Three-Circle Pipe Jacking Machine Torque Correction Method and Device

Abstract

This invention discloses a method and device for correcting the torsion of a three-circle pipe jacking machine, relating to the technical field of pipe jacking machine equipment. It collects the attitude data of the three-circle pipe jacking machine in real time, calculates the angular deviation data based on the attitude data, and calculates the target movement distance of the counterweight on the linear guide based on the angular deviation data and a preset calculation model. The linear motion mechanism is then controlled to move the corresponding counterweight by the target movement distance to correct the torsion of the three-circle pipe jacking machine. By obtaining the target movement distance of the counterweight before each correction, and then controlling the counterweight to move the target movement distance after obtaining the target movement distance, the center of gravity of the three-circle pipe jacking machine changes, thus achieving the torsion correction operation. This improves the adaptability of the three-circle pipe jacking machine, enabling the acquisition of the corresponding target movement distance for each position and the real-time adjustment of the corresponding torsion correction strategy, ensuring construction quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipe jacking equipment technology, and in particular to a torsion correction method and device for a three-circle pipe jacking machine. Background Technology

[0002] Pipe jacking machines, as key equipment in underground pipeline construction, have undergone several stages of technological development. From the initial manual pipe jacking method to mechanized and automated pipe jacking technology, the evolution of pipe jacking machines has effectively improved construction efficiency and precision. With the increasing demands of underground engineering, pipe jacking technology is constantly innovating to adapt to complex and changing geological conditions and higher construction requirements. In this process, the torsion correction technology of pipe jacking machines has gradually become an important factor affecting construction quality and efficiency.

[0003] Currently, torsion correction in pipe jacking machines primarily relies on the forward and reverse rotation of the cutterhead. This technology corrects torsional deviations by adjusting the rotation direction and speed of the cutterhead. However, while this method can achieve torsion correction to some extent, its accuracy and adaptability remain significantly limited. Especially when facing complex geological conditions with varying hardness and permeability, traditional cutterhead forward and reverse rotation technology struggles to quickly and accurately adjust the torsion correction strategy.

[0004] However, the use of forward and reverse cutterhead rotation technology for torsion correction in three-circle pipe jacking machines suffers from poor adaptability. Faced with complex and variable geological conditions, it struggles to quickly adjust the torsion correction strategy, impacting construction quality and efficiency. Secondly, traditional torsion correction technology has poor adaptability. Faced with complex and variable geological conditions, such as soil layers with varying hardness, permeability, and compressibility, the resistance and torque experienced by the pipe jacking machine differ greatly, making it difficult to quickly and effectively adjust the torsion correction strategy, resulting in poor torsion correction effects. Furthermore, manual operation has a slow response speed and is easily affected by subjective factors, leading to low construction efficiency. Finally, traditional forward and reverse cutterhead torsion correction technology also has significant shortcomings in response speed and automation. When the pipe jacking machine twists, relying on forward and reverse cutterhead rotation for correction, from detecting the twist to adjusting the cutterhead movement to achieving an effective torsion correction effect, the entire process has a slow response speed, causing construction delays. Moreover, this process often requires manual intervention for judgment and operation, which is not only inefficient but also susceptible to human error. Summary of the Invention

[0005] The main objective of this invention is to propose a method and device for correcting the torsion of a three-circle pipe jacking machine. This invention aims to solve the technical problems of poor adaptability in the process of correcting the torsion of a three-circle pipe jacking machine using the forward and reverse rotation technology of the cutterhead. In the face of complex and ever-changing geological conditions, it is difficult to quickly adjust the torsion correction strategy, which affects the construction quality and efficiency.

[0006] To achieve the above objectives, in a first aspect, the present invention proposes a method for correcting the torsion of a three-circle pipe jacking machine. The three-circle pipe jacking machine has a torsion correction device installed at its tail. The torsion correction device includes a linear guide, an angle detection mechanism, multiple linear motion mechanisms, and multiple counterweights. The linear guide is rotatably installed at an installation position and extends along a first direction. The angle detection mechanism is installed on the linear guide and can detect the tilt angle of the three-circle pipe jacking machine. All the linear motion mechanisms are spaced apart along the first direction on the linear guide, and each linear motion mechanism can move along the first direction on the linear guide. All the linear motion mechanisms are communicatively connected to the angle detection mechanism. The number of counterweights is consistent with the number of linear motion mechanisms and they are arranged in a one-to-one correspondence. When the angle detection mechanism detects and outputs the offset angle of the three-circle pipe jacking machine, any linear motion mechanism can move along the first direction on the linear guide and adjust the position of the corresponding counterweight to correct the torsion of the three-circle pipe jacking machine.

[0007] The torsion correction method for the three-circle jacking machine includes the following steps:

[0008] The attitude data of the three-circle pipe jacking machine is collected in real time;

[0009] Based on the posture data, the rotational deviation data of the three-circle jacking machine is calculated;

[0010] Based on the angle deviation data and a preset calculation model, the target movement distance of the counterweight on the linear guide is calculated.

[0011] The linear motion mechanism is controlled to move the corresponding counterweight a certain distance to correct the three-circle jacking machine.

[0012] In one embodiment, the step of calculating the rotational deviation data information of the three-circle jacking machine based on the attitude data includes:

[0013] Based on the attitude data, obtain the geological data corresponding to the location of the three-circle pipe jacking machine;

[0014] Based on the geological data and the preset torsion correction threshold, the rotational deviation data of the three-circle pipe jacking machine is calculated.

[0015] In one embodiment, before the step of calculating the rotational deviation data information of the three-circle pipe jacking machine based on the geological data and a preset torsion threshold, the method further includes:

[0016] Based on the preset construction data, the geological body type along the preset jacking axis of the three-circle pipe jacking machine is obtained;

[0017] The preset torsion threshold is set according to the geological body type.

[0018] In one embodiment, the step of setting the preset torsion threshold according to the geological body type includes:

[0019] Based on the type of geological body, the soil density of the geological body is obtained;

[0020] Based on the soil compaction, the preset torsion threshold is set.

[0021] In one embodiment, the step of calculating the target movement distance of the counterweight on the linear guide based on the angular deviation data and a preset calculation model includes:

[0022] Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, the preset calculation model is established.

[0023] Using the preset calculation model, the target movement distance of the counterweight on the linear guide is calculated.

[0024] In one embodiment, the step of establishing the preset calculation model based on the rotation deviation data and in combination with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine includes:

[0025] Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, a Winkel foundation beam model is established to obtain the preset calculation model.

[0026] In one embodiment, the step of controlling the linear motion mechanism to move the corresponding counterweight by the target distance to correct the three-circle jacking machine includes:

[0027] The linear motion mechanism is controlled to move the corresponding counterweight by the target distance, thereby changing the center of gravity distribution of the three-circle pipe jacking machine and correcting the three-circle pipe jacking machine.

[0028] In one embodiment, after the step of controlling the linear motion mechanism to move the corresponding counterweight by the target moving distance to change the center of gravity distribution of the three-circle pipe jacking machine and correct its rotation, the method further includes:

[0029] The torsion correction effect of the three-circle jacking machine was tested and obtained.

[0030] In one embodiment, the step of verifying and obtaining the torsion correction effect of the three-circle jacking machine includes:

[0031] Based on the geological body type at different locations along the movement path of the three-circle pipe jacking machine, corresponding inspection plans are formulated;

[0032] The torsion correction effect of the three-circle pipe jacking machine is obtained by using the corresponding inspection scheme.

[0033] Based on the same technical concept, in a second aspect, the present invention also proposes a torsion correction device for a three-circle pipe jacking machine, used to perform the torsion correction method for a three-circle pipe jacking machine described in the first aspect.

