Intelligent active bearing and pushing system for main bearing of shield tunneling machine and control method

Abstract

The invention discloses an intelligent active bearing and pushing system for a main bearing of a shield tunneling machine and a control method. The system comprises a main push floating raceway capable of floating slightly, a fixed ferrule and an intelligent actuating system between the main push floating raceway and the fixed ferrule, wherein the system comprises actuators which are uniformly distributed on the circumference, various sensors and an intelligent controller; the controller recognizes working conditions according to sensor signals and switches modes. During impact, an active damping mode is entered, and the actuator applies reverse damping force to suppress vibration. Entering a self-adaptive supporting mode during unbalance loading, and adjusting the supporting force of each point to correct the posture and homogenize the load; according to the invention, the spanning from passive bearing to active regulation and control of the main bearing is realized, the impact can be effectively absorbed, unbalance loading wear is prevented, high-precision bearing load distribution data can be obtained in real time, the reliability and the service life of the main bearing are obviously improved, the construction adaptability of the shield tunneling machine under complex geology is obviously improved, and the working efficiency is improved. And meanwhile, key data support is provided for intelligent operation and maintenance and predictive maintenance of the equipment.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, and in particular to an intelligent active thrust system and control method for the main bearing of a tunnel boring machine. Background Technology

[0002] The main bearing of a tunnel boring machine (TBM) is a core component that drives the cutterhead rotation and bears the tunneling thrust; its performance directly determines the reliability and lifespan of the entire machine. The main bearing's propulsion raceway must withstand enormous axial loads and complex overturning moments, especially when the cutterhead encounters uneven geology or underground obstacles, generating severe impact vibrations. Therefore, monitoring the load, attitude, and impact of the main bearing during service, analyzing these parameters, determining the bearing's load-bearing status, the degree of internal gear misalignment, and the magnitude of the impact load during operation, and promptly issuing alarms and proactively adjusting for persistent abnormal signals are crucial for reducing the main bearing failure rate and ensuring construction safety.

[0003] In recent years, numerous technological achievements have emerged for monitoring the load of the main bearings of tunnel boring machines (TBMs). For example, CN116839779A describes a method and system for monitoring the condition of main bearings. This method obtains the total axial force of the connecting bolts by monitoring them, and then combines this with the load transfer law between the main bearing and each connecting bolt to obtain the overturning moment and axial force on the main bearing. CN114382495B describes a system and method for detecting the working condition load of the main bearing of a TBM. This method uses load sensors installed on the connecting flange surfaces of the shield body and the main drive, combined with high-strength connecting bolts and durable threaded sleeves, to detect the load condition of the main bearing using external sensors. However, all of these methods indirectly measure the load of the main bearing through the connecting bolts. The fault impact signals are weak, the transmission path is easily attenuated, and they are easily submerged by noise, making it impossible to accurately extract the signals and resulting in unreliable monitoring results. A large-scale intelligent rolling element load acquisition system and analysis method, disclosed in CN116481685A, is described. This system, designed within a large rolling bearing, utilizes a hollow structure and resistance strain gauges combined with deep learning algorithms to acquire the main bearing load signal. Compared to the aforementioned indirect measurement methods, this approach is closer to the signal source. However, it suffers from drawbacks such as difficulties in wireless transmission within confined spaces, insufficient power supply, and unreliable roller encapsulation. Furthermore, the aforementioned technologies, whether indirect or roller-based, passively measure bearing loads and cannot effectively absorb external impacts, allowing them to be directly transmitted to the entire main bearing and shield structure. This leads to continuous vibration, increased noise, and significantly accelerated fatigue wear of the raceway and rolling elements. The system also lacks the ability to adaptively adjust the support state, easily causing localized stress concentration in the raceway under eccentric loading conditions, resulting in eccentric wear and affecting the overall bearing life. Finally, it is difficult to monitor the actual load distribution of the main propulsion raceway in real time and accurately, hindering early warning and health management of the equipment.

