Excavation-supporting collaborative rescue passage construction equipment and method

Abstract

The application discloses a kind of tunneling-supporting collaborative rescue passage construction equipment and method, solve the rescue speed slow when the tunnel in prior art appears collapse, cannot carry out supporting while tunneling Problem, with the beneficial effect that supporting safety, reliability is higher, specific scheme is as follows: a kind of tunneling-supporting collaborative rescue passage construction equipment, including tunneling mechanism, tunneling mechanism includes cutterhead, cutterhead is movably connected with the front end of mainframe by telescopic component, the length of telescopic component is adjustable to adjust the state of cutterhead, cutterhead outer edge and / or working face is equipped with multiple cutter arrays;Deslagging mechanism includes conveying component, conveying component is placed in conveying housing, conveying housing is connected with mainframe, the inlet end of conveying component is communicated with the broken slag collection area of cutterhead;Top protection mechanism includes multiple multistage telescopic arms, each multistage telescopic arm is placed in conveying housing side away from cutterhead, the length of multistage telescopic arm is adjustable to be fitted with surrounding rock surface.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction and rescue technology, and in particular to a tunneling-support coordinated rescue channel construction equipment and method, which falls under the category of tunnel safety rescue technology. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Tunnel engineering, as a crucial component of infrastructure construction, is widely used in transportation, water conservancy projects, and mining. However, tunnel construction often faces challenges from complex and variable geological conditions and sudden natural disasters, especially frequent collapses, which seriously threaten the lives of construction workers and project progress. Once a tunnel collapse occurs, construction workers are highly likely to be trapped inside the collapsed material, making rescue extremely difficult and time-sensitive, thus becoming a major challenge in construction safety management.

[0004] Traditional tunnel collapse rescue methods largely rely on manually excavating rescue channels, using mechanical equipment or manual tools to gradually dig and create a safe passage to the trapped personnel. However, this traditional rescue method has many shortcomings, severely limiting rescue efficiency and safety: First, the rescue speed is slow, and the tunneling process is time-consuming, making it difficult to meet the time requirements for emergency rescue. At a landslide site, time is life, and any delay could worsen the injuries or fatalities of those trapped.

[0005] Secondly, in traditional rescue methods, tunneling and support operations are often disconnected, with support work only carried out after tunneling is completed. Furthermore, the support structure is often not fast or stable enough, resulting in poor stability of the rescue passage and significant safety hazards. In complex landslide environments, the airtightness and structural strength of the passage are difficult to guarantee, increasing the difficulty and risk of the rescue.

[0006] In addition, traditional tunneling rescue operations often rely solely on experience and limited detection, which carries the risk of blind tunneling. Such blind tunneling may trigger unstable rocks or structures within the collapsed area, leading to secondary collapses and further threatening the safety of rescuers and trapped personnel.

[0007] In summary, existing tunnel collapse rescue solutions suffer from multiple problems, including slow rescue speed, disconnect between excavation and support, weak perception capabilities, lack of human-machine collaboration, and insufficient system reliability, making it difficult to meet the needs of modern tunnel construction safety rescue. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a tunneling-support collaborative rescue channel construction equipment that enables rapid tunneling of collapsed structures and simultaneous tunneling and support operations, thereby improving rescue speed and safety. The control unit ensures high reliability and continuous operation of the device in harsh environments, significantly improving the success rate and efficiency of tunnel collapse rescue and providing a solid guarantee for tunnel construction safety.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solution: A tunneling-support collaborative rescue tunnel construction equipment includes: Mainframe rack; The tunneling mechanism includes a cutterhead, which is movably connected to the front end of the main frame via a telescopic assembly. The length of the telescopic assembly is adjustable to adjust the state of the cutterhead. Multiple cutter arrays are installed on the outer edge and / or working face of the cutterhead, and a debris accumulation area is set at the cutterhead. The slag discharge mechanism includes a conveying component, which is placed inside a conveying housing. The conveying housing is connected to the main frame, and the inlet end of the conveying component is connected to the slag collection area of ​​the cutter head. The top support mechanism includes multiple multi-stage telescopic arms, each of which is placed on the side of the conveying housing away from the cutterhead. The length of the multi-stage telescopic arms is adjustable to fit against the surrounding rock surface to form a temporary support surface. The control unit, cutter array, telescopic assembly, spiral slag conveyor, and multi-stage telescopic boom are each individually connected to the control unit.

[0010] As described above, in a tunneling-support collaborative rescue tunnel construction equipment, the cutter array adopts a combination of any one or more cutters such as hobs, cutting teeth, and cutting tools. Each cutter is driven by multiple first drive motors, and the first drive motors are connected to the control unit. The main frame is connected to the walking mechanism, and the walking mechanism is connected to the control unit.

