A multi-mode heading machine and a control method thereof

Abstract

This invention discloses a multi-mode tunneling machine and its control method. The tunneling machine includes an excavation system, a drive system, a shield system, a propulsion system, a segment assembler, and a rear support system, and is equipped with a single screw conveyor. The shield system has two screw conveyor mounting seats corresponding to the lower and central work positions. A slide rail is provided at the rear of the screw conveyor, which slides and adapts to a unified support seat on the segment assembler. The two work positions share a common rear support structure, enabling rapid repositioning and assembly. The tail of the screw conveyor can be connected to a belt conveyor or a mud pipe, allowing for earth pressure testing and slurry tunneling modes at both work positions. The central work position is also compatible with TBM hard rock tunneling mode. The control method uses multi-sensor fusion to determine the work position, automatically binds the tunneling mode, adaptively adjusts operating parameters, and sets up a repositioning safety interlock. This invention can improve mode switching efficiency, expand the range of construction methods adaptable, and ensure efficient and safe tunnel construction in complex geological formations.

Description

Technical Field

[0001] This invention belongs to the field of shield tunnel engineering technology, and particularly relates to a multi-mode tunneling machine and its control method. Background Technology

[0002] With the large-scale construction of urban rail transit, mountain tunnels, and water conservancy projects in my country, the geological conditions traversed by tunnel projects are becoming increasingly complex, often encompassing multiple working conditions such as soft soil layers, hard rock layers, and water-rich strata. Single-mode tunnel boring machines (TBMs) can no longer meet the demands for efficient full-face construction. Multi-mode TBMs, which can adapt to different geological conditions by switching tunneling methods, have become an important research direction in the field of tunnel equipment. Among these, the arrangement of the screw conveyor and its mode-switching capability are factors that determine the overall performance of multi-mode TBMs.

[0003] In existing technologies, dual-mode tunneling machines based on a central screw conveyor have been applied to some extent. They are mainly adapted for earth pressure balance mode and TBM hard rock mode, achieving switching between the two modes by adjusting the screw conveyor configuration, thus expanding the applicability of the equipment to a certain extent. However, in practical engineering applications, this type of technical solution still has problems.

[0004] First, the mode conversion efficiency is low, making rapid changeover difficult. In existing technologies, the rear support structures of the central screw conveyor and the lower screw conveyor are independent of each other. During mode conversion, the screw conveyor and its supporting system need to be disassembled and reassembled as a whole, and an additional auxiliary hydraulic cylinder support system is required to ensure the stability of the changeover process. The overall process is cumbersome and has a long operation cycle, which seriously affects the tunnel construction progress. At the same time, repeated disassembly and reassembly can easily lead to a decrease in the support positioning accuracy, reducing the operational reliability of the screw conveyor.

[0005] Secondly, the existing equipment has a limited range of adaptability to different tunneling modes and insufficient scalability. The existing central screw conveyor is typically only compatible with TBM hard rock tunneling, and the lower screw conveyor is only compatible with earth pressure balance (EPB) tunneling. Neither is compatible with slurry tunneling, nor can it perform EPB / slurry construction operations at the central installation position. When construction sections require lower EPB / slurry construction or central EPB / slurry construction, the existing equipment cannot be directly adapted, necessitating large-scale modifications to the entire machine's muck removal system. This results in high construction costs, poor flexibility, and difficulty in meeting the needs of integrated multi-condition construction under complex geological conditions.

[0006] Therefore, developing a multi-mode tunneling machine and its control method that can realize rapid displacement conversion of screw conveyors and is compatible with multiple tunneling modes is of great practical significance for improving the construction efficiency and reducing the cost of complex tunnel projects. Summary of the Invention

[0007] To address these issues, the present invention provides a multi-mode tunneling machine and its control method, which solves the problems of existing technologies requiring the disassembly and reassembly of supporting systems, resulting in low replacement efficiency, limited adaptability to tunneling modes, insufficient equipment adaptability and expandability, and difficulty in meeting the needs of efficient construction in complex geological formations.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a multi-mode tunneling machine, comprising an excavation system, a drive system, a shield system, a propulsion system, a segment assembler, and a supporting system. The excavation system is connected to the drive system and is driven to rotate to achieve face excavation. The shield system provides protection for the tunneling machine's excavation and advancement. The excavation system, drive system, propulsion system, and segment assembler are all installed on the shield system. The propulsion system provides propulsion power for the tunneling machine's excavation step-by-step movement. The supporting system provides power and auxiliary support for the excavation system, drive system, propulsion system, and segment assembler. It also includes a screw conveyor.

[0009] The shield system is provided with a first screw conveyor mounting base and a second screw conveyor mounting base. The first screw conveyor mounting base corresponds to the lower installation position, and the second screw conveyor mounting base corresponds to the center installation position. The front end of the screw conveyor can be selectively disassembled and fixedly installed on either the first screw conveyor mounting base or the second screw conveyor mounting base.

[0010] The rear outer wall of the screw conveyor is provided with a screw conveyor slide, and the segment assembly machine is fixedly provided with a screw conveyor support seat. The screw conveyor slide is slidably adapted to the screw conveyor support seat. When the screw conveyor is installed on the first screw conveyor mounting base or the second screw conveyor mounting base, the screw conveyor slide cooperates with the screw conveyor support seat to support and fix the screw conveyor at the set installation position at the rear.

[0011] As a preferred embodiment of the multi-mode tunneling machine, when the screw conveyor is installed on the first screw conveyor mounting base, the axis of the screw conveyor forms an angle α with the horizontal axis of the tunneling machine;

[0012] When the screw conveyor is installed on the second screw conveyor mounting base, the axis of the screw conveyor forms an angle β with the horizontal axis of the tunneling machine, and the values ​​of the angle α and the angle β are not equal.

