Variable-distance liquid supply device based on split type heading machine and control method

Abstract

The invention relates to the technical field of tunnel construction, in particular to a variable-distance liquid supply device based on a split type heading machine and a control method, and solves the problems that hydraulic oil cannot flow back and power is interrupted during long-distance liquid supply of a liquid supply device in the prior art. The liquid supply device comprises a tunneling main machine and a rear matched trailer which are arranged in a split mode, and the rear end of the tunneling main machine is connected with a main machine tail trailer. An oil return pressurization mechanism is arranged on the main machine tail trailer and connected with an oil supply mechanism on the rear matched trailer through an oil return pipeline, and the oil supply mechanism is connected with the tunneling main machine through an oil inlet pipeline. The device has the advantages that hydraulic oil discharged by the tunneling main machine is pressurized by the oil return pump and then conveyed to the rear matched trailer through the oil return pipeline; the oil return pump guarantees the oil return pressure during variable-distance liquid supply, it is guaranteed that hydraulic oil can flow back smoothly, variable-distance stable liquid supply is achieved, continuous operation of the heading machine is guaranteed, and therefore the tunnel excavation speed is increased.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a variable-distance fluid supply device and control method based on a split-type tunneling machine. Background Technology

[0002] In my country's underground coal mines, short-distance rock tunnel clusters are numerous and mostly arranged in a clustered manner, accounting for approximately 60% of the total length of coal mine rock tunnels. Traditional tunneling methods, such as drill-and-blast and cantilever methods, typically suffer from slow construction speeds and long equipment dismantling and transportation times, making it difficult to meet the demands for rapid and efficient rock tunnel construction. Especially in short-distance tunnel construction, due to the large number of tunnels and their short distances, existing tunneling technologies cannot fully utilize equipment mobility and work efficiency. Therefore, improving construction efficiency, shortening the tunneling cycle, enhancing mobility, and improving equipment adaptability have become key to improving the production efficiency of coal mines.

[0003] Currently, common technical solutions include designing the hydraulic system as a centralized fluid supply system, where all hydraulic pump stations and oil storage devices are centrally located behind the tunneling machine. For example, patent publication number CN113123829A discloses a centralized fluid supply system, which includes a fluid supply device, pump stations, delivery pipelines, and an intelligent distribution device. The fluid supply device is used to provide pressurized emulsion. There are multiple pump stations, each located in a different working face within the mining area. Each pump station is equipped with a small-flow booster pump near the working face. The delivery pipeline connects the fluid supply device and the pump stations. The intelligent distribution device is located between the pump stations and the fluid supply device, and is used to distribute the pressurized emulsion to the multiple pump stations. This design can provide sufficient hydraulic power in short-distance tunneling. However, after the hydraulic oil provides hydraulic power to the tunneling host, the return oil pipeline is too long, which can easily lead to the hydraulic oil not being able to flow back and the power being interrupted, thus limiting their application in long-distance construction. In addition, the existing hydraulic system layout has problems such as large space occupation and complicated equipment disassembly, resulting in poor mobility and long construction period during the tunneling process. Summary of the Invention

[0004] This invention proposes a variable-distance hydraulic supply device and control method based on a split-type tunneling machine, which solves the problem of hydraulic oil not being able to flow back and power interruption when the hydraulic supply device supplies hydraulic oil over long distances in the prior art.

[0005] The technical solution of this invention is implemented as follows: A variable-distance hydraulic supply device based on a split-type tunneling machine includes a split-type tunneling main unit and a rear-mounted trailer. The rear end of the tunneling main unit is connected to the main unit's tail trailer. The main unit's tail trailer is equipped with a return oil booster mechanism, which is connected to a supply oil mechanism on the rear-mounted trailer via a return oil pipeline. The supply oil mechanism is connected to the tunneling main unit via an inlet oil pipeline. During the tunneling process, the inlet and return oil pipelines extend with the movement of the tunneling main unit. The tunneling main unit is equipped with a detection component, and the rear-mounted trailer is equipped with a control component connected to the detection component. The control component controls the supply oil mechanism to supply oil to the tunneling main unit based on the tunneling parameters detected by the detection component. The control component also controls the return oil booster mechanism to pressurize the return oil and deliver it to the supply oil mechanism. The hydraulic oil discharged from the tunneling main unit is pressurized by the return oil booster mechanism and then delivered to the supply oil mechanism through the return oil pipeline, forming a complete oil circuit circulation. The return oil pump ensures the return oil pressure during long-distance hydraulic supply, ensuring smooth return of the hydraulic oil. The control component obtains the current surrounding rock classification and the required pump station output pressure through tunneling parameters; the control component determines the pump station output pressure based on the surrounding rock classification; the control component adjusts the pressure of the inlet and return oil pumps in real time to match the tunneling distance, ensuring a continuous and stable power supply.