[0011] As described above, in a tunneling-support collaborative rescue tunnel construction equipment, the telescopic component includes multiple telescopic rods. One end of each telescopic rod is hinged to the circumferential surface of the main frame, and the other end is hinged to the inner surface of the cutterhead. The cutterhead extends beyond the connection point between the cutterhead and the telescopic rod.

[0012] As described above, in a tunneling-support collaborative rescue tunnel construction equipment, the cutterhead is a conical cutterhead, which can be a single structural component or formed by splicing multiple cutter plates. When the cutterhead is a single structural component, it is provided with openings to form the debris accumulation area. When the cutterhead is formed by splicing multiple cutter plates, the space between two adjacent cutter plates is the debris accumulation area. The slag discharge area is formed between the main frame and the center of the cutter head. The slag discharge area is connected to the slag accumulation area. The main frame is open inside and at both ends.

[0013] As described above, in a tunneling-support collaborative rescue tunnel construction equipment, the multi-stage telescopic arms are evenly placed on the circumferential surface of the conveying housing, and the multi-stage telescopic arms are spaced apart from the outer circumferential surface of the cutterhead. One end of the multi-stage telescopic arm is hinged to the conveying housing, and the other end is connected to the support plate. The diameter of the multi-stage telescopic arm in the retracted state is smaller than the maximum diameter of the cutter head.

[0014] As described above, a tunneling-support collaborative rescue tunnel construction equipment further includes a force sensor installed at the cutterhead to obtain the first... i The instantaneous cutting force of each tool is measured by displacement sensors installed on the telescopic assembly and the multi-stage telescopic arm, and distance sensors installed on the working surface of the cutter head. Each sensor is individually connected to the control unit.

[0015] As described above, in a tunneling-support collaborative rescue tunnel construction equipment, the control unit determines the number of cutting tools and the number of cutting tools. i The total cutting resistance torque of the cutterhead is obtained by taking the instantaneous cutting force of each tool, the equivalent radius of gyration of the tool, the cutting angle of the tool, the angular velocity of the tool rotation, the viscosity coefficient of rock breaking, the propulsion damping coefficient, and the overall propulsion speed of the device.

[0016] Secondly, the present invention also provides an emergency rescue method for tunnel collapses, employing the aforementioned tunneling-support coordinated rescue channel construction equipment, comprising the following: During the tunneling process, the control unit collects the resistance of the collapsed body on the cutterhead in real time, calculates the total cutting resistance torque, and dynamically adjusts the extension and retraction of the telescopic components according to the fluctuation gradient of the total cutting resistance torque in order to minimize tunneling energy consumption. When the device excavates to the preset safe distance, the control unit activates the top protection mechanism, and the multi-stage telescopic boom extends so that the ends of the multi-stage telescopic boom fit against the top of the tunnel. The control unit calculates the required critical support force in real time and adjusts the output pressure of the multi-stage telescopic boom to meet the anti-overturning moment balance constraint.

[0017] In the tunnel collapse emergency rescue method described above, the formula for calculating the total cutting resistance torque is as follows:

[0018] in, The total number of blades, For the first i The instantaneous cutting force of each blade, The equivalent radius of rotation of the blade. To cut the blade at the angle, The angular velocity of the blade's rotation. The viscosity coefficient for rock fracturing. To increase the damping coefficient, The overall propulsion speed of the device; The critical support force and the anti-overturning moment The formulas for calculating the equilibrium constraints are as follows:

[0019]

[0020] in, The equivalent density of the collapsed body. and These are the distribution height and width functions of the collapsed body above the cutterhead, respectively. S The effective support projection area of ​​the cutterhead. For the equivalent stiffness of a multi-stage telescopic boom, This is the pre-tight compression amount; For the lever arm length of a multi-stage telescopic arm, To raise the elevation angle, For the first j The output pressure of a multi-stage telescopic boom For the effective area, This is the offset lever arm.

[0021] The emergency rescue methods for tunnel collapses described above also include the following: The telescopic assembly includes multiple telescopic rods, and each of the multiple telescopic rods and the multi-stage telescopic arm is controlled by a corresponding drive unit. If the control unit detects that one of the drive units has failed, the control unit constructs a fault injection matrix containing health status, and redistributes the output commands of each healthy drive unit by solving a quadratic programming problem to achieve smooth load transfer. Optimal fault-tolerant control instruction analytical solution for reallocating output instructions of each health drive unit for:

[0022] in, This is the weight matrix. Inject matrix for faults, This represents the total driving torque or thrust vector of the desired output.

