Testing device and method for thrust vector regulation and control of synchronous pushing and splicing shield

Abstract

The invention discloses a test device and method for thrust vector regulation and control of a synchronous pushing and splicing shield. The test device comprises a simulation shield, a load simulation system, a propelling system and a follow-up supporting system. Wherein the load simulation system is used for simulating rock stratum resistance during shield tunneling, the propulsion system is used for simulating hydraulic cylinder thrust during shield tunneling, and the follow-up support system provides follow-up support for the simulated shield, so that the simulated shield can realize various tunneling postures during underground tunneling; the load simulation system and the propulsion system are installed on the same side and are both arranged on the inner side of the simulation shield. The follow-up supporting system is connected with the simulation shield and the base through an air spring and a universal joint. By adopting the technical scheme of the invention, the trajectory tracking control test requirement of the synchronous pushing and splicing shield is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shield machines, and particularly relates to a test device and method for synchronous push-assembling shield thrust vector regulation. BACKGROUND

[0002] A shield machine is a complex engineering equipment with functions of excavating and cutting soil, conveying soil, assembling tunnel lining, measuring and guiding deviation correction, etc. With the comprehensive promotion of new urbanization in China, city area and intercity long tunnels have become the main engineering construction projects of shield construction as the controlling projects for improving urban travel and promoting regional interconnection. Since the construction mileage of city area and intercity long tunnels is longer, the diameter is larger, and the number of segments is more, higher requirements are put forward for construction period, safety and quality. The traditional shield construction process is "pushing, stopping and assembling", that is, the shield machine needs to stop for segment assembly after excavating a ring, and then continues to excavate. This "walking and stopping" mode makes it difficult to improve the construction efficiency. The synchronous push-assembling shield technology can realize parallel operation of the two processes of excavation and assembly, and the efficiency is improved by 30%-50% compared with the traditional construction method.

[0003] In the actual excavation process of the shield, due to the uncertainty of the geological conditions of the working environment and the working conditions, and the high complexity of the shield excavation equipment, whether the shield can accurately and stably run along the preset trajectory or path is a key factor to ensure the quality of tunnel construction, and the excavation posture of the shield machine and the preset trajectory error is too large, which will inevitably lead to the deviation of the excavation trajectory from the target axis. In the current engineering application, the pushing system, as the key part of the shield machine excavation, mainly adjusts the hydraulic cylinder parameters according to the excavation posture of the shield machine, so as to meet the requirements of the conventional turning and deviation correction control in the working process of the shield. Then the deviation correction effect completely depends on the working experience of the operator, and this situation cannot guarantee the construction quality and efficiency of the tunnel.

[0004] Safety, reliability and robustness are the problems that must be properly handled in the development of shield synchronous push-assembling technology, and are also the key to limit the shield from the research prototype to commercial application. Since the shield machine is complex in design, high in cost and difficult to directly construct for experimental research, the scale model experiment has become an important means to research and verify the new technology of shield synchronous push-assembling. At present, the scale test benches developed by domestic shield manufacturers and research institutes mainly include the following three functions in the simulation experiment of the shield excavation process:

[0005] (1) Simulation test research on the performance of shield tunneling construction. Shield tunneling process involves the interaction of cutterhead, support pressure balance control, propulsion system and surrounding rock environment. This type of test focuses on shield structure parameters, working parameters, soil disturbance and their mutual relationship, etc. to provide a theoretical basis for shield tunneling parameter matching and optimization. For example, the Φ2.5m slurry shield scale model comprehensive test bench developed by Zhejiang University has multiple excavation operation simulation test functions such as shield propulsion, cutterhead driving, slurry pressure balance, slurry circulation and treatment.

[0006] (2) Test research on the change of stratum displacement field caused by shield tunneling. This type of test mainly uses organic glass soil box and centrifugal simulation machine for test, and uses real object for mechanical similarity principle analysis, which can correctly simulate and confirm the load acting on the segment, and provide reference and help for shield propulsion simulation test. For example, the Φ1.8m shield simulation test bench developed by Shanghai Tunnel Co., Ltd. is equipped with a Φ3.8m*6m simulation soil box and a test data acquisition and analysis system.