[0006] The oil supply mechanism includes an oil inlet tank and a pressure pump mounted on the rear-mounted trailer. The oil inlet tank is connected to the pressure pump, which is connected to the tunneling machine via an inlet pipeline. The pressure pump is also connected to the control components. The pressure pump is a high-pressure variable displacement pump station. The hydraulic oil in the oil inlet tank is pressurized by the high-pressure variable displacement pump station and then transported over long distances to achieve long-distance power supply and ensure the hydraulic pressure required for the TBM's tunneling, thus offsetting hydraulic losses over long distances.

[0007] The oil return booster mechanism includes an oil return storage tank and an oil return pump mounted on the trailer at the rear of the main engine. The tunneling main engine is connected to the oil return storage tank, which is connected to the oil return pump. The oil return pump is connected to the control components. The oil return pump is an oil return booster pump, which pressurizes the returning oil and sends it back to the oil inlet storage tank, and then pumps it to the trailer at the rear, forming a closed-loop system.

[0008] The return oil line is equipped with a filter and a return oil pressure sensor, while the inlet oil line is equipped with an inlet oil pressure sensor. The filter is used to intercept contaminants such as metal particles and rubber impurities generated during hydraulic system operation, preventing these impurities from flowing back into the oil tank and causing system contamination, thus ensuring normal equipment operation. The return oil pressure sensor detects the pressure loss in the return oil line, and the inlet oil pressure sensor detects the pressure loss in the inlet oil line. The controller adjusts the output pressure of the return oil pump based on the return oil line pressure loss, and the controller adjusts the output pressure of the pressure pump based on the inlet oil line pressure loss.

[0009] The detection components include a propulsion pressure sensor for measuring the hydraulic pressure of the propulsion system, a displacement sensor for detecting the propulsion displacement of the propulsion cylinder, and a triaxial vibration sensor for measuring the three axial vibrations of the cutterhead. The propulsion pressure sensor is installed at the oil inlet or outlet of the propulsion cylinder on the tunneling machine, the displacement sensor is installed on the propulsion cylinder of the tunneling machine, and the triaxial vibration sensor is located at the center of the cutterhead. The tunneling machine is equipped with a frequency converter for controlling the cutterhead rotation speed. The total propulsion force of the tunneling machine can be calculated from the hydraulic pressure detected by the propulsion pressure sensor; the propulsion displacement of the propulsion cylinder detected by the displacement sensor is used to understand the current propulsion cylinder stroke and to calculate the propulsion speed; the triaxial vibration sensor is connected to the center flange of the cutterhead by a threaded rigid connection to avoid signal attenuation caused by a magnetic suction seat.

[0010] A control method for the variable-distance fluid supply device based on a split-type tunneling machine includes: S1, the control component collects the tunneling parameters of the tunneling host in real time through the detection component, and performs k-means clustering analysis based on the thrust characteristic value, torque characteristic value and the mean square amplitude of the cutterhead center vibration to classify the surrounding rock and determine the output pressure of the pump station; S2, after determining the output pressure of the pump station, the hydraulic oil in the oil storage tank is pressurized by the pressure pump and supplied to the tunneling host. The output pressure of the pressure pump is greater than or equal to the sum of the pressure required for the tunneling host to tunnel and the pressure lost in the oil inlet pipeline. S3, the hydraulic oil used by the tunneling main unit flows back to the return oil storage tank on the trailer at the rear of the main unit; S4, the return oil pump pressurizes the return oil in the return oil reservoir and delivers it to the inlet oil reservoir. The output pressure of the return oil pump is greater than the pressure lost in the return oil pipeline.

[0011] The implementation method of the k-means clustering analysis is as follows: S1.1, Data Acquisition: Acquire tunneling parameters when the cutterhead rotation speed is greater than zero, and divide the valid data according to the construction cycle; S1.2, Establish a dataset, calculate the thrust characteristic value (FPI), torque characteristic value (TPI), and mean square amplitude of cutterhead center vibration (ARMS) every 10 minutes, and establish samples using the thrust characteristic value, torque characteristic value, and mean square amplitude of cutterhead center vibration as sample x. i Construct a dataset D = {x1, x2, x3, ..., x} n}; S1.3, Initialize cluster centers. Select four initial cluster centers C1, C2, C3, and C4, representing the center points of the four clusters, with each cluster center point uniformly distributed within the dataset; the four clusters correspond to the four types of surrounding rocks; for each sample x i Calculate x for each samplei To the four cluster centers C j The Euclidean distance for sample x i Assign it to the nearest cluster; S1.4 Iteratively update the cluster centers. Calculate the mean of the samples in each cluster {C1, C2, C3, C4}, {u1, u2, u3, u4}, as the new cluster centers {C'1, C'2, C'3, C'4}, {C'1, C'2, C'3, C'4} = C'. Then recalculate the sum of squared distances J(C') from all samples to their respective cluster centers. Iteratively update the cluster centers until convergence, and output the four types of surrounding rock classification and the corresponding pump station pressure.