[0013] As a preferred embodiment of the multi-mode tunneling machine, the connection between the front end of the screw conveyor and the first screw conveyor mounting base and the second screw conveyor mounting base is provided with a spherical hinge structure.

[0014] In both the first and second screw conveyor mounting bases, the unused mounting base where the screw conveyor is not installed is equipped with a sealing structure.

[0015] As a preferred option for a multi-mode tunneling machine, it also includes a mode conversion tooling mechanism, which is mounted on the segment assembly machine. The mode conversion tooling mechanism, in conjunction with the lifting device, completes the repositioning of the screw conveyor between the lower installation position and the central installation position.

[0016] As a preferred option for multi-mode tunneling machines, the mode conversion tooling mechanism is replaced by a temporary lifting point structure installed on the shield body or segment structure, and the temporary lifting point structure meets the corresponding lifting weight and installation strength requirements.

[0017] As a preferred option for multi-mode tunneling machines, the screw conveyor is connected to a belt conveyor at its tail end to realize either earth pressure tunneling mode or TBM hard rock tunneling mode.

[0018] Alternatively, the tail end of the screw conveyor can be connected to a mud pipe to achieve the corresponding slurry tunneling mode;

[0019] A transition box is provided between the tail end of the screw conveyor and the mud pipe, and a crushing mechanism is provided inside the transition box.

[0020] The present invention also provides a control method for the above-mentioned multi-mode tunneling machine, comprising the following steps:

[0021] S1. Workstation identification: By deploying sensing components at the lower installation workstation and the central installation workstation, the installation status data of the screw conveyor is collected in real time, and the current installation workstation of the screw conveyor is determined through joint data verification.

[0022] S2. Automatic mode binding: Based on the preset workstation-tunneling mode mapping logic, the corresponding set of executable tunneling modes is matched and locked according to the current installation workstation.

[0023] S3. Parameter Adaptive Control: Outputs control commands based on the selected target tunneling mode, and links and matches tunneling operation parameters including cutterhead speed, propulsion speed, screw conveyor speed, chamber pressure, and slurry pressure.

[0024] S4. Safety Protection: During the disassembly, assembly, and adjustment of the screw conveyor, a safety interlock mechanism is activated to monitor the disassembly and tunneling status in real time, so as to avoid jamming, pressure imbalance, and tunneling instability.

[0025] As a preferred embodiment of the control method, in step S1, the sensing components include a position sensor, a locking status sensor, and a pressure sensor; the installation status data includes installation positioning displacement data, bolt locking status data, and fixed bracket pressure data.

[0026] Establish a mathematical model for the confidence level of workstation decisions and calculate the overall confidence level of workstation decisions:

[0027]

[0028] In the formula, The overall confidence level for determining the workstation; Match confidence levels to the displacement output by the position sensor; The bolt tightening reliability is output by the locking status sensor; The matching degree of the support pressure output by the pressure sensor; These are the weighting coefficients for displacement data, locking status data, and pressure data, respectively.

[0029] When the workstation determines the overall confidence level At that time, the current installation station is determined to be valid. This is the preset confidence threshold for workstation determination.

[0030] As a preferred control method, in step S2, a quantitative model for the adaptation of tunneling modes is established to calculate the comprehensive adaptation degree of each candidate tunneling mode:

[0031]

[0032] In the formula, For the first The overall adaptability of the candidate tunneling modes; For the first workstation constraint The basic adaptation value for each mode is 0 when the lower workstation corresponds to the TBM mode, and 1 when the other allowed modes are all allowed; the value for the central workstation is 1 when it corresponds to all candidate modes. For the first time under geological conditions and construction design parameters Engineering adaptation values ​​for each mode; The workstation constraint weight coefficient;

[0033] Select overall fit The tunneling mode corresponding to the maximum value is the optimal matching mode;

[0034] The workstation-tunneling mode mapping logic is specifically as follows:

[0035] When the screw conveyor is determined to be in the lower installation position, the set of executable tunneling modes is automatically locked to earth pressure tunneling mode and slurry tunneling mode; when the screw conveyor is determined to be in the center installation position, the TBM hard rock tunneling mode is unlocked, and the earth pressure tunneling mode and slurry tunneling mode are compatible.

[0036] As a preferred control method, in step S4, a safety status assessment model for the displacement installation is established, and the installation safety factor of the screw conveyor is calculated:

[0037]

[0038] In the formula, Safety factor for screw conveyor relocation installation; This refers to the axial installation position deviation of the screw conveyor; This is the deviation between the actual locking pressure and the rated locking pressure of the fixed bracket; This represents the deviation between the actual installation angle and the design angle of the screw conveyor. These are the maximum allowable thresholds for axial position deviation, locking pressure deviation, and installation angle deviation, respectively.

[0039] The specific safety interlock mechanism is as follows:

[0040] During the displacement adjustment process, the cutterhead operation, overall machine propulsion, and slag conveying functions are forcibly locked; when the installation safety factor is... When it is determined that the screw conveyor is fully in place, locked to the standard, and the positional deviation is within the allowable threshold range, the safety interlock is released, and the equipment is allowed to enter the tunneling operation state. The preset interlock release safety threshold.

[0041] The present invention has the following advantages:

[0042] This invention uses the same screw conveyor, along with a uniformly designed screw conveyor slide and screw conveyor support base. When switching between the lower and central workstations, the rear support structure is shared, eliminating the need to disassemble and assemble an independent support system or add an auxiliary hydraulic cylinder support device. This greatly simplifies the changeover process, shortens the mode conversion cycle, and ensures the installation positioning accuracy and operational reliability of the screw conveyor.

