Torque self-adaptive hob and torque self-adaptive algorithm

Abstract

A hob shaft is of a cylindrical structure with the hollow interior and the two open sides, a first groove with two curved surfaces is formed in the outer surface, matched with a bearing, of the hob shaft, an external sensing unit is arranged in the first groove, and the first groove communicates with an inner cavity of the hob shaft; a built-in sensing unit is arranged in an inner cavity of the hob shaft, and the external sensing unit and the built-in sensing unit are both connected with a main control circuit; the torque adjusting unit comprises a flat oil cylinder, a hydraulic power device and a counter-force spring, the bearings comprise the first bearing and the second bearing, the flat oil cylinder is arranged between the first bearing and the second bearing and used for adjusting the distance between the first bearing and the second bearing, and plugging blocks are arranged at the two ends of the hob shaft. The hob shaft is made into a hollow structure, an external sensing unit and an internal sensing unit are arranged by utilizing the structure of an existing hob to collect parameters of the hob, and the torque self-adaptive adjustment of the hob is realized through fuzzy PID (Proportion Integration Differentiation).

Description

Technical Field

[0001] The invention belongs to the technical field of shield machine cutter control, and in particular relates to a torque adaptive cutter and a torque adaptive algorithm. Background Art

[0002] During shield machine construction, the cutterhead is a key component of the full-face rock tunnel boring machine (TBM) for crushing rock. Its working condition directly affects the shield machine's excavation efficiency. Daily use of the cutterhead requires inspection based on experience. For example, a TBM may require manual inspection of the cutterhead during each shift. Earth pressure balance shields and slurry balance shields rely on monitoring systems installed on the cutter box or cutter drum. However, manual monitoring often involves safety risks and omissions, and also relies on personal experience. The data from the cutter box and cutter drum monitoring system does not directly contact the cutterhead, and often contains errors, requiring a large amount of experience to correct and judge. In addition, the cutterhead piping layout of this type of monitoring system is complex, time-consuming and labor-intensive, and it is impossible to configure the cutterhead for the entire disc.

[0003] Cutters are consumable components of shield tunneling machines (TBMs). In long tunnels, the cost of cutters and their replacement accounts for approximately 10% to 12.5% ​​of the total construction cost. Existing cutters lack torque adjustment. The hardness and strength of rocks of different geological types vary greatly. Improper torque can cause excessive local stress on the cutter or abnormal friction, resulting in increased wear of the cutter ring and bearing damage, shortening the cutter's service life and affecting tunneling speed.

[0004] Therefore, there is an urgent need for a hob device that can complete parameter detection inside the hob and realize adaptive torque adjustment according to the parameters. Summary of the Invention

[0005] In order to solve the problems of difficulty in detecting parameters of existing hobs, low accuracy and inability to adjust torque, the present invention provides a torque-adaptive hob and a torque-adaptive algorithm. The hob shaft is made into a hollow structure, and the structure of the existing hob is used to arrange external sensing units and internal sensing units to collect hob parameters with high accuracy. In addition, a torque adjustment unit is set based on the collected parameters to realize torque adaptive adjustment of the hob.

[0006] In order to solve the above problems, the present invention proposes a first aspect, a torque adaptive hob, comprising a hob shaft and a hob body, wherein the hob shaft and the hob body are connected by a bearing, and end covers are provided on both sides of the hob body, and the end covers are fixed to the hob shaft, and the hob shaft is a cylindrical structure with a hollow interior and open on both sides, and two curved first grooves are provided on the outer surface of the hob shaft that cooperates with the bearing, and the two first grooves are symmetrically arranged, and the first grooves are provided with an external sensing unit, the first grooves are connected to the inner cavity of the hob shaft, and the inner cavity of the hob shaft is provided with a built-in sensing unit, and the external sensing unit and the built-in sensing unit are both connected to a main control circuit;

[0007] The main control circuit is connected to a torque adjustment unit, which includes a flat oil cylinder, a hydraulic power device and a reaction spring. The bearing includes a first bearing and a second bearing. A flat oil cylinder is provided between the first bearing and the second bearing. The flat oil cylinder is used to adjust the distance between the first bearing and the second bearing. The flat oil cylinder is connected to the hydraulic power device. The reaction spring is respectively located between the two end covers and the large end surface of the bearing inner ring. The reaction spring is sleeved on the hob shaft. The hydraulic power device is electrically connected to the main control circuit.