[0012] In S1.3, the Euclidean distance calculation formula is as follows: ; In the formula, FPI i Indicates sample x i Thrust characteristic value, TPI i Indicates sample x i Torque characteristic value in ARMS i Indicates sample x i The mean square amplitude of the vibration at the center of the cutter head; FPI j Represents the cluster center C j Thrust characteristic value, TPI j Represents the cluster center C j Torque characteristic value, ARMS j Represents the cluster center C j The mean square amplitude of the vibration at the center of the cutterhead.

[0013] In S1.4, the formula for calculating J(C') is: In the formula, x i Represents the samples in each cluster; u j This represents the mean of the samples belonging to each cluster.

[0014] In S1.4, the clustering convergence conditions are: the fluctuation range of the cluster center C' is ±(10%~30%) of the initial value of the cluster center; the fluctuation range of the sum of squared distances J(C') is ±(15%~25%) of the convergence threshold, and the number of iterations is 50~200.

[0015] In S1.2, the formula for calculating the thrust characteristic value is: FPI=F 总推进力 / (Np) In the formula, FPI represents the thrust characteristic value, F 总推进力The total thrust is represented by F, where N represents the number of hobs on the cutter head, and p represents the penetration depth. 总推进力 =P 油压 ×A×n, where P 油压 The pressure is represented by the oil pressure measured by the pressure sensor, A represents the effective working area of ​​a single hydraulic cylinder, and n represents the number of propulsion hydraulic cylinders.

[0016] In S1.2, the formula for calculating the torque characteristic value is: TPI = T / (NpR) In the formula, TPI represents the characteristic value of torque, T represents the cutter head torque, N represents the number of hobs on the cutter head, p represents the penetration depth, and R represents the cutter head radius; the formula for calculating the cutter head torque T is T=9550×P 功率 / r, T is the cutter head torque, P 功率 R is the power of the cutter head drive motor, and r is the cutter head rotation speed.

[0017] Penetration p = v / r, where v is the feed rate; r is the cutter head rotation speed; cutter head rotation speed r = 60f / m, f is the inverter output frequency of the cutter head drive motor, and m is the number of pole pairs of the motor; the calculation process for the feed rate v is as follows: the scan cycle is set to a fixed 0.2s, a circular buffer of length 5 is maintained to store the most recent 5 instantaneous velocity values, and the average value is taken as the feed rate per second: In the formula, the instantaneous velocity v 瞬时i =Δs i / 0.2; s i Let Δs be the absolute value of the displacement acquired by the displacement sensor in the i-th scan cycle, and the displacement increment Δs between adjacent cycles. i =s i -s i-1 .

[0018] In S1.2, the first i The mean square amplitude of the vibration at the center of the cutter head in seconds (ARMS) i The calculation is as follows: A triaxial vibration sensor is used to sample at a frequency of 1 kHz to obtain the vibration signal at the center of the cutter head. a x , a y , a z ; Calculate ARMS on the x-axis ix : ; Similarly, calculate the ARMS of the y-axis. iy and the ARMS of the z-axis iz ; Calculate the synthesized ARMS i : .

[0019] The beneficial effects of this invention are: The hydraulic oil discharged from the tunneling machine is pressurized by the return oil pump and then transported to the rear trailer through the return oil pipeline. The return oil pump ensures the return oil pressure during long-distance fluid supply, ensuring that the hydraulic oil can flow back smoothly, realizing stable fluid supply over long distances, ensuring the continuous operation of the tunneling machine, and thus accelerating the speed of tunnel excavation.

[0020] By adopting a split-type full-face tunneling machine hydraulic system design, this invention effectively reduces the total length of the tunneling equipment entering the rock tunnel and improves the mobility of the main tunneling machine; the separate design of the main machine and the supporting system makes the equipment easier to operate and retreat in narrow or complex rock tunnel groups, thereby significantly improving construction efficiency. Attached Figure Description

[0021] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a long-distance fluid supply device based on a split-type tunneling machine according to the present invention; Figure 2 The relationship curves between thrust characteristic values ​​and torque characteristic values ​​under different surrounding rock grades; Figure 3 The tunneling parameters and pump station pressures are corresponding to different types of surrounding rock.