[0034] The present invention has the following beneficial effects:

[0035] 1. The technical solution of this invention, by setting up a torsion correction device, collects the attitude data of the three-circle pipe jacking machine in real time during use. Based on the attitude data, it calculates the angular deviation data of the three-circle pipe jacking machine. Based on the angular deviation data and combined with a preset calculation model, it calculates the target movement distance of the counterweight on the linear guide. It controls the linear motion mechanism to drive the corresponding counterweight to move the target movement distance, thereby correcting the torsion of the three-circle pipe jacking machine. Thus, this invention can obtain the target movement distance of the counterweight before each torsion correction, and after obtaining the target movement distance, control the counterweight to move the target movement distance, thereby changing the center of gravity of the three-circle pipe jacking machine, realizing the torsion correction operation of the three-circle pipe jacking machine, improving the adaptability of the three-circle pipe jacking machine. At the same time, since the target movement distance at each position is obtained in real time, this invention can obtain the corresponding target movement distance for each position, and thus can adjust the corresponding torsion correction strategy in real time for each position, ensuring construction quality and efficiency.

[0036] 2. This invention utilizes a specialized torsion correction device to collect real-time attitude data of the three-circle pipe jacking machine and calculate the rotation angle deviation. Combined with a pre-set calculation model, it accurately calculates the target movement distance of the counterweight. Compared to traditional cutterhead reversal technology, this solution can more precisely adjust the center of gravity distribution of the three-circle pipe jacking machine, achieving high-precision torsion correction operation and significantly improving the equipment's adaptability to complex geological conditions.

[0037] 3. This invention employs real-time data acquisition and calculation, enabling dynamic calculation and adjustment of the counterweight's movement distance based on the actual conditions at each specific location during construction. This real-time response mechanism allows the torsion correction strategy to quickly adapt to changes in geological conditions, avoiding the lag problem of traditional technologies when facing complex and variable geological conditions.

[0038] By precisely controlling the movement of counterweights to adjust the center of gravity of the three-circle pipe jacking machine, the torsion correction method not only improves the controllability and stability of the torsion correction operation but also reduces construction deviations and rework caused by improper torsion correction. Simultaneously, the real-time adjustment mechanism ensures the continuity and efficiency of the construction process, thereby improving the overall quality and efficiency of underground pipeline construction. Attached Figure Description

[0039] 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 the structures shown in these drawings without creative effort.

[0040] Figure 1 A flowchart of the torsion correction method for a three-circle pipe jacking machine provided by the present invention;

[0041] Figure 2 for Figure 1 The flowchart of step S200 in the example is shown;

[0042] Figure 3 for Figure 2 The flowchart of step S240 in the example is shown;

[0043] Figure 4 for Figure 1 The flowchart of step S300 in the example is shown;

[0044] Figure 5 for Figure 1 The flowchart of step S400 in the example is shown;

[0045] Figure 6 for Figure 5 The flowchart of step S420 in the example is shown;

[0046] Figure 7 This is a schematic diagram of the installation state of the torsion correction device of the three-circle jacking machine as an example of the present invention.

[0047] Figure 8 for Figure 7 A schematic diagram of the torsion correction device shown in the example;

[0048] Figure 9 This is a structural schematic diagram from another perspective of the installation state of the torsion correction device as an example of the present invention.

[0049] Explanation of icon numbers:

[0050] 100. Linear guide component; 200. Angle detection mechanism; 300. Linear motion mechanism; 400. Counterweight component; 310. Housing; 320. Drive motor; 330. Walking motion component; 331. First gear; 332. Second gear; 333. Brake component; 334. Mounting bracket.

[0051] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0053] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0054] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0055] Pipe jacking machines, as key equipment in underground pipeline construction, have undergone several stages of technological development. From the initial manual pipe jacking method to mechanized and automated pipe jacking technology, the evolution of pipe jacking machines has effectively improved construction efficiency and precision. With the increasing demands of underground engineering, pipe jacking technology is constantly innovating to adapt to complex and changing geological conditions and higher construction requirements. In this process, the torsion correction technology of pipe jacking machines has gradually become an important factor affecting construction quality and efficiency.

[0056] Currently, torsion correction in pipe jacking machines primarily relies on the forward and reverse rotation of the cutterhead. This technology corrects torsional deviations by adjusting the rotation direction and speed of the cutterhead. However, while this method can achieve torsion correction to some extent, its accuracy and adaptability remain significantly limited. Especially when facing complex geological conditions with varying hardness and permeability, traditional cutterhead forward and reverse rotation technology struggles to quickly and accurately adjust the torsion correction strategy.

[0057] The research found that the forward and reverse rotation technology of the cutterhead has poor adaptability in the process of correcting the torsion of a three-circle pipe jacking machine. In the face of complex and ever-changing geological conditions, it is difficult to quickly adjust the torsion correction strategy, which affects the construction quality and efficiency.

[0058] This invention proposes a method and device for correcting torsion in a three-circle pipe jacking machine.

[0059] Please see Figures 1 to 9 To facilitate understanding, this method for correcting the tilt of a three-circle pipe jacking machine includes a tilting device installed at the tail of the machine's shield. The device comprises a linear guide 100, an angle detection mechanism 200, two linear motion mechanisms 300, and two counterweights 400. The linear guide 100 is rotatably mounted in its installation position and extends along a first direction. The angle detection mechanism 200 is mounted on the linear guide 100 and can detect the tilt angle of the three-circle pipe jacking machine. The two linear motion mechanisms 300 extend along the first direction... The linear guide 100 is distributed in a directional interval, and each linear motion mechanism 300 can move on the linear guide 100 along the first direction. Both linear motion mechanisms 300 are communicatively connected to the angle detection mechanism 200. Two counterweights 400 are set one-to-one with the linear motion mechanisms 300. When the angle detection mechanism 200 detects and outputs the offset angle of the three-circle pipe jacking machine, any linear motion mechanism 300 can move on the linear guide 100 along the first direction and adjust the position of the corresponding counterweight 400 to correct the deviation of the three-circle pipe jacking machine.

[0060] The torsion correction method for the three-circle jacking machine includes the following steps:

[0061] S100. Real-time acquisition of the attitude data of the three-circle pipe jacking machine;

[0062] S200. Based on the posture data, the rotation angle deviation data of the three-circle jacking machine is calculated.

[0063] S300. Based on the angle deviation data and a preset calculation model, calculate the target movement distance of the counterweight on the linear guide.

[0064] S400: Control the linear motion mechanism to drive the corresponding counterweight to move the target moving distance, so as to correct the three-circle jacking machine.

[0065] Specifically, the linear guide 100 refers to the track structure that provides axial reference for the movement of the counterweight. It can be implemented using a high-precision linear guide, whose rotatable installation allows for adjustment of the guiding direction according to the construction axis. This structure provides a stable movement path for the counterweight, ensuring that displacement is accurately converted into torque changes. The angle detection mechanism 200 refers to a sensing device that monitors the tilt state of the machine body in real time. It can be implemented using a dual-axis tilt sensor, which, when mounted on the guide, accurately reflects the offset angle of the machine body relative to the axis. The two linear motion mechanisms 300 refer to the execution units that drive the movement of the counterweight. They can be implemented using ball screw mechanisms driven by servo motors, symmetrically distributed along the axis to form a torque adjustment unit. The counterweight 400 refers to an adjustable-mass balance block, which can be implemented using a modularly designed steel counterweight block. Changing its position generates a reverse corrective torque.

[0066] During the pipe jacking machine's advancement, the angle detection mechanism 200 continuously collects the machine's attitude data. When the detected tilt angle exceeds the allowable range, the calculation system calculates the required counterweight displacement based on real-time geological data and machine structural parameters using an established Winkel foundation beam model. Two linear motion mechanisms 300 synchronously drive the counterweight blocks along the guide members according to the calculation results, generating a counter-torque by changing the counterweight block spacing. For example, in a right-biased condition, the left counterweight block moves forward while the right counterweight block moves backward, creating a counter-clockwise corrective torque. This process forms a closed-loop control; after each displacement adjustment, the attitude data is re-detected until the deviation returns to the allowable range.

