A tunnel boring machine and its control method

Abstract

This application provides a tunnel boring machine (TBM) and its control method, relating to the field of engineering machinery technology. The TBM includes: a cutterhead; the cutterhead is disposed at one end of a shield; at least one advance support assembly is disposed within the shield, and the advance support assembly has multiple support members; the advance support assembly is configured to, depending on the surrounding rock condition in front of the cutterhead, selectively extend the multiple support members from within the shield to above the cutterhead to form a temporary support zone, or drive the support members to retract from above the cutterhead back into the shield. According to the embodiments of this application, active support for the surrounding rock above the cutterhead is achieved through the advance support assembly based on the surrounding rock condition, and the machine does not need to be stopped during support, enabling continuous and rapid traversal of deformable surrounding rock sections, thus improving the TBM's adaptability to complex terrain, tunneling capacity, and tunneling efficiency.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a tunnel boring machine and its control method. Background Technology

[0002] Tunnel boring machines (TBMs) are widely used in underground engineering construction in fields such as railways, hydropower, transportation, mining, and municipal engineering. As projects increasingly demand greater tunnel depth, cross-sectional dimensions, and construction efficiency, the need for TBMs to operate under complex geological conditions is becoming more pronounced. For example, when traversing fault fracture zones, weak surrounding rock, or high-stress strata, the fractured rock blocks above the TBM cutterhead are prone to collapse due to their own weight or ground disturbance, leading to cutterhead jamming or even equipment shutdown.

[0003] In related technologies, to reduce cutterhead jamming, the surrounding rock is reinforced with anchor bolts and grouting by manual or mechanical means before the TBM enters the fracture zone. Alternatively, the TBM structure can be modified (such as by adding a tail shield or telescopic outriggers) to assist in freeing the equipment after jamming.

[0004] However, the TBMs described above have poor tunneling capabilities under complex geological conditions. Summary of the Invention

[0005] This application provides a tunnel boring machine and its control method, which realizes active support for the surrounding rock above the cutterhead, and the machine can continuously and quickly pass through deformed sections of surrounding rock without stopping the machine during support. This improves the TBM's adaptability to complex terrain, tunneling capacity and tunneling efficiency.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] On one hand, this application provides a tunnel boring machine, including: a cutterhead; a shield body, the cutterhead being disposed at one end of the shield body; at least one advance support assembly, the advance support assembly being disposed within the shield body, the advance support assembly having a support member; the advance support assembly is configured to, depending on the surrounding rock condition on the side in front of the cutterhead, selectively drive the support member to extend from within the shield body to above the cutterhead to construct a temporary support zone above the cutterhead, or drive the support member to retract from above the cutterhead back into the shield body, wherein the surrounding rock condition on the side in front of the cutterhead is determined according to the tunneling parameters of the tunnel boring machine.

[0008] In one possible implementation, the tunnel boring machine provided in this application embodiment includes an advance support component comprising a propulsion mechanism and a first drive. The shield body has a connecting hole, and one end of the support member is used to extend through the connecting hole to the top of the cutterhead. Both the propulsion mechanism and the first drive are connected to the support member. The propulsion mechanism is used to drive the support member to move along its extension direction, and the first drive is used to drive the support member to rotate around its axis.

[0009] In one possible implementation, the tunnel boring machine provided in this application embodiment further includes a control component, a propulsion mechanism, and a first drive, all electrically connected to the control component. The surrounding rock conditions include stable and unstable surrounding rock. The control component is configured to, when the surrounding rock condition in front of the cutterhead is stable, control the propulsion mechanism to drive the support member to retract into the shield body; when the surrounding rock condition in front of the cutterhead is unstable, control the propulsion mechanism to drive at least a portion of the support member to extend above the cutterhead, adjust the extension length of the support member, and control the first drive to adjust the rotation speed of the support member.

[0010] In one possible implementation, the tunnel boring machine provided in this application uses unstable surrounding rock, including weak surrounding rock, fractured surrounding rock, and extremely fractured surrounding rock. When the surrounding rock in front of the cutterhead is weak, multiple support members are driven to extend above the cutterhead. When the surrounding rock in front of the cutterhead is fractured, Q1 support members are driven to extend above the cutterhead. When the surrounding rock in front of the cutterhead is extremely fractured, Q2 support members are driven to extend above the cutterhead. Wherein, Q1 = m / i, where m is the total number of support members and i is a first control coefficient; Q2 = m / j, where m is the total number of support members and j is a second control coefficient, and j... <i。