[0043] This invention allows for the use of the same screw conveyor at both the lower and central installation positions to accommodate earth pressure tunneling and slurry tunneling modes. The central installation position is also compatible with TBM hard rock tunneling mode. Without requiring large-scale modifications to the overall muck removal system, it can meet the construction needs of various geological formations and working conditions, significantly improving equipment adaptability and engineering scalability, and reducing the construction cost of complex tunnel projects.

[0044] This invention features a supporting control architecture for position recognition, mode determination, adaptive parameter control, and safety protection. Through multi-sensor verification of workstations, automatic mode binding and matching, adaptive control of tunneling parameters, and safety interlocking during the displacement process, it achieves automated and precise control of mode switching, effectively avoiding faults such as displacement jamming, pressure imbalance, and tunneling instability, and improving the overall safety and construction stability of multi-mode tunneling. Attached Figure Description

[0045] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0046] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0047] Figure 1 This is a schematic diagram showing two different installation positions of a screw conveyor provided in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the earth pressure / TBM mode at the lower installation position of the screw conveyor provided in an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the first slurry mode at the lower installation position of the screw conveyor provided in an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the second slurry mode at the lower installation position of the screw conveyor provided in an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the earth pressure / TBM mode at the center installation position of the screw conveyor provided in an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the first slurry mode at the center installation position of the screw conveyor provided in an embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram of the second slurry mode at the center installation position of the screw conveyor provided in an embodiment of the present invention;

[0054] Figure 8 A schematic diagram showing the positional relationship between the screw conveyor slide on the screw conveyor and the screw conveyor support base and mode conversion tooling mechanism on the segment assembly machine, provided in an embodiment of the present invention.

[0055] Figure 9 A flowchart illustrating the control method for a multi-mode tunneling machine provided in an embodiment of the present invention.

[0056] In the diagram, 1. Screw conveyor; 2. Screw conveyor chute; 3. Screw conveyor support; 4. Mode conversion tooling mechanism; 5-1. First screw conveyor mounting base; 5-2. Second screw conveyor mounting base; 6. Belt conveyor; 7. Slurry pipe; 8. Transition box;

[0057] Y1, Excavation system; Y2, Drive system; Y3, Shield system; Y4, Propulsion system; Y5, Segment assembly machine; Y6, Supporting systems. Detailed Implementation

[0058] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0059] See Figure 1This invention provides a multi-mode tunneling machine, including an excavation system Y1, a drive system Y2, a shield system Y3, a propulsion system Y4, a segment assembler Y5, and a supporting system Y6. The excavation system Y1 is connected to the drive system Y2 and is driven by the drive system Y2 to rotate and achieve face excavation. The shield system Y3 provides protection for the tunneling machine's excavation and advance. The excavation system Y1, drive system Y2, propulsion system Y4, and segment assembler Y5 are all installed on the shield system Y3. The propulsion system Y4 provides propulsion power for the tunneling machine's excavation and advance. The supporting system Y6 provides power and auxiliary support for the excavation system Y1, drive system Y2, propulsion system Y4, and segment assembler Y5. It also includes a screw conveyor 1. A first screw conveyor mounting base 5-1 is provided on the shield system Y3. The first screw conveyor mounting base 5-1 corresponds to the lower installation position, and the second screw conveyor mounting base 5-2 corresponds to the center installation position. The front end of the screw conveyor 1 can be selectively disassembled and fixedly installed on either the first screw conveyor mounting base 5-1 or the second screw conveyor mounting base 5-2. A screw conveyor slide 2 is provided on the rear outer wall of the screw conveyor 1, and a screw conveyor support base 3 is fixedly installed on the segment assembly machine Y5. The screw conveyor slide 2 and the screw conveyor support base 3 are slidably adapted to each other. When the screw conveyor 1 is installed on either the first screw conveyor mounting base 5-1 or the second screw conveyor mounting base 5-2, the screw conveyor slide 2 cooperates with the screw conveyor support base 3 to support and fix the screw conveyor 1 at the set installation position at the rear.

[0060] Specifically, the rear support structures of the screw conveyors 1 corresponding to the central and lower installation positions are integrated into the same screw conveyor support base 3. Through the screw conveyor slide 2 structure built into the screw conveyor 1, the rear support requirements at different installation angles are adapted, eliminating the need for separate rear support systems for different installation positions. During mode switching, operators only need to disassemble the fixed connection between the front end of the screw conveyor 1 and the screw conveyor 1 mounting base, and adjust the angle and axial position of the screw conveyor 1 along the screw conveyor slide 2 to complete the switching of installation positions. This eliminates the cumbersome procedures of disassembling and assembling independent support systems and adding auxiliary hydraulic cylinder support systems found in existing technologies, shortening the mode switching operation cycle from a structural perspective. Simultaneously, relying on the fixed mating benchmark between the screw conveyor slide 2 and the screw conveyor support base 3, the positioning accuracy of the screw conveyor 1 after replacement can be guaranteed, avoiding the decrease in support rigidity and positioning deviation caused by repeated disassembly and assembly. The first screw conveyor mounting base 5-1 and the second screw conveyor mounting base 5-2 correspond to different muck discharge paths. The lower installation position is adapted to the low-position muck discharge logic of conventional soft soil strata, while the central installation position is adapted to the central muck discharge requirements of hard rock strata, providing a structural foundation for realizing multiple tunneling modes.

[0061] See you again Figure 1In one possible embodiment, when the screw conveyor 1 is installed on the first screw conveyor mounting base 5-1, the axis of the screw conveyor 1 forms an angle α with the horizontal axis of the tunneling machine.