[0067] Compared to existing technologies, traditional cutterhead forward and reverse rotation technology can only indirectly adjust torque through a mechanical transmission system, while this solution directly changes the stress state of the machine body by actively adjusting the position of the counterweight. Existing technologies lack a real-time feedback mechanism and are difficult to adapt to changes in geological conditions; this solution achieves dynamic adjustment through a closed-loop system of angle detection and displacement control. Traditional methods rely on empirical parameters to set the torque correction amount; this solution achieves precise displacement calculation through a computational model that integrates geological data, significantly improving adaptability to different geological conditions.

[0068] Through the above technical solutions, this application can achieve precise attitude control under complex geological conditions. By combining real-time feedback with model calculations, it effectively solves the problems of response lag and insufficient accuracy in traditional torsion correction methods. The symmetrical layout and independent control characteristics of the counterweight system make the application of torsional torque more flexible and controllable, avoiding overshoot caused by a single adjustment method. The dynamic calculation model based on geological parameters ensures that the counterweight adjustment amount always matches the actual working conditions, significantly improving the construction quality in alternating soft and hard strata.

[0069] In this embodiment, by setting up a linear guide 100, an angle detection mechanism 200, two linear motion mechanisms 300, and two counterweights 400, the angle detection mechanism 200 detects the tilt angle of the three-circle pipe jacking machine during use, and the linear motion mechanism 300 drives the corresponding counterweight 400 to move along the first direction. This allows the present invention to adjust the position of the counterweight 400 during use, enabling the present invention to automatically correct the deviation of the three-circle pipe jacking machine without manual adjustment, thus avoiding interference from human factors in the deviation correction process of the three-circle pipe jacking machine.

[0070] Specifically, the linear guide 100 refers to a rigid track structure serving as the reference axis, which can be implemented using a rack and pinion mechanism. Its rotatable installation characteristic ensures that the correction direction matches the actual offset direction. The angle detection mechanism 200 refers to a sensing device that monitors the tilt angle in real time, which can be implemented using an angle sensor to generate feedback signals to trigger subsequent actions. The linear motion mechanism 300 refers to an actuator that moves directionally along the guide, which can be driven by a gear transmission system. By constraining the motion trajectory, it ensures adjustment stability. The counterweight 400 refers to a mass block assembly, which can be implemented using a metal block. It generates a correction torque through positional changes.

[0071] When the angle detection mechanism 200 detects a tilt in the pipe jacking machine, the signal is transmitted to the linear motion mechanism 300. The two linear motion mechanisms 300 move in opposite directions along the linear guide 100 according to the direction of the offset, causing a positional change in the counterweight 400. The positional adjustment of the counterweight 400 creates a symmetrical torque difference, which corrects the torsional state of the pipe jacking machine through a lever effect. The rotatable design of the linear guide 100 ensures that its axis always aligns with the correction direction, guaranteeing accurate torque application. The communication-connected system architecture enables real-time linkage between the detection signal and the executed actions, forming a closed-loop control circuit.

[0072] In this embodiment, automatic detection and real-time adjustment are achieved through a closed-loop control system, eliminating errors caused by human intervention. The symmetrically distributed counterweight adjustment mechanism generates precise torque differences, overcoming the shortcomings of insufficient adjustment force from a single counterweight. The directional motion constraint of the linear guide 100 avoids multi-dimensional interference, resulting in higher adjustment stability compared to traditional methods. Direct communication between angle detection and the actuator significantly shortens response time and improves construction efficiency. The closed-loop control system ensures that the correction action is synchronized with the detection results, improving correction accuracy and response speed. The symmetrical counterweight adjustment mechanism adapts to complex torque changes caused by different geological conditions, enhancing system adaptability. The directional motion constraint mechanism avoids the multi-dimensional interference problem of traditional methods, ensuring the effectiveness of the correction action. The automated control loop reduces the need for manual operation, improving construction efficiency and quality stability.

[0073] In one embodiment, the linear motion mechanism 300 includes a housing 310, a drive motor 320, and a traveling motion component 330. The housing 310 covers the linear guide 100 and can slide along the first direction on the linear guide 100. The housing 310 is connected to the counterweight 400. The drive motor 320 is mounted on the housing 310, and its output end faces the linear guide 100. The traveling motion component 330 is mounted on the output end of the drive motor 320 and is movably engaged with the linear guide 100. The drive motor 320 can drive the traveling motion component 330 to move the corresponding counterweight 400 along the first direction on the linear guide 100 through the housing 310, and adjust the position of the corresponding counterweight 400 to correct the deviation of the three-circle jacking machine.

[0074] Specifically, the outer casing 310 covers the linear guide 100 and can slide on the linear guide 100 along a first direction. The outer casing 310 is connected to the counterweight 400. The drive motor 320 is mounted on the outer casing 310, and the output end of the drive motor 320 faces the linear guide 100. The traveling motion component 330 is mounted on the output end of the drive motor 320. The traveling motion component 330 is movably engaged with the linear guide 100. The drive motor 320 can drive the traveling motion component 330 to drive the corresponding counterweight 400 to move along the linear guide 100 along the first direction through the outer casing 310.

[0075] The outer shell 310 refers to the rigid housing surrounding the linear guide 100, which can be implemented using a welded steel plate structure, with a wear-resistant coating on its sliding surface. The sliding function of the outer shell 310 constrains the movement trajectory of the counterweight 400 to the guide, eliminating lateral offset errors. The drive motor 320 is the actuator that outputs rotational power, which can be implemented using a servo motor, with its output shaft connected to the transmission components via a coupling. The directional installation of the drive motor 320 ensures that the power transmission direction coincides with the axis of the guide, reducing transmission losses. The traveling motion component 330 is the transmission component that converts rotational motion into linear motion, which can be implemented using a gear set, with its tooth profile parameters matching the meshing accuracy of the guide. The meshing transmission of the traveling motion component 330 converts the motor torque into linear driving force, achieving precise control of the counterweight position.

[0076] When the angle detection mechanism 200 detects the tilt of the pipe jacking machine, the drive motor 320 receives a control signal and starts operating. The rotational power of the motor is transmitted to the traveling component 330 through the output shaft, and the traveling component 330 forms a meshing transmission relationship with the linear guide 100. As the traveling component 330 rotates, the outer shell 310 slides in a predetermined direction under the constraint of the guide, thereby driving the counterweight 400 to move synchronously. The change in the position of the counterweight generates a reverse torque, which counteracts the tilting torque of the pipe jacking machine in real time. Throughout the entire movement, the rigid structure of the outer shell 310 ensures that the transmission system is not disturbed by external loads, and the closed-loop control of the drive motor 320 enables precise adjustment of the displacement.

[0077] In this embodiment, automatic closed-loop control of the counterweight position is achieved through the integrated design of motor drive and mechanical transmission. Compared to manual adjustment, the gear meshing accuracy of the transmission system can control the displacement error within the millimeter range, and the response time is shortened to the second level. Simultaneously, the enclosed structure of the outer shell 310 effectively isolates mud intrusion from the construction environment, avoiding the jamming defects of traditional open guide rails. This overcomes the slow response speed, achieving real-time adjustment of the counterweight position within seconds. It eliminates dependence on manual operation, forming a fully automatic closed-loop control system.

[0078] In one embodiment, the linear guide 100 is a straight rack.

[0079] Specifically, a spur rack refers to a rigid guiding component with a linearly arranged tooth structure. It can be implemented using an involute tooth structure with a module of 2 to 5, and its tooth surfaces are hardened to improve wear resistance. The teeth of the spur rack mesh with the gears to form a stable transmission relationship, transmitting driving force through tooth surface contact and eliminating positioning errors caused by sliding friction. The rigid structure of the spur rack can withstand the dynamic load generated when the counterweight moves 400°, preventing transmission failure due to deformation.

