Emergency cutter retreating method and device of underground diaphragm wall obstacle removing machine

Abstract

The invention discloses a tool emergency rollback method and device for an underground diaphragm wall obstacle clearing machine, and the method comprises the steps: setting an obstacle clearing machine box with a pre-installed sensor and a track, quantifying the relative press-fitting depth of a tool in construction before obstacle clearing construction, and calculating the relative press-fitting depth of the tool according to the deviation between the real-time pressure and a target pressure threshold value; dynamically adjusting and sending a motion control instruction of the electric cylinder; on the basis of relative press-fitting depth data of the tool, a pressure dynamic threshold value formula is built in combination with real-time displacement or polynomial fitting adjustment is adopted, and when the calculated pressure dynamic threshold value is smaller than a real-time pressure value, the emergency rollback action of the tool is triggered; and determining a safe rollback point of the cutter. When an emergency situation is judged, forced rollback driving of the cutter is achieved, the problem that the cutter is stuck is effectively prevented and solved, safety and operation efficiency in the obstacle clearing construction process are remarkably improved, and meanwhile dependence on manual operation and errors caused by the dependence on manual operation are reduced through automatic displacement monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drilling and clearing obstacles of underground structures, and particularly relates to a cutter emergency retreat method and device of underground continuous wall obstacle clearing machinery. BACKGROUND

[0002] The statements herein merely provide background technology related to the present application, and do not necessarily constitute prior art.

[0003] In the drilling and clearing obstacles of underground soil or rock, especially in the clearing obstacles near or through existing underground structures such as subway stations, it is often necessary to break the existing reinforced concrete members such as diaphragm walls and retaining piles within the range of shield tunneling by mechanical drilling.

[0004] When adopting core drilling technology for clearing obstacles, the main technical problems faced are the uncertainty and risk control of the drilling process. On the one hand, the stability of the working face (i.e. the drilling working face) is difficult to guarantee. The existing technology relies on artificial intermittent monitoring, for example, using a suspended weight method for measurement. This method has long measurement intervals and poor real-time performance, and cannot realize timely early warning of the collapse risk. The instability of the working face leads to the peeling of concrete blocks, which may cause the internal steel to bend and fall off. On the other hand, the bent and fallen internal steel caused by peeling is extremely easy to entangle or jam the drill cutter. In the case of slight jamming, the drill cutter can be freed by means of the retreat and reverse functions of the drill. However, in the case of serious jamming, the cutter cannot move at all, resulting in the entire clearing obstacle drilling equipment being trapped in the underground hole.

[0005] In addition, for horizontal drilling and clearing obstacle machinery, the existing technology usually estimates the drilling depth by measuring the length of the steel cable connected to the equipment. This method is cumbersome to operate and difficult to achieve precise and continuous real-time monitoring, affecting the fine control and operation efficiency of the drilling process. SUMMARY

[0006] The purpose of the present application is to solve the above-mentioned problems, and to provide a cutter emergency retreat method and device of underground continuous wall obstacle clearing machinery.

[0007] To solve the above technical problems, the present application adopts the following technical scheme: a cutter emergency retreat method of underground continuous wall obstacle clearing machinery, including a clearing obstacle machinery box pre-installed with a sensor and a track, the cutter state is monitored, calculated and retreated in the clearing obstacle construction, the cutter is driven by an electric cylinder and retreats along the track, including: Before the construction of the obstacle removal, through the sensor data and the set threshold value, combined with the relative coordinate calculation method, based on the displacement value recorded when the cutter contacts the cutting surface, the relative pressing depth of the cutter in the construction is quantified, and according to the deviation of the real-time pressure and the target pressure threshold value, the motion control instruction of the electric cylinder is dynamically adjusted to adjust the feeding speed or output torque of the electric cylinder pressure head; Based on the relative pressing depth data of the cutter, combined with the real-time displacement, the pressure dynamic threshold formula is constructed or adjusted by polynomial fitting, and the calculated pressure dynamic threshold is less than the real-time pressure value, triggering the emergency retreat action of the cutter; The positioning function is constructed, the real-time displacement and the basic safety retreat distance are combined to determine the safety retreat point of the cutter.