[0062] When the screw conveyor 1 is installed on the second screw conveyor mounting base 5-2, the axis of the screw conveyor 1 forms an angle β with the horizontal axis of the tunneling machine, and the values ​​of the angle α and the angle β are not equal.

[0063] Specifically, the two different installation angles are designed to adapt to different muck discharge paths and stress characteristics. The α angle formed when the screw conveyor 1 is installed at the first screw conveyor mounting base 5-1 adapts to the low-position muck discharge requirements of earth pressure tunneling and slurry tunneling modes, conforming to the conventional layout logic of screw conveyor 1 muck discharge in soft soil strata, facilitating the smooth discharge of muck by its own weight. The β angle formed when the screw conveyor 1 is installed at the second screw conveyor mounting base 5-2 adapts to the center muck discharge path of TBM hard rock tunneling mode, allowing rock muck generated at the center of the face to directly enter the screw conveyor 1, reducing the accumulation of muck in the excavation chamber. Both installation angles share the matching support point between the rear screw conveyor slide 2 and the screw conveyor support base 3. The front installation position is switched by changing the angle. The adapting structure of the screw conveyor slide 2 compensates for the rear position offset caused by the angle change, ensuring that the rear support of the screw conveyor 1 is in an effective stress state under both installation positions.

[0064] In one possible embodiment, a mode conversion tooling mechanism 4 is also included. The mode conversion tooling mechanism 4 is mounted on the segment assembly machine Y5. The mode conversion tooling mechanism 4 works with the lifting device to complete the position conversion of the screw conveyor 1 between the lower installation position and the central installation position.

[0065] Specifically, the installation relies on the existing load-bearing structure of the Y5 segment assembly machine, eliminating the need for additional permanent lifting foundations inside the shield and maximizing the use of the limited working space within the tunnel. The mode conversion tooling mechanism 4 provides a stable lifting and guiding fulcrum, working in conjunction with the sliding and guiding action of the screw conveyor chute 2 to ensure that the screw conveyor 1's repositioning process follows a preset trajectory, preventing swaying and collisions with the internal structure of the shield during lifting. Mounting the mode conversion tooling mechanism 4 on the Y5 segment assembly machine allows for adjustments to the screw conveyor 1's posture using the machine's rotation and movement capabilities, reducing the difficulty of manual alignment and improving the safety and efficiency of the replacement operation. It serves as a crucial tooling support for achieving rapid mode conversion.

[0066] In one possible embodiment, the mode conversion tooling mechanism 4 is replaced by a temporary lifting point structure deployed on the shield body or segment structure, and the temporary lifting point structure meets the corresponding lifting weight and deployment strength requirements.

[0067] Specifically, this temporary lifting point alternative provides a lightweight solution for mode conversion operations, suitable for construction conditions where working space is limited and the mode conversion tooling mechanism 4 is inconvenient to deploy. The shield structure or segment structure itself has sufficient structural strength to serve as a lifting bearing foundation. Lifting tools can be quickly installed through prefabricated lifting point interfaces, eliminating the need for additional large tooling equipment and reducing equipment costs and preparation time for mode conversion. This temporary lifting point structure, used in conjunction with the screw conveyor slide 2 and screw conveyor support 3, can also realize the repositioning of the screw conveyor 1, ensuring that the rapid changeover function is not affected and improving the adaptability of the structural solution of this invention in different construction scenarios.

[0068] See Figure 2 and Figure 5 In one possible embodiment, the tail of the screw conveyor 1 is connected to the belt conveyor 6 to realize either the earth pressure tunneling mode or the TBM hard rock tunneling mode.

[0069] Specifically, belt conveyor 6 is a standard supporting equipment for dry muck removal operations. It connects directly to the tail of screw conveyor 1, continuously conveying the solid muck discharged by screw conveyor 1. In earth pressure tunneling mode, screw conveyor 1 maintains earth pressure balance in the excavation chamber through speed control. The discharged viscous muck is then transported to the downstream muck removal system via belt conveyor 6. In TBM hard rock tunneling mode, blocky rock debris generated from face cutting is discharged via the centrally installed screw conveyor 1 and then transported to the downstream system Y6 via belt conveyor 6. The same screw conveyor 1 can be connected to belt conveyor 6 at both the lower and central installation positions, achieving universality of the dry muck removal mode at different installation positions, eliminating the need for separate muck transfer equipment for different positions.

[0070] See Figure 3 and Figure 6 In one possible embodiment, the tail end of the screw conveyor 1 is connected to the mud pipe 7 to realize the mud-water tunneling mode.

[0071] Specifically, after the screw conveyor 1 is connected to the mud pipe 7 at its tail, mud medium can be introduced into the tail of the screw conveyor 1, changing the dry slag discharge state of the screw conveyor 1 to the slurry conveying state, thereby realizing the slurry tunneling function. After the slag and mud in the excavation chamber are mixed, they are stirred and transported by the screw conveyor 1 to the tail mud pipe 7, and discharged outside the tunnel through the mud circulation system. This structure breaks through the limitation of the traditional screw conveyor 1 being only suitable for earth pressure tunneling mode and TBM hard rock tunneling mode. It can switch to slurry tunneling mode by connecting the mud pipe 7 at both the lower installation position and the center installation position, greatly expanding the construction method adaptability range of the screw conveyor 1, so that a single screw conveyor 1 can cover both dry and wet slag discharge conditions.

[0072] See Figure 4and Figure 7 In one possible embodiment, a transition box 8 is provided between the tail end of the screw conveyor 1 and the mud pipe 7, and a crushing mechanism is provided inside the transition box 8.