[0080] The output shaft of the drive motor 320 meshes with a rack and pinion via a gear set. When the angle detection mechanism 200 detects the tilt of the pipe jacking machine, the drive motor 320 drives the gear to rotate according to the tilt angle signal. The meshing motion of the gear and rack is converted into the linear displacement of the counterweight 400. By changing the position distribution of the counterweight 400 on the rack, a reverse torque is generated to counteract the torsional force of the pipe jacking machine. The meshing transmission between the gear and rack has a definite transmission ratio, ensuring a linear correspondence between the displacement of the counterweight 400 and the rotation angle of the drive motor 320, thus ensuring the accuracy of position adjustment. The pitch tolerance of the rack is controlled within 0.02 mm to ensure the consistency of motion when multiple gear sets mesh at different positions.

[0081] In this embodiment, the friction coefficient of the sliding guide rail changes with the lubrication state, easily causing creeping and resulting in positioning deviations; the ball screw is prone to elastic deformation under heavy load conditions, affecting transmission accuracy. In contrast, the meshing transmission of the rack and pinion directly transmits power through tooth surface contact, eliminating intermediate medium friction losses and maintaining a stable transmission efficiency of over 95%. The rack's tooth structure has a self-cleaning function, preventing jamming caused by the intrusion of foreign objects such as mud. The rigid meshing structure of the gear and rack can withstand the vibration and impact generated during pipe jacking machine construction, maintaining stable transmission performance under different geological conditions such as soft soil and sand layers. The standard module design of the rack simplifies the spare parts replacement process, extending the maintenance cycle to over 3000 hours.

[0082] In one embodiment, the walking motion component 330 includes a first gear 331, which meshes with the linear guide 100. The first gear 331 is rotatably engaged with the housing 310, and the drive motor 320 can drive the first gear 331 to drive the corresponding counterweight 400 to move along the linear guide 100 through the housing 310.

[0083] Specifically, the first gear 331 refers to a mechanical element with teeth, which can be implemented using an alloy steel gear. Its teeth mesh with the tooth grooves of the linear guide 100, transmitting power through rigid contact.

[0084] The linear guide 100 refers to a straight rack with a continuous tooth structure, which can be made of surface-hardened alloy steel. Its tooth profile cooperates with the teeth of the first gear 331 to form a stable transmission path. The rotational fit refers to the connection method between the first gear 331 and the housing 310 to achieve relative rotation through bearings or shaft hole clearance. Specifically, it can be implemented using deep groove ball bearings, allowing the first gear 331 to rotate freely inside the housing 310 while maintaining axial positioning.

[0085] The output torque of the drive motor 320 is transmitted to the first gear 331, causing it to rotate around its own axis. Since the first gear 331 meshes with the rack, the rotational motion is converted into linear displacement along the length of the rack. The rotational engagement design between the housing 310 and the first gear 331 causes the housing 310 to translate as the first gear 331 rotates, thereby moving the counterweight 400 along the linear guide 100. When the pipe jacking machine twists, the angle detection mechanism 200 triggers the drive motor 320 to operate. By precisely controlling the rotation angle of the first gear 331, the two counterweights 400 move in opposite directions, creating a torque difference that counteracts the torsional offset of the pipe jacking machine.

[0086] Through the above technical solution, this application solves the positioning deviation problem caused by slippage during the transmission of the linear motion mechanism 300, achieving a 400mm-level displacement control accuracy for the counterweight. The gear meshing transmission effectively resists vibration interference in the underground construction environment, ensuring reliable operation of the torsion correction device under complex geological conditions. The rigid meshing structure avoids the slack phenomenon present in traditional chain drives, making the position adjustment process of the counterweight 400 repeatable and predictable.

[0087] In one embodiment, the walking motion component 330 further includes a second gear 332, which is mounted on the output shaft of the drive motor 320. The second gear 332 meshes with the first gear 331. The drive motor 320 can drive the second gear 332 and the first gear 331 to drive the corresponding counterweight 400 to move along the first direction on the linear guide 100 through the housing 310, and adjust the position of the corresponding counterweight 400 to correct the deviation of the three-circle jacking machine.

[0088] Specifically, the second gear 332 refers to the transmission component that is directly connected to the output shaft of the drive motor 320. It can be implemented by using a helical gear with a module of 2. Its function is to transmit the output torque of the drive motor 320 to the first gear 331.

[0089] The meshing relationship refers to the contact and engagement method between the tooth surfaces of the second gear 332 and the first gear 331. Specifically, it can be achieved by involute tooth meshing, and its function is to amplify the output torque through the transmission ratio of the gear pair.

[0090] The output shaft refers to the power transmission end of the drive motor 320. Specifically, it can be implemented using a steel shaft with a keyway. Its function is to convert the rotational motion of the motor into the rotation of the gears.

[0091] The output shaft of the drive motor 320 drives the second gear 332 to rotate, and the second gear 332 meshes with the first gear 331 to form a two-stage transmission structure. Since the outer diameter of the second gear 332 is smaller than that of the first gear 331, a deceleration and torque amplification effect is generated when they mesh, amplifying the output torque of the drive motor 320 and transmitting it to the first gear 331. The first gear 331 meshes with the rack of the linear guide 100, converting the rotational motion into the translational motion of the housing 310 along the linear guide 100, thereby moving the counterweight 400. During gear meshing, the continuous contact characteristics of the involute tooth profile avoid transmission backlash, ensuring precise displacement control.

[0092] In this embodiment, the output torque is significantly increased under the same motor power through a two-stage gear meshing structure. Simultaneously, the self-locking characteristic of gear meshing eliminates transmission slippage, making the position adjustment of the counterweight 400 more stable and reliable. This allows the present application to effectively increase the output torque of the drive motor 320, solving the problem of sluggish movement of the counterweight 400 caused by insufficient driving force; the high-precision characteristics of gear meshing transmission improve the control accuracy of the counterweight 400's displacement; and the rigid connection characteristics of mechanical transmission enhance the response speed and stability of the correction action.

[0093] In one embodiment, the outer diameter of the second gear 332 is smaller than the outer diameter of the first gear 331.

[0094] Specifically, the second gear 332 refers to the transmission component mounted on the output shaft of the drive motor 320 and meshing with the first gear 331. It can be implemented using an involute gear with a module of 2, and its outer diameter is designed to be smaller than that of the first gear 331. The first gear 331 refers to the transmission component that meshes with the linear guide 100 and drives the housing 310. It can be implemented using an involute gear with a module of 4, and its outer diameter is larger than that of the second gear 332. The difference in their outer diameters forms a speed reduction transmission structure, establishing a speed conversion relationship between the output shaft of the drive motor 320 and the linear guide 100.

[0095] When the drive motor 320 drives the second gear 332 to rotate, since the outer diameter of the second gear 332 is smaller than that of the first gear 331, the two mesh to form a transmission system with a reduction ratio equal to the ratio of the number of teeth of the first gear 331 to the number of teeth of the second gear 332. This reduction transmission converts the high-speed rotational motion output by the drive motor 320 into the low-speed rotational motion of the first gear 331, allowing the displacement of the housing 310 on the linear guide 100 to be precisely controlled. The torque amplification effect brought about by the reduction transmission enables the linear motion mechanism 300 to overcome the frictional resistance when the counterweight 400 moves, while reducing the risk of over-adjustment due to motion inertia. This structure ensures that after the angle detection mechanism 200 detects the offset angle, the position adjustment process of the counterweight 400 has a controllable displacement increment and a stable motion trajectory.

[0096] In this embodiment, by setting a specific ratio between the outer diameter of the second gear 332 and the first gear 331, an optimized reduction transmission structure is constructed. This achieves precise control of the transmission ratio while maintaining structural compactness, resulting in an order-of-magnitude improvement in the displacement adjustment accuracy of the counterweight 400. The torque amplification characteristic of the reduction transmission structure ensures reliable movement of the counterweight 400 under complex geological conditions. Simultaneously, by reducing the movement speed, millimeter-level displacement control accuracy is achieved, significantly improving the accuracy of the correction action.

[0097] In one embodiment, a brake element 333 is also installed at the output end of the drive motor 320, and the brake element 333 can brake the second gear 332.