[0008] A second groove is provided in the middle of the outer side surface of the hob shaft, a hydraulic power device is provided in the second groove, and blocking blocks are provided at both ends of the hob shaft, and the blocking blocks and the hob shaft are detachably connected.

[0009] Furthermore, the external sensing unit includes a pressure sensor, a temperature sensor, a vibration sensor and a rotation speed sensor, and the pressure sensor, the temperature sensor and the vibration sensor are fixedly arranged in the first groove;

[0010] The middle portion of the inner side surface of the hob cutter body is sandwiched between the first bearing and the second bearing, a gap is provided between the first bearing and the second bearing, the first bearing and the second bearing, the middle portion of the inner side surface of the hob cutter body and the hob shaft form a gap, a groove is provided in the middle portion of the inner side surface of the hob cutter body in the gap, a magnet is provided in the groove, and a speed sensor is provided on the outer side surface of the corresponding hob shaft;

[0011] The pressure sensor, temperature sensor, vibration sensor and rotation speed sensor are electrically connected to the main control circuit.

[0012] The pressure sensor, temperature sensor, and vibration sensor are directly fixed in the first groove where the hob shaft and bearing meet, adjacent to the contact surface between the bearing outer ring and the cutter body. Compared to installing detection equipment in locations such as the cutter box and cutter barrel, the direct detection method of the present invention greatly improves detection accuracy. All sensors are centrally arranged around the bearing system, and the monitoring data (force, temperature, vibration, speed) are all derived from the same physical area, facilitating the establishment of a multi-parameter coupling model. In addition, the hob structure is cleverly utilized, eliminating the need to modify the original hob layout and shape structure.

[0013] Furthermore, the built-in sensing unit includes a torque sensor, which is fixed inside the cavity of the hob shaft and is electrically connected to the main control circuit.

[0014] Furthermore, the main control circuit includes a controller, a battery and an analog-to-digital converter, the controller is connected to the external sensing unit and the built-in sensing unit respectively through the analog-to-digital converter, the output end of the controller is connected to the hydraulic power device, the battery is provided with a voltage conversion module, and the battery is connected to the controller, analog-to-digital converter, external sensing unit, built-in sensing unit and hydraulic power device through the voltage conversion module.

[0015] An analog-to-digital converter is set to complete the conversion of analog signals into digital signals, and a battery is set to power the entire circuit.

[0016] Furthermore, the hydraulic power device includes a hydraulic pump, the hydraulic pump is provided with an oil inlet pipe and an oil outlet pipe, the gap is filled with lubricating oil, the oil inlet pipe of the hydraulic pump is connected to the lubricating oil in the gap, the oil outlet pipe of the hydraulic pump is connected to the rodless cavity of the flat cylinder, the rod cavity of the flat cylinder is connected to a hose, and the hose is in communication with the gap where the lubricating oil is located;

[0017] The control end of the hydraulic pump is connected to a forward and reverse circuit, and the main control circuit controls the hydraulic pump through the forward and reverse circuit;

[0018] The end cover is sealed and connected to the hob shaft, the end cover is sealed and connected to the bearing, and the forward and reverse circuit is arranged inside the hob shaft.

[0019] The hydraulic power unit directly utilizes the existing lubricant within the cutter bearing gap as the hydraulic fluid for the flat cylinder, eliminating the need for a separate hydraulic oil tank and supply lines. This conserves internal space within the cutter. Control of the flat cylinder is achieved by controlling the forward and reverse rotation of the hydraulic pump. To increase the distance between the two bearings, the hydraulic pump rotates forward, forcing lubricant into the rodless chamber and pushing the piston. To reposition the bearings, the hydraulic pump rotates backward, and the spring force pushes the piston back.