[0008] Further, the sensor includes a corresponding number of pressure sensors arranged on the top of the obstacle removal mechanical box and the upper part of the cutting surface, and a displacement sensor arranged on the cutter and connected with the track, the output signals of the pressure sensor and the displacement sensor are connected to the computer, and the output end of the computer is electrically connected with the input end of the electric cylinder; The relative coordinate calculation method includes: The computer reads the preset initial reference position and target pressure threshold value parameters; During the pressing action of the electric cylinder driving pressure head, the computer collects the real-time displacement value and the real-time pressure value feedback by the sensor through the communication interface ; The computer performs the operation processing step of the relative pressing depth, specifically, the displacement value collected by the displacement sensor in real time is , the initial reference position recorded when the cutter contacts the cutting surface is , and the internal calculation logic is as follows:

[0009] In the formula, the current relative pressing depth is based on the difference between the real-time collected displacement value and the initial reference position when the cutter contacts the cutting surface ; k is the direction coefficient, which is 1 when the sensor value increases with the increase of the depth, and vice versa.

[0010] Further, the computer dynamically adjusts the motion control instruction sent to control the electric cylinder according to the deviation of the real-time pressure value monitored by the pressure sensor and the target pressure threshold value; When the computer determines that the real-time pressure value monitored by the pressure sensor is greater than or equal to the target pressure threshold, the computer immediately generates a stop command and starts the electric cylinder to control the electric cylinder to stop its operation and maintain its current position.

[0011] Furthermore, the method for calculating the dynamic pressure threshold includes: definition The dynamic threshold of pressure at time t; The system presets the basic pressure threshold corresponding to shallow cutting resistance. and the maximum permissible pressure value of the corresponding mechanical structure strength limit ; The computer calculates the real-time displacement value. The dynamic pressure threshold is calculated using the following formula:

[0012] In the formula, The formation resistance coefficient is set according to the geological survey report. The feature depth constant; Take the calculated ,and The smaller value is selected as the execution threshold. .

[0013] Furthermore, the method for calculating the dynamic pressure threshold includes: definition The dynamic threshold of pressure at time t; The polynomial fitting adjustment formula is as follows:

[0014] In the formula, Basic pressure threshold, , This is the formation resistance coefficient set according to the geological survey report.

[0015] Furthermore, based on the calculated dynamic pressure threshold If the real-time pressure value > And the duration of this state exceeds the determination time domain. If the system determines that an abnormal jam has occurred instead of normal hard rock cutting, it will trigger an emergency rollback.

[0016] Furthermore, the method for constructing the positioning function includes: Combined with real-time displacement values And preset the press-fit termination position range The pressing termination position interval is used to define the effective working stroke range of the cutter; Target displacement value The calculation formula is as follows:

[0017] In the formula, is the basic safety fallback distance, which is set to 500 mm, or adjusted between 300 mm-1000 mm according to the cutter diameter; is the jam severity coefficient, is the pressure peak value when the cutter is jammed The higher the value is, the farther the fallback distance is; The pressing termination position interval is used to define the effective working stroke range of the cutter; The pressing termination position interval is used to define the effective working stroke range of the cutter;

[0018] Further, when the electric cylinder drives the cutter to fallback to , the computer controls the electric cylinder to stop and hold, waiting for the operator to confirm or make a small torque exploratory advance.

[0019] A cutter emergency fallback device of underground continuous wall obstacle removal machinery, comprising an obstacle removal machinery box and a cutter arranged in the obstacle removal machinery box, the obstacle removal machinery box adopts a square structure with an opening on one side; A thrust mechanism comprising one or more electric cylinders arranged in the obstacle removal machinery box and located below the cutter, for providing thrust to overcome the resistance of the cutter fallback; A monitoring assembly comprising six pressure sensors and a displacement sensor, the six pressure sensors are respectively arranged at the top corners of the obstacle removal machinery box and the upper ends of the corresponding cutting surfaces, the six pressure sensors are used to monitor the soil pressure above and in front of the obstacle removal machinery box, the number of displacement sensors is the same as that of the electric cylinders, the displacement sensors are fixed on the electric cylinders and connected with the cutter and used to measure the horizontal distance of the relative movement of the cutter; A connecting assembly comprising a pin hole arranged at the tail end of the electric cylinder and a threaded hole located on the side of the electric cylinder, the pin hole is hingedly arranged at the end of the track, a screw is rotatably arranged at the threaded hole, and the screw is used to tightly fit the electric cylinder on the track and install the side of the electric cylinder along the side line of the track.