[0098] Specifically, brake element 333 refers to a device used to apply resistance to rotating components to limit their movement. This can be achieved using an electromagnetic brake or a mechanical clamp. Its function is to immediately eliminate the displacement caused by the inertial rotation of the second gear 332 or external vibration after the drive motor 320 stops operating. The second gear 332 is a transmission component installed on the output shaft of the drive motor 320 and meshing with the first gear 331. This can be achieved using an involute gear or a helical gear. Its smaller outer diameter compared to the first gear 331 improves transmission accuracy. Directly braking this gear can block the degree of freedom of the power transmission chain.

[0099] When the drive motor 320 drives the first gear 331 to move the counterweight 400 to the target position along the linear guide 100 via the second gear 332, the brake 333 immediately applies friction or electromagnetic resistance to the wheel surface of the second gear 332, forcibly terminating the rotational motion of the second gear 332. Because the second gear 332 meshes with the first gear 331, the braking of the second gear 332 directly prevents the first gear 331 from further displacing on the linear guide 100, thus eliminating the risk of backlash caused by gear transmission backlash. This process does not rely on the motor's own self-locking torque, and the position of the counterweight 400 remains fixed even under the vibration environment of the pipe jacking machine.

[0100] In this embodiment, the second gear 332 is physically locked by an independent braking component 333, forming a dual anti-displacement mechanism. This effectively overcomes the influence of internal gaps in the transmission chain and external interference, ensuring the absolute stability of the counterweight position after the correction action is completed. Ultimately, this solves the problem of counterweight position displacement caused by gear inertia or pipe jacking machine vibration, enabling the correction device to maintain precise counterweight positioning even under complex working conditions, thus improving the reliability of the correction action and the accuracy of position control.

[0101] In one embodiment, the angle detection mechanism 200 is an angle sensor.

[0102] Specifically, an angle sensor is a detection device that measures the tilt angle of an object by outputting an electrical signal. It can be implemented using sensors based on MEMS technology or photoelectric coding principles. It collects the attitude data of the three-circle jacking machine in real time and converts it into an electrical signal to provide an input reference for correction control.

[0103] An angle sensor is mounted on the linear guide 100 and generates a corresponding electrical signal by detecting changes in the tilt angle of the shield tail. When the three-circle pipe jacking machine twists during the jacking process, the angle sensor captures the tilt angle deviation in real time and transmits this deviation to the control system of the linear motion mechanism 300. The control system drives the drive motor 320 based on the received angle data, causing the counterweight 400 to move along the linear guide 100, thereby adjusting the center of gravity distribution to counteract the torsional torque. In this process, the high sensitivity of the angle sensor ensures rapid identification of minute angle deviations, and its digital output avoids human interpretation errors, enabling closed-loop control between the correction action and attitude deviation.

[0104] In this embodiment, automated high-precision detection of the tilt angle of the three-circle pipe jacking machine is achieved, solving the response delay problem caused by manual intervention in traditional torsion correction technology. The electrical signal output of the angle sensor interacts directly with the control system, enabling the position adjustment of the counterweight 400 to be dynamically executed based on real-time data, thereby ensuring precise matching between the correction action and the torsional deviation, and improving the control accuracy and efficiency of the construction process.

[0105] In one embodiment, a mounting bracket 334 is provided at the mounting position, and the mounting bracket 334 is rotatably connected to the linear guide 100.

[0106] Specifically, the mounting bracket 334 refers to the rigid support structure used to fix the linear guide 100. It can be implemented using a welded steel plate frame or a cast base, and its bottom is fixed to the preset installation position at the tail of the shield by bolts or welding. The rotatable connection refers to the connection method that allows the linear guide 100 to rotate around its axis. It can be implemented using a bearing assembly or a hinge structure, so that the linear guide 100 has an adjustable angle range of ±5° to ±15° in the horizontal plane.

[0107] Mounting bracket 334 is configured as a rigid support structure, fixed to the shield tail by bolts or welding, forming a stable mechanical load-bearing foundation. The linear guide 100 forms a rotating pair with the mounting bracket 334 via a bearing assembly, allowing it to adaptively adjust its tilt angle to follow changes in the shield's attitude when the tunneling machine pitches or yaws during excavation. During this process, the corrective torque generated by the counterweight 400 moving along the guide under the drive of the linear motion mechanism 300 always remains consistent with the actual torsional direction of the shield, avoiding rigid interference between the guide and the motion mechanism caused by sudden changes in the shield's attitude. Ultimately, this gives the guide dynamic adjustment capability, eliminating the risk of mechanical interference while maintaining support stability.

[0108] In this embodiment, by setting up a torsion correction device, the posture data of the three-circle pipe jacking machine is collected in real time during use. Based on the posture data, the angular deviation data of the three-circle pipe jacking machine is calculated. Based on the angular deviation data and combined with a preset calculation model, the target moving distance of the counterweight 400 on the linear guide is calculated. The linear motion mechanism 300 is controlled to drive the corresponding counterweight 400 to move the target moving distance, thereby correcting the torsion of the three-circle pipe jacking machine. Thus, during use, the present invention can obtain the target moving distance of the counterweight 400 before each torsion correction, and after obtaining the target moving distance, control the counterweight 400 to move the target moving distance, thereby changing the center of gravity of the three-circle pipe jacking machine, realizing the torsion correction operation of the three-circle pipe jacking machine, improving the adaptability of the three-circle pipe jacking machine. At the same time, since the target moving distance at each position is obtained in real time, the present invention can obtain the corresponding target moving distance for each position, thereby enabling the present invention to adjust the corresponding torsion correction strategy in real time for each position, ensuring construction quality and efficiency.

[0109] This invention utilizes a specialized torsion correction device to collect real-time attitude data of the three-circle pipe jacking machine and calculate angular deviations. Combined with a pre-set calculation model, it precisely calculates the target movement distance of the counterweight. Compared to traditional cutterhead reversal technology, this solution can more accurately adjust the center of gravity distribution of the three-circle pipe jacking machine, achieving high-precision torsion correction operations and significantly improving the equipment's adaptability to complex geological conditions.

[0110] This invention employs real-time data acquisition and calculation, enabling dynamic calculation and adjustment of the counterweight's movement distance based on the actual conditions at each specific location during construction. This real-time response mechanism allows the torsion correction strategy to quickly adapt to changes in geological conditions, avoiding the lag problem of traditional technologies when facing complex and variable geological conditions.

[0111] By precisely controlling the movement of counterweights to adjust the center of gravity of the three-circle pipe jacking machine, the torsion correction method not only improves the controllability and stability of the torsion correction operation but also reduces construction deviations and rework caused by improper torsion correction. Simultaneously, the real-time adjustment mechanism ensures the continuity and efficiency of the construction process, thereby improving the overall quality and efficiency of underground pipeline construction.

[0112] In one embodiment, step S200 includes:

[0113] S210. Based on the attitude data, obtain the geological data corresponding to the location of the three-circle pipe jacking machine;

[0114] S220. Based on the geological data and the preset torsion correction threshold, calculate the rotational deviation data of the three-circle pipe jacking machine.

[0115] Specifically, it is further proposed that when calculating the rotation deviation data, the geological data corresponding to the location of the three-circle pipe jacking machine should be obtained first, and then the calculation should be performed in combination with the preset torsion correction threshold.

[0116] Geological data refers to the physical and mechanical parameters of the strata in the construction area, which can be obtained using ground-penetrating radar detection or borehole sampling analysis techniques. These parameters reflect the soil strength, density, and permeability characteristics of the current construction section. The preset torsion correction threshold refers to the safe torsion correction angle range set based on different geological body types. This threshold can be determined through soil bearing capacity tests or statistical analysis of historical construction data, and is used to limit the amplitude boundaries of the torsion correction operation.

[0117] During the tunnel boring machine's (TBM) advancement, the current coordinates of the equipment are determined by real-time collected shield attitude data, and the corresponding geological exploration database is used to obtain stratum parameters. These geological parameters are then input into a pre-set algorithm model, combined with pre-defined torsion angle safety thresholds for different soil types, to calculate the angular deviation that adapts to the current stratum characteristics while complying with construction safety regulations. For example, in soft soil strata, where the soil bearing capacity is low, a smaller pre-set torsion threshold is used to avoid excessive torsion causing stratum disturbance; in hard rock strata, a larger threshold is used to ensure torsion efficiency.