[0011] In one possible implementation, the tunnel boring machine provided in this application embodiment has an advanced support component configured to acquire the tunneling parameters of the tunnel boring machine, determine the dynamic characteristic δT of the cutterhead's rotational resistance and the torque-thrust coordination characteristic ρ(F,T) of the tunnel boring machine based on the tunneling parameters, and determine the surrounding rock state in front of the cutterhead based on the dynamic characteristic δT of the cutterhead's rotational resistance and the torque-thrust coordination characteristic ρ(F,T); when δT is less than a first threshold, the surrounding rock state in front of the cutterhead is stable surrounding rock; when δT When δT is greater than or equal to the first threshold and ρ(F,T) is greater than the second threshold, the surrounding rock condition in front of the cutterhead is weak surrounding rock; when δT is greater than or equal to the first threshold, ρ(F,T) is less than or equal to the second threshold and ρ(F,T) is greater than the third threshold, the surrounding rock condition in front of the cutterhead is fractured surrounding rock; when δT is greater than or equal to the first threshold, ρ(F,T) is less than or equal to the second threshold and ρ(F,T) is less than or equal to the third threshold, the surrounding rock condition in front of the cutterhead is extremely fractured surrounding rock.

[0012] In one possible implementation, the tunnel boring machine provided in this application embodiment has tunneling parameters including cutterhead torque and tunnel boring machine thrust. The dynamic characteristics of cutterhead rotational resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunnel boring machine are determined according to the following formula.

[0013] ;

[0014] ;

[0015] Where T is the cutterhead torque and F is the propulsion force of the tunneling machine.

[0016] In one possible implementation, the tunnel boring machine provided in this application embodiment modifies the dynamic characteristics of the rotational resistance δT and the torque-thrust coordination characteristics ρ(F,T) of the cutterhead based on the dynamic characteristics of the rotational resistance δT and the torque-thrust coordination characteristics ρ(F,T).

[0017] in, , among which, T e The rated torque of the cutter head;

[0018] ;

[0019] ;

[0020] Wherein, φT is the instantaneous phase of the cutterhead torque extracted based on Hilbert transform, φF is the instantaneous phase of the propulsion force extracted based on Hilbert transform, and μ>0 is the rock machine coupling sensitivity coefficient.

[0021] In one possible implementation, the tunnel boring machine provided in this application embodiment has a propulsion mechanism configured to stop when the extension length of the support member is greater than or equal to a preset length value, wherein the preset length value h0=x+k*P, where x is a fixed distance from the support member from its initial position to the cutting plane of the cutterhead, k is a preset coefficient, and P is the current penetration depth of the tunnel boring machine.

[0022] In one possible implementation, the tunnel boring machine provided in this application embodiment further includes a support assembly and a propulsion cylinder. The support assembly is disposed on the side of the shield body away from the advanced support assembly, and the propulsion cylinder is used to drive the cutterhead forward.

[0023] The support assembly is configured to activate when the stroke of the propulsion cylinder equals a preset stroke, where the preset stroke is L=L0+d or L=L0+d-Lmax, where L0 is the stroke of the propulsion cylinder when the surrounding rock condition changes from stable to unstable, d is the shield width, and Lmax is the maximum stroke of the propulsion cylinder.

[0024] On the other hand, this application also provides a tunnel boring machine control method, including: acquiring tunneling parameters and preprocessing the tunneling parameters; determining the surrounding rock condition in front of the cutterhead based on the tunneling parameters; and, based on the surrounding rock condition in front of the cutterhead, driving multiple support members to selectively extend from the shield body to above the cutterhead to construct a temporary support zone above the cutterhead, or driving the support members to retract from above the cutterhead back into the shield body.

[0025] This application provides a tunnel boring machine (TBM) and its control method. The system includes: a cutterhead; the cutterhead is disposed at one end of a shield; at least one advance support component is disposed within the shield, and the advance support component has a support member; depending on the surrounding rock condition in front of the cutterhead, the support member is selectively extended from the shield to above the cutterhead to form a temporary support zone, or the support member is retracted from above the cutterhead back into the shield. This embodiment of the application, by setting an advance support component within the shield, allows the support member to extend above the cutterhead as needed to form a temporary support zone, providing advance support to the surrounding rock in front during tunneling, changing the method of post-construction reinforcement or evacuation, and achieving proactive prevention of collapse risks. The extension or retraction of the support member is based on the surrounding rock condition in front of the cutterhead (e.g., determined in real-time by tunneling parameters), achieving dynamic adjustment, enabling the TBM to automatically cope with sudden geological changes such as faults and weak strata, reducing downtime, enhancing tunneling stability in complex terrain (such as high-stress, fractured zones, and other unfavorable strata), and ensuring continuous tunneling operations without frequent shutdowns for manual anchor grouting or evacuation operations. For example, when the surrounding rock condition in front of the cutterhead is determined based on the tunneling parameters, if the surrounding rock is stable, the support components are retracted into the shield to avoid interfering with the tunneling operation. If the surrounding rock is unstable, at least part of the support components are extended above the cutterhead, and the extension length and rotation speed of the support components are adjusted to construct a temporary support zone. This temporary support zone above the cutterhead directly supports the broken rock blocks, preventing them from collapsing to the cutterhead due to their own weight or disturbance, thus reducing machine jamming. This embodiment of the application achieves active support for the surrounding rock above the cutterhead through an advanced support component, based on the surrounding rock condition. Furthermore, support does not require machine shutdown, allowing for continuous and rapid traversal of deformable surrounding rock sections, improving the TBM's adaptability to complex terrain, tunneling capacity, and tunneling efficiency. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] Figure 1 This is a schematic diagram of the structure of a tunnel boring machine provided in an embodiment of this application;