[0020] Further, the track is provided with two and symmetrically arranged on the bottom surface of the obstacle removal machinery box, and the electric cylinders are installed and drive the cutter to move along the guide rail surface of the track corresponding to the number of the tracks; The two tracks and the electric cylinders arranged corresponding to the tracks are symmetrically distributed, for balanced supporting the cutter fallback.

[0021] The beneficial effects of the present application are embodied in: The present application can realize real-time and accurate monitoring of the construction state of the obstacle clearing machinery through the integrated monitoring assembly, the key data provided by the pressure sensor and the displacement sensor provide objective basis for judging whether the cutter is facing the risk of jamming, the computer processes the sensor data based on the predefined logic, and can automatically issue instructions to the electric cylinder of the thrust device when an emergency is determined, thereby realizing the forced fallback drive of the cutter. The technical scheme effectively prevents and solves the problem of cutter jamming, significantly improves the safety and operation efficiency of the obstacle clearing construction process, and reduces the dependence on manual operation and the errors caused thereby through automatic displacement monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a perspective view of the device of the present application.

[0023] In the figure: 1, obstacle clearing machinery box; 2, cutter; 3, electric cylinder; 4, pressure sensor; 5, displacement sensor; 6, track; 7, screw; 8, computer. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] Please refer to Figure 1 The present application discloses a cutter emergency fallback device of underground continuous wall obstacle clearing machinery, which comprises an obstacle clearing machinery box 1 and a cutter 2 arranged in the obstacle clearing machinery box 1, and the obstacle clearing machinery box 1 adopts a square structure with an opening on one side. A thrust mechanism comprising one or more electric cylinders 3 arranged in the obstacle clearing machinery box 1 and located below the cutter 2, for providing thrust to overcome the resistance of the cutter 2 to fallback; A monitoring assembly comprising six pressure sensors 4 and displacement sensors 5, the six pressure sensors 4 are respectively located at the top corners of the obstacle clearing machinery box 1 and the upper ends of the corresponding cutting surfaces, the six pressure sensors 4 are used to monitor the soil pressure above and in front of the obstacle clearing machinery box 1, the number of displacement sensors 5 is the same as that of electric cylinders 3, the displacement sensors 5 are fixed on the electric cylinders 3 and connected with the cutter 2, and are used to measure the horizontal distance of relative movement of the cutter 2; The connecting assembly comprises a pin hole arranged at the tail end of the electric cylinder 3 and a threaded hole arranged at the side of the electric cylinder 3, the pin hole is hingedly arranged at the end of the track 6, and a screw 7 is arranged in the threaded hole, the screw 7 is used to tightly fit the electric cylinder 3 on the track 6 and install the side of the electric cylinder 3 along the side line of the track 6.

[0026] In the embodiment, the cutter 2 is connected and installed on the opening front surface of the clearing mechanical box 1 by the electric cylinder 3, the electric cylinder 3 is tightly fitted on the track 6 and fixedly installed in the corresponding threaded hole by the screw 7, the pin hole at the tail end of the electric cylinder 3 is used to hingedly install the electric cylinder 3 at the end of the track 6, so that the electric cylinder 3 can drive the cutter 2 connected thereon to feed at the cutting surface of the opening of the clearing mechanical box 1, and the electric cylinder 3 is hingedly connected with the end of the track 6 through the pin hole at the tail end, so that the bottom is fixed, and the side of the electric cylinder 3 is tightly fitted with the track 6 through the screw 7 in the threaded hole at the side of the electric cylinder 3, so as to form a stable three-point support structure. The pressure sensor 4 is arranged at the top of the clearing mechanical box 1 and the upper part of the cutting surface, and is used to record the pressure received by the top surface and the cutting surface during construction, and the displacement sensor 5 is arranged at the connection between the cutter 2 and the track 6, and is used to record the horizontal displacement of the cutter 2, the body of the displacement sensor 5 is fixed on the cylinder body of the electric cylinder 3 through a support, and the detection rod of the displacement sensor 5 is connected with the clamping groove or the connecting block of the cutter 2 on the track 6, so as to accurately measure the horizontal displacement of the cutter 2 relative to the track 6.