[0118] Compared with existing technologies, traditional cutterhead forward and reverse rotation correction methods rely solely on adjustments to the equipment's own motion parameters, neglecting the constraints of geological conditions on the correction effect. This solution introduces a dynamic matching mechanism between geological data and preset correction thresholds, enabling the correction parameters to automatically adapt to the bearing characteristics of different strata. This solves the problems of insufficient correction accuracy and low operational safety of traditional methods under complex geological conditions.

[0119] Through the above technical solution, this application realizes real-time adaptation of the torsion correction parameters to the geological conditions, effectively preventing excessive or insufficient torsion correction caused by changes in geological characteristics, and improving the trajectory control accuracy and equipment operation stability of pipe jacking construction under different geological environments.

[0120] In one embodiment, prior to step S220, the method further includes:

[0121] S230. Based on the preset construction data, obtain the geological body type along the preset jacking axis of the three-circle pipe jacking machine;

[0122] S240. Set the preset torsion threshold according to the geological body type.

[0123] Specifically, it is further proposed that before calculating the rotation deviation data based on geological data and preset torsion threshold, the geological body type along the preset jacking axis of the three-circle pipe jacking machine should be obtained based on preset construction data, and a preset torsion threshold should be set based on the geological body type.

[0124] The preset construction data refers to technical documents containing geological exploration data, construction drawings, and geotechnical mechanics parameters. Specifically, this can be achieved using ground-penetrating radar data or borehole sampling reports, used to obtain the geological distribution characteristics of the jacking path. The geological body type refers to the soil layer category classified according to geotechnical mechanics properties, specifically using classification standards such as soft soil, sand, and rock layers. This directly affects the basis for setting the torsion correction threshold. The preset torsion correction threshold is the critical value of the deviation angle matched with geological conditions. Specifically, it can be achieved through a table showing the correspondence between soil density and allowable deviation angle, used to control the triggering conditions for the 400° movement of the counterweight.

[0125] Before the pipe jacking machine advances along the preset axis, the soil layer distribution data in the geological exploration report is analyzed to identify the geological body types in different sections of the construction path. For example, in soft soil strata, due to the low shear strength of the soil, the allowable angular deviation threshold is set to a smaller value; in rock strata, the threshold is appropriately increased according to the rock hardness. The torsion correction system calls the corresponding threshold parameter based on the real-time matched geological body type. When the actual angular deviation is detected to exceed the threshold, the counterweight 400-degree movement mechanism is triggered. This dynamic adjustment method allows the torsion correction control to adapt to the differences in mechanical response under different geological conditions.

[0126] Through the above technical solution, this application realizes the dynamic optimization of the torsion correction threshold as geological conditions change, avoiding the problem of torsion correction delay or over-adjustment caused by geological differences, enabling the three-circle pipe jacking machine to quickly match the best control parameters in soft and hard strata, and improving the accuracy of torsion correction action and construction continuity.

[0127] In one embodiment, step S240 includes:

[0128] S241. Based on the type of geological body, obtain the soil density of the geological body;

[0129] S242. Set the preset torsion correction threshold according to the soil density.

[0130] Specifically, the geological body type refers to the classification of the geological structure of the strata where the pipe jacking machine is located. This can be identified using geological exploration data or historical construction records, such as clay layers, gravel layers, or rock layers. Soil density refers to the degree of compaction of soil particles in the strata. This can be measured using standard penetration tests or dynamic penetration tests, and can be quantified, for example, by the number of hammer blows or the penetration resistance value.

[0131] When the pipe jacking machine enters different geological areas, it first obtains information about the geological body type at the current construction location using geological exploration equipment. Then, based on the soil physical property database corresponding to that geological body type, it retrieves the soil density parameters. For example, in sandy strata, the density may be loose or medium-dense, while in clay strata it may be stiff or plastic. Based on the density value range, a preset correction threshold is dynamically set to the corresponding interval value. For example, a smaller threshold is used in low-density strata to prevent over-correction, while a larger threshold is used in high-density strata to enhance the correction response speed.

[0132] Traditional methods employ fixed torsional correction thresholds, which cannot adapt to the differences in mechanical properties of different strata, leading to torsional correction lag in hard strata or equipment instability in soft strata. This solution establishes a correlation model between geological body type and soil density, enabling dynamic adjustment of the threshold according to the bearing capacity of the strata, thus resolving the contradiction between rigid parameters and variable geological conditions.

[0133] In one embodiment, step S300 includes:

[0134] S310. Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, establish the preset calculation model;

[0135] S320. Using the preset calculation model, calculate the target movement distance of the counterweight on the linear guide.

[0136] Specifically, the angular deviation data refers to the angular offset between the axis of the pipe jacking machine and the preset path. This can be obtained by collecting attitude data in real time using angle sensors and calculating the deviation between the actual operating trajectory and the theoretical trajectory. Structural parameters refer to the geometric dimensions and mechanical characteristics of the main structure of the pipe jacking machine. These can be obtained from the dimensions indicated on the equipment design drawings or through 3D scanning measurements, and are used to establish a mechanical model that matches the physical characteristics of the equipment. The counterweight 400 mass refers to the weight parameter of the balance block installed on the linear motion mechanism 300. This can be obtained through electronic scale measurement or design specifications, and is used to calculate the torque balance relationship generated by center of gravity adjustment. Geological data refers to the physical and mechanical parameters of the soil in the construction area. This can be obtained from indicators such as soil density and moisture content in geological exploration reports, and is used to reflect the influence of the strata on the resistance to equipment movement. The preset calculation model is a mechanical calculation framework that integrates the equipment structure, load distribution, and geological conditions. It can be constructed using a Winkel foundation beam model and is used to dynamically calculate the correspondence between the displacement of the counterweight 400 and the torsional correction effect.

[0137] After detecting angular deviation, the equipment structural parameters are input into the model to determine the inertial characteristics of the pipe jacking machine. The mass data of counterweight 400 is used to calculate the corrective torque generated by the center of gravity adjustment, and geological data is integrated into the model to correct the soil reaction force parameters. By solving the simultaneous mechanical equilibrium equations, the model automatically calculates the precise distance that counterweight 400 needs to move, so that the reverse torque generated by the center of gravity shift and the geological resistance work together to counteract the torsional deviation of the equipment's trajectory. For example, in sandy strata, the low soil density results in a small foundation reaction coefficient, and the model will automatically increase the counterweight displacement to compensate for the insufficient ground support; while in clay strata, the higher soil density increases the foundation reaction coefficient, and the model will correspondingly reduce the counterweight displacement to avoid over-correction.

[0138] In this embodiment, by establishing a multi-parameter coupled mechanical model, the calculation of counterweight displacement can simultaneously respond to the characteristics of the equipment body, the load state, and the real-time geological environment, and can generate a suitable torsion correction strategy in sandy, clay, or composite strata.

[0139] This application can accurately calculate the counterweight adjustment amount for different geological conditions and equipment status, eliminating the problem of correction lag or over-correction caused by neglecting changes in soil parameters in traditional methods. It can achieve continuous and stable trajectory correction in alternating soft and hard strata, effectively improving the correction accuracy and construction reliability under complex working conditions.

[0140] In one embodiment, step S310 includes:

[0141] Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, a Winkel foundation beam model is established to obtain the preset calculation model.