[0023] In the diagram: 1. Tunneling main unit; 2. Rear trailer; 3. Main unit tail trailer; 4. Oil inlet tank; 5. Pressure pump; 6. Oil inlet pipeline; 7. Oil return tank; 8. Oil return pump; 9. Oil return pipeline. Detailed Implementation

[0024] 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.

[0025] Example 1, as Figure 1As shown, a variable-distance hydraulic supply device based on a split-type tunneling machine includes a split-type tunneling main unit 1 and a rear-mounted trailer 2. The rear end of the tunneling main unit 1 is connected to the main unit tail trailer 3. The main unit tail trailer 3 is equipped with a return oil pressurization mechanism, which is connected to the oil supply mechanism on the rear-mounted trailer 2 through a return oil pipeline 9. The oil supply mechanism is connected to the tunneling main unit 1 through an oil inlet pipeline 6. The oil supply mechanism on the rear-mounted trailer 2 supplies hydraulic oil to the tunneling main unit 1, providing tunneling power. The return oil from the tunneling main unit 1 is pressurized by the return oil pressurization mechanism and then flows back to the oil supply mechanism of the rear-mounted trailer 2 through the return oil pipeline 9. The return oil pressurization mechanism ensures the return oil pressure during variable-distance hydraulic supply, ensuring that the hydraulic oil can flow back smoothly.

[0026] Furthermore, during the tunneling process of the tunneling main unit 1, the oil inlet pipeline 6 and the oil return pipeline 9 extend with the movement of the tunneling main unit 1. Specifically, both the oil inlet pipeline 6 and the oil return pipeline 9 adopt telescopic pipelines. As the tunneling main unit 1 and the main unit's tail trailer 3 move, the distance between the tunneling main unit 1 and the rear supporting trailer 2 changes, and the distance between the main unit's tail trailer 3 and the rear supporting trailer 2 changes. The oil inlet pipeline 6 and the oil return pipeline 9 are extended through the pipeline extension device. The tunneling main unit 1 is equipped with a detection component, and the rear supporting trailer 2 is equipped with a control component connected to the detection component. The control component controls the oil supply mechanism to supply oil to the tunneling main unit 1 based on the tunneling parameters detected by the detection component. The control component controls the oil return pressurization mechanism to pressurize the oil return and deliver it to the oil supply mechanism. Specifically, the detection component can detect tunneling parameters, inlet oil line loss pressure, and return oil line loss pressure; the control component obtains the current surrounding rock classification and the required pump station output pressure through the tunneling parameters, and then determines the pump station output pressure according to the surrounding rock classification; the control component adjusts the inlet and return oil pressures based on the inlet and return oil line loss pressures to match the tunneling distance, ensuring a continuous and stable power supply. As the tunneling distance increases, the hydraulic oil will inevitably suffer certain pressure losses during long-distance pipeline transportation. To ensure that the tunneling machine can obtain stable and sufficient power support at different tunneling distances, the control system will accurately adjust the working pressure based on the real-time monitored tunneling parameters and the preset correspondence between the surrounding rock classification and the pump station output pressure. For example, when the tunneling parameters show that the current surrounding rock conditions are relatively broken and a greater tunneling force is required, the control system will correspondingly increase the output pressure of the pressure pump 5 to compensate for pipeline losses and meet the demand of the tunneling host 1 for high-pressure hydraulic oil. At the same time, it will also appropriately adjust the pressure of the return oil pump 8 to ensure smooth return oil flow and maintain the pressure balance of the entire hydraulic system.

[0027] Furthermore, the oil supply mechanism includes an oil inlet tank 4 and a pressure pump 5 mounted on the rear trailer 2. The oil inlet tank 4 is connected to the pressure pump 5, and the pressure pump 5 is connected to the tunneling machine 1 via an oil inlet pipeline 6. The pressure pump 5 is also connected to the control components. Specifically, the pressure pump 5 is a high-pressure variable pump. The hydraulic oil in the oil inlet tank 4 is pressurized by the high-pressure variable pump and then transported over a long distance via the oil inlet pipeline 6 until it reaches the tunneling machine 1. The output oil pressure of the pressure pump 5 is greater than or equal to the sum of the oil pressure required for tunneling by the tunneling machine 1 and the oil pressure lost in the oil inlet pipeline 6. This ensures that the hydraulic oil pressure after long-distance transport still meets the oil pressure required for tunneling by the tunneling machine 1, thereby achieving long-distance power supply and ensuring the hydraulic pressure required for tunneling by the TBM, thus offsetting the hydraulic losses over long distances.

