A test device and method for synchronous push-pull shield thrust vector regulation

Abstract

The application discloses a test device and method for synchronous push-pile shield thrust vector regulation, comprising: a simulation shield, a load simulation system, a propulsion system and a follow-up support system; wherein the load simulation system is used for simulating the rock resistance suffered by the shield during tunneling; the propulsion system is used for simulating the hydraulic cylinder thrust of the shield during tunneling; 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 arranged on the inner side of the simulation shield by being installed on the same side; and the follow-up support system connects the simulation shield and the base through an air spring and a universal joint. The technical scheme of the application realizes the track tracking control test requirement of the synchronous push-pile shield.

Description

Technical Field

[0001] This invention belongs to the field of tunnel boring machine technology, and particularly relates to a test device and method for adjusting the thrust vector of synchronous tunnel boring machines. Background Technology

[0002] A tunnel boring machine (TBM) is a complex engineering device capable of excavating and cutting soil, transporting excavated material, assembling tunnel linings, and measuring and guiding. With the comprehensive advancement of new urbanization in my country, long urban and intercity tunnels, as key projects for improving urban travel and promoting regional connectivity, have become major engineering construction projects using the TBM method. Due to the longer construction mileage, larger diameter, and greater number of tunnel segments in long urban and intercity tunnels, higher requirements are placed on construction schedule, safety, and quality. The traditional TBM construction process is "advance, stop, assemble," meaning the TBM needs to stop after excavating one ring to assemble the tunnel segments before continuing excavation. This "stop-and-go" approach makes it difficult to improve construction efficiency. However, the simultaneous advance and assembly TBM technology can achieve parallel operation of the excavation and assembly processes, improving efficiency by 30%-50% compared to traditional construction methods.

[0003] During actual tunnel boring machine (TBM) excavation, due to the uncertainties in geological conditions and working conditions, as well as the high complexity of the TBM equipment, the accurate and stable operation of the TBM along the preset trajectory or path is a key factor in ensuring tunnel construction quality. Excessive deviation between the TBM's excavation posture and the preset trajectory will inevitably cause the excavation trajectory to deviate from the target axis. In current engineering applications, the propulsion system, as a crucial part of the TBM's excavation, is mainly controlled by operators adjusting hydraulic cylinder parameters based on the TBM's excavation posture to meet routine turning and correction control during operation. Therefore, the correction effect relies entirely on the operator's experience, which cannot guarantee tunnel construction quality and efficiency.

[0004] Safety, reliability, and robustness are crucial issues that must be properly addressed in the development of synchronous shield tunneling technology, and they are also key factors currently limiting the transition of shield tunneling machines from research prototypes to commercial applications. Due to the complexity of shield machine design, high cost, and difficulty in direct construction for experimental research, scaled-down model experiments have become an important means of researching and verifying new synchronous shield tunneling technologies. Currently, the scaled-down test benches developed by major domestic shield machine manufacturers and research institutes for simulation experiments during shield tunneling mainly include the following three functions:

[0005] (1) Simulation test research on shield tunneling performance. Since the shield tunneling process involves the coupling and interaction of multiple systems such as the cutterhead, support pressure balance control, propulsion system and surrounding rock environment, this type of test focuses on the shield structural parameters, working parameters, soil disturbance and their interrelationships, etc., to provide a theoretical basis for shield tunneling parameter matching and optimization. For example, the Φ2.5m slurry shield tunneling scaled-down model integrated test bench developed by Zhejiang University has multiple tunneling control simulation test functions such as shield propulsion, cutterhead drive, slurry pressure balance, slurry circulation and treatment.

[0006] (2) Experimental research on the changes in the ground displacement field caused by shield tunneling. These experiments mainly use plexiglass soil boxes and centrifuge simulators. Using physical samples for mechanical similarity analysis, the loads acting on the tunnel segments can be accurately simulated and confirmed, providing reference and assistance for shield tunneling simulation tests. For example, the Φ1.8m shield tunneling simulation test bench developed by Shanghai Tunnel Engineering Co., Ltd. is equipped with a Φ3.8m×6m simulated soil box and an experimental data acquisition and analysis system.

[0007] (3) Experimental research on the performance degradation law of shield tunneling components during service. Shield tunneling machines face huge and variable loads and encounter complex and varied geological conditions, leading to problems such as poor fault location accuracy, low diagnostic efficiency, weak maintenance timeliness, and high costs in key components. This type of experiment focuses on the fault evolution law and health maintenance measures, providing technical support for the establishment of my country's domestic shield tunneling machine operation and maintenance support system. For example, Zhejiang University, in conjunction with Northern Heavy Industries Group Co., Ltd., developed a Φ3.2m shield tunneling machine integrated simulation test bench in 2012, which can realize the condition monitoring of shield tunneling machine components such as cutterhead tool wear and main bearing life.