[0004] In summary, the design of an intelligent active bearing system and control method for the main bearing of a tunnel boring machine (TBM) is of significant scientific and engineering application value. This system actively suppresses impact, adaptively adjusts the support, and monitors the load on the main bearing in real time. It is of great scientific and engineering application value for studying the service status of the main bearing of the TBM and realizing bearing fault diagnosis, condition monitoring, operation and maintenance, life assessment, and dynamic performance evaluation. Summary of the Invention

[0005] To address the shortcomings of the aforementioned background technology, this invention designs an intelligent active propulsion system and control method for the main bearing of a tunnel boring machine (TBM). This system can actively and quickly suppress harmful vibrations of the main propulsion raceway caused by external impacts, preventing cumulative damage to the main bearing. It can achieve adaptive load support, automatically adjusting the support force distribution when subjected to uneven loads or overturning moments to prevent raceway eccentricity and optimize bearing stress. Furthermore, it can acquire high-precision, real-time load distribution, vibration status, and attitude information of the main propulsion raceway, providing data support for the intelligent operation and maintenance of the TBM.

[0006] The present invention achieves the above objectives through the following technical solutions:

[0007] An intelligent active propulsion system for the main bearing of a tunnel boring machine includes a main propulsion floating raceway, which can be slightly translated and tilted relative to a fixed raceway.

[0008] The retaining ring is mounted on the main drive housing;

[0009] The intelligent actuation system is located between the main floating raceway and the fixed collar, and includes multiple intelligent actuation modules, sensor units and controllers distributed along the circumference;

[0010] The sensor unit is used to sense the vibration, load and displacement information of the main floating raceway. The controller controls the intelligent actuation module to work according to the sensor signals, so as to realize active damping and adaptive support of the main floating raceway.

[0011] Preferably, the fixing ring includes a first fixing ring and a second fixing ring. The first fixing ring is fixed to the main drive housing, and the second fixing ring is installed on the side of the first fixing ring away from the main drive housing. A U-shaped groove is formed at the abutment position of the inner rings of the first and second fixing rings. A rotating ring connected to the cutterhead of the tunnel boring machine is engaged in the U-shaped groove. A main thrust roller is provided between the side of the rotating ring near the main drive housing and the first fixing ring, and an auxiliary thrust roller is provided between the side of the rotating ring away from the main drive housing and the second fixing ring. A radial roller is provided between the circumference of the rotating ring and the second fixing ring. A main thrust floating track is provided between the first fixing ring and the main thrust roller. An auxiliary thrust floating track is provided between the second fixing ring and the auxiliary thrust roller.

[0012] Preferably, the intelligent actuation module is an electro-hydraulic servo actuator, including a cylinder, piston, piston rod, support plate, hydraulic power source, rod-side oil pipe, rodless-side oil pipe, and servo valve; the cylinder is fixed to the first fixed collar, a piston is disposed inside the cylinder, the piston rod is fixedly mounted on the side of the piston away from the first fixed collar, the end of the piston rod away from the piston extends out of the cylinder and is connected to the support plate via a ball joint, the support plate rests on the main push floating raceway; the hydraulic power source is connected to the servo valve via a pipe, the servo valve is connected to the side of the cylinder corresponding to the piston rod via the rod-side oil pipe, and the servo valve is connected to the other side of the cylinder via the rodless-side oil pipe; an elastic element is provided between the support plate and the first fixed collar, the elastic element is a high-load-bearing spring, the high-load-bearing spring is sleeved on the outside of the electro-hydraulic servo actuator to assist in support and measure the displacement and tilt angle of the floating raceway.

[0013] Preferably, the sensor unit includes:

[0014] A vibration sensor is disposed between the support plate and the main floating raceway to detect vibration acceleration;

[0015] A load sensor is disposed between the support plate and the main push floating raceway to detect load information;

[0016] A displacement sensor is installed between the first fixed collar and the main floating raceway to detect relative displacement.

[0017] Preferably, the controller is an intelligent controller that receives signals from the sensor unit, processes them, and outputs control commands to the servo valve to achieve closed-loop control of the intelligent actuation module.

[0018] Preferably, the system has two operating modes:

[0019] Active damping mode is used to control the intelligent actuation module to provide reverse damping force when impact vibration is detected;

[0020] The adaptive support mode is used to control the intelligent actuation module to provide adjustable support force when off-center loading or tilt is detected.

[0021] On the other hand, the present invention also discloses an intelligent active thrust control method for the main bearing of a tunnel boring machine, comprising the following steps:

[0022] The vibration, load, and displacement signals of the main floating raceway are acquired in real time through sensors.

[0023] The controller identifies the current operating condition type based on the signal;

[0024] If the condition is identified as an impact vibration, the system enters active damping mode and controls the intelligent actuation module to apply a damping force opposite to the direction of the vibration velocity.

[0025] If the condition is identified as a steady-state off-center load, the system enters the adaptive support mode and controls the intelligent actuation module to adjust the support force at each point so that the raceway returns to a horizontal position.

