311 can be adjusted according to actual requirements to ensure that the lubricating oil can cover all parts that need to be lubricated. In addition, the position and size of the oil circuit outlets 311 can also be optimized according to the flow rate and pressure of the lubricating oil to improve the lubrication effect. Thus, through the design of the oil circuit 309, this technical solution realizes effective lubrication between the rotating shaft and the gantry, reduces friction and wear, and improves the stability and service life of the system. Compared with the prior art, this solution avoids the complexity and instability of external lubrication devices through the design of the internal oil circuit 309, simplifies the system structure, and at the same time improves the uniformity and reliability of lubrication.

[0069] As Figure 8 and Figure 9 shown, this embodiment also relates to an automatic adjustment method for the perpendicularity of the chain cutter assembly of a TPD construction method machine, including the following steps:

[0070] Step S1: Construct a three-dimensional motion platform for the chain cutter assembly using the gantry rotation system with the above structure

[0071] Step S2: Collect the spatial attitude data of the chain cutter assembly

[0072] The spatial attitude data of the chain cutter assembly is collected through the left and right inclination sensors a installed on both sides of the rotating gantry and the inclination detection unit c inside the cutter box. The left and right inclination sensors a are respectively installed on both sides of the rotating gantry, and the front and rear inclination sensors b are installed on the cutter box mounting seat and the fixed gantry. At least two sections of the cutter box inside the chain cutter assembly are provided with an inclination detection unit c for providing a relative angle reference;

[0073] Step S3: Automatic adjustment of left and right inclination

[0074] When the traveling system is in a non-working state, collect the left and right angle signals of the left and right inclination sensors a of the rotating gantry. Convert the left and right angle signals into the left and right inclination angles of the rotating gantry relative to the horizontal plane. Compare the relative angle data of the inclination detection unit c of the cutter box. When the deviation value exceeds the set angle, correct the horizontal attitude of the rotating gantry through the telescopic movement of the left and right inclination adjustment cylinders.

[0075] In this solution, the inclination detection unit c installed inside the cutter box can be used as a relative angle reference source, and its detection signal forms a reference line. The left and right inclination sensors a respectively configured on both sides of the rotating gantry are used to obtain independent angle data on both sides in real time. In view of the possible difference in the inclination states on both sides of the rotating gantry during operation, the dual-sensor configuration can accurately reflect the actual attitude of the structure. The system compares and analyzes the real-time angle data collected on both sides with the reference line of the inclination detection unit c, and then accurately controls the telescopic stroke of the two left and right inclination adjustment cylinders to realize dynamic correction of the horizontal attitude of the rotating gantry.

[0076] The setting of the angle threshold in step S3 is directly related to the operating conditions of the chain cutter assembly. Specifically, when the chain cutter performs cutting at a depth of 20 meters, the system sets an allowable deviation threshold of 0.5°. If the detected left-right tilt deviation exceeds this threshold, the control system activates the adjusting cylinder to correct the attitude until the deviation value returns to the threshold range. In the severe cutting condition at a depth of 60 - 70 meters, the system adopts a precise control standard of 0.1° to ensure a high-precision vertical state can still be maintained during ultra-deep operation.

[0077] Step S4: Automatic adjustment of the front and rear inclination angles

[0078] When the traveling system is working or the lateral cylinder is operating, the front and rear angle signals of the front and rear inclination angle sensors b of the fixed gantry and the tool box mounting seat are synchronously collected. The front and rear angle signals are converted into the front and rear tilt angles of the fixed gantry relative to the horizontal plane. Calculate the difference in the front and rear inclination angles between the tool box mounting seat and the fixed gantry. When the difference exceeds the set threshold, drive the front and rear inclination cylinders to perform angle compensation.

[0079] Step S4 is optimized for the special working conditions during the equipment's traveling and lateral movement. When the TPD method machine is in the traveling state or performing the lateral cylinder operation, the ground undulation is likely to cause the equipment to tilt forward and backward. At this time, the system collects the attitude data of the fixed gantry and the tool box mounting seat in real time through the group of front and rear inclination angle sensors b, and calculates the inclination angle difference between the two by the control system. When it is detected that the difference exceeds the preset threshold (the typical value is 0.5°), the front and rear inclination cylinders are automatically triggered to perform dynamic compensation, effectively offsetting the attitude deviation caused by the uneven ground.

[0080] The entire adjustment process adopts a closed-loop control mechanism. The system continuously obtains the attitude data through multi-sensor fusion technology and makes adaptive adjustments according to the real-time working conditions. When the verticality of the chain cutter assembly returns to the permitted range, the system automatically terminates the adjustment action and maintains the current stable state. This intelligent adjustment system can actively adapt to complex construction environments, ensure that the chain cutter assembly is always in the optimal working attitude through millimeter-level precision control, and significantly improve the project quality and the equipment operation efficiency.