[0007] (3) Test research on the performance degradation law of shield components during service. Shield has huge and variable load, and encounters complex and variable geological conditions, which leads to problems such as poor fault positioning accuracy, low diagnosis efficiency of key components, weak timeliness and high cost of maintenance. This type of test focuses on fault evolution law and health operation and maintenance measures to provide technical support for establishing domestic shield operation and maintenance support system. For example, the Φ3.2m shield comprehensive simulation test bench developed by Zhejiang University and Northern Heavy Industries Group Co., Ltd. in 2012 can realize the state monitoring of cutterhead cutter wear, main bearing life and other shield components.

[0008] In summary, with the increasing complexity of tunnel construction on the excavation equipment, the comprehensive simulation test bench for the whole process of shield tunneling presents a large-scale and multi-system development trend. However, the existing test benches have certain limitations in the aspect of synchronous push-pull shield tunneling attitude continuous autonomous regulation and control technology. Focusing on the synchronous push-pull technology of shield, only the Φ6.8m synchronous push-pull test bench developed by Shanghai Tunnel Co., Ltd. among the existing test benches contains 17 groups of propulsion hydraulic cylinders, all of which are controlled by independent proportional pressure reducing valves, and are equipped with stroke and pressure sensors. Considering the under-actuated characteristics of the shield, it does not have the simulation of 3 degrees of freedom motion of shield propulsion, horizontal deflection and pitch deflection. Considering the continuous trajectory tracking control problem under long and large tunnels, it is necessary to simulate the multi-ring continuous process of shield. In addition, the environmental load simulation system is not comprehensive enough, and lacks the semi-physical simulation condition of mapping the field construction data to the simulation test bench. SUMMARY

[0009] The technical problem to be solved by the present application is to provide a test device and method for synchronous push-pull shield thrust vector regulation.

[0010] To achieve the above object, the application adopts the following technical scheme:

[0011] A test device for synchronous push-pushing shield thrust vector control adopts the same side to top type, comprising: a simulation shield, a load simulation system, a propulsion system, a follow-up support system; wherein the load simulation system is used to simulate the rock resistance suffered by the shield during tunneling, the propulsion system is used to simulate the hydraulic cylinder thrust of the shield during tunneling, and the follow-up support system provides follow-up support for the simulation shield, so that the simulation shield can realize various tunneling postures during underground tunneling; the load simulation system and the propulsion system are installed on the same side and are arranged on the inner side of the simulation shield; the follow-up support system connects the simulation shield and the base through air springs and universal joints.

[0012] As a preferred, the simulation shield is composed of a force ring, a double-layer cover plate, a rear support plate, a shield cylinder and a base; the force ring is connected to the propulsion system through the first to fourth propulsion Hooke's joints and bears the propulsion pressure of the propulsion system; the double-layer cover plate is connected to the first to sixth load Hooke's joints and bears the simulated propulsion pressure of the simulation propulsion system; the double-layer cover plate is internally provided with a six-degree-of-freedom force sensor for monitoring the stress condition of the force ring; the rear support plate is connected to the propulsion system and the load simulation system through the first to fourth load Hooke's joints and the first to sixth propulsion Hooke's joints at the front end and is welded to the base at the lower end; the shield cylinder is welded to the double-layer cover plate and is connected to the air spring through bolts at the lower end.

[0013] As a preferred, the load simulation system is composed of a first load side hydraulic cylinder, a second load side hydraulic cylinder, a third load side hydraulic cylinder, a fourth load side hydraulic cylinder, a first load side Hooke's joint, a second load side Hooke's joint, a third load side Hooke's joint, a fourth load side Hooke's joint, a fifth load side Hooke's joint, a sixth load side Hooke's joint 210, a seventh load side Hooke's joint, an eighth load side Hooke's joint and a six-dimensional force sensor; the four load hydraulic cylinders are arranged uniformly along the circumference of the force ring; the front end of the first load hydraulic cylinder is connected to the force ring through the first load Hooke's joint, the rear end is connected to the rear support plate through the fifth load Hooke's joint, and the other three hydraulic cylinders are connected in the same way, and Hooke's joints are connected at both ends to realize multi-degree-of-freedom thrust vector.