[0028] Figure 2 for Figure 1 A magnified view of part A in the middle;

[0029] Figure 3 This is a schematic diagram of the structure of the connecting hole on the shield body of the tunnel boring machine provided in the embodiments of this application;

[0030] Figure 4 This is a schematic diagram of the tunnel boring machine and the broken surrounding rock provided in the embodiments of this application;

[0031] Figure 5 for Figure 4A magnified view of part B in the middle section;

[0032] Figure 6 A flowchart illustrating the tunnel boring machine control method provided in this application embodiment;

[0033] Figure 7 This is a flowchart illustrating a specific implementation of the tunnel boring machine control method provided in the embodiments of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100-Cutterhead;

[0036] 200 - Shield body; 201 - Connecting hole; 210 - Shield body hydraulic cylinder;

[0037] 300 - Advanced support assembly; 310 - Support component; 320 - Propulsion mechanism; 330 - First drive; 340 - Front connector; 350 - Rear connector; 360 - Base; 361 - Receiving cavity;

[0038] 400 - Control Components;

[0039] 500-Main Drive System;

[0040] 600-Steel arch frame assembly machine;

[0041] 700-Anchor Drilling Rig;

[0042] 810 - Main beam; 820 - Support shoe; 830 - Saddle frame;

[0043] 900 - Propulsion cylinder.

[0044] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended application.

[0046] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and are not intended to indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0047] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] Tunnel boring machines (TBMs) are widely used in underground engineering construction in fields such as railways, hydropower, transportation, mining, and municipal engineering. As projects increasingly demand greater tunnel depth, cross-sectional dimensions, and construction efficiency, the need for TBMs to operate under complex geological conditions is becoming more pronounced. For example, when traversing fault fracture zones, weak surrounding rock, or high-stress strata, the fractured rock blocks above the TBM cutterhead are prone to collapse due to their own weight or ground disturbance, leading to cutterhead jamming or even equipment shutdown.

[0050] In related technologies, to reduce cutterhead jamming, the surrounding rock is reinforced with anchor bolts and grouting by manual or mechanical means before the TBM enters the fracture zone. Alternatively, the TBM structure can be modified (such as by adding a tail shield or telescopic outriggers) to assist in freeing the equipment after jamming.

[0051] However, the TBMs described above have poor tunneling capabilities under complex geological conditions.

[0052] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0053] This application provides a tunnel boring machine, such as... Figures 1-5As shown, it includes: a cutterhead 100 for cutting surrounding rock; a shield 200 with the cutterhead 100 disposed at one end; and an advance support assembly 300 disposed within the shield 200, the advance support assembly 300 having one or more supports 310; the advance support assembly 300 is configured to, depending on the surrounding rock condition in front of the cutterhead 100, drive the supports 310 to extend from within the shield 200 to above the cutterhead 100 to create a temporary support zone above the cutterhead 100, or drive the supports 310 to retract from above the cutterhead 100 back into the shield 200.

[0054] Among them, combined Figure 1 and Figure 2 As shown, the advanced support assembly 300 includes a propulsion mechanism 320 and a first drive 330. The shield body 200 has a connecting hole 201. One end of the support member 310 is used to extend through the connecting hole 201 to the top of the cutterhead 100. The propulsion mechanism 320 and the first drive 330 are both connected to the support member 310. The propulsion mechanism 320 is used to drive the support member 310 to move along its extension direction, and the first drive 330 is used to drive the support member 310 to rotate around its axis.

[0055] The shield body 200 has a connecting hole 201. For example, one end of the support member 310 is used to extend through the connecting hole 201 to above the cutter head 100. The propulsion mechanism 320 drives the support member 310 to extend from inside the shield body 200 to above the cutter head 100 through the connecting hole 201, or drives the support member 310 to extend from above the cutter head 100 to inside the shield body 200 through the connecting hole 201.

