A cutter emergency retreat method and device of underground continuous wall obstacle removing machinery

Abstract

The application discloses a kind of underground continuous wall obstacle clearing machinery cutter emergency backoff method and device, comprising: the obstacle clearing machinery box of pre-installed sensor and track, the relative press-fitting depth of cutter in construction is quantified before obstacle clearing construction, and according to the deviation of real-time pressure and target pressure threshold, dynamic adjustment sends the motion control instruction of electric cylinder;Based on the relative press-fitting depth data of cutter, combined with real-time displacement, construct pressure dynamic threshold formula or adopt polynomial fitting adjustment, the pressure dynamic threshold calculated is less than real-time pressure value, triggers the emergency backoff action of cutter;Determine the safe backoff point of cutter.The application realizes the forced backoff drive of cutter when determining emergency, effectively prevents and solves cutter jam problem, significantly improves the safety and operation efficiency of obstacle clearing construction process, simultaneously reduces the dependence on manual operation and the error generated thereby by automatic displacement monitoring.

Description

Technical Field

[0001] This invention relates to the field of drilling and obstacle removal engineering technology for underground structures, and in particular to a method and device for emergency retraction of cutting tools in underground continuous wall obstacle removal machinery. Background Technology

[0002] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art.

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

[0004] The main technical challenge in using core drilling for obstacle removal lies in the uncertainty and risk control of the drilling process. On the one hand, the stability of the drilling face (i.e., the working face) is difficult to guarantee. Existing technologies mostly rely on intermittent manual monitoring, such as using the suspended weight method. This method has long measurement intervals and poor real-time performance, failing to provide timely warnings of collapse risks. Instability at the drilling face can lead to concrete block spalling, potentially causing internal steel reinforcement to bend and detach. On the other hand, the bent and fallen internal steel reinforcement caused by detachment can easily become entangled or jammed in the drill bit. In cases of slight jamming, the drill bit's backward and reverse functions may be used to attempt to free it; however, in cases of severe jamming, the drill bit becomes completely immobile, trapping the entire obstacle removal drilling equipment inside the underground borehole.

[0005] Furthermore, for horizontal drilling and obstacle clearing machinery, existing technologies typically estimate drilling depth by measuring the length of the steel cable connecting the equipment. This method is cumbersome and makes it difficult to achieve accurate and continuous real-time monitoring, which affects the refined control of the drilling process and operational efficiency. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned shortcomings by providing a method and device for emergency retraction of the cutting tool in a diaphragm wall clearing machine.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an emergency retraction method for the cutter of a diaphragm wall clearing machine, comprising a clearing machine box with pre-installed sensors and a track, for monitoring, calculating, and emergency retraction of the cutter status during clearing operations, wherein the cutter is driven by an electric cylinder and retracts along the track, comprising:

[0008] Before the obstacle removal operation, sensor data and set thresholds are used, combined with the relative coordinate calculation method, to quantify the relative pressing depth of the tool during construction based on the displacement value recorded when the tool contacts the cutting surface. Based on the deviation between the real-time pressure and the target pressure threshold, the motion control command of the electric cylinder is dynamically adjusted to adjust the feed speed or output torque of the electric cylinder pressure head.

[0009] Based on the relative pressing depth data of the tool, a dynamic pressure threshold formula is constructed by combining real-time displacement or by using polynomial fitting adjustment. If the calculated dynamic pressure threshold is less than the real-time pressure value, the tool's emergency retraction action is triggered.

[0010] Construct a positioning function and combine real-time displacement with basic safe retraction distance to determine the safe retraction point of the tool.

[0011] Furthermore, the sensor includes a corresponding number of pressure sensors arranged on the top of the obstacle clearing machine box and the upper part of the cutting surface, and a displacement sensor arranged on the cutter and connected to the track. The output signals of the pressure sensor and the displacement sensor are both connected to a computer, and the output terminal of the computer is electrically connected to the input terminal of the electric cylinder.