[0014] As preferred, the propulsion system is composed of the first propulsion-side hydraulic cylinder, the second propulsion-side hydraulic cylinder, the third propulsion-side hydraulic cylinder, the fourth propulsion-side hydraulic cylinder, the fifth propulsion-side hydraulic cylinder, the sixth propulsion-side hydraulic cylinder, the first propulsion-side hooke joint, the second propulsion-side hooke joint, the third propulsion-side hooke joint, the fourth propulsion-side hooke joint, the fifth propulsion-side hooke joint, the sixth propulsion-side hooke joint, the seventh propulsion-side hooke joint, the eighth propulsion-side hooke joint, the ninth propulsion-side hooke joint, the tenth propulsion-side hooke joint, the eleventh propulsion-side hooke joint, and the twelfth propulsion-side hooke joint; wherein the six propulsion hydraulic cylinders are arranged in parallel and evenly on the outside of the load hydraulic cylinder along the circumference of the shield body, the front end of the first propulsion hydraulic cylinder is connected with the double-layer cover plate through the first propulsion hooke joint, and the rear end is connected with the rear support plate through the seventh propulsion hooke joint, and the other five propulsion hydraulic cylinders are connected in the same way.

[0015] As preferred, the follow-up support system is composed of the air spring, the sliding table, the first outer side support sliding rail, the first inner side support sliding rail, the first passive support chain, the second outer side support sliding rail, the second inner side support sliding rail, and the second passive support chain; wherein the first inner side support sliding rail is connected with the shield body and the force ring through bolts, the first outer side support sliding rail is welded on the base, the first inner side support sliding rail and the first outer side support sliding rail are connected with the two sides of the first passive support chain through pulleys, and the other side support sliding rail is connected in the same way, so as to form a three-degree-of-freedom support chain, meet the attitude of the shield body under different direction thrusts, and be similar to the real shield; the top end of the air spring is connected with the shield body through a flange seat, and the bottom is connected with the sliding table through a flange seat.

[0016] As preferred, the three-degree-of-freedom support chain, the air spring, and the bottom sliding table are used as the shield follow-up support mechanism; wherein the follow-up support mechanism is distributed under the bottom sliding table through a plurality of heavy-load universal balls, the heavy-load universal balls are in contact with the steel plate with small frictional resistance to support the whole follow-up support mechanism; each heavy-load universal ball can roll on the steel plate, the rolling part is a spherical body, and the whole follow-up support mechanism can realize forward and backward translation, left and right translation, and rotation in the horizontal plane.

[0017] The application also provides a test method for synchronously pushing and assembling the shield thrust vector regulation, wherein a total station is arranged 4 meters in front of the shield body in the test process; the sliding rails are arranged on both sides of the shield body and both sides of the air spring, and are used for limiting the moving direction of the shield body when the hydraulic cylinder works; two small prisms are installed on the sliding rails on both sides of the shield body, and a large prism is installed in the center; wherein

[0018] During the test, first, the total station instrument is leveled, and it is confirmed that the gravity direction is the Y axis, then the spatial positions of the left small prism and the right small prism are calibrated in sequence, the X axis obtained by the connection of the two small prisms is automatically calibrated by the total station instrument, the XYZ absolute coordinate system of the shield body is automatically established by the total station instrument according to the X axis and the Y axis; finally, the large prism at the center of the shield body is automatically calibrated by the total station instrument, and the large prism pose information is measured in real time, and the shield body pose information is solved through the large prism pose information.