[0020] Furthermore, a side panel is provided on the end cover, and the side panel is a hollow L-shaped plate. The side panel and the end cover are an integrated structure. A channel is provided between the end cover and the hob shaft, and the channel is connected to the side panel. A wireless communication module is provided in the side panel, and the wireless communication module is provided inside the transverse section of the side panel. The wireless communication module is wirelessly connected to the controller.

[0021] A wireless communication module is set up to complete the outward transmission of data, so staff do not need to go to the site to collect data, which improves work efficiency.

[0022] Furthermore, the blocking block and the hob shaft are connected by threads, and a hexagonal groove is provided on the blocking block. The blocking block can be opened with a hexagonal wrench to facilitate maintenance of the circuit part.

[0023] A second aspect of the present invention provides a torque adaptive algorithm for a torque adaptive hob, comprising:

[0024] Step 1: Given the torque sensitivity KT, temperature sensitivity Ktemp, pressure sensitivity Kp, speed sensitivity Kn, and vibration sensitivity Kv, the sensor comprehensive gain Ksensor is established by combining the torque weight coefficient wT, temperature weight coefficient wtemp, pressure weight coefficient wp, speed weight coefficient wn, and vibration weight coefficient wv as shown in formula (1):

[0025] Ksensor=wTKT+wtempKtemp+wpKp+wnKn+wvKv (1);

[0026] Step 2: Design the transfer function according to the fuzzy PID control algorithm. The transfer function is shown in formula (2):

[0027]

[0028] Among them, K P is the proportional coefficient, is the integral part, K d s is the differential part, (J s 2 +B s +K t ) is the dynamic characteristic of the hob mechanical system, J is the moment of inertia, B is the damping coefficient, Kt is the torque stiffness, and (τs+1) is the first-order inertia characteristic;

[0029] Step 3: The controller (14) adjusts the torque of the system according to G(S).

[0030] By establishing a transfer function for torque sensitivity KT, temperature sensitivity Ktemp, pressure sensitivity Kp, speed sensitivity Kn and vibration sensitivity Kv, combined with the torque weight coefficient wT, temperature weight coefficient wtemp, pressure weight coefficient wp, speed weight coefficient wn, and vibration weight coefficient wv, the torque control accuracy is improved and adaptive torque control is achieved based on sensor feedback.

[0031] Through the above technical solution, the beneficial effects of the present invention are:

[0032] 1. The present invention solves the problem of difficulty in detecting hob parameters and low detection accuracy. The pressure, temperature, and vibration sensors are directly embedded in the first groove, close to the contact surface between the bearing outer ring and the cutter body, avoiding the signal loss and interference of traditional indirect detection (such as installing a monitoring system on the cutter box or cutter barrel); the speed sensor senses the magnet in the groove on the inner side of the rotating hob cutter body to complete the speed detection, and the torque sensor is fixed to the inner cavity of the hob shaft to achieve synchronous acquisition of multi-dimensional parameters. All sensors are centrally arranged around the bearing system, and the data comes from the same physical area, which facilitates the establishment of a multi-parameter coupling model and accurate analysis of the hob operating status. At the same time, the wireless communication module realizes real-time wireless transmission of data, and staff do not need to collect data on site, which improves the efficiency of the detection operation and avoids the problem of detection based on work experience.

[0033] 2 The present invention realizes adaptive adjustment of torque. The torque adjustment unit adopts the innovative design of "flat cylinder + reaction spring + hydraulic power device", and realizes torque adaptation through dynamic adjustment of bearing spacing. The flat cylinder is set between the two bearings, directly acting on the torque transmission path, using the existing lubricating oil in the bearing gap as the hydraulic medium, omitting the independent oil tank and pipeline, simplifying the internal structure and reducing the risk of leakage. The hydraulic pump controls the movement of the cylinder piston by forward and reverse rotation, and realizes the adjustment of the bearing spacing in combination with the reset effect of the reaction spring. When the torque needs to be increased, the hydraulic pump is controlled to press the lubricating oil into the rodless cavity of the cylinder to push the piston; when it needs to be reset, the hydraulic pump is controlled to reverse and the spring force is combined to drive the piston back. At the adaptive control level, the multi-parameter sensitivity and weight coefficient are integrated through the sensor comprehensive gain model to establish a fuzzy PID control algorithm that matches the mechanical dynamic characteristics of the hob. This enables the controller to dynamically adjust the operating state of the hydraulic pump according to real-time monitoring data to achieve precise matching of torque output and working condition requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a structural diagram of a torque adaptive hob of the present invention;

[0035] Figure 2 The circuit diagram of a torque adaptive hob of the present invention is shown.