[0012] The relative coordinate calculation method includes:

[0013] The computer reads the preset initial reference position and target pressure threshold parameters;

[0014] During the pressing action driven by the electric cylinder, the computer collects real-time displacement values ​​fed back by sensors via a communication interface. and real-time pressure values ;

[0015] The computer performs a calculation process for the relative pressing depth. Specifically, let the displacement value collected in real time by the displacement sensor be... The initial reference position recorded when the tool contacts the cutting surface is: The internal calculation logic is as follows:

[0016]

[0017] In the formula, The current relative pressing depth is based on the displacement value acquired in real time. Initial reference position when in contact with the cutting surface of the tool The difference; k is the direction coefficient, which is 1 when the sensor value increases with depth, and -1 otherwise.

[0018] Furthermore, the computer dynamically adjusts the motion control commands sent to control the electric cylinder based on the deviation between the real-time pressure value monitored by the pressure sensor and the target pressure threshold.

[0019] 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.

[0020] Furthermore, the method for calculating the dynamic pressure threshold includes:

[0021] definition The dynamic threshold of pressure at time t;

[0022] 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 ;

[0023] The computer calculates the real-time displacement value. The dynamic pressure threshold is calculated using the following formula:

[0024]

[0025] In the formula, The formation resistance coefficient is set according to the geological survey report. The feature depth constant;

[0026] Take the calculated ,and The smaller value is selected as the execution threshold. .

[0027] Furthermore, the method for calculating the dynamic pressure threshold includes:

[0028] definition The dynamic threshold of pressure at time t;

[0029] The adjustment formula using polynomial fitting is as follows:

[0030]

[0031] In the formula, Basic pressure threshold, , This is the formation resistance coefficient set according to the geological survey report.

[0032] 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.

[0033] Furthermore, the method for constructing the positioning function includes:

[0034] 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;

[0035] Target displacement value The calculation formula is as follows:

[0036]

[0037] In the formula, The basic safety retraction distance is set to 500mm, or can be adjusted between 300mm and 1000mm depending on the diameter of the tool. 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.

[0038] Furthermore, when the electric cylinder drives the cutter to retract to... At this time, the computer controls the electric cylinder to stop and hold, waiting for operator confirmation or to make a small torque trial advance.

[0039] An emergency retraction device for the cutter of a diaphragm wall clearing machine includes a clearing machine box and a cutter disposed in the clearing machine box. The clearing machine box has a square structure with an opening on one side.

[0040] The thrust mechanism includes one or more electric cylinders disposed within the obstacle clearing machine box and located below the cutter, for providing thrust to overcome the resistance of the cutter retraction;

[0041] The monitoring component includes six pressure sensors and a displacement sensor. The six pressure sensors are located at the four corners of the top surface of the obstacle clearing machine box and at 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 clearing machine box. The number of displacement sensors is the same as that of the electric cylinder. The displacement sensors are fixed on the electric cylinder and connected to the cutter and are used to measure the horizontal distance of the relative movement of the cutter.

[0042] The connecting assembly includes a pin hole at the tail end of the electric cylinder and a threaded hole on the side of the electric cylinder. The pin hole is hinged at the end of the track, and a screw is screwed into the threaded hole. The screw is used to make the electric cylinder fit tightly against the track and to install the side of the electric cylinder along the side line of the track.

[0043] Furthermore, two tracks are provided and symmetrically arranged on the bottom surface of the obstacle clearing machine box, and the electric cylinder is installed according to the number of tracks and drives the cutter to move along the guide surface of the track;

[0044] The two tracks and the corresponding electric cylinders mounted on the tracks are symmetrically distributed to provide balanced support for the retraction of the cutting tool.