[0019] The test device and test method for synchronous pushing and splicing shield thrust vector active control of the application focus on the most core function of the synchronous pushing and splicing shield test bench: shield thrust vector simulation and pose measurement. This function mainly relies on the thrust control of the propulsion system and the load simulation system to ensure that the shield can simulate the pose parameters in the actual working state according to the given thrust, so as to realize the track tracking control test requirements of the synchronous pushing and splicing shield. The application has the following advantages: first, the test device conforms to the multi-dimensional space motion characteristics of the shield, and can realize various running postures such as forward movement, left and right swing and up and down pitch; second, the test device is equipped with three propulsion system control loops, which can realize various control requirements of pressure control and pressure-flow composite control. Third, the test bench is equipped with a shield pose measurement total station instrument, which can automatically measure the real-time pose parameters of the shield. The synchronous pushing and splicing test device proposed in the application can realize the rapid verification of the intelligent decision of the shield synchronous pushing and splicing thrust vector, and the test efficiency is greatly improved. In addition, all kinds of components used in the application are selected according to the actual size and functional requirements of the components of the synchronous pushing and splicing shield, which effectively restores the real working state of the shield. At the same time, the application has excellent expandability, and the hydraulic components can be easily replaced, which is convenient for carrying new developed hydraulic systems for performance verification test. In summary, the application has great application potential in the synchronous pushing and splicing shield test. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, below will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0021] Figure 1 A schematic diagram of a test device for synchronous pushing and splicing shield thrust vector regulation according to an embodiment of the application;

[0022] Figure 2 A schematic diagram of a simulated shield; wherein (a) is a sectional view of the simulated shield, and (b) is a side view of the simulated shield;

[0023] Figure 3Load system diagram; wherein (a) is the right side view of the load system, (b) is the left side view of the load system;

[0024] Figure 4 Propulsion system diagram;

[0025] Figure 5 Follow-up structure diagram;

[0026] Figure 6 Passive branch chain structure diagram;

[0027] Figure 7 Air spring diagram;

[0028] Figure 8 Prism arrangement position diagram;

[0029] Wherein 1 is a simulated shield, 2 is a load simulation system, 3 is a propulsion system, 4 is a follow-up support system, 101 is a force ring, 102 is a double-layer cover plate, 103 is a rear support plate, 104 is a shield cylinder, 105 is a base, 201 is a first load side hydraulic cylinder, 202 is a second load side hydraulic cylinder, 203 is a third load side hydraulic cylinder, 204 is a fourth load side hydraulic cylinder, 205 is a first load side hooke joint, 206 is a second load side hooke joint, 207 is a third load side hooke joint, 208 is a fourth load side hooke joint, 209 is a fifth load side hooke joint, 210 is a sixth load side hooke, 211 is a seventh load side hooke joint, 212 is an eighth load side hooke joint, 213 is a six-dimensional force sensor 213, 301 is a first propulsion side hydraulic cylinder, 302 is a second propulsion side hydraulic cylinder, 303 is a third propulsion side hydraulic cylinder, 304 is a fourth propulsion side hydraulic cylinder, 305 is a fifth propulsion side hydraulic cylinder, 306 is a sixth propulsion side hydraulic cylinder, 307 is a first propulsion side hooke joint, 308 is a second propulsion side hooke joint, 309 is a third propulsion side hooke joint, 310 is a fourth propulsion side hooke joint, 311 is a fifth propulsion side hooke joint, 312 is a sixth propulsion side hooke joint, 313 is a seventh propulsion side hooke joint, 314 is an eighth propulsion side hooke joint, 315 is a ninth propulsion side hooke joint, 316 is a tenth propulsion side hooke joint, 317 is an eleventh propulsion side hooke joint, 318 is a twelfth propulsion side hooke joint, 401 is an air spring, 402 is a sliding table, 403 is a first outer side support sliding rail, 404 is a first inner side support sliding rail, 405 is a first passive branch chain, 406 is a second outer side support sliding rail, 407 is a second inner side support sliding rail, 408 is a second passive branch chain. DETAILED DESCRIPTION

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1:

[0033] like Figures 1 to 7 As shown, this embodiment of the invention provides a test device for controlling the thrust vector of a synchronously pushing and assembling shield tunnel. It adopts a same-side, top-down design and includes: a simulated shield tunnel, a load simulation system, a propulsion system, and a follow-up support system. The load simulation system simulates the rock resistance encountered by the shield tunneling machine during excavation; the propulsion system simulates the hydraulic cylinder thrust during shield tunneling; and the follow-up support system provides follow-up support for the simulated shield tunnel, enabling it to achieve various tunneling postures during underground excavation. The load simulation system and the propulsion system are installed on the same side, both located inside the simulated shield tunnel. The follow-up support system connects the simulated shield tunnel to the base via air springs and universal joints.