[0023] The beneficial effects of the present invention are as follows: The device proposed in this invention features an adjustable-position tunneling mechanism at the front end, including a cutterhead, capable of tunneling through the collapsed body. A muck removal mechanism is located in the middle for muck removal, and a top support mechanism provides support for the collapsed body after tunneling. The device boasts rapid overall construction, facilitating quick rescue operations. It pioneers an integrated "tunneling-in-situ support" mode, offering extremely high safety and breaking away from the traditional "tunneling first, then supporting" disconnected mode of rescue equipment. It innovatively utilizes a multi-stage telescopic boom to directly transform into a temporary support structure, greatly ensuring the safety of trapped personnel and rescuers.

[0024] The control method proposed in this invention calculates the total cutting resistance torque. The device can dynamically adjust the extension and retraction of the telescopic components according to the physical characteristics of the collapsed body (such as gravel and mud) ahead and the fluctuation gradient of the total cutting resistance torque, so as to minimize tunneling energy consumption, avoid equipment jamming caused by traditional blind tunneling, and achieve rapid penetration with low energy consumption and high efficiency. The control unit calculates the required critical support force in real time and adjusts the output pressure of the multi-stage telescopic boom to meet the anti-overturning moment balance constraint, fundamentally preventing the occurrence of secondary collapse. Attached Figure Description

[0025] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0026] Figure 1 This is a front view of a tunneling-support collaborative rescue passage construction equipment according to one or more embodiments of the present invention.

[0027] Figure 2 This is a schematic diagram of the cutterhead in a tunneling-support coordinated rescue tunnel construction equipment according to one or more embodiments of the present invention.

[0028] Figure 3 This is a schematic diagram of the connection between the main frame and the conveying component in a tunneling-support collaborative rescue channel construction equipment according to one or more embodiments of the present invention.

[0029] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0030] The components include: 1. cutter head, 2. telescopic assembly, 3. spiral slag conveyor, 4. slag discharge mechanism, 5. multi-stage telescopic arm, 6. main frame, 7. control unit, 8. top protection mechanism, 9. slag discharge area, and 10. roller cutter. Detailed Implementation

[0031] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. As described in the background section, existing technologies suffer from slow rescue speeds when tunnels collapse, and the inability to perform support work simultaneously with excavation. To address these technical issues, this invention proposes a tunneling-support collaborative rescue passage construction equipment.

[0033] Example 1 In a typical embodiment of the present invention, reference is made to Figure 1 (Conveying shell omitted) As shown, a tunneling-support collaborative rescue tunnel construction equipment includes a main frame 6, a tunneling mechanism located at the front end of the device, a slag discharge mechanism 4 connected to the main frame 6, a top support mechanism 8 located at the rear end of the device, and a control unit 7 located inside the main frame 6 or in the rear equipment compartment.

[0034] Specifically, the main frame 6 is a rectangular structure or other structural component. The size of the main frame 6 is smaller than that of the conveying shell. One end of the main frame 6 is connected to the conveying shell through a reduced diameter section. The main frame 6 is hollow inside and at both ends to facilitate the discharge of slag to the rear of the device.

[0035] The tunneling mechanism includes a cutterhead 1 and a telescopic assembly 2. The cutterhead 1 is connected to the main frame 6 via the telescopic assembly, allowing the angle of the cutterhead 1 relative to the main frame to be adjustable. Specifically, the cutterhead 1 is a conical cutterhead, meaning the end of the cutterhead furthest from the main frame 6 is a pointed structure. The conical cutterhead is either a conical plate structure or a structure composed of three or more cutter plates. The longitudinal section of the conical cutterhead is herringbone-shaped, and multiple cutter arrays are installed on its outer edge and / or working face. (Refer to...) Figure 2As shown, the tool array adopts a combination of hobs, cutting teeth, and cutting tools. The hob is a gear machining tool with teeth arranged in a helical line along a cylinder or cone. The cutting teeth adopt existing cemented carbide cutting teeth, also known as cemented carbide coal cutting teeth, which are industrial components made by brazing cemented carbide ball teeth and alloy structural steel. The cutting tools are triangular tools with an opening in the center to facilitate mounting on the working surface or outer edge of the tool head 1 via a rotating shaft. Each tool in the tool array is connected to a first drive motor. There can be multiple first drive motors, which are set according to the actual situation. The first drive motor drives each tool.

[0036] In some examples, the main frame 6 is connected to the traveling mechanism, which supports the main frame 6. The traveling mechanism is connected to the control unit. The traveling mechanism can be an existing chassis traveling mechanism, such as a four-wheel traveling mechanism or a tracked traveling mechanism. The control unit controls the traveling mechanism to perform linear motion.