[0026] Preferably, the identification of the current operating condition type includes:

[0027] Determine whether the vibration sensor signal exceeds a preset threshold;

[0028] Determine whether the displacement sensor detects raceway tilt or the load sensor detects uneven load distribution.

[0029] Preferably, the active damping mode adopts a ceiling damping control algorithm to calculate the required damping force in real time based on the vibration velocity and the current force.

[0030] Preferably, the adaptive support mode adopts a load distribution control algorithm, calculates the target support force based on the displacement and load data of each point, and realizes the adjustment of the raceway attitude through closed-loop control.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] 1. This invention introduces a slightly floating raceway and a closed-loop intelligent actuation system, enabling the system to have active response and intervention capabilities. Under impact conditions, the system can actively apply damping force like an "intelligent shock absorber" to quickly dissipate impact energy. Under off-center load conditions, it can adjust the distribution of support force in real time like a "distributed active jack" to actively correct the raceway posture. This fundamental change in working mode significantly improves the main bearing system's adaptability to external loads, anti-interference ability, and overall operational stability.

[0033] 2. The active damping mode of this invention can quickly suppress impact vibration from the source (floating raceway), significantly reduce the dynamic load transmitted to the entire bearing and structure, and reduce impact cumulative damage; at the same time, the adaptive support mode can correct the raceway tilt in real time, ensuring that each thrust roller is subjected to uniform force, fundamentally avoiding off-center wear caused by local stress concentration; the synergistic effect of these two aspects can greatly delay the degradation of bearing performance and significantly extend its overhaul cycle and life cycle.

[0034] 3. This system can sense and quickly adapt to these changes in real time, smooth out impacts and equalize loads, making the main bearing and even the entire tunnel boring machine operate more smoothly and reliably under harsh working conditions; this reduces the risk of downtime or even safety accidents caused by sudden bearing failure, and provides key technical support for safe and efficient tunnel excavation under complex geological conditions;

[0035] 4. This system itself constitutes a high-density distributed in-situ monitoring platform; multiple intelligent actuation modules arranged around the circumference not only perform control functions, but their integrated multi-type sensors (load, displacement, vibration) can directly and in real time collect three-dimensional force and motion state information of the main propulsion raceway; through processing, unprecedentedly accurate main bearing load distribution maps, overturning moments, and impact characteristics can be obtained; these data are valuable assets for achieving accurate assessment of main bearing condition, early warning of faults, prediction of remaining life, and digital management of the entire life cycle of the tunnel boring machine, promoting the transformation and upgrading of equipment operation and maintenance mode from "periodic inspection" and "post-event maintenance" to "predictive maintenance";

[0036] 5. The core concept of "floating structure + closed-loop intelligent actuation" proposed in this invention is not only applicable to the main bearings of tunnel boring machines, but also provides an innovative solution for improving the performance of large slewing bearings (such as wind turbine main shaft bearings, port crane slewing bearings, and large radar turntable bearings) that bear complex loads in other heavy equipment. By adapting to different intelligent actuation module forms and control strategies, this technical concept can be promoted and applied in a variety of key equipment fields that require high reliability, long life and intelligent status management, and has broad market prospects.

[0037] In summary, this invention, through the deep integration of structural innovation and control strategies, effectively solves the three major challenges faced by the main bearing of tunnel boring machines: impact protection, off-center load correction, and condition monitoring. At the same time, it opens up a new technical path for the intelligent upgrading of core components of heavy equipment, possessing both outstanding engineering practical value and broad industry promotion significance. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure and installation of an intelligent active thrusting system for the main bearing of a tunnel boring machine, as described in this invention.

[0040] Figure 2 This is a schematic diagram of the internal structure of the intelligent actuation module of the intelligent active thrusting system for the main bearing of a tunnel boring machine, as described in this invention.

[0041] Figure 3 This is a three-dimensional structural diagram of the main pushing floating roller track of an intelligent active pushing system for the main bearing of a tunnel boring machine, as described in this invention.

[0042] Figure 4 This is a three-dimensional structural diagram of the first fixed collar of an intelligent active thrust system for the main bearing of a tunnel boring machine, as described in this invention.