[0056] The advanced support assembly 300 also includes a front connector 340, a rear connector 350, and a base 360. The base 360 ​​is disposed inside the shield body 200, which has a shield shell. A connecting hole 201 is disposed on the shield shell. The front connector 340 and the rear connector 350 are spaced apart on the base 360 ​​along the extension and retraction direction of the support member 310 and are connected to the shield shell. The base 360 ​​and the shield shell enclose a receiving cavity 361. The front connector 340 and the rear connector 350 are both disposed inside the receiving cavity 361. The propulsion mechanism 320 and the first drive 330 are both located inside the receiving cavity 361. The front connector 340 is connected to the front of the support member 310 to provide support and guidance for the support member 310. The support member 310 can move relative to the front connector 340. The rear connector 350 is connected to the first drive 330.

[0057] like Figure 3 , Figure 4As shown, the support member 310 extends out of the shield body 200 through the connecting hole 201 on the shield shell, extending forward to form a temporary support area above the cutterhead 100. This application embodiment does not limit the shape of the temporary support area; for example, multiple support members 310 may be arranged to form a temporary support area located above the cutterhead 100. It should be noted that the multiple support members 310 in this application can be multiple support members 310 provided on a single advanced support component 300, or this application may have multiple advanced support components 300, each with one support member 310, or a combination of both.

[0058] In some possible implementations, the tunneling parameters of this application include the cutterhead torque 100 and the propulsion force of the tunneling machine.

[0059] Specifically, the controller acquires real-time tunneling parameters, including cutterhead torque T, tunneling machine thrust F, penetration depth P, propulsion cylinder stroke L, propulsion mechanism cylinder stroke h, and propulsion mechanism pressure. The acquired tunneling parameters are then subjected to wavelet threshold denoising. Taking data from N consecutive tunneling loops (e.g., N=50), the controller determines the dynamic characteristics of the cutterhead rotational resistance δT and the torque-thrust synergy characteristics ρ(F,T) of the tunneling machine according to the following formula.

[0060] ;

[0061] ;

[0062] Where T is the cutterhead torque and F is the propulsion force of the tunneling machine.

[0063] Based on the principle that sudden fluctuations are better predictors of the breakage zone than gradual fluctuations, the controller corrects the dynamic characteristic δT of the cutterhead rotation resistance to improve the accuracy of breakage zone identification.

[0064] The dynamic characteristics of rotational resistance δT and the torque-thrust synergy characteristics ρ(F,T) of the cutterhead are corrected.

[0065] in, , among which, T e The rated torque of the cutter head;

[0066] ;

[0067] ;

[0068] Wherein, φT is the instantaneous phase of the cutterhead 100 torque extracted based on Hilbert transform, φF is the instantaneous phase of the propulsion force extracted based on Hilbert transform, and μ>0 is the rock machine coupling sensitivity coefficient.

[0069] It should be noted that the Hilbert Transform is a signal processing technique used to convert real signals into complex signals.

[0070] In some embodiments, the surrounding rock state includes stable surrounding rock and unstable surrounding rock. When the surrounding rock state in front of the cutterhead 100 is stable, the drive support 310 is retracted into the shield body 200. When the surrounding rock state in front of the cutterhead 100 is unstable, at least a portion of the drive support 310 is extended above the cutterhead 100.

[0071] The method for judging the surrounding rock condition is as follows: obtain the tunneling parameters of the tunneling machine, determine the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunneling machine based on the tunneling parameters, and determine the surrounding rock condition in front of the cutterhead 100 based on the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T).

[0072] When δT is less than the first threshold, the surrounding rock condition in front of the cutterhead 100 is stable. When the surrounding rock condition is stable, the controller checks the status of the advance support component 300. If it is in a support state, that is, when the support member 310 extends above the cutterhead 100, the controller stops the first drive 330 of the advance support component 300 and controls the propulsion mechanism 320 to retract, driving the support member 310 back into the shield body 200, and the TBM continues to excavate.

[0073] When δT is greater than or equal to the first threshold and ρ(F,T) is greater than the second threshold, the surrounding rock condition in front of the cutterhead 100 is weak surrounding rock. When the surrounding rock condition is weak surrounding rock, the controller issues a weak surrounding rock warning to remind the TBM operator that there is weak surrounding rock ahead, and automatically activates the advance support, that is, the controller controls all the support members 310 (such as drill pipes) of the advance support components 300 to extend, and construct a temporary support zone above the cutterhead 100.

[0074] When δT is greater than or equal to the first threshold, and ρ(F,T) is less than or equal to the second threshold, and ρ(F,T) is greater than the third threshold, the surrounding rock condition in front of the cutterhead 100 is fractured rock. When the surrounding rock condition in front of the cutterhead 100 is fractured rock, the controller issues a fractured rock warning to remind the TBM operator that there is fractured rock ahead, and automatically activates the advance support. That is, the controller controls the drill rod of the advance support component 300 with the number q=m / i (m is the total number of support components 310, i is the first control coefficient, for example, let i=3) to extend and construct a temporary support zone above the cutterhead 100.