[0037] refer to Figure 1 As shown, the telescopic assembly 2 includes multiple telescopic rods connected to the main frame 6 and mounted on the back of the cutterhead 1. The connection point between the telescopic rods and the cutterhead 1 is in the middle of the cutterhead, i.e., beyond the connection point between the cutterhead 1 and the telescopic rods, so that the cutterhead 1 has a set radius to ensure the working area of ​​the cutterhead 1. When the cutterhead 1 is a single plate structure, the telescopic rods connect to the interior of the cutterhead 1. When the cutterhead 1 is composed of multiple cutter plates, the telescopic rods are correspondingly set to each cutter plate. The telescopic rods are specifically hydraulic rods, and the hydraulic rods together constitute a hydraulic amplitude-changing mechanism. The fixed end of the telescopic rod is hinged to the main frame, specifically through a pin. The movable end of the telescopic rod is hinged to the conical cutterhead. By controlling the telescopic amount of different hydraulic rods, the conical cutterhead can produce pitch, yaw, or compound attitude changes around the hinge point to adapt to the crushing requirements of different types of collapse bodies. In other words, by adjusting the telescopic amount of each telescopic rod, the excavation angle and spatial attitude of the cutterhead 1 can be changed. The angle and direction of the cutterhead 1 can also be adjusted according to the size of the rubble in the tunnel to achieve rapid excavation.

[0038] It should be noted that the slag discharge mechanism 4 includes a conveying component, a conveying housing, and a second drive motor, as shown in the reference. Figure 3 (Conveying housing omitted) As shown, the conveying component is specifically a spiral slag conveying auger 3. The spiral slag conveying auger is an existing spiral conveying component. The spiral slag conveying auger 3 is placed inside the conveying housing. The conveying housing is connected to the main frame 6. The conveying housing is a ring structure with a set length. The spiral slag conveying auger is driven by a second drive motor. The second drive motor is located at the end away from the main frame 6. The output end of the spiral slag conveying auger extends beyond the top protection mechanism 8 so that the conveyed slag is sent to the side of the top protection mechanism away from the cutter head. It should be explained that when the cutter head 1 is a single structural component, an opening is provided at the cutter head 1 to form a slag accumulation area. The opening is located on the inside of the telescopic rod to prevent the slag accumulation area from being located on the outside of the telescopic rod. A slag discharge area 9 is formed between the cutter head 1 and the main frame 6. When the cutter head 1 is formed by splicing multiple cutter plates, a slag accumulation area is formed between two adjacent cutter plates. The slag discharge area 9 is connected to the slag accumulation area of ​​the cutter head 1. The spiral slag discharge conveyor 3 rotates continuously under the drive of the slag discharge mechanism drive unit, such as the second drive motor, to transport the slag to the rear of the main frame 6. If necessary, an extension conveying mechanism can be connected to the tail end of the conveyor housing. The extension conveying mechanism can be an existing belt conveyor mechanism or an existing spiral conveyor mechanism to further transport the generated slag to a safe area away from the working surface.

[0039] It should be noted that the top support mechanism 8 is spaced apart from the cutterhead 1, and the top support mechanism is located outside the conveying housing. The top support mechanism 8 includes multiple multi-stage telescopic arms 5 arranged circumferentially along the conveying housing. Each multi-stage telescopic arm is evenly placed outside the conveying housing. One end of the multi-stage telescopic arm 5 is hinged to the conveying housing, and the other end of the multi-stage telescopic arm 5 is a free end. Alternatively, the end of the telescopic arm away from the main frame 6 is hinged to the support plate. The support plate is a steel plate or a beam-shaped structural component. Specifically, the multi-stage telescopic arm 5 can be a multi-stage sleeve hydraulic cylinder, a multi-degree-of-freedom connecting rod hydraulic arm, or a combination of both. The multi-stage telescopic arm is driven by a multi-stage telescopic arm drive unit, such as a third drive motor. During conventional tunneling, the multi-stage telescopic arm 5 is in a retracted or standby state. When support is required, the multi-stage telescopic arm 5 extends upward, lifting the support plate to the vicinity of the tunnel arch and sidewalls, so that the front or outer edge of the support plate is in contact with the surrounding rock surface, forming a temporary support surface 11, which forms a rigid support surface to prevent secondary collapse.