[0034] In one embodiment of the present invention, the simulated tunnel boring machine (TBM) consists of a load-bearing ring, a double-layer cover plate, a rear support plate, a shield cylinder, and a base. The load-bearing ring is connected to the propulsion system via first to fourth propulsion Hooke hinges and bears the propulsion pressure of the propulsion system. The double-layer cover plate is connected to first to sixth load Hooke hinges and bears the simulated propulsion pressure of the simulated propulsion system. A six-degree-of-freedom force sensor is installed inside the double-layer cover plate to monitor the force on the load-bearing ring. The front end of the rear support plate is connected to the propulsion system and the load simulation system via first to fourth load Hooke hinges and first to sixth propulsion Hooke hinges, and the lower end is welded to the base. The shield cylinder is welded to the double-layer cover plate, and the lower end is connected to an air spring via bolts.

[0035] As an embodiment of the present application, the load simulation system is composed of a first load-side hydraulic cylinder, a second load-side hydraulic cylinder, a third load-side hydraulic cylinder, a fourth load-side hydraulic cylinder, a first load-side hooke joint, a second load-side hooke joint, a third load-side hooke joint, a fourth load-side hooke joint, a fifth load-side hooke joint, a sixth load-side hooke joint, a seventh load-side hooke joint, an eighth load-side hooke joint, and a six-dimensional force sensor. The four load hydraulic cylinders are arranged evenly along the circumference of the load ring. The first load hydraulic cylinder is connected to the load ring through the first load hooke joint at the front end and connected to the rear support plate through the fifth load hooke joint at the rear end. The second load hydraulic cylinder is connected to the load ring through the second load hooke joint at the front end and connected to the rear support plate through the sixth load hooke joint at the rear end. The third load hydraulic cylinder is connected to the load ring through the third load hooke joint at the front end and connected to the rear support plate through the seventh load hooke joint at the rear end. The fourth load hydraulic cylinder is connected to the load ring through the fourth load hooke joint at the front end and connected to the rear support plate through the eighth load hooke joint at the rear end. The above structure realizes multi-degree-of-freedom thrust vectoring.

[0036] As an embodiment of the present application, the propulsion system is composed of a first propulsion-side hydraulic cylinder, a second propulsion-side hydraulic cylinder, a third propulsion-side hydraulic cylinder, a fourth propulsion-side hydraulic cylinder, a fifth propulsion-side hydraulic cylinder, a sixth propulsion-side hydraulic cylinder, a first propulsion-side hooke joint, a second propulsion-side hooke joint, a third propulsion-side hooke joint, a fourth propulsion-side hooke joint, a fifth propulsion-side hooke joint, a sixth propulsion-side hooke joint, a seventh propulsion-side hooke joint, an eighth propulsion-side hooke joint, a ninth propulsion-side hooke joint, a tenth propulsion-side hooke joint, an eleventh propulsion-side hooke joint, and a twelfth propulsion-side hooke joint. The six propulsion hydraulic cylinders are arranged evenly along the circumference of the shield outside the load hydraulic cylinders. The first propulsion hydraulic cylinder is connected to the double-layer cover plate through the first propulsion hooke joint at the front end and connected to the rear support plate through the seventh propulsion hooke joint at the rear end. The second propulsion hydraulic cylinder is connected to the double-layer cover plate through the second propulsion hooke joint at the front end and connected to the rear support plate through the eighth propulsion hooke joint at the rear end. The third propulsion hydraulic cylinder is connected to the double-layer cover plate through the third propulsion hooke joint at the front end and connected to the rear support plate through the ninth propulsion hooke joint at the rear end. The fourth propulsion hydraulic cylinder is connected to the double-layer cover plate through the fourth propulsion hooke joint at the front end and connected to the rear support plate through the tenth propulsion hooke joint at the rear end. The fifth propulsion hydraulic cylinder is connected to the double-layer cover plate through the fifth propulsion hooke joint at the front end and connected to the rear support plate through the eleventh propulsion hooke joint at the rear end. The sixth propulsion hydraulic cylinder is connected to the double-layer cover plate through the sixth propulsion hooke joint at the front end and connected to the rear support plate through the twelfth propulsion hooke joint at the rear end.