[0008] In summary, with the increasing complexity of tunneling equipment required for tunnel construction, comprehensive simulation test benches for the entire shield tunneling process are showing a trend towards large-scale and multi-system development. However, existing test benches have certain limitations in terms of continuous autonomous control of the shield tunneling attitude during synchronous pushing and assembling. Focusing on synchronous pushing and assembling technology, among existing test benches, only Shanghai Tunnel Engineering Co., Ltd. has developed a Φ6.8m synchronous pushing and assembling test bench, which contains 17 sets of propulsion hydraulic cylinders, all of which are pressure-controlled by independent proportional pressure reducing valves and are equipped with stroke and pressure sensors. Considering the underactuated characteristics of shields, it does not have the capability to simulate the three degrees of freedom of shield propulsion, horizontal deflection, and pitch deflection. Considering the challenges of continuous trajectory tracking and control under long tunnels, it is necessary to simulate the multi-loop continuous process of the shield. In addition, the environmental load simulation system is not comprehensive enough and lacks the semi-physical simulation conditions to map on-site construction data to the simulation test bench. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a test device and method for controlling the thrust vector of a synchronous tunnel boring machine.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] An experimental device for controlling the thrust vector of a synchronously pushed shield tunneling machine, employing a same-side, top-down design, includes: a simulated shield tunneling machine, 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 tunneling machine, 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 tunneling machine. The follow-up support system connects the simulated shield tunneling machine to the base via air springs and universal joints.

[0012] Preferably, 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 the first to fourth propulsion Hooke hinges and bears the propulsion pressure of the propulsion system. The double-layer cover plate is connected to the first to sixth load Hooke hinges and bears the simulated propulsion pressure of the simulated propulsion system. The double-layer cover plate is equipped with a six-degree-of-freedom force sensor 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 plate, and the lower end is connected to an air spring by bolts.

[0013] Preferably, 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 210, 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.

[0014] Preferably, 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. Six of the propulsion hydraulic cylinders are arranged parallel to each other and evenly around 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 via the first propulsion Hooke hinge, and the rear end is connected to the rear support plate via the seventh propulsion Hooke hinge. The remaining five propulsion hydraulic cylinders are connected in the same manner.

[0015] Preferably, the follow-up support system consists of an air spring, a slide, 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. 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 via pulleys. The other support slide rail is connected in the same way, thus forming a three-degree-of-freedom branch, 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 via a flange seat.

[0016] As a preferred option, a three-degree-of-freedom branch, air spring, and 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, which realizes the three movements of the entire follow-up support mechanism in the horizontal plane: forward and backward translation, left and right translation, and rotation.

[0017] This invention also provides a test method for controlling the thrust vector of a synchronously assembled shield tunneling machine. During the test, a total station is positioned 4 meters directly in front of the shield. Slide rails are installed on both sides of the shield and on both sides of the air springs to limit the direction of shield movement when the hydraulic cylinders are operating. Two small prisms are installed on the slide rails on both sides of the shield, and a large prism is installed in the center.

[0018] 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.

[0019] This invention relates to an experimental device and method for active control of thrust vector in synchronously assembled shield tunneling machines (TBMs). The core function of the synchronous TBM test bench is the simulation of shield thrust vector and attitude measurement. This function relies primarily on the thrust control of the propulsion system and load simulation system to ensure that the TBM can simulate its attitude parameters under actual working conditions according to a given thrust, thereby meeting the trajectory tracking control test requirements of synchronously assembled TBMs. This invention has the following advantages: First, the experimental device conforms to the multi-dimensional spatial motion characteristics of TBMs, enabling various operating postures such as forward movement, left-right swaying, and up-down pitching. Second, it is equipped with three propulsion system control loops, enabling various control requirements such as pressure control and pressure-flow composite control. Third, the test bench is equipped with a total station for TBM attitude measurement, which can automatically measure the real-time attitude parameters of the TBM. The synchronously assembled test device proposed in this invention can achieve rapid verification of intelligent decision-making on the thrust vector of synchronously assembled TBMs, greatly improving test efficiency. Furthermore, all components selected in this invention are chosen according to the actual size and functional requirements of synchronously assembled TBM components, effectively restoring the true working state of the TBM. Furthermore, this invention possesses excellent scalability, enabling convenient replacement of hydraulic components and facilitating performance verification testing of newly developed hydraulic systems. In summary, this invention has significant application potential in synchronous tunnel boring machine (TBM) testing. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an experimental device for synchronous tunnel boring machine thrust vector control according to an embodiment of the present invention;

[0022] Figure 2 A simplified diagram of a simulated tunnel boring machine; where (a) is a cross-sectional view of the simulated tunnel boring machine, and (b) is a side view of the simulated tunnel boring machine.