[0075] When δT is greater than or equal to the first threshold, and ρ(F,T) is less than or equal to the second threshold, and ρ(F,T) is less than or equal to the third threshold, the surrounding rock state in front of the cutter head 100 is extremely broken surrounding rock. When the surrounding rock state in front of the cutter head 100 is extremely broken surrounding rock, the controller issues a warning to remind the TBM driver that the front is extremely broken surrounding rock and automatically activates the advanced support, that is, the controller controls the drill pipe of the advanced support component 300 with the number q = m / j (j is the second control system, j < i, for example, let j = 2) to extend, and constructs a temporary support area above the cutter head 100.

[0076] In some embodiments, the unstable surrounding rock of the embodiment of the present application includes soft surrounding rock, broken surrounding rock and extremely broken surrounding rock; when the surrounding rock state in front of the cutter head 100 is soft surrounding rock, the driving support members 310 all extend above the cutter head 100; when the surrounding rock state in front of the cutter head 100 is broken surrounding rock, Q1 driving support members 310 extend above the cutter head 100; when the surrounding rock state in front of the cutter head 100 is extremely broken surrounding rock, Q2 driving support members 310 extend above the cutter head 100; wherein, Q1 = m / i, m is the total number of support members 310, i is the first control coefficient; Q2 = m / j, m is the total number of support members 310, j is the second control coefficient, and j < i.

[0077] In some embodiments, the propulsion mechanism 320 is configured to stop when the extension length of the support member 310 is greater than or equal to a preset length value, wherein the preset length value h0 = x + k*P, where x is the fixed distance from the initial position of the support member 310 (such as the drill pipe) to the cutting plane of the cutter head 100, k is a preset coefficient, and P is the penetration of the current tunneling machine.

[0078] When forming the temporary support area, the automatic control process of each advanced support component 300 is specifically as follows:

[0079] When the surrounding rock is unstable surrounding rock, the controller controls the first drive 330 of the advanced support component 300 to start,带动the support member 310 (such as the drill pipe) to rotate at high speed, and the propulsion mechanism 320 extends to带动the first drive 330 to move forward, so that the support member 310 extends out of the communication hole <000019*201> while rotating.

[0080] The control member实时检测the extension stroke of the cylinder of the propulsion mechanism 320, that is, the extension length h of the support member 310. When the extension length h is greater than or equal to the preset length value h0, the control controls the propulsion mechanism <00001*320 to stop operating. For example, when the extension length h is equal to the preset length value h0, the control controls the propulsion mechanism 320 shown to stop operating, where the preset length value h0 = x + k*P, where x is the fixed distance from the initial position of the support member 310 (such as the drill pipe) to the cutting plane of the cutter head 100, k is a preset coefficient, and P is the penetration of the current tunneling machine.

[0081] The controller monitors the pressure of the propulsion mechanism 320 in real time. When the pressure of the propulsion mechanism 320 is equal to the preset pressure value, such as when the preset pressure value is 0, the controller stops the drill rod drive mechanism.

[0082] In some embodiments, a support assembly is also included, which is disposed on the side of the shield body 200 away from the advanced support assembly 300. The support assembly is configured to start when the stroke of the propulsion cylinder 900 is equal to a preset stroke, wherein the preset stroke L=L0+d or L=L0+d-Lmax, thereby controlling the start of the support assembly. Here, L0 is the stroke of the propulsion cylinder 900 when the surrounding rock condition changes from stable surrounding rock to unstable surrounding rock, d is the width of the shield body 200, and Lmax is the maximum stroke of the propulsion cylinder 900.

[0083] Support components are used for conventional support. Support components include a 600 steel arch frame assembler or a 700 bolt drilling rig.

[0084] Figure 1 This is a schematic diagram of an advanced support TBM proposed in this invention, including a cutterhead 100, a main drive system 500, a shield cylinder 210, an advanced support assembly 300, a shield 200, a steel arch frame assembly machine 600, an anchor drilling rig 700, a main beam 810, a propulsion cylinder 900, a support shoe 820, and a saddle frame 830. The cutterhead 100 is connected to the main drive system 500, the shield cylinder 210 is connected to the shield 200, the advanced support assembly 300 is disposed inside the shield 200, the shield 200 is connected to the main beam 810, and the steel arch frame assembly machine 600 and the anchor drilling rig 700 are spaced apart on the main beam 810.

[0085] The controller monitors the stroke L of the propulsion cylinder 900 in real time. When L = L0 + d or L = L0 + d - Lmax, the controller issues a warning, prompting the driver to perform routine support using support components such as the steel arch frame assembler 600 or the anchor drilling rig 700. Here, L0 is the recorded stroke of the propulsion cylinder 900 when the surrounding rock changes from a stable state to a fractured zone (L0 resets when the surrounding rock changes from a fractured zone to stable rock), d is the 200mm width of the shield body, and Lmax is the maximum stroke of the propulsion cylinder 900.