[0073] Specifically, the transition box 8 serves as a buffer and transfer cavity between the screw conveyor 1 and the mud pipe 7. Its working principle is to stabilize the flow state of the slurry and prevent the slag from directly impacting the mud pipe 7 and causing blockage. The crushing mechanism built into the transition box 8 can perform secondary crushing of large pieces of slag and rock discharged from the screw conveyor 1, controlling the particle size of the slag within the range that the mud pipe 7 can transport, thus improving the smoothness of slag discharge in slurry tunneling mode. Especially in the hard rock slurry working conditions at the central installation position, the particle size of the rock slag produced by cutting is generally large. The crushing mechanism can effectively reduce the risk of blockage in the mud pipe 7, ensure the stable operation of the mud circulation system, and further enhance the geological adaptability of the multi-mode tunneling machine.

[0074] See Figure 8 In one possible embodiment, the connection between the front end of the screw conveyor 1 and the first screw conveyor mounting base 5-1 and the second screw conveyor mounting base 5-2 is provided with a spherical hinge structure.

[0075] Specifically, the spherical hinge structure provides multi-directional rotational freedom. On the one hand, it can compensate for angular deviations and component manufacturing errors during the installation of the screw conveyor 1, reducing the alignment accuracy requirements of the front-end screw conveyor 1 mounting base and improving the efficiency of replacement operations. On the other hand, during tunneling operations, when the shield body deforms or vibrates due to ground loads, the spherical hinge structure can release the additional stress between the screw conveyor 1 and the shield body, avoiding structural fatigue damage caused by rigid connections. Simultaneously, the spherical hinge structure ensures that the front end of the screw conveyor 1 and the screw conveyor 1 mounting base can form a reliable sealed connection at different installation angles, preventing leakage of excavated soil or mud from the excavation chamber and ensuring operational sealing under different tunneling modes.

[0076] In one possible embodiment, the idle mounting base of the first screw conveyor mounting base 5-1 and the second screw conveyor mounting base 5-2, where the screw conveyor 1 is not installed, is equipped with a sealing structure.

[0077] Specifically, since both the first screw conveyor mounting base 5-1 and the second screw conveyor mounting base 5-2 are connected to the inside of the excavation chamber, if the opening of the other station is not sealed when screw conveyor 1 is installed at one station, it will lead to depressurization of the excavation chamber and leakage of excavated soil, making it impossible to maintain pressure balance in earth pressure tunneling mode or slurry tunneling mode. The sealing structure adopts a sealed and detachable connection with the screw conveyor 1 mounting base, which can be quickly disassembled and assembled when switching modes. This ensures the pressure-bearing and sealing performance of the idle station without affecting the switching of screw conveyor 1, and is a necessary supporting measure to achieve stable tunneling in multiple modes under the dual mounting base structure.

[0078] The working principle of this invention is as follows:

[0079] This tunneling machine has a first screw conveyor mounting seat 5-1 corresponding to the lower installation position and a second screw conveyor mounting seat 5-2 corresponding to the center installation position on the shield system Y3. At the same time, a screw conveyor slide 2 is set on the rear outer wall of the screw conveyor 1, and a uniform screw conveyor support seat 3 is fixedly set on the segment assembly machine Y5. The screw conveyor slide 2 and the screw conveyor support seat 3 form a sliding and adaptive fit relationship.

[0080] During mode conversion, only the fixed connection between the front end of the screw conveyor 1 and the current mounting base needs to be disassembled. Using the mode conversion tooling mechanism 4 or a temporary lifting point structure, the screw conveyor 1 is lifted and slid along the screw conveyor slide 2, and the installation angle is adjusted before being transferred to another mounting base for fixation. Throughout this process, the rear of the screw conveyor 1 is always supported by the screw conveyor support base 3, eliminating the need to disassemble the independent support system or add additional auxiliary hydraulic cylinder support devices. This simplifies the replacement process and shortens the conversion cycle. Furthermore, the fixed fit between the slide and the support base ensures positioning accuracy after replacement, avoiding decreased support rigidity and alignment deviations caused by repeated disassembly and reassembly.

[0081] The screw conveyor 1 can achieve different tunneling modes by connecting different slag discharge equipment at the tail end under different installation positions, without the need for large-scale modification of the whole machine's slag discharge system.

[0082] When the screw conveyor 1 is installed on the first screw conveyor mounting base 5-1 (lower installation position), the axis of the screw conveyor 1 forms an angle α with the horizontal axis of the tunneling machine, which is suitable for the stress characteristics of low-level slag discharge. At this time, the tail of the screw conveyor 1 is connected to the belt conveyor 6, which can realize the earth pressure tunneling mode. By adjusting the speed of the screw conveyor 1, the earth pressure balance of the excavation chamber is maintained, and the solid slag is transported backward by the belt conveyor 6. When the tail is connected to the mud pipe 7, it can be switched to the slurry tunneling mode. The slag and mud are mixed and discharged through the mud circulation system. When a transition box 8 with a crushing mechanism is added at the connection position, large pieces of slag can be crushed in a secondary manner, reducing the risk of pipeline blockage.

[0083] When the screw conveyor 1 is installed on the second screw conveyor mounting base 5-2 (center mounting position), the axis of the screw conveyor 1 forms an angle β with the horizontal axis of the tunnel boring machine, which is suitable for the central muck discharge path in hard rock formations. At this time, the tail-end connecting belt conveyor 6 can realize the TBM hard rock tunneling mode, and the rock muck generated by the face cutting is directly discharged through the centrally arranged screw conveyor 1; at the same time, this position is also compatible with earth pressure tunneling mode and slurry tunneling mode, adapting to the alternating construction needs of complex formations.