[0142] Specifically, the Winkel foundation beam model simplifies the interaction between the pipe jacking machine and the surrounding soil as a continuous beam structure on an elastic foundation. This can be achieved by using spring stiffness coefficients to simulate the soil's resistance to the pipe jacking machine under different geological conditions. The model establishes a mechanical equilibrium equation through the linear relationship between foundation reaction force and structural deformation. Structural parameters refer to geometric features including the pipe jacking machine's shell diameter, shield tail length, and cutterhead distribution. These can be extracted using 3D modeling software to represent the spatial attitude of the pipe jacking machine within the soil. The mass of the counterweight 400 refers to the weight parameter of the balance block used to adjust the equipment's center of gravity distribution. This can be achieved by real-time monitoring of the counterweight's mass data using weighing sensors, and its value directly affects the accuracy of the torque calculation. Geological data refers to the soil density and moisture content parameters at the location of the pipe jacking machine. This can be obtained by combining ground-penetrating radar detection with soil sample laboratory analysis, used to quantify the lateral constraint effect of the soil on the pipe jacking machine.

[0143] When establishing the Winkel foundation beam model, structural parameters are first input into the model framework to determine the spatial coordinate system of the pipe jacking machine in the soil. Simultaneously, geological data is converted into equivalent foundation spring stiffness coefficients and applied to the model's boundary conditions. The mass parameters of the counterweight 400 are transformed into a dynamic load applied to the shield tail position. By solving the differential equation of beam deformation on the elastic foundation, the distribution of foundation reaction forces corresponding to different counterweight positions is calculated. When the rotational deviation data triggers torsion correction, the model uses an iterative algorithm to solve for the counterweight movement distance that satisfies the moment balance equation, enabling the pipe jacking machine to restore its predetermined axis under the combined action of soil constraints and counterweight adjustment.

[0144] This scheme integrates soil stiffness, equipment geometry, and counterweight parameters into the mechanical equilibrium equations using the Winkel foundation beam model, forming a computational model that can dynamically respond to geological changes. This application effectively solves the accuracy problem of traditional torsion correction models caused by isolated parameters. By incorporating the constraint effect of geological conditions on equipment forces, the calculation results of counterweight movement distance can adapt in real time to the mechanical properties of soil layers with different densities, thereby achieving precise control of torsional torque under complex geological conditions such as soft soil and sand layers.

[0145] In one embodiment, step S400 includes:

[0146] S410. Control the linear motion mechanism to drive the corresponding counterweight to move the target moving distance, so as to change the center of gravity distribution of the three-circle pipe jacking machine and correct the three-circle pipe jacking machine.

[0147] Specifically, the linear motion mechanism 300 refers to the execution unit that achieves linear displacement along a preset track. This can be implemented using a ball screw structure driven by a servo motor, and its displacement accuracy can be controlled via a closed-loop encoder. The counterweight 400 refers to a movable balance block with a preset mass, which can be made of high-density alloy material. Its mass distribution is pre-calculated and determined based on the structural parameters of the pipe jacking machine. The target movement distance refers to the displacement dynamically calculated based on the foundation beam model and real-time geological data. This can be iteratively optimized through finite element simulation combined with sensor feedback data. This parameter balances the torque correction and equipment stability requirements.

[0148] When the angle detection mechanism 200 detects a torsional deviation in the pipe jacking machine, the linear motion mechanism 300, based on the displacement command output by the preset calculation model, drives the counterweight 400 to move along the linear guide 100 to the target position. The displacement of the counterweight 400 changes the overall mass distribution of the equipment, and the reverse torque generated by the shift in the center of gravity counteracts the torsional force caused by the unevenness of the strata. During the torsion correction process, the calculation of the displacement comprehensively considers the elastic modulus of the geological body, the structural stiffness of the equipment, and the mass parameters of the counterweight, ensuring dynamic matching between the correction torque and the strata resistance.

[0149] In this embodiment, by actively adjusting the center of gravity distribution, the generation of the corrective torque is no longer limited by the cutterhead mechanical structure. It can generate a continuously adjustable balance torque based on real-time geological data, especially in complex strata with significant permeability differences, thus avoiding soil disturbance caused by sudden changes in cutterhead rotation speed. By dynamically adjusting the center of gravity distribution, real-time correction can be achieved without altering the cutterhead's operating state, avoiding mechanical wear caused by frequent forward and reverse rotations in traditional methods, and reducing the risk of secondary disturbance to the surrounding soil during the correction operation.

[0150] In one embodiment, after step S410, the method further includes:

[0151] S420. Inspect and obtain the torsion correction effect of the three-circle jacking machine.

[0152] Specifically, the verification plan refers to the method and process used to evaluate the effectiveness of the correction operation. It can be implemented by laser positioning measurement, inertial navigation system or ground-penetrating radar scanning, and verify whether the actual correction amount has achieved the expected target through multi-dimensional data collection.

[0153] Geological body type refers to the stratigraphic properties of different sections along the movement path of the three-circle pipe jacking machine. This can be identified through geological exploration reports or real-time earth pressure sensor data, such as distinguishing between clay layers, gravel layers, or rock layers. Torsion correction effect refers to the degree of deviation correction between the three-circle pipe jacking machine's posture and the preset jacking axis. This can be quantified using tilt sensors, displacement gauges, or pipe joint measuring devices to determine whether secondary adjustment of the counterweight position is necessary.

[0154] After the counterweight position adjustment is completed, the torsion correction effect is verified through the following methods: First, the geological body type of the current construction section is determined based on real-time geological exploration data. For example, when alternating soft and hard strata are detected, the system automatically switches to a joint verification mode combining high-frequency vibration monitoring and pipe section stress distribution. Second, in hard rock strata, a laser guidance system is used to synchronously compare the pipe section attitude, and the torsion correction accuracy is verified by comparing the axial offset before and after adjustment. Finally, the verification results are fed back to the calculation model to dynamically correct the calculation parameters of the counterweight movement, forming a closed-loop control. This process, through intelligent matching of geological body type and verification strategy, solves the error accumulation problem caused by the single verification standard in traditional methods in complex strata.

[0155] In this embodiment, by performing a geological adaptability test after the torsion correction operation, the differences in the response of different strata to the counterweight adjustment can be identified. For example, in the fluid plastic clay layer, the sampling frequency of the inertial navigation system can be automatically increased to avoid measurement distortion caused by soil creep, thereby ensuring the spatiotemporal consistency of the torsion correction assessment.

[0156] In one embodiment, step S420 includes:

[0157] S421. Based on the geological body type at different locations along the movement path of the three-circle pipe jacking machine, formulate corresponding inspection plans;

[0158] S422. Use the corresponding inspection plan to inspect the three-circle pipe jacking machine to obtain the torsion correction effect of the three-circle pipe jacking machine.

[0159] Specifically, geological body type refers to the different physical properties of soil and rock in the strata where the pipe jacking machine is located. This can be classified using geological exploration data or soil parameters collected by real-time sensors, such as sandy soil layers, clay layers, or rock layers. By identifying geological differences, targeted inspection strategies can be matched for different sections.

[0160] The verification plan refers to the testing process for validating the torsion correction effect under specific geological conditions. This can be achieved by adjusting the testing frequency, selecting different measurement indicators, or changing the evaluation criteria. For example, increasing the density of displacement monitoring points in soft soil strata, and using stress distribution as the main evaluation parameter in hard rock strata. During the advance of the pipe jacking machine along the preset path, real-time geological data at the current location is acquired to determine the type of geological body to which the segment belongs. Based on a pre-established correspondence table between geological body types and verification methods, a matching verification plan is automatically retrieved. For example, in sandy strata, laser displacement meters are used for high-frequency sampling of shield tail offset; in clay strata, data from earth pressure sensors and attitude angle changes are combined for joint analysis. The torsion correction effect is evaluated by comparing the difference in testing data before and after the torsion correction operation, ensuring that the verification criteria under different geological conditions are adapted to the construction environment.

[0161] In some specific implementations, the verification scheme can be implemented in conjunction with a wireless sensor network. For example, a pore water pressure monitoring module can be deployed in the water-rich sand layer section to correlate water pressure changes with the attitude data of the pipe jacking machine; in the fractured rock mass section, an acoustic detection device can be used to detect the loosening range of the surrounding rock mass, and the disturbance impact of the torsional operation can be evaluated through rock mass stability parameters.