[0023] Figure 3Simplified diagram of the load system; where (a) is the right-side view of the load system and (b) is the left-side view of the load system;

[0024] Figure 4 Simplified diagram of the propulsion system;

[0025] Figure 5 Simplified diagram of the follower structure;

[0026] Figure 6 Passive branch structure diagram;

[0027] Figure 7 Schematic diagram of an air spring;

[0028] Figure 8 Schematic diagram of prism arrangement;

[0029] Among them, 1-simulated shield, 2-load simulation system, 3-propulsion system, 4-follow-up support system, 101-load-bearing ring, 102-double-layer cover plate, 103-rear support plate, 104-shield cylinder, 105-base, 201-first load-side hydraulic cylinder, 202-second load-side hydraulic cylinder, 203-third load-side hydraulic cylinder, 204-fourth load-side hydraulic cylinder, 205-first load-side Hooke hinge, 206-second load-side Hooke hinge, 207-third load-side Hooke hinge; 208-fourth load-side Hooke hinge, 209-fifth load-side Hooke hinge, 210-sixth load-side Hooke hinge, 211-seventh load-side Hooke hinge, 212-eighth load-side Hooke hinge, 213-six-dimensional force sensor, 301-first propulsion-side hydraulic cylinder, 302-second propulsion-side hydraulic cylinder, 303-third propulsion-side hydraulic cylinder, 3 04-Fourth propulsion side hydraulic cylinder, 305-Fifth propulsion side hydraulic cylinder, 306-Sixth propulsion side hydraulic cylinder, 307-First propulsion side Hooke hinge, 308-Second propulsion side Hooke hinge, 309-Third propulsion side Hooke hinge, 310-Fourth propulsion side Hooke hinge, 311-Fifth propulsion side Hooke hinge, 312-Sixth propulsion side Hooke hinge, 313-Seventh propulsion side Hooke hinge, 314-Eighth propulsion side Hooke hinge, 315-Ninth propulsion side Hooke hinge, 316-Tenth propulsion side Hooke hinge, 317-Eleventh propulsion side Hooke hinge, 318-Twelfth propulsion side Hooke hinge, 401-Air spring, 402-Slide table, 403-First outer support slide rail, 404-First inner support slide rail; 405-First passive branch, 406-Second outer support slide rail, 407-Second inner support slide rail, 408-Second passive branch. Detailed Implementation

[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] In one embodiment of the present invention, the load simulation system comprises 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 uniformly along the circumference of the load-bearing ring. The front end of the first load hydraulic cylinder is connected to the load-bearing ring via a first load Hooke hinge, and its rear end is connected to the rear support plate via a fifth load Hooke hinge. The front end of the second load hydraulic cylinder is connected to the load-bearing ring via a second load Hooke hinge, and its rear end is connected to the rear support plate via a sixth load Hooke hinge. The front end of the third load hydraulic cylinder is connected to the load-bearing ring via a third load Hooke hinge, and its rear end is connected to the rear support plate via a seventh load Hooke hinge. The front end of the fourth load hydraulic cylinder is connected to the load-bearing ring via a fourth load Hooke hinge, and its rear end is connected to the rear support plate via an eighth load Hooke hinge. This structure enables a multi-degree-of-freedom thrust vector.

[0036] In one embodiment of the present invention, the propulsion system comprises 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. The six propulsion hydraulic cylinders are arranged parallel to each other and evenly around 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 via a first propulsion Hooke hinge. The rear end is connected to the rear support plate via the seventh thrust Hooke hinge; the front end of the second thrust hydraulic cylinder is connected to the double-layer cover plate via the second thrust Hooke hinge, and the rear end is connected to the rear support plate via the eighth thrust Hooke hinge; the front end of the third thrust hydraulic cylinder is connected to the double-layer cover plate via the third thrust Hooke hinge, and the rear end is connected to the rear support plate via the ninth thrust Hooke hinge; the front end of the fourth thrust hydraulic cylinder is connected to the double-layer cover plate via the fourth thrust Hooke hinge, and the rear end is connected to the rear support plate via the tenth thrust Hooke hinge; the front end of the fifth thrust hydraulic cylinder is connected to the double-layer cover plate via the fifth thrust Hooke hinge, and the rear end is connected to the rear support plate via the eleventh thrust Hooke hinge; the front end of the sixth thrust hydraulic cylinder is connected to the double-layer cover plate via the sixth thrust Hooke hinge, and the rear end is connected to the rear support plate via the twelfth thrust Hooke hinge.

[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 propulsion system are installed on the same side, both located inside the simulated TBM. The follow-up support system connects the simulated TBM to the base via air springs and universal joints. 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. 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 realize multi-degree-of-freedom thrust vectors. 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. Six of the propulsion hydraulic cylinders are arranged parallel to each other and evenly around the circumference of the shield body, outside the load hydraulic cylinders. The front end of the first propulsion hydraulic cylinder is connected to the double-layer cover plate via the first propulsion Hooke hinge, and the rear end is connected to the rear support plate via the seventh propulsion Hooke hinge. The remaining five propulsion hydraulic cylinders are connected in the same manner. 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.

2. The experimental device for synchronous shield tunneling thrust vector control as described in claim 1, 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.

3. A test method using the test device for synchronous shield tunneling thrust vector control as described in claim 2, 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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