[0036] Figure numbers: 1 hob shaft, 2 external sensor unit, 3 end cover, 4 first groove, 5 flat cylinder, 6 hydraulic power unit, 7 reaction spring, 8 first bearing, 9 second bearing, 10 second groove, 11 blocking block, 12 gap, 13 torque sensor, 14 controller, 15 battery, 16 analog-to-digital converter, 18 hob cutter body, 19 forward and reverse circuit, 20 side plate, 21 wireless communication module, 201 pressure sensor, 202 temperature sensor, 203 vibration sensor, 204 speed sensor, 601 hydraulic pump. DETAILED DESCRIPTION

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0038] Example 1

[0039] like Figures 1-2 As shown, a torque adaptive hob comprises a hob shaft 1 and a hob cutter body 18, wherein the hob shaft 1 and the hob cutter body 18 are connected via a bearing, and end caps 3 are provided on both sides of the hob cutter body 18, and the end caps 3 are fixed to the hob shaft 1, and the hob shaft 1 is a cylindrical structure with a hollow interior and open ends on both sides, and two curved first grooves 4 are provided on the outer surface of the hob shaft 1 that cooperates with the bearing, and the two first grooves 4 are symmetrically arranged, and the first grooves 4 are provided with an external sensor unit 2, and the first groove 4 is communicated with the inner cavity of the hob shaft 1, and an internal sensor unit is provided in the inner cavity of the hob shaft (1), and both the external sensor unit 2 and the internal sensor unit are connected to a main control circuit;

[0040] The main control circuit is connected to a torque adjustment unit, which includes a flat cylinder 5, a hydraulic power device 6 and a reaction spring 7. The bearing includes a first bearing 8 and a second bearing 9. A flat cylinder 5 is provided between the first bearing 8 and the second bearing 9. The flat cylinder 5 is used to adjust the distance between the first bearing 8 and the second bearing 9. The flat cylinder 5 is connected to the hydraulic power device 6. The reaction spring 7 is respectively located between the two end covers 3 and the large end surface of the bearing inner ring. The reaction spring 7 is sleeved on the hob shaft 1. The hydraulic power device 6 is electrically connected to the main control circuit.

[0041] A second groove 10 is provided in the middle of the outer side surface of the hob shaft 1 , and a hydraulic power device 6 is provided in the second groove 10 . Blocking blocks 11 are provided at both ends of the hob shaft 1 , and the blocking blocks 11 and the hob shaft 1 are detachably connected.

[0042] The external sensing unit 2 includes a pressure sensor 201, a temperature sensor 202, a vibration sensor 203 and a rotation speed sensor 204, and the pressure sensor 201, the temperature sensor 202 and the vibration sensor 203 are fixedly arranged in the first groove 4;

[0043] The middle portion of the inner side surface of the hob cutter body 18 is sandwiched between the first bearing 8 and the second bearing 9. A gap is provided between the first bearing 8 and the second bearing 9. The first bearing 8 and the second bearing 9, the middle portion of the inner side surface of the hob cutter body 18, and the hob shaft 1 form a gap 12. A groove is provided in the middle portion of the inner side surface of the hob cutter body 18 within the gap 12. A magnet is provided in the groove. A speed sensor 204 is provided on the outer side surface of the corresponding hob shaft 1.

[0044] The pressure sensor 201 , the temperature sensor 202 , the vibration sensor 203 and the rotation speed sensor 204 are electrically connected to the main control circuit.

[0045] The built-in sensing unit includes a torque sensor 13 , which is fixed inside the cavity of the hob shaft 1 and is electrically connected to the main control circuit.

