A shield machine provided with a residue discharging device

Abstract

The application provides a shield machine with a slag discharge device, comprising a shield body, a cutter head rotatably connected to the front end of the shield body, and a tunneling cutter rotatably connected to the cutter head, wherein the shield body is provided with a slag discharge channel for discharging the soil excavated by the tunneling cutter; further comprising: a plurality of oscillating vane units distributedly installed on the inner wall of the slag discharge channel of the shield machine; each oscillating vane unit comprises a hinged vane, a driving module for driving the vane to reciprocatingly oscillate around its rotation axis, and a monitoring module for monitoring the state of the vane; a sensor array arranged in the slag discharge channel for real-time acquisition of the flow field state parameters of the slag in the channel; a central cooperative controller in communication connection with the driving module, the monitoring module of all oscillating vane units and the sensor array; and an oil supply structure for oil transfer to the tunneling cutter. The application has the advantages of improving the slag discharge efficiency and operation reliability of the shield machine under various stratum conditions.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, and in particular to a tunnel boring machine equipped with a slag removal device. Background Technology

[0002] In shield tunneling, ensuring the efficient and continuous removal of excavated material from the cutterhead is crucial for maintaining tunneling efficiency, ensuring construction safety, and effectively controlling surface subsidence. The fluidity of the excavated material within the discharge channels, including those of the cutterhead and shield, directly determines the overall discharge efficiency. When excavated material stagnates or deposits inside the channels, it easily adheres to the cutterhead panel, soil chamber, and the inner walls of the discharge channels, forming a hard "mud cake" structure. This mud cake not only significantly increases cutterhead torque and causes abnormal cutter wear but also deteriorates tunneling parameters. In severe cases, it can even cause equipment shutdown, necessitating costly and risky manual cleaning operations inside the chamber, thus having a significant negative impact on construction progress and economic benefits.

[0003] To address the aforementioned challenges, various devices designed to improve the flowability of excavated soil within the slag discharge channel have been developed in the prior art. Among them, Chinese invention patent application CN115749825A discloses a slag discharge device and a tunnel boring machine (TBM). This device incorporates an impeller driven by a drive mechanism within the slag discharge channel on the cutterhead or shield of the TBM. The impeller's blades rotate parallel to the direction of slag discharge. During operation, the impeller agitates the slag to disrupt its structure and simultaneously provides axial conveying force along the discharge direction, thereby increasing the slag flow velocity and reducing the risk of mud cake formation.

[0004] However, after in-depth theoretical analysis and extensive engineering practice, existing technical solutions based on "integral rotating impellers" still have several inherent defects that are difficult to overcome: The operating mode is too singular, and the adaptability to geological formations is severely insufficient. Because the impeller has a fixed geometry, its hydraulic performance parameters are constant. When facing construction environments with complex and varied geological conditions, such as a sudden transition from high-viscosity clay formations to formations rich in large-diameter pebbles or boulders, a single rotating mixing and conveying mode cannot simultaneously meet the dual requirements of efficient slag removal and prevention of blockage. The adjustment range by adjusting the overall rotation speed is extremely limited, especially in high-viscosity formations. High-speed rotation not only leads to a sharp increase in energy consumption but also has very limited effectiveness in conveying large-particle slag. The fixed structure of the disturbed flow field easily creates flow "dead zones" within the slag removal channel. The flow field generated by the integrally rotating impeller has periodic symmetrical characteristics. This flow field distribution may lead to the formation of low-speed vortex zones or stagnant zones in certain areas of the slag removal channel, such as corners or back areas. In such areas, slag particles easily deposit and gradually compact, eventually causing localized blockages and affecting overall slag discharge efficiency. Anti-blockage capabilities are passive, and localized blockages can easily lead to system failure. When large obstacles or initial blockages occur in the slag discharge channel, the fixed impeller's overall structural design makes targeted handling difficult. Obstacles may jam the entire impeller, causing overload and shutdown of the drive mechanism. Existing technologies lack the ability to detect and autonomously adjust for localized flow anomalies in real time, typically resorting to passive measures like shutdown and manual intervention after a fault occurs. The control dimension is too singular, failing to achieve intelligent coordination between multiple units. Existing control strategies focus solely on adjusting the drive motor's speed, falling into the category of one-dimensional control. They cannot dynamically adjust the slag discharge pattern and intensity based on real-time slag status parameters, nor can they coordinate the spatial and temporal collaborative actions of multiple slag discharge units to achieve better macroscopic conveying effects.

[0005] Therefore, there is an urgent need in this field for a high-efficiency slag discharge device that can actively adapt to changes in complex geological conditions, intelligently optimize flow field distribution, possess strong anti-clogging capabilities, and enable multiple units to work in coordination, thereby fundamentally improving the slag discharge efficiency and operational reliability of tunnel boring machines under various geological conditions. Summary of the Invention

[0006] The present invention aims to provide a tunnel boring machine and a tunnel boring machine equipped with a slag discharge device that can intelligently and collaboratively discharge slag, thereby improving the slag discharge efficiency and operational reliability of the tunnel boring machine under various geological conditions.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a tunnel boring machine equipped with a slag discharge device, comprising: Multiple swing blade units are distributed and installed on the inner wall of the slag discharge channel of the tunnel boring machine; Each oscillating blade unit includes a hinged blade, a drive module for driving the blade to oscillate back and forth about its axis of rotation, and a monitoring module for monitoring the blade's status. A sensor array is deployed inside the slag discharge channel to acquire the flow field state parameters of the slag in the channel in real time. A central coordinating controller is connected to the drive module, monitoring module, and sensor array of all swing blade units. A refueling structure is installed on the shield body for transferring oil to the tunneling cutter, and the oil is mixed with the soil inside the cutter when the cutter is excavating soil; The central coordinating controller is configured to: calculate and generate a target wave control waveform based on the flow field state parameters obtained by the sensor array, and decompose the waveform into independent swing commands for each swing blade unit; the swing blade unit responds to the independent swing commands to perform actions, so that the swing of multiple swing blade units coordinates in space and time, forming a mechanical propulsion wave propagating in a predetermined direction in the slag in the slag discharge channel.