[0027] It should be noted that the type of the pressure sensor 4 is HZC-T tensile stress sensor, and the type of the displacement sensor 5 is BRT38 displacement sensor. The number of the pressure sensors 4 arranged can also be increased to be arranged at the middle and lower parts of the corresponding cutting surface of the clearing mechanical box 1, so as to comprehensively monitor the soil pressure in front of the clearing mechanical box 1, so as to obtain more comprehensive pressure distribution data, and to more accurately judge the jamming position and the severity.

[0028] In an embodiment, the track 6 is provided with two tracks arranged symmetrically on the inner bottom surface of the clearing mechanical box 1, and the electric cylinder 3 is installed corresponding to the number of the tracks 6 and drives the cutter 2 to move along the guide surface of the track 6. Two said tracks 6 and the corresponding electric cylinder 3 arranged on the track 6 are symmetrically distributed, used to support the cutter 2 back. In this way, in order to provide more balanced and powerful back force, and prevent the deformation of the mechanism caused by unilateral stress, the number of thrust mechanism is set to a pair, two electric cylinders 3 are symmetrically installed on the left and right tracks 6 of the road clearing machine, that is, each electric cylinder 3 adopts the installation mode of tail pin connection and side screw 7 locking. In this configuration, two displacement sensors 5 can be arranged corresponding to two electric cylinders 3 respectively, or a displacement sensor 5 is used to monitor the central displacement of the cutter 2, and the computer 8 is configured to control the action of two electric cylinders 3 simultaneously or independently. For example, under normal circumstances, the computer 8 can instruct two electric cylinders 3 to act synchronously to ensure that the cutter 2 back smoothly; If unilateral resistance is abnormal, unilateral electric cylinder 3 can also be started to assist in deviation correction.

[0029] A cutter emergency back-off method of underground continuous wall road clearing machine, including a pre-installed sensor road clearing machine box 1 and a track 6, monitoring, calculating and emergency back-off of the cutter 2 state in road clearing construction, the cutter 2 is driven by the electric cylinder 3 and back-off movement along the track 6, including: Before road clearing construction, through sensor data and set threshold, combined with relative coordinate calculation method, based on the displacement value recorded when the cutter 2 contacts the cutting surface, the relative pressing depth of the cutter 2 in construction is quantified, and according to the deviation of real-time pressure and target pressure threshold, the motion control instruction of electric cylinder 3 is dynamically adjusted to adjust the feed speed or output torque of electric cylinder 3 pressure head; Based on the relative pressing depth data of the cutter 2, combined with real-time displacement, the pressure dynamic threshold formula is constructed or adjusted by polynomial fitting, and the calculated pressure dynamic threshold is less than the real-time pressure value, which triggers the emergency back-off action of the cutter 2; The positioning function is constructed, combined with real-time displacement and basic safety back-off distance, to determine the safety back-off point of the cutter 2.

[0030] In specific implementation, firstly, the device is installed: two HZC-T type pressure sensors 4 are securely installed on the top plate and the upper part of the cutting panel of the horizontal obstacle clearing machine box 1, respectively; a pair of electric cylinders 3 are fixed to the predetermined positions of the two rails 6 through the tail pin holes and side screws 7, respectively; the body of the BRT38 type displacement sensor 5 is fixed to one of the electric cylinders 3, and its detection rod is reliably connected to the slot on the drive block of the cutter 2. Next, the system is connected and initialized: the signal output terminals of the pressure sensor 4 and displacement sensor 5 are connected to the analog input module of the computer 8 using shielded cables; the digital output module of the computer 8 is connected to the relay control terminal of the electric cylinder 3. The system is started, and when the obstacle clearing machine is in place and close to the face of the diaphragm wall, the operator records the readings of the pressure sensor 4 and displacement sensor 5 at this time through the software interface of the computer 8 as the initial reference values. Then, the construction monitoring and automatic control stage begins: the obstacle clearing machine begins normal tunneling, and the computer 8 software continuously collects and processes the sensor data.