[0040] It is easy to understand that the control unit 7 is connected to the slag removal mechanism, the jacking mechanism, and the tunneling mechanism respectively. The control unit is located outside the main frame 6 or the conveying shell. The control unit includes a controller, a drive distribution module, a fault diagnosis module, and an electro-hydraulic actuator module. The controller can be any of an industrial controller, a PLC controller, or an embedded computing platform. The drive distribution module is connected to the cutterhead drive unit (first drive motor), the actuator unit of the hydraulic luffing mechanism 2, the slag removal mechanism drive unit (second drive motor), and the multi-stage telescopic boom drive unit (third drive motor). The fault diagnosis module is used to detect the operating status parameters of each drive unit, such as pressure, speed, current, and displacement, and sends an alarm signal to the controller when a fault occurs. The electro-hydraulic actuator module outputs corresponding hydraulic pressure, motor torque, or valve control signals according to the control commands.

[0041] To make the device more intelligent, it also includes a sensing and monitoring unit connected to the control unit. The sensing and monitoring unit includes a force sensor installed at the cutter in the conical cutter head to obtain the first...i The instantaneous cutting force of each cutting tool, the displacement sensor mounted on the hydraulic luffing mechanism and the multi-stage telescopic boom 5, the attitude sensor mounted on the main frame 6, and the vision sensor or laser rangefinder arranged on the working surface of the cutterhead are all considered. The sensing and monitoring unit is used to collect information on the force on the cutterhead, the support pressure, the device attitude, and the geometry of the collapsed body, and transmits the relevant data to the control unit 7 for analysis and processing. The attitude sensor is a sensor used to measure the position and attitude (i.e., position and orientation) of an object in space. The main function of the vision sensor is to acquire enough raw images for the machine vision system to process. The force sensor, displacement sensor, attitude sensor, vision sensor, or laser rangefinder are all existing sensors.

[0042] It needs to be explained that the control unit is based on the total number of tools, the number of... i The total cutting resistance torque of the cutterhead is obtained by taking the instantaneous cutting force of each tool, the equivalent radius of gyration of the tool, the cutting angle of the tool, the rotational angular velocity of the tool, the rock breaking viscosity coefficient, the propulsion damping coefficient, and the overall propulsion speed of the device. The control unit, based on the above parameters and combined with the force sensor data, obtains the first... i The instantaneous cutting force of each cutter is used to obtain the total cutting resistance torque of the cutterhead. Based on the obtained total cutting resistance torque, the control unit judges the obstruction state of the cutterhead and the local compaction of the collapsed body according to the total cutting resistance torque and its change gradient. When the total cutting resistance torque exceeds a preset threshold or its change gradient exceeds a preset gradient threshold, the control unit reduces the cutterhead rotation speed, reduces the travel speed of the traveling mechanism, and adjusts the extension and retraction of each telescopic rod in the telescopic assembly to make the cutterhead pitch, yaw, or a combination of attitude changes, so as to reduce the cutting intrusion or avoid local high resistance areas. When the total cutting resistance torque is lower than the preset threshold and the change tends to be stable, the control unit increases the cutterhead rotation speed and the advance speed to improve tunneling efficiency, avoid equipment jamming caused by traditional blind tunneling, and achieve rapid penetration with low energy consumption and high efficiency.

[0043] The device provided in this embodiment is the first to adopt an integrated "tunneling-in-situ support" mode, which is extremely safe. After tunneling a certain distance, the multi-stage telescopic boom can extend to contact the surrounding rock and form a temporary support structure. The cutterhead is also in contact with the surrounding rock, which also serves as temporary support. Rescuers and rescued personnel enter the outside of the conveyor shell through the opening at the cutterhead or the space between two adjacent cutter plates, and finally exit through the space between two adjacent telescopic booms. Compared with tunneling using a shield machine, this device is simpler, easier to operate, and has higher rescue efficiency.

[0044] Example 2 This embodiment provides an emergency rescue method for tunnel collapses, employing a tunneling-support collaborative rescue passage construction equipment described in Embodiment 1, including the following: During the tunneling process, the control unit collects the resistance of the collapsed body on the cutterhead in real time, calculates the total cutting resistance torque, and dynamically adjusts the extension and retraction of the telescopic components according to the fluctuation gradient of the total cutting resistance torque in order to minimize tunneling energy consumption. When the device excavates to the preset safe distance, the control unit activates the top support mechanism, and the multi-stage telescopic boom extends so that the ends of the multi-stage telescopic boom fit against the top of the tunnel. The control unit calculates the required critical support force in real time and adjusts the output pressure of the multi-stage telescopic boom to meet the anti-overturning moment balance constraint. In this way, the introduction of the anti-overturning moment balance constraint fundamentally prevents the occurrence of secondary collapse and greatly protects the lives of trapped personnel and rescuers.