[0043] The annotations in the attached figures are explained as follows:

[0044] 1. Main drive housing; 2. First fixed collar; 3. Second fixed collar; 4. Rotating collar; 5. Main push floating raceway; 6. Auxiliary push floating raceway; 7. Intelligent actuation module; 71. Piston rod; 72. Cylinder; 73. Displacement sensor; 74. High load capacity spring; 75. Vibration sensor; 76. Load sensor; 8. Main push roller; 9. Main push roller cage; 10. Radial roller; 11. Radial roller cage; 12. Auxiliary push roller; 13. Auxiliary push roller cage; 14. Servo valve; 15. Hydraulic source; 16. Intelligent controller; 17. Host computer; 18. Signal line; 19. Rod chamber oil pipe; 20. Rodless chamber oil pipe. Detailed Implementation

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood through the specific circumstances.

[0047] The present invention will be further described below with reference to the accompanying drawings:

[0048] Example 1

[0049] like Figures 1-4As shown, an intelligent active propulsion system for the main bearing of a tunnel boring machine comprises three main parts: a mechanical floating structure, an intelligent actuation system, and a control system.

[0050] The mechanical floating structure includes a main pushing floating raceway 5, fixed rings, and related rolling element assemblies. Specifically, the fixed rings include a first fixed ring 2 and a second fixed ring 3. The first fixed ring 2 is fixed to the main drive housing 1, and the second fixed ring 3 is installed on the side of the first fixed ring 2 away from the main drive housing 1. The inner rings of the two rings are joined to form a U-shaped groove, into which the rotating ring 4 is inserted. A main pushing roller 8 and its cage 9 are provided between the rotating ring 4 and the first fixed ring 2 on the side of the rotating ring 4 closest to the main drive housing 1, and a main pushing floating raceway 5 is provided between the first fixed ring 2 and the main pushing roller 8. An auxiliary pushing roller 12 and its cage 13 are provided between the rotating ring 4 and the second fixed ring 3 on the side of the rotating ring 4 away from the main drive housing 1, and an auxiliary pushing floating raceway 6 is provided between the second fixed ring 3 and the auxiliary pushing roller 12. A radial roller 10 and its cage 11 are provided between the circumference of the rotating ring 4 and the second fixed ring 3.

[0051] The intelligent actuation system is located between the main floating raceway 5 and the first fixed collar 2, and includes multiple intelligent actuation modules 7 evenly distributed along the circumference, sensor units, and a controller. The specific structure of each intelligent actuation module 7 is as follows: Figure 2 As shown, this is an electro-hydraulic servo actuator, including a cylinder 72, a piston, a piston rod 71, a support plate, a hydraulic power source 15, a rod chamber oil pipe 19, a rodless chamber oil pipe 20, and a servo valve 14. The cylinder 72 is fixed in a corresponding groove on the first fixed collar 2. The end of the piston rod 71 is connected to the support plate via a ball joint, and the support plate rests on the back groove of the main push floating raceway 5. A rod chamber and a rodless chamber are formed between the piston rod 71 and the cylinder 72, which are respectively connected to the servo valve 14 via the rod chamber oil pipe 19 and the rodless chamber oil pipe 20. The servo valve 14 is connected to the hydraulic power source 15. In addition, a high-load-bearing spring 74 is provided between the support plate and the first fixed collar 2, sleeved on the outside of the actuator, as a parallel elastic element, used to provide foundation pre-support and assist in load measurement.

[0052] The sensor unit is integrated into each intelligent actuation module 7, including:

[0053] Vibration sensor 75 is installed between the support plate and the main push floating raceway 5 to detect the vibration acceleration signal at that location;

[0054] Load sensor 76 is also located between the support plate and the main push floating raceway 5, and is used to detect the load on that point directly or indirectly (in conjunction with spring deformation).

[0055] The displacement sensor 73 is installed between the first fixed collar 2 and the main floating raceway 5 to detect the relative displacement between the two.

[0056] The controller is an intelligent controller 16, which receives signals from the sensor units in all intelligent actuation modules 7 through signal line 18, processes them through built-in algorithms, and outputs control commands to each servo valve 14 to achieve closed-loop control of the output force of each intelligent actuation module 7.

[0057] Furthermore, the outer diameter of the main pushing floating raceway 5 is designed to be smaller than the inner diameter of the first fixed collar 2 and larger than the outer diameter of the main pushing roller cage 9, thereby forming a radial gap between the main pushing floating raceway 5 and the first fixed collar 2, ensuring that it can achieve the translation and tilt allowed by the design under the drive of the intelligent actuation module 7 without mechanical interference.