[0086] This application also provides a tunnel boring machine control method, combined with Figure 6 and Figure 7 As shown. Includes:

[0087] S100: Obtain tunneling parameters and preprocess them. For example, obtain tunneling parameters and perform noise reduction processing on them.

[0088] In specific implementation, the cutterhead 100, main drive system 500, shield cylinder 210, advanced support component 300, shield 200, steel arch frame assembly machine 600, anchor drilling rig 700, and propulsion cylinder 900 are all electrically connected to the control component 400. This application does not limit the method of electrical connection. For example, the electrical connection can be a cable connection or a wireless connection.

[0089] The control component 400 includes a controller and sensors. The controller acquires tunneling parameters in real time through the sensors and uses wavelet threshold denoising to eliminate noise interference. Tunneling parameters include, but are not limited to, the torque of the cutterhead 100, thrust, penetration depth, stroke of the propulsion cylinder 900, and stroke and pressure of the propulsion mechanism 320 cylinder. It should be noted that the torque, thrust, and penetration depth of the cutterhead 100 can be acquired from the main drive system 500, the stroke of the propulsion cylinder 900 can be acquired from the propulsion cylinder 900, and the stroke and pressure of the propulsion mechanism 320 cylinder can be acquired from the advanced support component 300. The controller in the control component 400 is placed on the rear-mounted trolley.

[0090] For example, the signal of 100 torque from the cutterhead may generate high-frequency noise due to equipment vibration. By using wavelet transform to decompose the signal into different frequency bands, applying threshold processing to the high-frequency noise components, and then reconstructing the signal, the true tunneling characteristics are preserved, thereby obtaining high-quality tunneling parameters after noise reduction.

[0091] In the embodiments of this application, the denoising process uses wavelet thresholding, which decomposes the signal into different frequency bands through wavelet transform and applies threshold processing to the noise components to remove interference.

[0092] The embodiments of this application can eliminate the interference of sensor noise on the analysis of tunneling parameters, thereby ensuring the accuracy of subsequent identification of surrounding rock conditions.

[0093] S200: Determine the surrounding rock condition in front of the cutterhead 100 based on the tunneling parameters.

[0094] Based on the denoised tunneling parameters, the controller further modifies the dynamic characteristics and analyzes the dynamic characteristics (δT) of the cutterhead 100 rotational resistance and the torque-thrust synergistic characteristics (ρ(F,T)), and judges the stability state of the surrounding rock in combination with the threshold.

[0095] S210: Take data from N consecutive tunneling rings (e.g., N=50), and the controller calculates the dynamic characteristics of cutterhead rotation resistance δT and torque-thrust synergistic characteristics ρ(F,T) according to the following formulas:

[0096]

[0097] ;

[0098] S220: Based on the principle that sudden fluctuations are better predictors of the surrounding rock condition (such as the fractured zone of the surrounding rock) than gentle fluctuations, the controller corrects the dynamic characteristic δT of the cutterhead rotation resistance to improve the accuracy of the identification of the surrounding rock condition (such as the fractured zone of the surrounding rock).

[0099] ;

[0100]

[0101] Where Te is the rated torque of the cutter head.

[0102] S230: By eliminating phase lag and nonlinear coupling, the controller corrects the torque-thrust coordinated characteristic ρ(F,T), enhancing abrupt change sensitivity and improving the early warning capability of the fracture zone.

[0103] ;

[0104] Wherein, φT is the instantaneous phase of the cutterhead torque extracted based on Hilbert transform, φF is the instantaneous phase of the propulsion force extracted based on Hilbert transform, and μ>0 is the rock machine coupling sensitivity coefficient (e.g., μ=2). This rock machine coupling sensitivity coefficient can be preset based on historical tunneling data under different geological conditions, or preset before construction based on a geological survey report.

[0105] S230: Determine the state of the surrounding rock: Determine if δT ≥ a. If not, it indicates that the surrounding rock state ahead is stable, proceed to step S310; if yes, continue to determine if ρ(F,T) ≤ b. If not, it indicates that the surrounding rock ahead is weak, proceed to step S320; if yes, continue to determine if ρ(F,T) ≤ c. If not, it indicates that the surrounding rock ahead is fractured, proceed to step S330; if yes, it indicates that the surrounding rock ahead is extremely fractured, proceed to step S340. Wherein, a, b, and c are pre-set discrimination thresholds, i.e., a is the first threshold, b is the second threshold, and c is the third threshold. This application does not limit the thresholds and can set them as needed. For example, a = 0.55, b = 0.4, and c = 0.3.