[0046] The main control circuit includes a controller 14, a battery 15 and an analog-to-digital converter 16. The controller 14 is connected to the external sensing unit 2 and the built-in sensing unit respectively through the analog-to-digital converter 16. The output end of the controller 14 is connected to the hydraulic power device 6. The battery 15 is provided with a voltage conversion module. The battery 15 is connected to the controller 14, the analog-to-digital converter 16, the external sensing unit 2, the built-in sensing unit and the hydraulic power device 6 through the voltage conversion module.

[0047] The hydraulic power unit 6 includes a hydraulic pump 601, which is provided with an oil inlet pipe and an oil outlet pipe. The gap 12 is filled with lubricating oil. The oil inlet pipe of the hydraulic pump 601 is connected to the lubricating oil in the gap 12, and the oil outlet pipe of the hydraulic pump 601 is connected to the rodless cavity of the flat cylinder 5. The rod cavity of the flat cylinder 5 is connected to a hose, and the hose is in communication with the gap 12 where the lubricating oil is located.

[0048] The control end of the hydraulic pump 601 is connected to the forward and reverse circuit 19, and the main control circuit controls the hydraulic pump 601 through the forward and reverse circuit 19;

[0049] The end cover 3 is sealedly connected to the hob shaft 1 , the end cover 3 is sealedly connected to the bearing, and the forward and reverse circuit 19 is arranged inside the hob shaft 1 .

[0050] A side panel 20 is provided on the end cover 3. The side panel 20 is a hollow L-shaped plate. The side panel 20 and the end cover 3 are an integrated structure. A channel is provided between the end cover 3 and the hob shaft 1. The channel is connected to the side panel 20. A wireless communication module 21 is provided in the side panel 20. The wireless communication module 21 is provided inside the transverse section of the side panel 20. The wireless communication module 21 is wirelessly connected to the controller 14.

[0051] The blocking block 11 and the hob shaft 1 are connected by threads, and a hexagonal groove is provided on the blocking block 11.

[0052] A torque adaptive algorithm for a torque adaptive hob, comprising:

[0053] Step 1: Given the torque sensitivity KT, temperature sensitivity Ktemp, pressure sensitivity Kp, speed sensitivity Kn, and vibration sensitivity Kv, the sensor comprehensive gain Ksensor is established by combining the torque weight coefficient wT, temperature weight coefficient wtemp, pressure weight coefficient wp, speed weight coefficient wn, and vibration weight coefficient wv as shown in formula (1):

[0054] Ksensor=wTKT+wtempKtemp+wpKp+wnKn+wvKv (1);

[0055] Step 2: Design the transfer function according to the fuzzy PID control algorithm. The transfer function is shown in formula (2):

[0056]

[0057] Among them, K P is the proportional coefficient, is the integral part, K d s is the differential part, (J s 2 +B S +K t ) is the dynamic characteristic of the hob mechanical system, J is the moment of inertia, B is the damping coefficient, Kt is the torque stiffness, and (τs+1) is the first-order inertia characteristic;

[0058] Step 3: The controller (14) adjusts the torque of the system according to G(S).

[0059] During operation, external sensing units collect signals: pressure sensor 201, temperature sensor 202, and vibration sensor 203, fixed in first groove 4 on the outer surface of the hob shaft 1, monitor the pressure, temperature, and vibration of the bearing outer ring in real time. Speed ​​sensor 204 collects the speed signal of the hob cutter body 18 by interacting with the outer surface of the hob shaft 1 through the magnet in the groove on the inner side of the hob cutter body 18. The detection signal is transmitted to the controller 14 via the analog-to-digital converter 16.

[0060] Built-in sensing unit signal acquisition: The torque sensor 13 is fixed in the hollow inner cavity of the hob shaft 1 to directly measure the torque value borne by the hob shaft 1, and the data is synchronously transmitted to the controller 14 through the analog-to-digital converter 16.

[0061] The controller 14 transmits the signal to the external device through the wireless communication module 21 .