[0045] In this embodiment, the total cutting resistance torque The calculation formula is:

[0046] in, The total number of blades, For the first i The instantaneous cutting force of each blade, The equivalent radius of rotation of the blade. To cut the blade at the angle, The angular velocity of the blade's rotation. The viscosity coefficient for rock fracturing. To increase the damping coefficient, The overall propulsion speed of the device; During the construction of the rescue channel, in order to prevent the landslide from continuing to sink, the top support mechanism from becoming unstable, and the device from overturning, this embodiment uses a controller to calculate in real time the critical support force and anti-overturning moment balance constraint required by the top support mechanism. The controller determines the critical support force and anti-overturning moment balance constraint under the current working condition based on the equivalent density of the landslide, the distribution height of the landslide, the effective support projected area, the equivalent stiffness of the multi-stage telescopic boom, the pre-tightening compression amount, and the output pressure of each support contact unit. Based on the calculation results, the controller adjusts the output pressure of the multi-stage telescopic boom, the device advancement speed, and the cutting operation status.

[0047] Specifically, the critical support force Calculate according to the following formula.

[0048] in, The critical support force required by the jacking structure under the current collapse load conditions; S The effective support projection area of ​​the cutterhead or support end face to the collapsed body; The equivalent density of the collapsed body; g It is the acceleration due to gravity; The equivalent stacking height of the collapsed body above the effective support projection area is a function of this height. This is the load distribution correction factor for the collapsed body, used to characterize the uneven load distribution on the support end face at different locations of the collapsed body. The equivalent axial stiffness of a multi-stage telescopic boom or support actuator; Used to characterize the additional support force generated by a multi-stage telescopic boom under pre-compression.

[0049] In the above formula, Used to characterize the self-weight of the collapsed body and the equivalent load formed on the support end face by its non-uniform distribution. This is used to characterize the additional support force generated by the multi-stage telescopic boom under pre-tightened compression. Therefore, the controller can obtain the minimum support capacity that the jacking mechanism needs to meet under the current landslide conditions.

[0050] Furthermore, in order to determine whether there is a risk of overturning during the support and propulsion process, the controller calculates the anti-overturning moment balance constraint according to the following formula:

[0051] in, To prevent overturning and maintain balance; The equivalent force arm of the critical support force relative to the device support reference point; The angle between the lifting elevation angle or the direction of the supporting force of the multi-stage telescopic boom and the support reference plane of the device; m The number of support contact units involved in the support; For the first j Output pressure of each support contact unit; For the first j The effective working area of ​​each support contact unit; For the first j Each support contact unit has an anti-overturning arm relative to the device's support reference point.

[0052] In the above-mentioned anti-overturning moment balance constraints This represents the equivalent overturning moment that may cause the equipment to overturn under the combined effects of collapse load and support reaction force. This represents the overturning moment generated by multiple support contact units, when the following conditions are met: When ≤0, it indicates that the anti-overturning moment is not less than the overturning moment, and the device is in an anti-overturning stable state; when When the value is greater than 0, it indicates that the current support pressure distribution is insufficient to resist the overturning trend, and the device is at risk of overturning or tilting.

[0053] The controller will calculate the critical support force. Compare with the actual output support force of the top support mechanism. When the actual output support force is less than the critical support force... At this time, the controller increases the output pressure of the multi-stage telescopic boom, or increases the pre-tightening compression. To improve support stability. When the anti-overturning balance constraint is not met, i.e. When the speed is greater than 0, the controller reduces the overall propulsion speed of the device, pauses or slows down the cutting operation, and adjusts the output pressure of each support contact unit. This increases the anti-overturning moment until it is satisfied again. Stable conditions.

[0054] Through the calculation of the critical support force and anti-overturning moment balance constraint, this embodiment can adjust the output support force and device propulsion state of the support execution mechanism in real time according to the changes in the load of the collapsed body and the stress state of the top support mechanism. This reduces the risk of secondary collapse, device overturning, support failure or cutting mechanism jamming during the construction of the rescue channel, and improves the safety and continuity of the tunnel collapse disaster rescue channel construction process.

[0055] In addition, the construction method also includes the following: The telescopic assembly includes multiple telescopic rods, and each of the multiple telescopic rods and multi-stage telescopic arms is controlled by a corresponding drive unit. If the control unit detects a failure of one of the drive units, the control unit constructs a fault injection matrix containing health status, and redistributes the output commands of each healthy drive unit by solving a quadratic programming problem to achieve a smooth transfer of load. In other words, when the control unit detects a failure of a single or part of the drive units, the control unit can automatically redistribute the load of the remaining healthy drive units to maintain the degraded tunneling operation of the device. Optimal fault-tolerant control instruction analytical solution for reallocating output instructions of each health drive unit for:

[0056] in, This is the weight matrix. Inject matrix for faults, This represents the total driving torque or thrust vector of the desired output.