[0037] As one embodiment of the present invention, the follow-up support system consists of an air spring, a slide table, a first outer support slide rail, a first inner support slide rail, a first passive branch, a second outer support slide rail, a second inner support slide rail, and a second passive branch; wherein, the first inner support slide rail is bolted to the shield body and the force-bearing ring, the first outer support slide rail is welded to the base, the first inner support slide rail and the first outer support slide rail are connected to both sides of the first passive branch through pulleys, and the other support slide rail is connected in the same way, thereby forming a three-degree-of-freedom branch, which satisfies the requirement that the shield body's attitude is similar to that of a real shield machine when subjected to thrust in different directions; the top of the air spring is connected to the shield body with a flange seat, and the bottom is connected to the slide table with a flange seat.

[0038] As one embodiment of the present invention, a three-degree-of-freedom branch, an air spring, and a bottom slide are used as the shield body follow-up support mechanism. The follow-up support mechanism uses several heavy-duty universal balls distributed under the bottom slide. The heavy-duty universal balls contact the steel plate with low frictional resistance to support the entire follow-up support mechanism. Each heavy-duty universal ball can roll on the steel plate. The rolling part is a ball, realizing the three movements of the entire follow-up support mechanism in the horizontal plane: forward and backward translation, left and right translation, and rotation.

[0039] Furthermore, the three-degree-of-freedom support chain employs a PRR support chain as a passive support chain installed on both sides of the shield body. The P-joint (sliding joint) is mounted on the outer support rail, achieving smooth linear movement on the outer support rail via multiple pairs of rollers. The R-joint (rotational joint) has its axis designed for both vertical and roll directions, thus achieving three degrees of rotational freedom. This support chain provides the entire shield body with horizontal torsional and vertical pitch freedom while strictly limiting the shield body's roll freedom. At the bottom of the shield body, this invention innovatively uses industrial airbags instead of traditional passive support chains. This not only effectively supports the weight of the shield but also gives the shield body vertical adjustment flexibility. The air springs are first pre-inflated, and a level is placed on top of the shield body. The air spring pressure is continuously adjusted until the level shows that it is level, confirming that the air springs have provided sufficient support force. During shield advancement, due to its underactuated characteristics, it only possesses three degrees of freedom: forward, vertical pitch, and horizontal sway. Air springs possess relative motion margins in these three degrees of freedom, enabling smooth, flexible transmission and efficient control of amplitude and vibration loads.

[0040] In one embodiment of this invention, to achieve synchronous pushing and splicing, the actual shield tunneling system requires some hydraulic cylinders to be in a retracted state and others in a pushing state. However, this test bench uses a same-side top-down configuration, with both the load hydraulic cylinder and the pushing hydraulic cylinder connected by flanges at both ends. This configuration makes retraction impossible, requiring a low-pressure follow-up method. Therefore, this invention allows the pushing hydraulic cylinder to be configured with any control loop, while the retracting hydraulic cylinder can only be configured with pressure-flow composite control. Specifically, the pressure and flow of the pushing hydraulic cylinder in the extended state can be freely adjusted, while the pushing hydraulic cylinder in the retracted state will de-energize the proportional relief valve, thus achieving the lowest controllable pressure.

[0041] This invention provides an experimental device for the active control of thrust vector in synchronous tunnel boring machines (TBMs). This device can be used to verify the technical effectiveness of thrust vector decision-making and pressure-flow composite control. This invention can be understood as a scaled-down test bench designed for researching and verifying synchronous TBM assembly technology, based on the complex and expensive structure of the TBM. This test bench can be used for simulation experiments on TBM tunneling performance, experimental research on changes in the ground displacement field caused by TBM tunneling, and experimental research on the performance degradation patterns of TBM components during service. This avoids the problems of high costs and sensitive construction risks associated with using prototype TBMs for testing.