[0028] Furthermore, the oil return pressurization mechanism includes an oil return storage tank 7 and an oil return pump 8 mounted on the trailer 3 at the rear of the main engine. The tunneling main engine 1 is connected to the oil return storage tank 7, and the oil return storage tank 7 is connected to the oil return pump 8. The oil return pump 8 is connected to the control components. Specifically, the oil return pump 8 is an oil return booster pump, which pressurizes the returned oil. The oil return storage tank 7 collects and temporarily stores the returned oil from the tunneling main engine 1. The oil return booster pump pressurizes the returned oil and sends it back to the oil inlet storage tank 4, thereby forming a closed-loop system in the oil pipeline and realizing the reuse of oil.

[0029] Example 2 differs from Example 1 in that it provides a variable-distance hydraulic supply device based on a split-type tunneling machine. The return oil line 9 is equipped with a filter and a return oil pressure sensor, while the inlet oil line 6 is equipped with an inlet oil pressure sensor. The filter purifies the returned oil, removing impurities and contaminants, extending the oil's lifespan, and preventing the returned oil from contaminating the hydraulic system, thus ensuring its long-term stable operation. The return oil pressure sensor detects the pressure loss in the return oil line, and the inlet oil pressure sensor detects the pressure loss in the inlet oil line. The controller adjusts the output pressure of the return oil pump based on the return oil line pressure loss, and the controller adjusts the output pressure of the pressure pump based on the inlet oil line pressure loss.

[0030] Furthermore, both the return oil line 9 and the inlet oil line 6 are high-strength flexible pipes, specifically steel wire braided hydraulic hoses. The flexible hose connection makes the pipeline system more flexible, which is convenient for rapid deployment and adjustment in different environments and improves the applicability of the device.

[0031] Furthermore, the detection components include a propulsion pressure sensor for measuring the hydraulic pressure of the propulsion system, a displacement sensor for detecting the propulsion displacement of the propulsion cylinder, and a triaxial vibration sensor for measuring the three axial vibrations of the cutterhead. The propulsion pressure sensor is installed at the oil inlet or outlet of the propulsion cylinder on the tunneling machine 1, the displacement sensor is installed on the propulsion cylinder of the tunneling machine 1, and the triaxial vibration sensor is located at the center of the cutterhead. The total propulsion force of the tunneling machine can be calculated from the hydraulic pressure of the propulsion system detected by the propulsion pressure sensor; the propulsion displacement of the propulsion cylinder detected by the displacement sensor can be used to understand the current stroke of the propulsion cylinder and to calculate the propulsion speed. The triaxial vibration sensor is connected to the center flange of the cutterhead by a threaded rigid connection to avoid signal attenuation caused by the magnetic suction seat. The range is selected as ±50g to meet the working conditions of hard rock tunneling, and the sampling frequency is 1kHz. The tunneling machine 1 is equipped with a frequency converter for controlling the speed of the cutterhead. The frequency converter is used to control the speed of the cutterhead. In addition, the detection components can also detect comprehensive tunneling parameters such as cutterhead torque, pump station pressure, flow rate, and temperature.

[0032] Example 3, based on Example 1, provides a control method for the variable-distance fluid supply device based on a split-type tunneling machine, comprising: S1, the control component collects the tunneling parameters of the tunneling host 1 in real time through the detection component, and performs k-means clustering analysis based on the thrust characteristic value, torque characteristic value and the mean square amplitude of the vibration of the cutterhead center to classify the surrounding rock and determine the output pressure of the pump station; S2, after determining the output pressure of the pump station, the hydraulic oil in the oil storage tank 4 is pressurized by the pressure pump 5 and supplied to the tunneling host 1. The output pressure of the pressure pump 5 is greater than or equal to the sum of the pressure required for tunneling host 1 to tunnel and the pressure lost in the oil inlet pipeline. S3, the hydraulic oil used by the tunneling host 1 flows back to the return oil storage tank 7 on the trailer 3 at the rear of the host; S4, the return oil pump 8 pressurizes the return oil in the return oil storage tank 7 and delivers it to the inlet oil storage tank 4. The output pressure of the return oil pump 8 is greater than the pressure of the return oil pipeline loss.