[0057] Obtain the optimal fault-tolerant control command Then, the control unit will send the optimal fault-tolerant control command. The target output command is decomposed into the target output command corresponding to each health drive unit, and the target output command is sent to the corresponding drive unit to control each health drive unit to output the corresponding thrust, torque, pressure or displacement.

[0058] Specifically, when the drive unit is a hydraulic drive unit, the control unit according to... The system generates corresponding target pressure commands, target flow commands, or proportional valve opening commands, and controls the corresponding hydraulic cylinders or multi-stage telescopic booms to output the corresponding support force through hydraulic valve groups; when the drive unit is a motor drive unit, the control unit... Generate corresponding target current commands, target torque commands, or target speed commands, and control the corresponding telescopic rod or cutting actuator to output the corresponding driving torque through the motor driver.

[0059] The control unit collects the actual output feedback values ​​of each health drive unit in real time, and compares the actual output feedback values ​​with the values ​​obtained from the control unit. The target output command is compared. When the deviation between the actual output feedback value and the target output command exceeds a preset deviation threshold, the control unit updates the drive unit health status and corrects the fault injection matrix. And recalculate the optimal fault-tolerant control command. This enables a dynamic and smooth transfer of load between the remaining healthy drive units.

[0060] Furthermore, the control unit determines whether the device meets the conditions for continued operation based on the reallocated drive capacity. This condition is met when the maximum synthesized output that the remaining healthy drive units can provide is not less than the current desired output. When the control unit continues to advance, cut, or support in degraded mode; when the maximum synthesized output that the remaining healthy drive unit can provide is less than the current expected output. When necessary, the control unit reduces the device's advance speed, reduces the cutting head's rotation speed, increases the safety support margin, or the control device enters a pause operation state.

[0061] Through the above control method, when a single or partial drive unit fails, the control unit can automatically redistribute the output load according to the health status of each drive unit, so that the remaining healthy drive units can work together to undertake propulsion, support or cutting tasks, thereby avoiding the failure of a drive unit from causing the entire device to shut down, and improving the fault tolerance and continuous operation capability of the rescue channel construction process.

[0062] The construction method provided in this embodiment addresses the pain point that the harsh environment at landslide sites easily leads to equipment damage. It not only adopts a redundant architecture of multiple telescopic rods and multiple multi-level telescopic arms in terms of hardware, but also embeds a fault-tolerant load distribution algorithm based on a fault injection matrix at the software level. Even if some power units suffer irreversible damage, the control unit can still instantly redistribute power through mathematical optimization, ensuring the continuity of the life channel tunneling operation. This makes the constructed device have power redundancy and algorithm-level fault tolerance capabilities, and the device has high reliability.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A driving-supporting collaborative rescue passage construction equipment, characterized by, include: Mainframe rack; The tunneling mechanism includes a cutterhead, which is movably connected to the front end of the main frame via a telescopic assembly. The length of the telescopic assembly is adjustable to adjust the state of the cutterhead. Multiple cutter arrays are installed on the outer edge and / or working face of the cutterhead, and a debris accumulation area is set at the cutterhead. The slag discharge mechanism includes a conveying component, which is placed inside a conveying housing. The conveying housing is connected to the main frame, and the inlet end of the conveying component is connected to the slag collection area of ​​the cutter head. The top support mechanism includes multiple multi-stage telescopic arms, each of which is placed on the side of the conveying housing away from the cutterhead. The length of the multi-stage telescopic arms is adjustable to fit against the surrounding rock surface to form a temporary support surface. The control unit, cutter array, telescopic assembly, spiral slag conveyor, and multi-stage telescopic boom are each individually connected to the control unit.

2. The excavation-supporting collaborative rescue passage construction equipment according to claim 1, characterized by, The tool array adopts a combination of one or more of the following tools: hobbing cutter, cutting tooth, and cutting tool. Each tool is driven by multiple first drive motors, and the first drive motors are connected to the control unit. The main frame is connected to the walking mechanism, and the walking mechanism is connected to the control unit.

3. The tunneling-support collaborative rescue passage construction equipment according to claim 1, characterized in that, The telescopic assembly includes multiple telescopic rods. One end of each telescopic rod is hinged to the circumferential surface of the main frame, and the other end is hinged to the inner surface of the cutter head. The cutter head extends beyond the connection point between the cutter head and the telescopic rod.