[0042] The introduction of this experimental setup offers several advantages for the future development of synchronous tunnel boring machine (TBM) technology: First, it equips the test bench with a corresponding geological environment simulation device, forming a complete tunneling simulation test system. This helps researchers simulate the tunneling process of a TBM in a laboratory environment, studying the impact of various tunneling parameters and geological conditions on the tunneling effect, and facilitating the innovation of intelligent decision-making and control methods for TBM propulsion systems. Second, compared with traditional integrated simulation test benches, the scaled-down test bench of this invention has the advantages of lower test costs, shorter cycles, and lower risks. It can significantly reduce the required test time and research costs while ensuring the accuracy of experimental results. Third, when conducting geological environment simulation tests, a smaller geological environment simulation system can be designed compared to an integrated simulation test bench, but the test results will not be affected by boundary effects. This allows the test rig to more flexibly simulate different geological environments, study the adaptability and stability of the shield tunneling machine under different geological conditions, and the impact of shield tunneling on the surrounding rock disturbance; fourth, the test rig can not only be used for tunneling simulation tests, but also for studying various auxiliary systems of the shield tunneling system, such as the slag removal system, the segment assembly system, and the synchronous grouting system, and analyzing a series of difficult problems such as how the shield thrust vector is determined under the interaction of multiple systems.

[0043] Example 2:

[0044] This invention also provides a test method for controlling the thrust vector of a synchronously assembled tunnel boring machine, such as...Figure 8 As shown, during the test, a total station was positioned 4 meters directly in front of the shield; slide rails were installed on both sides of the shield and on both sides of the air spring to limit the direction of shield movement when the hydraulic cylinders were working; two small prisms were installed on the slide rails on both sides of the shield, and a large prism was installed in the center; among them,

[0045] During the experiment, the total station was first leveled, and the direction of gravity was confirmed as the Y-axis. Then, the spatial positions of the left and right small prisms were calibrated in sequence. The X-axis obtained by connecting the two small prisms was automatically calibrated by the total station. Based on the X-axis and Y-axis, the total station automatically established the XYZ absolute coordinate system of the shield body. Finally, the total station automatically calibrated the large prism at the center of the shield body and measured the pose information of the large prism in real time. The pose information of the shield body was solved by the pose information of the large prism.

[0046] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A test device for controlling the thrust vector of a synchronously assembled shield tunnel, characterized in that, The system adopts a same-side, top-mounted design and includes: a simulated tunnel boring machine (TBM), a load simulation system, a propulsion system, and a follow-up support system. The load simulation system simulates the rock resistance encountered by the TBM during tunneling, the propulsion system simulates the hydraulic cylinder thrust during tunneling, and the follow-up support system provides follow-up support for the simulated TBM, enabling it to achieve various tunneling postures during underground excavation. The load simulation system and the propulsion system are installed on the same side and are both located inside the simulated TBM. The follow-up support system connects the simulated TBM to the base via air springs and universal joints.

2. The experimental device for synchronous shield tunneling thrust vector control as described in claim 1, characterized in that, The simulated tunnel boring machine (TBM) consists of a load-bearing ring, double-layer cover plates, a rear support plate, a shield cylinder, and a base. The load-bearing ring is connected to the propulsion system via the first to fourth propulsion Hooke hinges and bears the propulsion pressure of the propulsion system. The double-layer cover plates are connected to the first to sixth load Hooke hinges and bear the simulated propulsion pressure of the simulated propulsion system. The double-layer cover plates are equipped with six-degree-of-freedom force sensors to monitor the stress on the load-bearing ring. The front end of the rear support plate is connected to the propulsion system and the load simulation system via the first to fourth load Hooke hinges and the first to sixth propulsion Hooke hinges, and the lower end is welded to the base. The shield cylinder is welded to the double-layer cover plates, and the lower end is connected to an air spring via bolts.