[0045] The beneficial effects of this invention are reflected in:

[0046] This invention, through integrated monitoring components, enables real-time and precise monitoring of the operational status of obstacle-clearing machinery. Key data provided by pressure and displacement sensors offer objective evidence for determining whether the cutting tools are at risk of jamming. A computer processes the sensor data based on predefined logic and, in case of an emergency, automatically sends commands to the electric cylinder of the thrust device, thereby forcibly retracting the cutting tools. This technical solution effectively prevents and solves the problem of cutting tool jamming, significantly improving the safety and efficiency of the obstacle-clearing process. Simultaneously, automated displacement monitoring reduces reliance on manual operation and the resulting errors. Attached Figure Description

[0047] Figure 1 This is a three-dimensional structural diagram of the device of the present invention from one perspective.

[0048] In the picture:

[0049] 1. Clearing mechanism box; 2. Cutting tools; 3. Electric cylinder; 4. Pressure sensor; 5. Displacement sensor; 6. Track; 7. Screws; 8. Computer. Detailed Implementation

[0050] 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 them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please see Figure 1The present invention discloses an emergency retraction device for the cutting tool of a diaphragm wall clearing machine, including a clearing machine box 1 and a cutting tool 2 disposed in the clearing machine box 1. The clearing machine box 1 adopts a square structure with an opening on one side.

[0052] 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;

[0053] 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 at 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 are used to measure the horizontal distance of relative movement of the cutter 2.

[0054] 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, and 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 to install the side of the electric cylinder 3 along the side line of the track 6.

[0055] In specific implementation, the tool 2 is connected and installed by an electric cylinder 3 on the front of one side opening of the obstacle clearing machine box 1. The electric cylinder 3 is attached to the rail 6 and fixed in the corresponding threaded hole with screws 7. The pin hole at the tail end of the electric cylinder 3 is used to hinge the electric cylinder 3 to the end of the rail 6, so that the electric cylinder 3 can drive the tool 2 connected to it to feed at the cutting surface of the opening of the obstacle clearing machine box 1. The electric cylinder 3 is hinged to the end of the rail 6 through the pin hole at its tail end to achieve bottom fixation. At the same time, the screws 7 in the threaded hole on the side of the electric cylinder 3 are used to tightly fit the side of the electric cylinder 3 to the rail 6 to form a stable three-point support structure.

[0056] Pressure sensor 4 is installed on the top of the obstacle clearing machine box 1 and the upper part of the cutting surface to record the pressure on the top surface and the cutting surface during construction. Displacement sensor 5 is installed at the connection between the tool 2 and the track 6 to record the horizontal displacement of the tool 2. Its body is fixed to the cylinder of the electric cylinder 3 by a bracket, and its detection rod is connected to the slot or connecting block of the tool 2 on the track 6 to accurately measure the horizontal displacement of the tool 2 relative to the track 6.

[0057] It should be noted that the pressure sensor 4 is selected as the HZC-T type tensile stress sensor, and the displacement sensor 5 is selected as the BRT38 type displacement sensor.

[0058] The number of pressure sensors 4 can also be increased by setting them at the middle and lower ends of the corresponding cutting surfaces on the obstacle clearing machine box 1, so as to comprehensively monitor the soil pressure in front of the obstacle clearing machine box 1, obtain more comprehensive pressure distribution data, and thus more accurately determine the location and severity of the blockage.

[0059] In one embodiment, 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 according to the number of tracks 6 and drives the cutter 2 to move along the guide surface of the track 6.

[0060] The two tracks 6 and the corresponding electric cylinders 3 mounted on them are symmetrically distributed to provide balanced support for the retraction of the cutter 2. This design, to provide a more balanced and powerful retraction force and prevent deformation caused by unilateral force, uses a pair of thrust mechanisms. The two electric cylinders 3 are symmetrically mounted on the left and right tracks 6 of the obstacle-clearing machine, with each cylinder 3 secured by a tail pin and side screws 7. In this configuration, two displacement sensors 5 can be configured to correspond to the two electric cylinders 3 respectively, or a single displacement sensor 5 can be used to monitor the center displacement of the cutter 2. The computer 8 is configured to control the actions of the two electric cylinders 3 simultaneously or independently. For example, under normal circumstances, the computer 8 can instruct the two electric cylinders 3 to move synchronously to ensure smooth retraction of the cutter 2; if abnormal resistance is detected on one side, a single-sided electric cylinder 3 can be activated for auxiliary correction.