[0033] The implementation method of the k-means clustering analysis is as follows: S1.1, Data Acquisition: Acquire tunneling parameters when the cutterhead rotation speed is greater than zero, and divide the valid data according to the construction cycle; S1.2, Establish a dataset, calculate the thrust characteristic value (FPI), torque characteristic value (TPI), and mean square amplitude of cutterhead center vibration (ARMS) every 10 minutes, and establish samples using the thrust characteristic value, torque characteristic value, and mean square amplitude of cutterhead center vibration as sample x. i Construct a dataset D = {x1, x2, x3, ..., x} n}; Specifically, such as Figure 2 As shown; the formula for calculating the thrust characteristic value is: FPI=F 总推进力 / (Np) In the formula, FPI represents the thrust characteristic value, F 总推进力 The total thrust is represented by F, where N represents the number of hobs on the cutter head, and p represents the penetration depth. 总推进力 =P 油压 ×A×n, where P 油压 The pressure is measured by a pressure sensor, A represents the effective working area of ​​a single hydraulic cylinder, and n represents the number of propulsion hydraulic cylinders. The formula for calculating the torque characteristic value is as follows: TPI = T / (NpR) In the formula, TPI represents the characteristic value of torque, T represents the cutter head torque, N represents the number of hobs on the cutter head, p represents the penetration depth, and R represents the cutter head radius; the formula for calculating the cutter head torque T is T=9550×P 功率 / r, T is the cutter head torque, P 功率 represents the power of the cutter head drive motor, with power in kW, and r represents the cutter head speed, with speed in rpm.

[0034] S1.3 Initialize cluster centers. Select four initial cluster centers C1, C2, C3, and C4, which represent the center points of the four clusters, and each cluster center point is evenly distributed within the dataset. The four clusters correspond to the four types of surrounding rocks. Specifically, the selection process of the cluster centers is as follows: first select C1; when selecting C2, C2 is selected at a position far away from C1; when selecting C3, C3 is selected at a position far away from C1 and C2; when selecting C4, C4 is selected at a position far away from C1, C2, and C3, so that each cluster center point is evenly distributed within the dataset. For each sample x i Calculate x for each sample i To the four cluster centers C j The Euclidean distance for sample x i Assign it to the nearest cluster; S1.4 Iteratively update the cluster centers. Calculate the mean of the samples in each cluster {C1, C2, C3, C4}, {u1, u2, u3, u4}, as the new cluster centers {C'1, C'2, C'3, C'4}, {C'1, C'2, C'3, C'4} = C'. Then recalculate the sum of squared distances J(C') from all samples to their respective cluster centers. Iteratively update the cluster centers until convergence, and output the four types of surrounding rock classification and the corresponding pump station pressure.

[0035] Furthermore, in S1.3, the Euclidean distance calculation formula is as follows: ; In the formula, FPI i Indicates sample x i Thrust characteristic value, TPI i Indicates sample x i Torque characteristic value in ARMS i Indicates sample x i The mean square amplitude of the vibration at the center of the cutter head; FPI j Represents the cluster center C j Thrust characteristic value, TPI j Represents the cluster center C j Torque characteristic value, ARMS j Represents the cluster center C j The mean square amplitude of the vibration at the center of the cutterhead.

[0036] Furthermore, in S1.4, the formula for calculating J(C') is: In the formula, x i Represents the samples in each cluster; u j This represents the mean of the samples belonging to each cluster.

[0037] Furthermore, in S1.4, the clustering convergence condition is: the fluctuation range of the cluster center C' is ±(10%~30%) of the initial value of the cluster center; the fluctuation range of the sum of squared distances J(C') is ±(15%~25%) of the convergence threshold. Specifically, the fluctuation range values ​​of C' and J(C') are manually set values, and the number of iterations is 50~200.

[0038] Furthermore, the penetration depth p = v / r, where v is the feed speed; r is the cutter head rotation speed in rpm; the cutter head rotation speed r = 60f / m, f is the inverter output frequency of the cutter head drive motor, and m is the number of pole pairs of the motor; the calculation process for the feed speed v is as follows: the scan cycle is set to a fixed 0.2s, a circular buffer of length 5 is maintained to store the most recent 5 instantaneous speed values, and the average value is taken as the feed speed per second: In the formula, the instantaneous velocity v 瞬时i =Δs i / 0.2; s i Let Δs be the absolute value of the displacement acquired by the displacement sensor in the i-th scan cycle, and the displacement increment Δs between adjacent cycles. i =s i -s i-1 .

[0039] Furthermore, in S1.2, the first i The mean square amplitude of the vibration at the center of the cutter head in seconds (ARMS)i The calculation is as follows: A triaxial vibration sensor is used to sample at a frequency of 1 kHz to obtain the vibration signal at the center of the cutter head. a x , a y , a z ; Calculate ARMS on the x-axis ix : ; Similarly, calculate the ARMS of the y-axis. iy and the ARMS of the z-axis iz ; Calculate the synthesized ARMS i : .