[0106] S300: Depending on the surrounding rock condition in front of the cutterhead 100, multiple support members 310 are selectively extended from inside the shield 200 to above the cutterhead 100 to create a temporary support zone above the cutterhead 100, or the support members 310 are retracted from above the cutterhead 100 back into the shield 200. When the surrounding rock condition is stable, all support members 310 are retracted from above the cutterhead 100 back into the shield 200; when the surrounding rock condition is unstable, multiple support members 310 are selectively retracted from above the cutterhead 100 back into the shield 200. Unstable conditions include weak surrounding rock, fractured surrounding rock, and extremely fractured surrounding rock. The support member 310 is used as an example of a drill pipe.

[0107] S310: The controller checks the status of the advanced support assembly 300. If it is in the support state, it controls the drill pipe driving device of the advanced support assembly 300 to stop operating, controls the propulsion mechanism 320 to retract and drives the drill pipe to retract into the shield body 200, and the TBM continues to tunnel. Return to step S100. Here, the support state means that the drill pipe is outside the shield body 200.

[0108] S320: The controller issues a warning to remind the TBM driver that the front is soft surrounding rock and automatically activates the advanced support, that is, the controller controls all the drill pipes of the advanced support assembly 300 to extend and constructs a temporary support area above the cutterhead 100. Enter step S350.

[0109] S330: The controller issues a warning to remind the TBM driver that the front is fractured surrounding rock and automatically activates the advanced support, that is, the controller controls Q1 drill pipes to extend and constructs a temporary support area above the cutterhead 100, where Q1 = q = m / i (m is the total number of drill pipes, i is the control coefficient, for example, let i = 3). Enter step S350.

[0110] S340: The controller issues a warning to remind the TBM driver that the front is extremely fractured surrounding rock and automatically activates the advanced support, that is, the controller controls Q2 drill pipes of the advanced support assembly 300 to extend and constructs a temporary support area above the cutterhead 100, where Q2 = q = m / j (j is the control system, j < i, for example, let j = 2).

[0111] S350: When establishing the temporary support area, the automatic control process of each advanced support assembly 300 is as follows:

[0112] S351: The controller controls the drill pipe driving mechanism of the advanced support assembly 300 to start and drives the drill pipe to rotate at high speed.

[0113] S352: The controller controls the propulsion mechanism 320 of the advanced support assembly 300 to extend and drives the drill pipe driving mechanism to move forward.

[0114] S353: The controller real-time detects the stroke of the cylinder extension of the propulsion mechanism 320, that is, the drill pipe extension length h. When h = x + k * P, it controls the propulsion mechanism 320 to stop operating. Here, x is the fixed distance from the initial position of the drill pipe to the cutting plane of the cutterhead 100, k is a preset coefficient (for example, k = 10), and P is the current penetration of the TBM.

[0115] S354: The controller real-time detects the pressure of the propulsion mechanism 320. When the pressure of the propulsion mechanism 320 is 0, it controls the drill pipe driving mechanism to stop operating.

[0116] S360: Real-time monitoring of the stroke L of the propulsion cylinder 900. When L = L0 + d or L = L0 + d - Lmax, the controller issues a warning, prompting the driver to perform routine support using support components such as the steel arch frame assembler 600 or the anchor drilling rig 700. Where L0 is the recorded stroke of the propulsion cylinder 900 when the surrounding rock changes from a stable state to a fractured zone (L0 resets when the surrounding rock changes from a fractured zone to stable rock), d is the 200mm width of the shield body, and Lmax is the maximum stroke of the propulsion cylinder 900. Return to step S100.

[0117] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0118] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A tunnel boring machine, characterized in that, include: Cutter head (100); A shield body (200), wherein the cutterhead (100) is disposed at one end of the shield body (200); At least one advanced support component (300) is disposed within the shield body (200) and has a support member (310) on the advanced support component (300). The advanced support assembly (300) is configured to, based on the surrounding rock condition on the front side of the cutterhead (100), selectively extend the support member (310) from inside the shield (200) to above the cutterhead (100) to construct a temporary support zone above the cutterhead (100), or drive the support member (310) to retract from above the cutterhead (100) back into the shield (200), wherein the surrounding rock condition on the front side of the cutterhead (100) is determined according to the tunneling parameters of the tunneling machine.

2. The tunnel boring machine according to claim 1, characterized in that, The advanced support assembly (300) includes a propulsion mechanism (320) and a first drive (330). The shield body (200) has a connecting hole (201). One end of the support member (310) is used to extend through the connecting hole (201) to the top of the cutterhead (100). The propulsion mechanism (320) and the first drive (330) are both connected to the support member (310). The propulsion mechanism (320) is used to drive the support member (310) to move along its extension direction. The first drive (330) is used to drive the support member (310) to rotate around its axis.