[0061] An emergency retraction method for a cutter in a diaphragm wall clearing machine includes a clearing machine box 1 pre-installed with sensors and a track 6. During clearing operations, the status of the cutter 2 is monitored, calculated, and emergency retraction is performed. The cutter 2 is driven by an electric cylinder 3 and retracts along the track 6. The method includes:

[0062] Before the obstacle removal operation, 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, using sensor data and set thresholds, combined with the relative coordinate calculation method. Based on the deviation between the real-time pressure and the 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.

[0063] Based on the relative pressing depth data of tool 2, a dynamic pressure threshold formula is constructed by combining real-time displacement or by using polynomial fitting adjustment. If the calculated dynamic pressure threshold is less than the real-time pressure value, the emergency retraction action of tool 2 is triggered.

[0064] A positioning function is constructed, and the safe retraction point of tool 2 is determined by combining real-time displacement and basic safe retraction distance.

[0065] 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 excavation, and the computer 8 software continuously collects and processes the sensor data.

[0066] 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 ;

[0067] 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:

[0068]

[0069] 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.

[0070] This step eliminates the initial error caused by different sensor installation positions, ensuring the uniqueness and accuracy of depth data; the computer 8 dynamically adjusts the motion control command sent to the electric cylinder 3 based on the deviation between the real-time pressure value and the target pressure threshold, so as to adjust the feed 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 command and sends it to the electric cylinder 3 to control the electric cylinder 3 to stop its action and maintain its current position.

[0071] More importantly, to address the problem of traditional fixed-value alarms easily leading to false alarms at deep depths or missed alarms at shallow depths, this invention proposes a dynamic safety pressure limit adjustment method based on displacement coupling. Instead of using a single pressure threshold, the computer dynamically adjusts the alarm threshold based on the current cutting depth. The specific logic is as follows: Definition This represents the dynamic safety pressure limit at time t. The system has a preset base pressure threshold. (Corresponding to shallow cutting resistance) and maximum permissible pressure (Corresponding to the mechanical structure strength limit). Computer 8 calculates based on real-time displacement. The dynamic threshold formula for calculating the pressure compensation value is constructed as follows:

[0072]

[0073] Alternatively, polynomial fitting can be used for adjustment:

[0074]

[0075] In the formula, , , The formation resistance coefficient is set according to the geological survey report. Let be the feature depth constant, where Units and real-time displacement values Keep it consistent (mm) Units and basic pressure threshold Maintain a consistent pressure (MPa).

[0076] Working principle: When the cutter 2 penetrates deeper into the ground, the side friction resistance naturally increases, and the formula makes... It rises automatically with depth. (If real-time pressure...) > 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 triggers an emergency retraction. This dynamic logic significantly reduces the false alarm rate caused by changes in formation depth. After triggering the emergency retraction, to improve construction efficiency, this method implements an intelligent retraction strategy based on a general-purpose positioning function. Traditional protection mechanisms typically force tool 2 to retract to its initial zero position. .

[0077] This invention calculates the optimal "safe retreat point" by constructing a positioning function. This positioning function incorporates real-time displacement. The preset press-fit termination position range (i.e., the design hole depth range), the calculation formula is as follows:

[0078]

[0079] In the formula, The basic safety retraction distance is set at 500mm (this can also be adjusted depending on the diameter of tool 2, which is between 300mm and 1000mm). This value is based on the fact that when jamming occurs, the surrounding soil and rock mass experiences elastic deformation due to high confining pressure. A retraction distance of 500mm is sufficient to release the elastic deformation stress around tool 2 and remove it from the jamming friction zone, while also avoiding excessive idle travel time during subsequent re-feeding due to excessive retraction. This is the severity coefficient of the jamming. That is, the peak pressure when stuck. The higher the value, the farther the rollback distance.