[0031] The specific control logic is as follows: Computer 8 first reads the preset initial reference position and target pressure threshold parameters; during the pressing action driven by electric cylinder 3, computer 8 collects the real-time displacement value fed back by the sensor through the communication interface. and real-time pressure values ; Furthermore, to accurately quantify the progress during the obstacle removal process, computer 8 performs a calculation of the relative pressing depth. Specifically, due to the complex environment at the diaphragm wall construction site, the track 6 of the obstacle removal machinery may have installation errors, making it difficult to unify the origin of the absolute coordinate system. In this case, the system uses a relative coordinate calculation method: assuming the displacement value collected in real time by displacement sensor 5 is... The initial reference position recorded when tool 2 contacts the cutting surface (i.e., in the "zero pressure" state or micro-preload state) is: The computer internally executes the following deep computing logic:

[0032] In the formula, The current relative pressing depth (i.e., actual cutting depth) is based on the displacement values ​​acquired in real time. Initial reference position when in contact with the cutting surface of tool 2 The difference; k is the direction coefficient, which is 1 when the sensor value increases with depth, and -1 otherwise.

[0033] This step eliminates the initial error caused by different sensor installation positions, ensuring the uniqueness and accuracy of the depth data; the computer 8 dynamically adjusts the motion control instructions sent to the control electric cylinder 3 according to the deviation of the real-time pressure value and the target pressure threshold, so as to adjust the feeding speed or output torque of the electric cylinder 3 pressure head; and when the computer 8 determines that the real-time pressure value reaches or exceeds the target pressure threshold, the computer 8 immediately generates a stop instruction and sends it to the electric cylinder 3, controls the electric cylinder 3 to stop moving and keep the current position.

[0034] More importantly, in order to solve the problem that the traditional fixed value alarm is easy to cause deep false alarm or shallow false alarm, the application proposes a dynamic safety pressure limit adjustment method based on displacement coupling. The computer 8 does not use a single pressure threshold, but dynamically adjusts the alarm red line according to the current cutting depth. The specific logic is as follows: define the dynamic safety pressure limit at time t. The system presets a basic pressure threshold (corresponding to shallow cutting resistance) and a maximum allowable pressure (corresponding to the mechanical structure strength limit). The computer 8 calculates the pressure compensation value according to the real-time displacement The dynamic threshold formula is constructed as follows:

[0035] Or use polynomial fitting adjustment:

[0036] In the formula, , , is the stratum resistance coefficient set according to the geological survey report, is the characteristic depth constant, wherein the unit of real-time displacement value is consistent (mm), the unit of basic pressure threshold is consistent (MPa).

[0037] Working principle: when the cutter 2 penetrates into the ground, the side friction resistance naturally increases, and the formula makes float automatically with the depth. If the real-time pressure , and the state duration exceeds the judgment time domain , the system determines that an abnormal jamming occurs instead of normal hard rock cutting, thereby triggering an emergency retreat. This dynamic logic greatly reduces the false action rate caused by changes in stratum depth. After triggering the emergency retreat, in order to improve the construction efficiency, the method executes an intelligent retreat strategy based on a general positioning function. The traditional protection mechanism usually forces the cutter 2 to retreat to the initial zero position​ .