[0062] Torque adaptive adjustment process:

[0063] Comprehensive gain calculation: The controller 14 calculates the sensor comprehensive gain based on the preset sensor sensitivities (including torque sensitivity, temperature sensitivity, pressure sensitivity, speed sensitivity, and vibration sensitivity) and their corresponding weight coefficients, which is used to evaluate the current multi-parameter fusion monitoring status.

[0064] Fuzzy PID control algorithm: The controller 14 analyzes the current torque deviation and change trend based on the fuzzy PID control logic, and generates a control signal for the hydraulic pump 601 in combination with the dynamic characteristics of the hob mechanical system (such as moment of inertia, damping coefficient, torque stiffness, etc.).

[0065] Torque dynamic adjustment: The controller 14 controls the start, stop and direction of the hydraulic pump 601 through the forward and reverse circuit 19.

[0066] When the torque needs to be increased, the hydraulic pump 601 draws lubricating oil from the gap 12 between the bearings and injects it into the rodless cavity of the flat cylinder 5 through the oil outlet pipe, pushing the piston to increase the distance between the first bearing 8 and the second bearing 9, and the reaction spring 7 is compressed to store energy.

[0067] When the torque needs to be reduced, the hydraulic pump 601 runs in reverse, and the lubricating oil in the rod cavity of the flat cylinder 5 flows back to the gap 12 through the hose. The reaction spring 7 releases the elastic force and pushes down the first bearing 8 and the second bearing 9 to reset the flat cylinder 5.

[0068] During the adjustment process, the pressure sensor 201, temperature sensor 202, vibration sensor 203, speed sensor 204 and torque sensor 13 continuously monitor real-time parameters and feed back to the controller 14 to form a closed-loop control, thereby achieving dynamic adaptive adjustment of the torque according to the working conditions.

[0069] The embodiments described above are only preferred embodiments of the present invention and do not limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A torque adaptive hob, comprising a hob shaft (1) and a hob body (18), wherein the hob shaft (1) and the hob body (18) are connected via a bearing, and end covers (3) are provided on both sides of the hob body (18), and the end covers (3) are fixed to the hob shaft (1), characterized in that: The hob shaft (1) is a cylindrical structure with a hollow interior and open on both sides. Two curved first grooves (4) are provided on the outer surface of the hob shaft (1) that cooperates with the bearing. The two first grooves (4) are symmetrically arranged. An external sensing unit (2) is provided in the first groove (4). The first groove (4) is communicated with the inner cavity of the hob shaft (1). An internal sensing unit is provided in the inner cavity of the hob shaft (1). Both the external sensing unit (2) and the internal sensing unit are connected to a main control circuit. The main control circuit is connected to a torque adjustment unit, the torque adjustment unit includes a flat oil cylinder (5), a hydraulic power device (6) and a reaction spring (7), the bearing includes a first bearing (8) and a second bearing (9), a flat oil cylinder (5) is provided between the first bearing (8) and the second bearing (9), the flat oil cylinder (5) is used to adjust the distance between the first bearing (8) and the second bearing (9), the flat oil cylinder (5) is connected to the hydraulic power device (6), the reaction spring (7) is respectively located between the two end covers (3) and the large end surface of the bearing inner ring, the reaction spring (7) is sleeved on the hob shaft (1), and the hydraulic power device (6) is electrically connected to the main control circuit; A second groove (10) is provided in the middle of the outer side surface of the hob shaft (1), a hydraulic power device (6) is provided in the second groove (10), and blocking blocks (11) are provided at both ends of the hob shaft (1), and the blocking blocks (11) and the hob shaft (1) are detachably connected.