[0080] When the electric cylinder 3 drives the cutter 2 to retract... At this time, the computer 8 controls the electric cylinder 3 to stop and hold, waiting for operator confirmation or to make a small torque trial advance.

[0081] Therefore, the above method can minimize the backtracking distance while ensuring the risk of getting stuck, and significantly improve the continuity and efficiency of obstacle removal work.

[0082] In addition, the computer software can integrate data recording and alarm functions, recording sensor data and operation time each time an emergency retraction is triggered, and simultaneously issuing an alarm to notify the operator to intervene and check. The thrust and speed of the electric cylinder 3 can be adjusted according to different geological conditions and the specifications of the cutting tool 2, for example, by changing the duty cycle of the control signal input to the electric cylinder 3 through the computer 8.

[0083] 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 certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0084] 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. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, 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. If 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.

[0085] Additionally, "multiple" refers to two or more.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cutter emergency back-off method of a diaphragm wall removal machine, comprising a sensor pre-installed removal machine box (1) and a track (6) for monitoring, calculating and emergency back-off of the cutter (2) state during removal construction, wherein the cutter (2) is driven by an electric cylinder (3) and moves back along the track (6), characterized in that: before the removal construction, the relative coordinate calculation method is used to quantify the relative pressing depth of the cutter (2) during the construction based on the displacement value recorded when the cutter (2) contacts the cutting surface, and the movement control instruction of the electric cylinder (3) is dynamically adjusted according to the deviation of the real-time pressure and the target pressure threshold value to adjust the feed speed or output torque of the electric cylinder (3) pressing head; the pressure dynamic threshold formula is constructed based on the relative pressing depth data of the cutter (2) combined with the real-time displacement, or the polynomial fitting adjustment is adopted, and the calculated pressure dynamic threshold value is less than the real-time pressure value, triggering the emergency back-off action of the cutter (2); the positioning function is constructed to determine the safe back-off point of the cutter (2) combined with the real-time displacement and the basic safe back-off distance. The sensors include a corresponding number of pressure sensors (4) arranged on the top of the removal machine box (1) and the upper part of the cutting surface, and a displacement sensor (5) arranged on the cutter (2) and connected with the track (6), and the output signals of the pressure sensors (4) and the displacement sensor (5) are connected to the computer (8) provided with the computer (8), and the output end of the computer (8) is electrically connected with the input end of the electric cylinder (3). The relative coordinate calculation method comprises: The computer (8) reads the preset initial reference position and target pressure threshold value parameters; 2. The cutter emergency retreat method of the underground continuous wall obstacle removing machine according to claim 1, characterized in that: The computer (8) dynamically adjusts the movement control instruction sent to control the electric cylinder (3) according to the deviation of the real-time pressure value monitored by the pressure sensor (4) and the target pressure threshold value; 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 value, the computer (8) immediately generates a stop instruction and starts the electric cylinder (3) to control the electric cylinder (3) to stop moving and keep the current position. The calculation method of the pressure dynamic threshold value comprises: In the process that the electric cylinder (3) drives the press head to perform the press fitting action, the computer (8) collects the real-time displacement value and the real-time pressure value fed back by the sensor in real time through the communication interface . ​ The computer (8) performs a relative depth of press-fitting operation processing step, specifically, the displacement sensor (5) real-time acquisition of the displacement value is , the initial reference position recorded when the cutter (2) contacts the cutting surface is , the internal calculation logic is as follows: wherein is the current relative depth of press fitting, based on the real-time collected displacement value is the initial reference position when the cutting surface of the tool (2) is in contact with the surface to be machined is the difference; k is the direction coefficient, which is 1 when the sensor value increases with the increase of the depth, and -1 otherwise.