[0058] Furthermore, through-holes are provided axially and radially on the first fixed bearing ring 2 and the main drive housing 1 for laying signal lines 18, rod-mounted hydraulic pipes 19, and rodless hydraulic pipes 20 leading from the intelligent actuation module 7. This design realizes wired signal transmission and hydraulic power transmission from the inside of the sealed bearing to the external control system, avoiding the instability of wireless transmission in a metal sealed environment and the lifespan problem of battery power supply.

[0059] Furthermore, the high-load-bearing spring 74 integrates a displacement sensing element. By detecting the compression of the spring and combining it with its stiffness coefficient, the static or quasi-static load on that point can be indirectly calculated, serving as a redundancy or verification method for the load sensor 76.

[0060] Furthermore, the intelligent controller 16 adopts a hardware platform based on a microprocessor or embedded system, which is responsible for real-time signal acquisition, algorithm calculation and instruction issuance; the host computer 17 is an industrial computer running dedicated monitoring software, which is used for system status display, data storage, parameter setting and advanced analysis, together forming a hierarchical intelligent control system.

[0061] Furthermore, the intelligent active bearing system for the main bearing of a tunnel boring machine according to the present invention has two operating modes: active damping mode and adaptive support mode. The specific implementation methods of the two modes are described below in conjunction with the control flow:

[0062] Mode 1: Active Damping Mode

[0063] Signal acquisition and working condition identification: The intelligent controller 16 collects signals from each vibration sensor 75 in real time; when the amplitude of the vibration acceleration signal exceeds the preset impact threshold, it determines that the current condition is an impact vibration condition.

[0064] Mode switching and damping force calculation: The controller immediately switches to active damping mode; using the ceiling damping control algorithm, the vibration velocity is calculated based on the vibration sensor signal, and combined with the current actuator force feedback, the ideal damping force that needs to be applied to suppress the vibration and is opposite to the vibration velocity direction is calculated in real time.

[0065] Closed-loop execution: The controller sends the calculated damping force command to the servo valve 14 at the corresponding position; the servo valve 14 quickly adjusts the oil pressure in the two chambers of the actuator, drives the piston rod 71 to generate precise dynamic damping force, actively absorbs and dissipates impact energy, and causes the vibration of the main push floating raceway 5 to decay rapidly.

[0066] Mode 2: Adaptive Support Mode

[0067] Signal acquisition and working condition identification: The intelligent controller 16 collects signals from each displacement sensor 73 and load sensor 76 in real time; by analyzing the displacement data differences and load distribution uniformity at each point on the circumference, it determines whether the main floating raceway 5 is tilted or whether the load is severely uneven; when the tilt angle or load unevenness exceeds the set tolerance, it determines that it has entered a steady-state off-center load condition.

[0068] Mode switching and support force planning: The controller switches to adaptive support mode; with the control objectives of "restoring the main push floating raceway to a horizontal position" and "making the load distribution of the main push roller 8 uniform", the load distribution control algorithm is adopted to calculate the target support force that needs to be applied to each intelligent actuation module 7 to correct the attitude based on the current displacement and load data of each point.

[0069] Closed-loop leveling and data monitoring: The controller sends differentiated force commands to each servo valve 14; each intelligent actuation module 7 generates corresponding adjustment support force, forming an active straightening torque, which pushes the main floating raceway 5 to gradually restore its horizontal posture; this process continues closed-loop adjustment until the sensor feedback indicates that the posture has been corrected and the load distribution is uniform; after stabilization, the support force data of each actuator constitutes a high-precision bearing load distribution map, which is recorded in real time for status monitoring and health management;

[0070] The control system also includes a host computer 17 that is connected to the intelligent controller 16 for system status monitoring, parameter setting, data storage and advanced analysis, so as to realize intelligent operation and maintenance functions.

[0071] Example 2

[0072] The difference between this embodiment and embodiment 1 is that an intelligent actuation system is also installed between the auxiliary floating raceway 6 and the second fixed ring 3.

[0073] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are only illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An intelligent active thrusting system for the main bearing of a tunnel boring machine, characterized in that, include: The main floating raceway (5) can be slightly translated and tilted relative to the fixed raceway; A retaining ring is installed on the main drive housing (1); The intelligent actuation system is located between the main floating raceway (5) and the fixed ring, and includes multiple intelligent actuation modules (7) distributed along the circumference, sensor units and controllers; The sensor unit is used to sense the vibration, load and displacement information of the main floating raceway (5). The controller controls the intelligent actuation module (7) to work according to the sensor signal, so as to realize active damping and adaptive support of the main floating raceway (5).