[0162] In this embodiment, by establishing a dynamic mapping relationship between geological body types and testing strategies, the precise matching of testing parameters and geological characteristics is achieved, thus solving the applicability defects of a single testing standard in composite strata.

[0163] Based on the same technical concept, in a second aspect, the present invention also proposes a torsion correction device for a three-circle pipe jacking machine, used to perform the torsion correction method for a three-circle pipe jacking machine described in the first aspect.

[0164] This application further proposes a torsion correction device for a three-circle pipe jacking machine. The device includes a linear guide 100, an angle detection mechanism 200, two linear motion mechanisms 300, and two counterweights 400. The linear guide 100 is rotatably mounted at the tail of the shield and extends along a first direction. The angle detection mechanism 200 is fixed to the linear guide 100 for real-time detection of the pipe jacking machine's tilt angle. The two linear motion mechanisms 300 are spaced apart along the axis of the linear guide 100. Each motion mechanism is equipped with an independent counterweight 400. The motion mechanisms establish a communication connection with the angle detection mechanism 200, and when an offset angle is detected, they drive the counterweights 400 to move along the guide.

[0165] The linear guide 100 refers to a support structure with an axial sliding track, specifically an I-beam track with ball bearings. Its rotatable installation allows the device to adjust the direction of force according to the actual offset direction. The angle detection mechanism 200 refers to a real-time attitude monitoring unit, specifically a combination module of a three-axis gyroscope and an angle sensor, which provides a reference for dynamic adjustment by continuously acquiring three-dimensional angle data. The linear motion mechanism 300 refers to a programmable displacement drive device, specifically a ball screw mechanism driven by a servo motor, with a position control accuracy of ±0.1 mm. The counterweight 400 refers to an adjustable-weight balance block, specifically a modular steel box with an internal lead core, with the mass of a single counterweight adjustable within the range of 50-200 kg.

[0166] When the pipe jacking machine experiences torsional deviation, the angle detection mechanism 200 captures the tilt angle data in real time and transmits it to the control system. The system calculates the required corrective torque based on a preset algorithm and controls the two linear motion mechanisms 300 to move in opposite directions on the guide members, changing the distance difference between the counterweights on both sides and the machine's axis. This distance change generates a controllable torque difference, which, by adjusting the overall center of gravity distribution of the equipment, creates a reverse torque, thereby offsetting the torsional deviation caused by geological inhomogeneity during construction. The entire adjustment process does not require changing the cutterhead's operating state; precise correction is achieved directly through the principle of mechanical balance.

[0167] In this embodiment, an independently configured counterweight adjustment system can directly generate the required correction torque based on real-time detection data, avoiding mutual interference between cutterhead control and torsion correction operation, and significantly improving the torsion correction response speed under complex geological conditions. The device directly generates correction torque through the position adjustment of the physical counterweight, overcoming the problem of low torque transmission efficiency of the cutterhead drive system, enabling the pipe jacking machine to maintain a stable construction axis even when encountering areas of sudden changes in hard rock or soft soil.

[0168] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for correcting torsion in a three-circle pipe jacking machine, characterized in that, The tail of the three-circle pipe jacking machine is equipped with a torsion correction device, which includes a linear guide, an angle detection mechanism, multiple linear motion mechanisms, and multiple counterweights. The linear guide is rotatably mounted in the installation position and extends along a first direction. The angle detection mechanism is mounted on the linear guide and can detect the tilt angle of the three-circle pipe jacking machine. All the linear motion mechanisms are spaced apart on the linear guide along the first direction, and each linear motion mechanism can move along the linear guide along the first direction. All the linear motion mechanisms are communicatively connected to the angle detection mechanism. The number of counterweights is the same as that of the linear motion mechanisms and they are set in a one-to-one correspondence. When the angle detection mechanism detects and outputs the offset angle of the three-circle pipe jacking machine, any linear motion mechanism can move along the first direction on the linear guide and adjust the position of the corresponding counterweight to correct the deviation of the three-circle pipe jacking machine. The torsion correction method for the three-circle jacking machine includes the following steps: The attitude data of the three-circle pipe jacking machine is collected in real time; Based on the posture data, the rotational deviation data of the three-circle jacking machine is calculated; Based on the angle deviation data and a preset calculation model, the target movement distance of the counterweight on the linear guide is calculated. The linear motion mechanism is controlled to drive the corresponding counterweight to move the target distance, so as to correct the three-circle jacking machine; The step of calculating the target movement distance of the counterweight on the linear guide based on the rotational deviation data and a preset calculation model includes: Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, the preset calculation model is established. Using the preset calculation model, the target movement distance of the counterweight on the linear guide is calculated; The step of establishing the preset calculation model based on the rotation deviation data and in combination with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine includes: Based on the rotation deviation data and combined with the structural parameters of the three-circle pipe jacking machine, the mass of the counterweight, and the geological data of the location of the three-circle pipe jacking machine, a Winkel foundation beam model is established to obtain the preset calculation model; When establishing the Winkel foundation beam model, the structural parameters of the three-circle pipe jacking machine are first input into the model framework to determine the spatial coordinate system of the three-circle pipe jacking machine in the soil. At the same time, the geological data is converted into the equivalent foundation spring stiffness coefficient and applied to the model boundary conditions. The mass parameters of the counterweight are converted into dynamic loads applied to the shield tail position. By solving the deformation differential equation of the beam on the elastic foundation, the distribution of foundation reaction force corresponding to different counterweight positions is calculated. When the rotation deviation data triggers the torsion correction requirement, the model uses an iterative algorithm to solve the counterweight movement distance that satisfies the moment balance equation, so that the pipe jacking machine can restore the predetermined axis under the combined action of soil constraints and counterweight adjustment.

2. The torsion correction method for a three-circle pipe jacking machine as described in claim 1, characterized in that, The step of calculating the rotational deviation data of the three-circle jacking machine based on the posture data includes: Based on the attitude data, obtain the geological data corresponding to the location of the three-circle pipe jacking machine; Based on the geological data and the preset torsion correction threshold, the rotational deviation data of the three-circle pipe jacking machine is calculated.

3. The torsion correction method for a three-circle pipe jacking machine as described in claim 2, characterized in that, Before the step of calculating the rotational deviation data of the three-circle pipe jacking machine based on the geological data and the preset torsion threshold, the method further includes: Based on the preset construction data, the geological body type along the preset jacking axis of the three-circle pipe jacking machine is obtained; The preset torsion threshold is set according to the geological body type.

4. The torsion correction method for a three-circle pipe jacking machine as described in claim 3, characterized in that, The step of setting the preset torsion threshold according to the geological body type includes: Based on the type of geological body, the soil density of the geological body is obtained; Based on the soil compaction, the preset torsion threshold is set.

5. The torsion correction method for a three-circle pipe jacking machine as described in claim 1, characterized in that, The step of controlling the linear motion mechanism to move the corresponding counterweight by the target distance to correct the three-circle jacking machine includes: The linear motion mechanism is controlled to move the corresponding counterweight by the target distance, thereby changing the center of gravity distribution of the three-circle pipe jacking machine and correcting the three-circle pipe jacking machine.

6. The torsion correction method for a three-circle pipe jacking machine as described in claim 5, characterized in that, After the step of controlling the linear motion mechanism to move the corresponding counterweight by the target moving distance to change the center of gravity distribution of the three-circle pipe jacking machine and correct its rotation, the method further includes: The torsion correction effect of the three-circle jacking machine was tested and obtained.

7. The torsion correction method for a three-circle pipe jacking machine as described in claim 6, characterized in that, The step of verifying and obtaining the torsion correction effect of the three-circle jacking machine includes: Based on the geological body type at different locations along the movement path of the three-circle pipe jacking machine, corresponding inspection plans are formulated; The torsion correction effect of the three-circle pipe jacking machine is obtained by using the corresponding inspection scheme.

8. A torsion correction device for a three-circle pipe jacking machine, characterized in that, Used to perform the torsion correction method for a three-circle pipe jacking machine as described in any one of claims 1 to 7.

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