3. The cutter emergency retreat method of the underground continuous wall obstacle removing machine according to claim 2, characterized in that: The calculation method of the pressure dynamic threshold value comprises: The polynomial fitting adjustment formula is as follows:

4. The cutter emergency retreat method of the underground continuous wall obstacle removing machine according to claim 3, characterized in that, The construction method of the positioning function comprises: Definitions Pdyn(t) is the pressure dynamic threshold at time t. The system presets a basic pressure threshold corresponding to the shallow cutting resistance and a maximum allowable pressure value corresponding to the mechanical structure strength limit ; The computer (8) calculates the real-time displacement value The pressure dynamic threshold is calculated, and the calculation formula is constructed as follows: wherein is the coefficient of stratum resistance set according to the geological survey report, is the characteristic depth constant; Take the calculated , and Compare, take the smaller value as the execution threshold, that is, the execution threshold .

5. The method according to claim 3, wherein the method is characterized by: The diaphragm wall removal machine comprises a removal machine box (1) and a cutter (2) arranged in the removal machine box (1), and the removal machine box (1) adopts a square structure with an opening on one side; Definitions Pdyn(t) is the pressure dynamic threshold at time t. The thrust mechanism comprises one or more electric cylinders (3) arranged in the removal machine box (1) and located below the cutter (2) for providing thrust to overcome the resistance of the cutter (2) back-off; In the formula, is a base pressure threshold value, , is a stratum resistance coefficient set according to a geological survey report.

6. The method according to claim 4 or 5, wherein the method comprises the steps of: detecting the abnormality of the cutter; and automatically returning the cutter to the original position. Based on the calculated pressure dynamic threshold , if the real-time pressure value > , and the state duration exceeds the determination time domain , the system determines that an abnormal jam occurs instead of normal hard rock cutting, triggering an emergency fallback.

7. The cutter emergency retreat method of the underground continuous wall obstacle removing machine according to claim 6, characterized in that, ​ combining real-time displacement values and a preset press-fitting termination position interval for defining an effective working stroke range of the tool (2) Target displacement value The calculation formula is as follows: wherein is the base safety fallback distance, set to 500 mm, or adjusted between 300 mm - 1000 mm depending on the diameter of the tool (2); is the jam severity coefficient, is the pressure peak at jam The higher the jam severity coefficient, the further the fallback distance. is located within the press-fitting end position interval .

8. The cutter emergency retreat method of the underground continuous wall obstacle removing machine according to claim 7, characterized in that: When the electric cylinder (3) drives the tool (2) to retreat to When the electric cylinder (3) drives the tool (2) to retreat to When the electric cylinder (3) drives the tool (2) to retreat to 9. The cutter emergency retreat device of the underground continuous wall obstacle removing machine, which is applied to the cutter emergency retreat method of the underground continuous wall obstacle removing machine according to any one of claims 1-8, characterized in that: ​ ​ The monitoring assembly comprises six pressure sensors (4) and displacement sensors (5). The six pressure sensors (4) are respectively arranged at the top corners of the clearing mechanical box (1) and the upper ends of the corresponding cutting surfaces, and are used for monitoring the soil pressure above and in front of the clearing mechanical box (1). The number of displacement sensors (5) is the same as that of the electric cylinders (3), and the displacement sensors (5) are fixed on the electric cylinders (3) and connected with the cutters (2) and used for measuring the horizontal distance of relative movement of the cutters (2). The connecting assembly comprises pin holes arranged at the tail ends of the electric cylinders (3) and threaded holes arranged on the side surfaces of the electric cylinders (3). The pin holes are hingedly arranged at the ends of the tracks (6), and screws (7) are arranged at the threaded holes. The screws (7) are used for tightly fitting the electric cylinders (3) on the tracks (6) and mounting the side surfaces of the electric cylinders (3) along the side lines of the tracks (6).

10. The cutter emergency retreat device of the underground continuous wall obstacle removing machine according to claim 9, characterized in that: The tracks (6) are arranged on the inner bottom surfaces of the clearing mechanical box (1), and the electric cylinders (3) are correspondingly arranged on the tracks (6) and drive the cutters (2) to move along the guide rail surfaces of the tracks (6). The two tracks (6) and the electric cylinders (3) arranged on the tracks (6) are symmetrically distributed and used for balancedly supporting the cutters (2) to retreat.

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