[0084] The connection between the front end of the screw conveyor 1 and the mounting base is equipped with a spherical hinge structure, which can compensate for installation deviations and structural deformation stress during the tunneling process, and ensure the sealing reliability of the connection at different angles. The idle mounting base without the screw conveyor 1 is sealed by a sealing structure to maintain the pressure stability of the excavation chamber, avoid pressure leakage and slag leakage, and ensure the stable operation of each tunneling mode.

[0085] See Figure 9 The present invention also provides a control method for the above-mentioned multi-mode tunneling machine, comprising the following steps:

[0086] S1. Workstation Identification: Sensors deployed at the lower and central installation workstations collect real-time installation status data of the screw conveyor 1. The current installation workstation of the screw conveyor 1 is determined through joint data verification. Position sensors, locking status sensors, and pressure sensors deployed at the lower and central installation workstations collect installation positioning displacement data, bolt locking status data, and fixed support pressure data, respectively. A built-in workstation determination confidence fusion model performs weighted fusion calculations on the data to obtain the total confidence score for workstation determination. Through multi-dimensional data cross-verification, sensor interference caused by vibration and dust in the tunnel construction environment can be shielded, avoiding misjudgments from a single sensor. When the total confidence score reaches a preset threshold, the system determines that the current installation workstation is valid, providing a reliable basis for subsequent pattern matching.

[0087] S2. Automatic Mode Binding: Based on a preset workstation-tunneling mode mapping logic, the system matches and locks the corresponding set of executable tunneling modes according to the current installation workstation. The built-in workstation-tunneling mode mapping logic uses the installation workstation as a hard constraint boundary: at lower installation workstations, the system automatically locks the executable modes to earth pressure tunneling (EPT) and slurry tunneling (SPT), excluding TBM hard rock tunneling modes that are incompatible with the structure; at the central installation workstation, the TBM hard rock tunneling mode is unlocked, while also being compatible with EPT and SPT modes. Furthermore, the system uses a tunneling mode adaptation quantification model, combined with geological conditions and construction design parameters, to calculate the comprehensive adaptability of each candidate mode, automatically selecting the mode with the highest adaptability as the optimal matching solution. This prevents unauthorized mode switching and reduces the experience bias of manual mode selection.

[0088] S3. Parameter Adaptive Control: Outputs control commands based on the selected target tunneling mode, and synchronizes and matches tunneling operation parameters including cutterhead speed, propulsion speed, screw conveyor 1 speed, chamber pressure, and slurry pressure. Based on the selected tunneling mode, by outputting control commands, it synchronizes and matches core tunneling operation parameters such as cutterhead speed, propulsion speed, screw conveyor 1 speed, chamber pressure, and slurry pressure, ensuring that equipment operation parameters automatically adapt to the current tunneling mode. This guarantees tunneling efficiency and face stability under different working conditions, achieving smooth tunneling in multiple modes.

[0089] S4. Safety Protection: During the repositioning, disassembly, and adjustment of screw conveyor 1, a safety interlock mechanism is activated to monitor the repositioning and tunneling status in real time, preventing jamming, pressure imbalance, and tunneling instability. During the repositioning, disassembly, and adjustment of screw conveyor 1, the system activates the safety interlock mechanism, forcibly locking the cutterhead operation, overall machine propulsion, and excavated soil conveying functions to prevent equipment collisions and structural damage caused by misoperation. Simultaneously, the system uses a repositioning installation safety status assessment model to normalize and calculate three types of indicators: axial position deviation, locking pressure deviation, and installation angle deviation, obtaining the repositioning installation safety coefficient for screw conveyor 1 and comprehensively quantifying the installation qualification level. Only when the safety coefficient reaches the preset interlock release threshold, confirming that screw conveyor 1 is fully in place, locking is up to standard, and position deviation is compliant, will the system release the safety interlock, allowing the equipment to enter the tunneling operation state, forming a process lock-up-qualification unlocking safety control system.

[0090] Specifically, the control method of this invention adopts a control architecture of position recognition, mode determination, adaptive parameter control, and safety protection, forming a hardware and software synergy between the mechanical structure and the control system through the multi-mode design of the mechanical structure. Based on the physical installation position of the screw conveyor 1, the corresponding tunneling mode and parameter system are automatically matched, avoiding the risk of parameter mismatch caused by manual mode switching. The control architecture sequentially completes state perception, logic determination, execution control, and safety fallback, realizing automated management of the entire mode switching process, improving the efficiency of mode conversion, eliminating safety hazards during the displacement and tunneling processes through protection mechanisms, and addressing the shortcomings of multi-mode tunneling control technology.

[0091] In one possible embodiment, in step S1, the sensing component includes a position sensor, a locking status sensor, and a pressure sensor; the installation status data includes installation positioning displacement data, bolt locking status data, and fixed bracket pressure data.

[0092] Establish a mathematical model for the confidence level of workstation decisions and calculate the overall confidence level of workstation decisions:

[0093]

[0094] In the formula, The overall confidence level for determining the workstation; Match confidence levels to the displacement output by the position sensor; The bolt tightening reliability is output by the locking status sensor; The matching degree of the support pressure output by the pressure sensor; These are the weighting coefficients for displacement data, locking status data, and pressure data, respectively.

[0095] When the workstation determines the overall confidence level At that time, the current installation station is determined to be valid. This is the preset confidence threshold for workstation determination.

[0096] Specifically, a multi-source data weighted fusion judgment logic is used to solve the problem of single sensor misjudgment caused by vibration, dust, and construction interference in the tunnel construction environment. Installation positioning displacement data reflects whether the screw conveyor 1 is in the correct spatial position; bolt tightening status data reflects the reliability of the mechanical connection; and fixed support pressure data reflects whether the support force meets the design conditions. These three types of data cross-verify the installation status of the screw conveyor 1 from three dimensions: position, connection, and force. The judgment results are quantified using a weighted confidence mathematical model, and thresholds are set to filter out interfering data, effectively improving the accuracy of workstation judgment and avoiding construction risks caused by mode misbinding from the source, providing a reliable judgment basis for tunneling mode matching.