2. The intelligent active propulsion system according to claim 1, characterized in that, The fixing rings include a first fixing ring (2) and a second fixing ring (3). The first fixing ring (2) is fixed to the main drive housing (1), and the second fixing ring (3) is installed on the side of the first fixing ring (2) away from the main drive housing (1). The inner rings of the first fixing ring (2) and the second fixing ring (3) form a U-shaped groove at their mating positions. A rotating ring (4) connected to the cutterhead of the tunnel boring machine is fitted into the U-shaped groove. The side of the rotating ring (4) closest to the main drive housing (1) is connected to the first fixing ring (2) and the second fixing ring (3). A main push roller (8) is provided between a fixed ring (2), and an auxiliary push roller (12) is provided between the side of the rotating ring (4) away from the main drive housing (1) and the second fixed ring (3); a radial roller (10) is provided between the circumference of the rotating ring (4) and the second fixed ring (2); a main push floating track (5) is provided between the first fixed ring (2) and the main push roller (8); and an auxiliary push floating track (6) is provided between the second fixed ring (3) and the auxiliary push roller (12).

3. The intelligent active propulsion system according to claim 2, characterized in that, The intelligent actuation module (7) is an electro-hydraulic servo actuator, including a cylinder (72), a piston, a piston rod (71), a support plate, a hydraulic source, a rod chamber oil pipe (19), a rodless chamber oil pipe (20), and a servo valve (14). The cylinder (72) is fixed on the first fixing ring (2). A piston is provided inside the cylinder (72). The piston rod (71) is fixedly installed on the side of the piston away from the first fixing ring (2). The piston rod (71) extends out of the cylinder (72) from the piston and is connected to the support plate through a ball joint. The support plate is abutted against the main push floating raceway. (5) The hydraulic source is connected to the servo valve (14) through a pipe. The servo valve (14) is connected to the cylinder (72) inside the cylinder (72) to the side corresponding to the piston rod (71) through the rod chamber oil pipe (19). The servo valve (14) is connected to the cylinder (72) inside the cylinder (72) through the rodless chamber oil pipe (20). An elastic element is provided between the support plate and the first fixed collar (2). The elastic element is a high load-bearing spring (74). The high load-bearing spring (74) is sleeved outside the electro-hydraulic servo actuator to assist in supporting and measuring the displacement and tilt angle of the main push floating raceway (5).

4. The intelligent active propulsion system according to claim 3, characterized in that, The sensor unit includes: A vibration sensor (75) is disposed between the support plate and the main push floating raceway (5) for detecting vibration acceleration; A load sensor (76) is disposed between the support plate and the main push floating raceway (5) for detecting load information; A displacement sensor (73) is disposed between the first fixed collar (2) and the main push floating raceway (5) for detecting relative displacement.

5. The intelligent active propulsion system according to claim 1, characterized in that, The controller is an intelligent controller (16), which receives signals from the sensor unit, processes them, and outputs control commands to the servo valve (14) to realize closed-loop control of the intelligent actuation module (7).

6. The intelligent active propulsion system according to claim 1, characterized in that, The system has two operating modes: Active damping mode is used to control the intelligent actuation module (7) to provide reverse damping force when impact vibration is detected; An adaptive support mode is used to control the intelligent actuation module (7) to provide adjustment support force when off-center load or tilt is detected.

7. An intelligent active thrust control method for the main bearing of a tunnel boring machine, characterized in that, Includes the following steps: The vibration, load and displacement signals of the main floating raceway (5) are acquired in real time by sensors; The controller identifies the current operating condition type based on the signal; If the condition is identified as an impact vibration, the active damping mode is entered, and the intelligent actuation module (7) is controlled to apply a damping force opposite to the direction of the vibration velocity. If the condition is identified as a steady-state off-center load, the adaptive support mode is entered, and the intelligent actuation module (7) is controlled to adjust the support force at each point so that the raceway is restored to a horizontal state.

8. The control method according to claim 7, characterized in that, The identification of the current operating condition type includes: Determine whether the vibration sensor (75) signal exceeds the preset threshold; Determine whether the displacement sensor (73) detects raceway tilt or whether the load sensor (76) detects uneven load distribution.

9. The control method according to claim 7, characterized in that, The active damping mode employs a ceiling damping control algorithm to calculate the required damping force in real time based on the vibration velocity and the current force.

10. The control method according to claim 7, characterized in that, The adaptive support mode employs a load distribution control algorithm to calculate the target support force based on displacement and load data at each point, and adjusts the raceway attitude through closed-loop control.

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