2. The torque adaptive hob according to claim 1, characterized in that: The external sensing unit (2) comprises a pressure sensor (201), a temperature sensor (202), a vibration sensor (203) and a rotation speed sensor (204); the pressure sensor (201), the temperature sensor (202) and the vibration sensor (203) are fixedly arranged in the first groove (4); The middle portion of the inner side surface of the hob cutter body (18) is sandwiched between the first bearing (8) and the second bearing (9), a gap is provided between the first bearing (8) and the second bearing (9), the first bearing (8) and the second bearing (9) and the middle portion of the inner side surface of the hob cutter body (18) and the hob cutter shaft (1) form a gap (12), a groove is provided in the middle portion of the inner side surface of the hob cutter body (18) in the gap (12), a magnet is provided in the groove, and a speed sensor (204) is provided on the outer side surface of the corresponding hob cutter shaft (1); The pressure sensor (201), the temperature sensor (202), the vibration sensor (203) and the rotation speed sensor (204) are electrically connected to the main control circuit.

3. The torque adaptive hob according to claim 1, characterized in that: The built-in sensing unit comprises a torque sensor (13), the torque sensor (13) is fixed inside the cavity of the hob shaft (1), and the torque sensor (13) is electrically connected to the main control circuit.

4. The torque adaptive hob according to claim 1, characterized in that: The main control circuit comprises a controller (14), a battery (15) and an analog-to-digital converter (16); the controller (14) is connected to an external sensing unit (2) and a built-in sensing unit respectively through the analog-to-digital converter (16); an output end of the controller (14) is connected to a hydraulic power device (6); the battery (15) is provided with a voltage conversion module; the battery (15) is connected to the controller (14), the analog-to-digital converter (16), the external sensing unit (2), the built-in sensing unit and the hydraulic power device (6) through the voltage conversion module.

5. The torque adaptive hob according to claim 2, characterized in that: The hydraulic power device (6) includes a hydraulic pump (601), the hydraulic pump (601) is provided with an oil inlet pipe and an oil outlet pipe, the gap (12) is filled with lubricating oil, the oil inlet pipe of the hydraulic pump (601) is connected to the lubricating oil in the gap (12), the oil outlet pipe of the hydraulic pump (601) is connected to the rodless cavity of the flat oil cylinder (5), the rod cavity of the flat oil cylinder (5) is connected to a hose, and the hose is in communication with the gap (12) where the lubricating oil is located; The control end of the hydraulic pump (601) is connected to a forward and reverse circuit (19), and the main control circuit controls the hydraulic pump (601) via the forward and reverse circuit (19); The end cover (3) and the hob shaft (1) are sealed and connected, the end cover (3) and the bearing are sealed and connected, and the forward and reverse circuit (19) is arranged inside the hob shaft (1).

6. The torque adaptive hob according to claim 4, characterized in that: The end cover (3) is provided with a side plate (20), the side plate (20) is a hollow L-shaped plate body, the side plate (20) and the end cover (3) are an integrated structure, a channel is provided between the end cover (3) and the hob shaft (1), the channel is connected to the side plate (20), a wireless communication module (21) is provided in the side plate (20), the wireless communication module (21) is provided inside the transverse section of the side plate (20), and the wireless communication module (21) is wirelessly connected to the controller (14).

7. The torque adaptive hob according to claim 1, characterized in that: The blocking block (11) and the hob shaft (1) are connected by threads, and a hexagonal groove is provided on the blocking block (11).

8. A torque adaptive algorithm based on a torque adaptive hob according to any one of claims 1 to 7, characterized in that: include: Step 1: Given the torque sensitivity KT, temperature sensitivity Ktemp, pressure sensitivity Kp, speed sensitivity Kn, and vibration sensitivity Kv, the sensor comprehensive gain Ksensor is established by combining the torque weight coefficient wT, temperature weight coefficient wtemp, pressure weight coefficient wp, speed weight coefficient wn, and vibration weight coefficient wv as shown in formula (1): Ksensor=wTKT+wtempKtemp+wpKp+wnKn+wvKv (1); Step 2: Design the transfer function according to the fuzzy PID control algorithm. The transfer function is shown in formula (2): Among them, K P is the proportional coefficient, is the integral part, K d s is the differential part, (J s 2 +B s +K t ) is the dynamic characteristic of the hob mechanical system, J is the moment of inertia, B is the damping coefficient, Kt is the torque stiffness, and (τs+1) is the first-order inertia characteristic; Step 3: The controller (14) adjusts the torque of the system according to G(S).

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