[0081] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0082] 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 should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An automatic adjustment method for the perpendicularity of the chain cutter assembly of a TPD construction method machine, characterized in that, It includes the following steps: Step S1: Construct a three-dimensional motion platform for the chain cutter assembly through the hinge relationship between the rotating gantry (2) and the fixed gantry (1), and the sliding connection of the lifting frame; Step S2: Collect the spatial attitude data of the chain cutter assembly through the left and right inclination sensors a installed on both sides of the rotating gantry (2) and the inclination detection unit c inside the cutter box; Step S3: Automatic adjustment of left and right inclination: When the traveling system is in a non-working state, collect the left and right angle signals of the left and right inclination sensors a of the rotating gantry (2); Convert the left and right angle signals into the left and right inclination angles of the rotating gantry (2) relative to the horizontal plane; Compare the relative angle data of the inclination detection unit c of the cutter box. When the deviation value exceeds the set angle, correct the horizontal attitude of the rotating gantry (2) through the telescopic movement of the left and right inclination adjustment cylinders (5); The gantry system is arranged on the vehicle frame (7), and the vehicle frame (7) is connected to the gantry system through the front and rear inclination cylinders (6); The gantry system includes a fixed gantry (1), a rotating gantry (2) hinged to the fixed gantry (1), and a lifting frame (8) slidably arranged on the rotating gantry (2); The chain cutter assembly (9) is installed on the lifting frame (8); Left and right inclination sensors a are respectively installed on both sides of the rotating gantry (2), and front and rear inclination sensors b are installed on the cutter box mounting seat and the fixed gantry (1); At least two sections of the cutter box inside the chain cutter assembly (9) are provided with an inclination detection unit c for providing a relative angle reference; A central shaft hole (100) and a plurality of strip-shaped shaft holes (101) centered on the central shaft hole (100) are provided in the middle of the fixed gantry (1); A central shaft hole (100) and a plurality of secondary shaft holes (202) centered on the central shaft hole are provided in the middle of the rotating gantry (2); The fixed gantry (1) and the rotating gantry (2) are hinged through a central rotating shaft tooling (3), and the central rotating shaft tooling (3) passes through the central shaft holes (100) of both; A plurality of secondary rotating shaft toolings (4) respectively pass through the strip-shaped shaft holes (101) of the fixed gantry (1) and the secondary shaft holes (202) of the rotating gantry (2); The cylinder end of the left and right inclination adjustment cylinder (5) is hinged to the fixed gantry (1), and the output shaft end is hinged to the rotating gantry (2), which is used to drive the rotating gantry (2) to rotate around the central rotating shaft tooling (3) and adjust the left and right inclination through the movement of the secondary rotating shaft tooling (4) in the strip-shaped shaft hole (101); 2. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 1, characterized in that: The set angle in Step S3 is set according to the cutting depth during the operation of the chain cutter assembly; 3. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 1, characterized in that: The spatial attitude data in Step S2 further includes the front and rear angle signals obtained through the front and rear inclination sensors b of the fixed gantry (1) and the cutter box mounting seat; The method for automatically adjusting the verticality of the chain cutter assembly of the TPD method machine further includes the front and rear inclination automatic adjustment step S4: When the traveling system is working or the transverse cylinder acts, synchronously collect the front and rear angle signals of the front and rear inclination sensors b of the fixed gantry (1) and the cutter box mounting seat; Convert the front and rear angle signals into the front and rear inclination angles of the fixed gantry (1) relative to the horizontal plane; Calculate the difference in the front and rear inclination angles between the tool magazine mounting seat and the fixed gantry (1). When the difference exceeds the set threshold, drive the front and rear inclination cylinders (6) for angle compensation.

4. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 1, characterized in that: There are two left and right inclination adjustment cylinders (5), which are horizontally arranged in parallel on the upper and lower sides of the central shaft hole (100), and the ends of the cylinder bodies and the ends of the output shafts are respectively hinged to the connecting seats (103) of the fixed gantry (1) and the rotating gantry (2).

5. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 4, characterized in that: The left and right inclination adjustment cylinders (5) on the upper and lower sides have the same orientation. When one of the left and right inclination adjustment cylinders (5) pushes outwards, the other left and right inclination adjustment cylinder (5) pulls back synchronously to realize the inclination adjustment of the rotating gantry (2).

6. The method for automatically adjusting the perpendicularity of the chain cutter assembly of the TPD method machine according to claim 1, characterized in that: Both the central rotating shaft tooling (3) and the auxiliary rotating shaft tooling (4) include: A rotating shaft body (301), with a retaining ring (302) protruding radially outwards at its first end, and an annular groove (303) formed by concave inward on the outer surface of the second end; A washer (304), sleeved on the first end of the rotating shaft body (301) and located inside the retaining ring (302); after the rotating shaft body (301) passes through the corresponding shaft holes of the fixed gantry (1) and the rotating gantry (2), the washer (304) and the retaining ring (302) press against the gantry surface; A locking plate (305), fixedly connected to the washer (304), and at least partially snapped into the annular groove (303) of the rotating shaft body (301).

7. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 6, characterized in that: There are two locking plates (305), and the two locking plates enclose an annular structure, the inner ring of which is embedded in the annular groove (303); there is a threaded hole (306) on the washer (304), and a through hole (307) on the locking plate (305). A bolt passes through the through hole (307) and is fixedly connected to the threaded hole (306) to realize the fixation of the locking plate (305) and the washer (304).

8. The automatic adjustment method for the perpendicularity of the chain cutter assembly of the TPD construction method machine according to claim 6, characterized in that: An oil passage (309) is provided inside the rotating shaft body (301), an oil passage inlet (310) is opened on the end face of the first end of the rotating shaft body (301), and at least two oil passage outlets (311) are opened on the side surface of the rotating shaft body (301) between the washer (304) and the retaining ring (302); For the central rotating shaft tooling (3), its oil passage outlets (311) are respectively communicated with the oil grooves in the central shaft hole (100) of the fixed gantry (1) and the central shaft hole (100) of the rotating gantry (2); For the auxiliary rotating shaft tooling (4), its oil passage outlets (311) are respectively communicated with the oil grooves in the strip-shaped shaft hole (101) of the fixed gantry (1) and the auxiliary shaft hole (202) of the rotating gantry (2).

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