4. The tunneling-support collaborative rescue tunnel construction equipment according to claim 1, characterized in that, The cutter head is a conical cutter head, which can be a single structural component or a cutter head assembled from multiple cutter plates. When the cutter head is a single structural component, the cutter head is provided with openings to form the debris accumulation area. When the cutter head is formed by assembling multiple cutter plates, the space between two adjacent cutter plates is the debris accumulation area. The slag discharge area is formed between the main frame and the center of the cutter head. The slag discharge area is connected to the slag accumulation area. The main frame is open inside and at both ends.

5. The tunneling-support collaborative rescue tunnel construction equipment according to claim 1, characterized in that, The multi-stage telescopic arms are evenly placed on the circumferential surface of the conveying housing, and the multi-stage telescopic arms are spaced apart from the outer circumferential surface of the cutter head. One end of the multi-stage telescopic arm is hinged to the conveying housing, and the other end is connected to the support plate. The diameter of the multi-stage telescopic arm in the retracted state is smaller than the maximum diameter of the cutter head.

6. The tunneling-support collaborative rescue tunnel construction equipment according to claim 1, characterized in that, It also includes a force sensor installed at the tool in the cutter head to obtain the first i The instantaneous cutting force of each tool is measured by displacement sensors installed on the telescopic assembly and the multi-stage telescopic arm, and distance sensors installed on the working surface of the cutter head. Each sensor is individually connected to the control unit.

7. The tunneling-support collaborative rescue tunnel construction equipment according to claim 6, characterized in that, The control unit is based on the total number of tools, the first... i The total cutting resistance torque of the cutterhead is obtained by taking the instantaneous cutting force of each tool, the equivalent radius of gyration of the tool, the cutting angle of the tool, the angular velocity of the tool rotation, the viscosity coefficient of rock breaking, the propulsion damping coefficient, and the overall propulsion speed of the device.

8. Emergency rescue methods for tunnel collapses, characterized in that, The tunneling-support collaborative rescue tunnel construction equipment according to claim 6 or 7 includes the following: During the tunneling process, the control unit collects the resistance of the collapsed body on the cutterhead in real time, calculates the total cutting resistance torque, and dynamically adjusts the extension and retraction of the telescopic components according to the fluctuation gradient of the total cutting resistance torque in order to minimize tunneling energy consumption. When the device excavates to the preset safe distance, the control unit activates the top protection mechanism, and the multi-stage telescopic boom extends so that the ends of the multi-stage telescopic boom fit against the top of the tunnel. The control unit calculates the required critical support force in real time and adjusts the output pressure of the multi-stage telescopic boom to meet the anti-overturning moment balance constraint.

9. The tunnel collapse emergency rescue method according to claim 8, characterized in that, The formula for calculating the total cutting resistance torque is: in, The total number of blades, For the first i The instantaneous cutting force of each blade, The equivalent radius of rotation of the blade. To cut the blade at the angle, The angular velocity of the blade's rotation. The viscosity coefficient for rock fracturing. To increase the damping coefficient, The overall propulsion speed of the device; The critical support force The calculation formulas for the anti-overturning moment balance constraint are as follows: in, The equivalent density of the collapsed body. It is a function of the equivalent stacking height of the collapsed body above the effective support projection area; This is a correction factor for the load distribution of the collapsed body, used to characterize the uneven load distribution on the support face at different locations of the collapsed body; S The effective support projection area of ​​the cutterhead or support end face to the collapsed body. The equivalent axial stiffness of a multi-stage telescopic boom or support actuator. Used to characterize the additional support force generated by a multi-stage telescopic boom under pre-compression state; To prevent overturning and balance criteria, This is the equivalent force arm of the critical support force relative to the device's support reference point. The angle between the lifting elevation angle or the direction of the supporting force of the multi-stage telescopic boom and the support reference plane of the device. Let J be the output pressure of the j-th support contact unit. Let j be the effective working area of ​​the j-th support contact unit. Let be the anti-overturning force arm of the j-th support contact unit relative to the device support reference point.

10. The tunnel collapse emergency rescue method according to claim 8, characterized in that, It also includes the following: The telescopic assembly includes multiple telescopic rods, and each of the multiple telescopic rods and the multi-stage telescopic arm is controlled by a corresponding drive unit. If the control unit detects that one of the drive units has failed, the control unit constructs a fault injection matrix containing health status, and redistributes the output commands of each healthy drive unit by solving a quadratic programming problem to achieve smooth load transfer. Optimal fault-tolerant control instruction analytical solution for reallocating output instructions of each health drive unit for: in, This is the weight matrix. Inject a matrix into the fault. This represents the total driving torque or thrust vector of the desired output.

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