3. The experimental device for synchronous shield tunneling thrust vector control as described in claim 2, characterized in that, The load simulation system consists of a first load-side hydraulic cylinder, a second load-side hydraulic cylinder, a third load-side hydraulic cylinder, a fourth load-side hydraulic cylinder, a first load-side Hooke hinge, a second load-side Hooke hinge, a third load-side Hooke hinge, a fourth load-side Hooke hinge, a fifth load-side Hooke hinge, a sixth load-side Hooke hinge, a seventh load-side Hooke hinge, an eighth load-side Hooke hinge, and a six-dimensional force sensor. The four load hydraulic cylinders are arranged parallel to each other and evenly along the circumference of the load-bearing ring. The front end of the first load hydraulic cylinder is connected to the load-bearing ring through the first load Hooke hinge, and the rear end is connected to the rear support plate through the fifth load Hooke hinge. The other three hydraulic cylinders are connected in the same way, with Hooke hinges at both the front and rear ends to achieve multi-degree-of-freedom thrust vectors.

4. The experimental device for synchronous shield tunneling thrust vector control as described in claim 3, characterized in that, The propulsion system consists of a first propulsion-side hydraulic cylinder, a second propulsion-side hydraulic cylinder, a third propulsion-side hydraulic cylinder, a fourth propulsion-side hydraulic cylinder, a fifth propulsion-side hydraulic cylinder, a sixth propulsion-side hydraulic cylinder, a first propulsion-side Hooke hinge, a second propulsion-side Hooke hinge, a third propulsion-side Hooke hinge, a fourth propulsion-side Hooke hinge, a fifth propulsion-side Hooke hinge, a sixth propulsion-side Hooke hinge, a seventh propulsion-side Hooke hinge, an eighth propulsion-side Hooke hinge, a ninth propulsion-side Hooke hinge, a tenth propulsion-side Hooke hinge, an eleventh propulsion-side Hooke hinge, and a twelfth propulsion-side Hooke hinge. Among them, the six propulsion hydraulic cylinders are evenly arranged parallel to each other along the circumference of the shield body outside the load hydraulic cylinder. The front end of the first propulsion hydraulic cylinder is connected to the double-layer cover plate through the first propulsion Hooke hinge, and the rear end is connected to the rear support plate through the seventh propulsion Hooke hinge. The other five propulsion hydraulic cylinders are connected in the same manner.

5. The test device for synchronous shield tunneling thrust vector control as described in claim 4, characterized in that, The follow-up support system consists of an air spring, a slide platform, a first outer support slide rail, a first inner support slide rail, a first passive support chain, a second outer support slide rail, a second inner support slide rail, and a second passive support chain. The first inner support slide rail is bolted to the shield body and the force-bearing ring. The first outer support slide rail is welded to the base. The first inner support slide rail and the first outer support slide rail are connected to both sides of the first passive support chain via pulleys. The other support slide rail is connected in the same way, thus forming a three-degree-of-freedom support chain, ensuring that the shield body's attitude is similar to that of a real shield machine when subjected to thrust in different directions. The top of the air spring is connected to the shield body via a flange seat, and the bottom is connected to the slide platform via a flange seat.

6. The test device for synchronous shield tunneling thrust vector control as described in claim 4, characterized in that, The shield body is supported by a three-degree-of-freedom chain, air spring, and bottom slide. The support mechanism consists of several heavy-duty universal balls distributed under the bottom slide. These heavy-duty universal balls contact a steel plate with low frictional resistance to support the entire support mechanism. Each heavy-duty universal ball can roll on the steel plate. The rolling component is a sphere, enabling the entire support mechanism to perform three types of motion on the horizontal plane: forward and backward translation, left and right translation, and rotation.

7. A test method using the test device for synchronous shield tunneling thrust vector control as described in claim 6, characterized in that, During the test, a total station was placed 4 meters in front of the shield; slide rails were installed on both sides of the shield and on both sides of the air spring to limit the direction of movement of the shield when the hydraulic cylinder was working; two small prisms were installed on the slide rails on both sides of the shield, and a large prism was installed in the center. During the experiment, the total station was first leveled, and the direction of gravity was confirmed as the Y-axis. Then, the spatial positions of the left and right small prisms were calibrated in sequence. The X-axis obtained by connecting the two small prisms was automatically calibrated by the total station. Based on the X-axis and Y-axis, the total station automatically established the XYZ absolute coordinate system of the shield body. Finally, the total station automatically calibrated the large prism at the center of the shield body and measured the pose information of the large prism in real time. The pose information of the shield body was solved by the pose information of the large prism.

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