[0038] The present application calculates the optimal "safety fallback point" by constructing a positioning function. The positioning construction function combines real-time displacement and the preset press-fitting termination position interval (namely, the designed hole depth range), and the calculation formula is as follows:

[0039] In the formula, is the basic safety fallback distance, which is set to 500 mm (which can also be adjusted between 300 mm and 1000 mm according to the diameter of the tool 2). The setting of this value is based on the fact that when jamming occurs, there is elastic deformation of the surrounding rock and soil of the tool 2 due to high confining pressure, and a fallback amount of 500 mm is sufficient to release the elastic deformation stress of the surrounding rock and soil of the tool 2 and escape from the jamming friction zone, while avoiding excessive air travel time due to excessive fallback during subsequent re-feeding. is the jam severity coefficient, , that is, the pressure peak is higher, the fallback distance is farther.

[0040] When the electric cylinder 3 drives the tool 2 to fallback to , the computer 8 controls the electric cylinder 3 to stop and hold, waiting for the operator to confirm or perform a small torque exploratory advance.

[0041] Therefore, the above method can minimize the fallback distance while ensuring the risk of removing the jam, significantly improving the continuity and efficiency of the obstacle removal construction.

[0042] In addition, the computer 8 software can also integrate data recording and alarm functions, record the sensor data and operation time when the emergency fallback is triggered each time, and simultaneously issue an alarm to notify the operator to intervene in the inspection. The thrust size and speed of the electric cylinder 3 can be adjusted according to different geological conditions and tool 2 specifications, for example, by changing the duty cycle of the control signal input to the electric cylinder 3 through the computer 8.

[0043] It should be noted that if the present application involves directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0045] In addition, "a plurality of" means two or more.

[0046] The above only describes the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for emergency retraction of the cutting tool of a diaphragm wall clearing machine, comprising a clearing machine box (1) pre-installed with sensors and a track (6), wherein the status of the cutting tool (2) is monitored, calculated, and emergency retraction is performed during the clearing operation, and the cutting tool (2) is driven by an electric cylinder (3) and moves back along the track (6), characterized in that: Before clearing the obstacles, the relative pressing depth of the tool (2) during construction is quantified based on the displacement value recorded when the tool (2) contacts the cutting surface, by using sensor data and setting thresholds and combining relative coordinate calculation method. Based on the deviation between real-time pressure and target pressure threshold, the motion control command of the electric cylinder (3) is dynamically adjusted to adjust the feed speed or output torque of the electric cylinder (3) pressure head. Based on the relative pressing depth data of the tool (2), the dynamic pressure threshold formula is constructed by combining the real-time displacement or by using polynomial fitting adjustment. The calculated dynamic pressure threshold is less than the real-time pressure value, triggering the emergency retraction action of the tool (2). Construct a positioning function and combine real-time displacement with basic safe retraction distance to determine the safe retraction point of tool (2).

2. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 1, characterized in that: The sensor includes a corresponding number of pressure sensors (4) arranged on the top of the obstacle clearing machine box (1) and the upper part of the cutting surface, and a displacement sensor (5) arranged on the cutter (2) and connected to the track (6). The output signals of the pressure sensor (4) and the displacement sensor (5) are connected to a computer (8). The output end of the computer (8) is electrically connected to the input end of the electric cylinder (3). The relative coordinate calculation method includes: The computer (8) reads the preset initial reference position and target pressure threshold parameters; During the pressing action driven by the electric cylinder (3), the computer (8) collects the real-time displacement value fed back by the sensor through the communication interface. and real-time pressure values ; The computer (8) performs a calculation and processing step on the relative pressing depth. Specifically, let the displacement value collected in real time by the displacement sensor (5) be... The initial reference position recorded when the tool (2) contacts the cutting surface is: The internal calculation logic is as follows: In the formula, The current relative pressing depth is based on the displacement values ​​acquired in real time. Initial reference position when in contact with the cutting surface of the tool (2) The difference; k is the direction coefficient, which is 1 when the sensor value increases with depth, and -1 otherwise.

3. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 2, characterized in that: The computer (8) dynamically adjusts the motion control command sent to control the electric cylinder (3) based on the deviation between the real-time pressure value monitored by the pressure sensor (4) and the target pressure threshold. When the computer (8) determines that the real-time pressure value monitored by the pressure sensor (4) is greater than or equal to the target pressure threshold, the computer (8) immediately generates a stop command and starts the electric cylinder (3) to control the electric cylinder (3) to stop its action and maintain its current position.

4. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 3, characterized in that, The method for calculating the dynamic pressure threshold includes: definition The dynamic threshold of pressure at time t; The system presets the basic pressure threshold corresponding to shallow cutting resistance. and the maximum permissible pressure value of the corresponding mechanical structure strength limit ; The computer (8) based on the real-time displacement value The dynamic pressure threshold is calculated using the following formula: In the formula, The formation resistance coefficient is set according to the geological survey report. The feature depth constant; Take the calculated ,and The smaller value is selected as the execution threshold. .

5. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 3, characterized in that, The method for calculating the dynamic pressure threshold includes: definition The dynamic threshold of pressure at time t; The adjustment formula using polynomial fitting is as follows: In the formula, Basic pressure threshold, , This is the formation resistance coefficient set according to the geological survey report.

6. The method for emergency retraction of the cutting tool of a diaphragm wall clearing machine according to claim 4 or 5, characterized in that: Dynamic pressure threshold obtained based on calculation If the real-time pressure value > And the duration of this state exceeds the determination time domain. If the system determines that an abnormal jam has occurred instead of normal hard rock cutting, it will trigger an emergency rollback.

7. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 6, characterized in that, The method for constructing the location function includes: Combined with real-time displacement values And preset the press-fit termination position range The press-fit termination position range is used to define the effective working stroke range of the tool (2); Target displacement value The calculation formula is as follows: In the formula, The basic safety retraction distance is set to 500mm, or adjusted according to the diameter of the tool (2) between 300mm and 1000mm; This is the severity coefficient of the jamming. That is, the peak pressure when stuck. The higher the value, the farther the rollback distance; Located in the press-fit termination position range Inside.

8. The method for emergency retraction of the cutting tool in a diaphragm wall clearing machine according to claim 7, characterized in that: When the electric cylinder (3) drives the cutter (2) to retract to At this time, the computer (8) controls the electric cylinder (3) to stop and remain, waiting for the operator to confirm or to make a small torque trial advance.

9. An emergency retraction device for the cutting tool of a diaphragm wall clearing machine, applied to the emergency retraction method for the cutting tool of a diaphragm wall clearing machine according to any one of claims 1-8, characterized in that: It includes a clearing machine box (1) and a knife (2) disposed in the clearing machine box (1). The clearing machine box (1) adopts a square structure with an opening on one side. The thrust mechanism includes one or more electric cylinders (3) disposed inside the obstacle clearing machine box (1) and located below the cutter (2) for providing thrust to overcome the resistance of the cutter (2) retraction; The monitoring component includes six pressure sensors (4) and displacement sensors (5). The six pressure sensors (4) are located at the four corners of the top surface of the obstacle clearing machine box (1) and the upper ends of the corresponding cutting surfaces. The six pressure sensors (4) are used to monitor the soil pressure above and in front of the obstacle clearing machine box (1). The number of displacement sensors (5) is the same as that of the electric cylinder (3). The displacement sensors (5) are fixed on the electric cylinder (3) and connected to the cutter (2) and used to measure the horizontal distance of the relative movement of the cutter (2). The connecting assembly includes a pin hole at the tail end of the electric cylinder (3) and a threaded hole on the side of the electric cylinder (3). The pin hole is hinged at the end of the track (6). A screw (7) is rotatably provided at the threaded hole. The screw (7) is used to make the electric cylinder (3) fit tightly against the track (6) and install the side of the electric cylinder (3) along the side line of the track (6).

10. The emergency retraction device for the cutter of a diaphragm wall clearing machine according to claim 9, characterized in that: Two tracks (6) are provided and symmetrically arranged on the bottom surface of the obstacle clearing machine box (1). The electric cylinder (3) is installed in accordance with the number of tracks (6) and drives the cutter (2) to move along the guide surface of the track (6). The two tracks (6) and the corresponding electric cylinders (3) set on the tracks (6) are symmetrically distributed to provide balanced support for the retraction of the cutter (2).

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