[0097] In one possible embodiment, in step S2, a quantitative model for tunneling mode adaptation is established, and the comprehensive adaptation degree of each candidate tunneling mode is calculated:

[0098]

[0099] In the formula, For the first The overall adaptability of the candidate tunneling modes; For the first workstation constraint The basic adaptation value for each mode is 0 when the lower workstation corresponds to the TBM mode, and 1 when the other allowed modes are all allowed; the value for the central workstation is 1 when it corresponds to all candidate modes. For the first time under geological conditions and construction design parameters Engineering adaptation values ​​for each mode; The workstation constraint weight coefficient;

[0100] Select overall fit The tunneling mode corresponding to the maximum value is the optimal matching mode;

[0101] The workstation-tunneling mode mapping logic is specifically as follows:

[0102] When the screw conveyor 1 is determined to be in the lower installation position, the set of executable tunneling modes is automatically locked to earth pressure tunneling mode and slurry tunneling mode; when the screw conveyor 1 is determined to be in the center installation position, the TBM hard rock tunneling mode is unlocked, and the earth pressure tunneling mode and slurry tunneling mode are compatible.

[0103] Specifically, a dual-layer adaptation mechanism is adopted, consisting of hard constraints on the installation position and soft constraints on geological conditions. The installation position constraint acts as a hard boundary, determining the range of tunneling modes supported by the current physical structure. Since the lower installation position cannot adapt to the TBM hard rock tunneling mode due to muck removal path limitations, it is forcibly excluded by setting the basic adaptation value to 0. The geological conditions and construction parameter constraints are optimization dimensions, allowing selection of the most suitable construction method for the current strata from the set of allowed tunneling modes. By quantifying the degree of adaptation through a mathematical model, the experience bias of manual mode selection can be avoided. Simultaneously, unusable modes are automatically locked, preventing unauthorized operations and achieving intelligent and compliant matching of tunneling modes, fully leveraging the method adaptation advantages of multi-mode tunneling machines.

[0104] In one possible embodiment, in step S4, a displacement installation safety status assessment model is established, and the installation safety factor of screw conveyor 1 is calculated:

[0105]

[0106] In the formula, A safety factor is installed for the displacement of screw conveyor 1; The axial installation position deviation of screw conveyor 1; This is the deviation between the actual locking pressure and the rated locking pressure of the fixed bracket; This represents the deviation between the actual installation angle and the design angle of screw conveyor 1. These are the maximum allowable thresholds for axial position deviation, locking pressure deviation, and installation angle deviation, respectively.

[0107] The specific safety interlock mechanism is as follows:

[0108] During the displacement adjustment process, the cutterhead operation, overall machine propulsion, and slag conveying functions are forcibly locked; when the installation safety factor is... When it is determined that screw conveyor 1 is fully in place, locked to the standard, and the positional deviation is within the allowable threshold range, the safety interlock is released, and the equipment is allowed to enter the tunneling operation state. The preset interlock release safety threshold.

[0109] Specifically, a control logic combining deviation normalization assessment and mandatory interlocking is adopted to ensure the safety of relocation and conversion operations from both passive protection and active assessment perspectives. The relocation installation safety status assessment model normalizes axial position deviation, locking pressure deviation, and installation angle deviation, comprehensively quantifying the qualification level of the installation status. The larger the deviation, the lower the safety factor of the screw conveyor 1 relocation installation, which can intuitively reflect the risk level of the current installation status. The safety interlocking mechanism uses hardware-level functional locking to prevent accidental activation of the tunneling function during relocation adjustment, which could lead to equipment collisions and structural damage. Only when the comprehensive installation safety factor meets the standard, confirming that the screw conveyor 1 is fully in place, the locking is up to standard, and the position deviation is within the allowable threshold range, is the operation permission released, forming a process lock-up-update unlocking safety control, reducing the risk of misoperation during mode conversion.