3. The tunnel boring machine according to claim 2, characterized in that, It also includes a control component (400), the number of the support members (310) is multiple, the propulsion mechanism (320) and the first drive (330) are both electrically connected to the control component (400), and the surrounding rock state includes stable surrounding rock and unstable surrounding rock; The control component (400) is configured to, When the surrounding rock condition in front of the cutterhead (100) is the stable surrounding rock, the propulsion mechanism (320) is controlled to drive the support member (310) to retract into the shield body (200); When the surrounding rock condition in front of the cutter head (100) is the unstable surrounding rock, the propulsion mechanism (320) is controlled to drive at least part of the support member (310) to extend above the cutter head (100), and the extension length of the support member (310) is adjusted, and the first drive (330) is controlled to adjust the rotation speed of the support member (310).

4. The tunnel boring machine according to claim 3, characterized in that, The unstable surrounding rock includes weak surrounding rock, fractured surrounding rock, and extremely fractured surrounding rock; When the surrounding rock condition in front of the cutter head (100) is the weak surrounding rock, the multiple support members (310) are driven to extend above the cutter head (100); When the surrounding rock condition in front of the cutter head (100) is the broken surrounding rock, drive Q1 of the support members (310) to extend above the cutter head (100); When the surrounding rock condition in front of the cutter head (100) is the extremely broken surrounding rock, drive Q2 of the support members (310) to extend above the cutter head (100); Where Q1 = m / i, m is the total number of the support members (310), and i is the first control coefficient; Q2 = m / j, m is the total number of the support members (310), j is the second control coefficient, and j <i。 5. The tunnel boring machine according to claim 4, characterized in that, The advanced support assembly (300) is configured to acquire the tunneling parameters of the tunneling machine, determine the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunneling machine based on the tunneling parameters, and determine the surrounding rock condition in front of the cutterhead (100) based on the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunneling machine. When δT is less than the first threshold, the surrounding rock state in front of the cutterhead (100) is stable surrounding rock; When δT is greater than or equal to the first threshold and ρ(F,T) is greater than the second threshold, the surrounding rock condition in front of the cutterhead (100) is weak surrounding rock. When δT is greater than or equal to the first threshold, and ρ(F,T) is less than or equal to the second threshold, and ρ(F,T) is greater than the third threshold, the surrounding rock condition in front of the cutterhead (100) is broken surrounding rock. When δT is greater than or equal to the first threshold, and ρ(F,T) is less than or equal to the second threshold, and ρ(F,T) is less than or equal to the third threshold, the surrounding rock condition in front of the cutterhead (100) is extremely broken surrounding rock.

6. The tunnel boring machine according to claim 5, characterized in that, The tunneling parameters include cutterhead torque and tunneling machine thrust. The dynamic characteristics of cutterhead rotation resistance δT and the torque-thrust synergy characteristics ρ(F,T) of the tunneling machine are determined according to the following formulas. ； ； Where T is the cutterhead torque and F is the propulsion force of the tunneling machine.

7. The tunnel boring machine according to claim 6, characterized in that, Based on the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunneling machine, the dynamic characteristics of the cutterhead rotation resistance δT and the torque and thrust coordination characteristics ρ(F,T) of the tunneling machine are modified. in, , among which, T e The rated torque of the cutter head; ； ； Wherein, φT is the instantaneous phase of the cutterhead torque extracted based on Hilbert transform, φF is the instantaneous phase of the propulsion force extracted based on Hilbert transform, and μ>0 is the rock machine coupling sensitivity coefficient.

8. The tunnel boring machine according to any one of claims 3-7, characterized in that, The propulsion mechanism (320) is configured to stop when the extension length of the support (310) is greater than or equal to a preset length value h0, wherein the preset length value h0 = x + k * P, where x is the fixed distance from the support (310) from its initial position to the cutting plane of the cutterhead (100), k is a preset coefficient, and P is the current penetration depth of the tunneling machine.

9. The tunnel boring machine according to any one of claims 3-7, characterized in that, It also includes a support assembly and a propulsion cylinder (900), the support assembly being disposed on the side of the shield body (200) away from the advanced support assembly (300), and the propulsion cylinder (900) being used to drive the cutterhead (100) forward; The support assembly is configured to start when the stroke of the propulsion cylinder (900) is equal to a preset stroke L, wherein the preset stroke L = L0 + d or L = L0 + d - Lmax, where L0 is the stroke of the propulsion cylinder (900) when the surrounding rock state changes from the stable surrounding rock to the unstable surrounding rock, d is the width of the shield body (200), and Lmax is the maximum stroke of the propulsion cylinder (900).

10. A control method for a tunnel boring machine, characterized in that, include: Obtain the tunneling parameters and preprocess them; The surrounding rock condition in front of the cutterhead (100) is determined based on the tunneling parameters; Depending on the surrounding rock condition in front of the cutterhead (100), the drive support (310) may selectively extend from inside the shield (200) to above the cutterhead (100) to create a temporary support zone above the cutterhead (100), or the drive support (310) may retract from above the cutterhead (100) back into the shield (200).

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