[0040] The rock mass parameters estimated from the training set are classified and identified, and the rock mass is divided into four clusters {C1, C2, C3, C4}, i.e., four types of surrounding rock. Each surrounding rock category corresponds to a different pump station output pressure, thus determining the pump station output pressure. Specifically, the k-means clustering method is used to classify and identify the rock mass parameters estimated from the training set; for example... Figure 3 As shown, the four types of surrounding rock classification correspond to {I, II, III, IV} in the table. After determining the surrounding rock classification, the output pressure of the pump station is determined according to the table as follows: Class I: ≥350 bar; Class II: 250~350 bar; Class III: 150~250 bar; Class IV: ≤150 bar.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A variable-distance fluid supply device based on a split-type tunneling machine, characterized in that, It includes a separate tunneling host (1) and a rear-mounted trailer (2). The rear end of the tunneling host (1) is connected to the main host tail trailer (3). The main host tail trailer (3) is equipped with a return oil booster mechanism. The return oil booster mechanism is connected to the oil supply mechanism on the rear-mounted trailer (2) through the return oil pipeline (9). The oil supply mechanism is connected to the tunneling host (1) through the oil inlet pipeline (6). During the tunneling process of the tunneling host (1), the oil inlet pipeline (6) and the oil return pipeline (9) extend with the movement of the tunneling host (1). The tunneling host (1) is equipped with a detection component, and the rear trailer (2) is equipped with a control component connected to the detection component. The control component controls the oil supply mechanism to supply oil to the tunneling host (1) according to the tunneling parameters detected by the detection component. The control component controls the oil return pressurization mechanism to pressurize the oil return and deliver it to the oil supply mechanism.

2. The variable-distance fluid supply device based on a split-type tunneling machine according to claim 1, characterized in that, The oil supply mechanism includes an oil inlet tank (4) and a pressure pump (5) installed on the rear trailer (2). The oil inlet tank (4) is connected to the pressure pump (5), and the pressure pump (5) is connected to the tunneling host (1) through the oil inlet pipeline (6). The pressure pump (5) is connected to the control component.

3. The variable-distance fluid supply device based on a split-type tunneling machine according to claim 1 or 2, characterized in that, The oil return booster mechanism includes an oil return storage tank (7) and an oil return pump (8) installed on the trailer (3) at the rear of the main unit. The tunneling main unit (1) is connected to the oil return storage tank (7), and the oil return storage tank (7) is connected to the oil return pump (8). The oil return pump (8) is connected to the control components.

4. The variable-distance fluid supply device based on a split-type tunneling machine according to claim 3, characterized in that, The return oil pipeline (9) is equipped with a filter and a return oil pressure sensor, and the inlet oil pipeline (6) is equipped with an inlet oil pressure sensor.

5. The long-distance fluid supply device based on a split-type tunneling machine according to claim 4, characterized in that, The detection components include a propulsion pressure sensor for measuring the hydraulic pressure of the propulsion system, a displacement sensor for detecting the propulsion displacement of the propulsion cylinder, and a triaxial vibration sensor for measuring the three axial vibrations of the cutterhead. The propulsion pressure sensor is installed at the oil inlet or outlet of the propulsion cylinder on the tunneling host (1), the displacement sensor is installed on the propulsion cylinder of the tunneling host (1), and the triaxial vibration sensor is installed at the center of the cutterhead.

6. A control method for a variable-distance fluid supply device based on a split-type tunneling machine as described in any one of claims 1 to 5, characterized in that, include: S1, the control component collects the tunneling parameters of the tunneling host (1) in real time through the detection component, performs k-means clustering analysis based on the thrust characteristic value, torque characteristic value and the mean square amplitude of the vibration of the cutterhead center, classifies the surrounding rock and determines the output pressure of the pump station; S2, after determining the output pressure of the pump station, the hydraulic oil in the oil storage tank (4) is pressurized by the pressure pump (5) and supplied to the tunneling host (1). The output pressure of the pressure pump (5) is greater than or equal to the sum of the pressure required for tunneling by the tunneling host (1) and the pressure lost in the oil inlet pipeline. S3, the hydraulic oil used by the tunneling host (1) flows back to the return oil storage tank (7) on the trailer (3) at the rear of the host; S4, the return oil pump (8) pressurizes the return oil in the return oil storage tank (7) and delivers it to the inlet oil storage tank (4). The output pressure of the return oil pump (8) is greater than the pressure of the return oil pipeline loss.

7. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 6, characterized in that, The implementation method of the k-means clustering analysis is as follows: S1.1, Data Acquisition: Acquire tunneling parameters when the cutterhead rotation speed is greater than zero, and divide the valid data according to the construction cycle; S1.2, Establish a dataset, calculate the thrust characteristic value (FPI), torque characteristic value (TPI), and mean square amplitude of cutterhead center vibration (ARMS) every 10 minutes, and establish samples using the thrust characteristic value, torque characteristic value, and mean square amplitude of cutterhead center vibration as sample x. i Construct a dataset D = {x1, x2, x3, ..., x} n }; S1.3, Initialize cluster centers. Select four initial cluster centers C1, C2, C3, and C4, representing the center points of the four clusters, with each cluster center point uniformly distributed within the dataset; the four clusters correspond to the four types of surrounding rocks; for each sample x i Calculate x for each sample i To the four cluster centers C j The Euclidean distance for sample x i Assign it to the nearest cluster; S1.4 Iteratively update the cluster centers. Calculate the mean of the samples in each cluster {C1, C2, C3, C4}, {u1, u2, u3, u4}, as the new cluster centers {C'1, C'2, C'3, C'4}, {C'1, C'2, C'3, C'4} = C'. Then recalculate the sum of squared distances J(C') from all samples to their respective cluster centers. Iteratively update the cluster centers until convergence, and output the four types of surrounding rock classification and the corresponding pump station pressure.

8. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 7, characterized in that, In S1.3, the Euclidean distance calculation formula is as follows: ； In the formula, FPI i Indicates sample x i Thrust characteristic value, TPI i Indicates sample x i Torque characteristic value in ARMS i Indicates sample x i The mean square amplitude of the vibration at the center of the cutter head; FPI j Represents the cluster center C j Thrust characteristic value, TPI j Represents the cluster center C j Torque characteristic value, ARMS j Represents the cluster center C j The mean square amplitude of the vibration at the center of the cutterhead.

9. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 7, characterized in that, In S1.4, the formula for calculating J(C') is: In the formula, x i Represents the samples in each cluster; u j This represents the mean of the samples belonging to each cluster.

10. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 9, characterized in that, In S1.4, the clustering convergence conditions are: the fluctuation range of the cluster center C' is ±(10%~30%) of the initial value of the cluster center; the fluctuation range of the sum of squared distances J(C') is ±(15%~25%) of the convergence threshold.

11. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 7, characterized in that, In S1.2, the formula for calculating the thrust characteristic value is: FPI=F 总推进力 / (Np) In the formula, FPI represents the thrust characteristic value, F 总推进力 The total thrust is represented by F, where N represents the number of hobs on the cutter head, and p represents the penetration depth. 总推进力 =P 油压 ×A×n, where P 油压 The pressure is represented by the oil pressure measured by the pressure sensor, A represents the effective working area of ​​a single hydraulic cylinder, and n represents the number of propulsion hydraulic cylinders.

12. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 7, characterized in that, In S1.2, the formula for calculating the torque characteristic value is: TPI = T / (NpR) In the formula, TPI represents the torque characteristic value, T represents the cutter head torque, N represents the number of hobs on the cutter head, p represents the penetration, and R represents the cutter head radius; The formula for calculating the cutter head torque T is T = 9550 × P. 功率 / r, T is the cutter head torque, P 功率 R is the power of the cutter head drive motor, and r is the cutter head rotation speed.

13. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 11 or 12, characterized in that, Penetration p = v / r, where v is the feed rate and r is the cutterhead rotation speed; The cutter head rotation speed r = 60f / m, where f is the inverter output frequency of the cutter head drive motor, and m is the number of pole pairs of the motor. The calculation process for the propulsion velocity v is as follows: The scan period is set to a fixed 0.2s. A circular buffer of length 5 is maintained to store the five most recent instantaneous velocity values, and the average value is taken as the propulsion velocity per second. In the formula, the instantaneous velocity v 瞬时i =Δs i / 0.2; s i Let Δs be the absolute value of the displacement acquired by the displacement sensor in the i-th scan cycle, and the displacement increment Δs between adjacent cycles. i =s i -s i-1 .

14. The control method for the variable-distance fluid supply device based on a split-type tunneling machine according to claim 7, characterized in that, In S1.2, the first i The mean square amplitude of the vibration at the center of the cutter head in seconds (ARMS) i The calculation is as follows: A triaxial vibration sensor is used to sample at a frequency of 1 kHz to obtain the vibration signal at the center of the cutter head. a x , a y , a z ; Calculate ARMS on the x-axis ix : Similarly, calculate the ARMS of the y-axis. iy and the ARMS of the z-axis iz ; Calculate the synthesized ARMS i : 。

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