[0110] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A control method of a multi-mode tunneling machine, the multi-mode tunneling machine comprising a digging system (Y1), a driving system (Y2), a shield system (Y3), a pushing system (Y4), a segment erector (Y5) and a rear supporting system (Y6), the digging system (Y1) being drivingly connected with the driving system (Y2) and being driven to rotate by the driving system (Y2) to realize excavation of a working face; the shield system (Y3) providing protection for tunneling machine excavation, the digging system (Y1), the driving system (Y2), the pushing system (Y4) and the segment erector (Y5) being all installed on the shield system (Y3); the pushing system (Y4) providing pushing power for tunneling machine excavation steps; the rear supporting system (Y6) providing power and auxiliary support for the digging system (Y1), the driving system (Y2), the pushing system (Y4) and the segment erector (Y5); characterized in that, It also includes a screw conveyor (1); the shield system (Y3) is provided with a first screw conveyor mounting seat (5-1) and a second screw conveyor mounting seat (5-2), the first screw conveyor mounting seat (5-1) corresponds to the lower installation position, and the second screw conveyor mounting seat (5-2) corresponds to the center installation position. The front end of the screw conveyor (1) is selectively disassembled and fixedly installed on either the first screw conveyor mounting seat (5-1) or the second screw conveyor mounting seat (5-2); the rear outer wall of the screw conveyor (1) is provided with a screw conveyor slide. The screw conveyor support seat (3) is fixedly installed on the segment assembly machine (Y5), and the screw conveyor slide (2) is slidably adapted to the screw conveyor support seat (3); when the screw conveyor (1) is installed on the first screw conveyor mounting seat (5-1) or the second screw conveyor mounting seat (5-2), the screw conveyor slide (2) cooperates with the screw conveyor support seat (3) to support and fix the screw conveyor (1) at the rear of the set installation position; the control method is characterized by the following steps: S1, Workstation Identification: The installation status data of the screw conveyor (1) is collected in real time by the sensing components deployed at the lower installation workstation and the central installation workstation, and the current installation workstation of the screw conveyor (1) is determined by the joint verification of the data. S2. Automatic mode binding: Based on the preset workstation-tunneling mode mapping logic, the corresponding set of executable tunneling modes is matched and locked according to the current installation workstation. S3. Parameter Adaptive Control: Outputs control commands based on the selected target tunneling mode, and links and matches tunneling operation parameters including cutterhead speed, propulsion speed, screw conveyor speed, chamber pressure, and slurry pressure. S4. Safety protection: During the disassembly and adjustment of the screw conveyor (1), the safety interlock mechanism is activated to monitor the disassembly and tunneling status in real time, so as to avoid jamming, pressure imbalance and tunneling instability. In step S1, the sensing components include a position sensor, a locking status sensor, and a pressure sensor; the installation status data includes installation positioning displacement data, bolt locking status data, and fixed bracket pressure data. Establish a mathematical model for the confidence level of workstation decisions and calculate the overall confidence level of workstation decisions: ， In the formula, The overall confidence level for determining the workstation; Match confidence levels to the displacement output by the position sensor; The bolt tightening reliability is output by the locking status sensor; The matching degree of the support pressure output by the pressure sensor; These are the weighting coefficients for displacement data, locking status data, and pressure data, respectively. When the workstation determines the overall confidence level At that time, the current installation station is determined to be valid. The preset confidence threshold for workstation determination; In step S2, a quantitative model for the adaptation of tunneling modes is established, and the comprehensive adaptation degree of each candidate tunneling mode is calculated: ， In the formula, For the first The overall adaptability of the candidate tunneling modes; For the first workstation constraint The basic adaptation value for each mode is 0 when the lower workstation corresponds to the TBM mode, and 1 when the other allowed modes are all allowed; the value for the central workstation is 1 when it corresponds to all candidate modes. For the first time under geological conditions and construction design parameters Engineering adaptation values ​​for each mode; The workstation constraint weight coefficient; Select overall fit The tunneling mode corresponding to the maximum value is the optimal matching mode; The workstation-tunneling mode mapping logic is specifically as follows: When the screw conveyor (1) is determined to be in the lower installation position, the set of executable tunneling modes is automatically locked to earth pressure tunneling mode and slurry tunneling mode; when the screw conveyor (1) is determined to be in the center installation position, the TBM hard rock tunneling mode is unlocked, and the earth pressure tunneling mode and slurry tunneling mode are compatible. In step S4, a safety status assessment model for the displacement installation is established, and the installation safety factor of the screw conveyor is calculated: ， In the formula, Safety factor for screw conveyor relocation installation; This refers to the axial installation position deviation of the screw conveyor; This is the deviation between the actual locking pressure and the rated locking pressure of the fixed bracket; This represents the deviation between the actual installation angle and the design angle of the screw conveyor. These are the maximum allowable thresholds for axial position deviation, locking pressure deviation, and installation angle deviation, respectively. The specific safety interlock mechanism is as follows: During the displacement adjustment process, the cutterhead operation, overall machine propulsion, and slag conveying functions are forcibly locked; when the installation safety factor is... When it is determined that the screw conveyor (1) is fully in place, locked to the standard, and the positional deviation is within the allowable threshold range, the safety interlock is released, and the equipment is allowed to enter the tunneling operation state. The preset interlock release safety threshold.

2. The control method according to claim 1, characterized in that, When the screw conveyor (1) is installed on the first screw conveyor mounting base (5-1), the axis of the screw conveyor (1) forms an angle α with the horizontal axis of the tunneling machine; When the screw conveyor (1) is installed on the second screw conveyor mounting base (5-2), the axis of the screw conveyor (1) forms an angle β with the horizontal axis of the tunneling machine, and the values ​​of the angle α and the angle β are not equal.

3. The control method according to claim 1, characterized in that, The connection between the front end of the screw conveyor (1) and the first screw conveyor mounting base (5-1) and the second screw conveyor mounting base (5-2) is provided with a spherical hinge structure. In the first screw conveyor mounting base (5-1) and the second screw conveyor mounting base (5-2), the unused mounting base where the screw conveyor (1) is not installed is equipped with a sealing structure.

4. The control method according to claim 1, characterized in that, It also includes a mode conversion tooling mechanism (4), which is mounted on the segment assembly machine (Y5). The mode conversion tooling mechanism (4) works with the lifting device to complete the position conversion of the screw conveyor (1) between the lower installation position and the central installation position.

5. The control method according to claim 4, characterized in that, The mode conversion tooling mechanism (4) is replaced by a temporary lifting point structure installed on the shield body or segment structure, and the temporary lifting point structure meets the corresponding lifting weight and installation strength requirements.

6. The control method according to claim 1, characterized in that, The tail of the screw conveyor (1) is connected to the belt conveyor (6) to realize the earth pressure tunneling mode or the TBM hard rock tunneling mode. Alternatively, the tail end of the screw conveyor (1) can be connected to the mud pipe (7) to realize the mud-water tunneling mode accordingly; A transition box (8) is provided between the tail of the screw conveyor (1) and the mud pipe (7), and a crushing mechanism is provided inside the transition box (8).

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