[0008] Preferably, the sensor array includes a macroscopic flow field monitoring layer having at least two measuring rings spaced apart along the axial direction of the slag discharge channel. Each measuring ring has multiple measuring points arranged in the circumferential direction, and each measuring point integrates a pressure sensor for detecting pressure and a Doppler sensor for detecting flow rate and concentration.

[0009] Preferably, the monitoring module includes a torque sensor and an angle encoder integrated on each oscillating blade unit, for real-time feedback of the oscillating resistance torque and actual oscillation angle of the corresponding blade.

[0010] Preferably, the drive module is a miniature linear servo motor; the drive module is connected to the blade through a transmission mechanism, the transmission mechanism includes an eccentric wheel disposed on the output shaft of the drive module and a rocker arm rotatably connected to the blade, the outer periphery of the eccentric wheel and the rocker arm are slidably connected through a connecting rod.

[0011] Preferably, each oscillating blade unit further includes a unit housing, which is sealed to the inner wall of the slag discharge channel, and the drive module and the blade shaft bearing are both sealed and housed within the unit housing.

[0012] Preferably, the central coordinating controller communicates with each swing blade unit via a CAN bus network with a ring topology, which is used to issue independent swing commands and collect monitoring data from each unit. Preferably, the central coordinating controller is configured to perform the following steps to generate the target fluctuation control waveform: A. Calculate the slag flowability index and pipeline blockage risk index in real time based on data from the sensor array; B. Based on the slag flowability index and blockage risk index, query or deduce a set of target waveform parameters, including fluctuation frequency, amplitude, wave number and action phase difference between adjacent units; C. Based on the target waveform parameters, generate angle control commands for each swing blade unit in the time sequence.

[0013] As a preferred option, the central collaborative controller has multiple pre-stored control modes corresponding to different geological conditions, including: The energy-saving disturbance mode, corresponding to low-viscosity slag, controls the oscillating blade unit to oscillate synchronously in a high-frequency, small-amplitude, and zero-phase-difference manner. In the high-power pumping mode, which is designed for highly viscous slag, the oscillating blade unit is controlled to oscillate at a low frequency, with a large amplitude and a fixed negative phase difference to form a propulsion wave that propagates in the direction of slag discharge. In the local obstacle clearing mode, when the torque sensor of a specific unit reports abnormal resistance, the abnormal unit and its adjacent units are controlled to perform high-frequency micro-vibration or reverse swinging actions, while maintaining the current fluctuation of other units.

[0014] Preferably, the central coordinating controller also includes an adaptive learning module, which records the actual slag discharge efficiency index under different target waveform parameters and continuously optimizes the waveform parameter decision logic based on machine learning algorithms. A tunnel boring machine (TBM) includes a cutterhead, a shield body, and a TBM equipped with a slag removal device. The TBM equipped with the slag removal device has multiple swing blade units arranged in an array within the slag removal channel of the cutterhead and / or the slag removal channel of the shield body.

[0015] Preferably, the shield body is provided with a refueling structure mounting cavity. The front side of the refueling structure mounting cavity has a window penetrating the front face of the shield body. The tunneling cutter can rotate to align with the window. An oil receiving pit is provided at the lower end of the refueling structure mounting cavity. An oil pump and a vertical rotating shaft are installed inside the refueling structure mounting cavity. The surface of the rotating shaft is covered with an elastic oil-absorbing layer. When the tunneling cutter passes through the window, it can squeeze onto the oil-absorbing layer. The inlet end of the oil pump is located in the oil receiving pit, and the outlet end is connected to an oil nozzle located above the oil-absorbing layer, which pours oil onto the upper surface of the oil-absorbing layer. In use, the tunneling cutter squeezes the oil-absorbing layer to coat itself with oil. Then, during tunneling, the lubricating oil is transferred to the soil and mixed into the soil, ensuring complete combustion of the soil during tunnel construction and reducing dust during transfer. The oil transfer is uniform and without waste. Direct spraying of oil is related to the speed of the tunneling cutter; changes in cutter speed can easily lead to oil waste or insufficient supply.

[0016] Preferably, the refueling structure mounting cavity includes an oil replenishment tank located above the oil receiving pit. An oil outlet pipe is mounted on the bottom wall of the oil replenishment tank, with its outlet end facing upwards and supported by a spherical tray. The tray holds a sealing ball for sealing the outlet pipe, and its inner surface has an elastic sealing layer. A lever is hinged within the refueling structure mounting cavity via a hinge shaft. One end of the lever has a pressing plate for pressing the sealing ball, and the other end has a float ball floating on the lubricating oil in the oil receiving pit. The lever's lever arm driven by the float ball is more than ten times the lever arm driven by the sealing ball. This design utilizes the height space of the refueling structure mounting cavity and the space of the window section for oil storage, improving oil storage capacity and reducing the frequency of manual refueling. Oil in the replenishment tank is added manually. The oil receiving pit is automatically replenished when it is empty. The elastic sealing layer ensures reliable sealing.

[0017] Preferably, the end of the lever connected to the pressing plate is located below the oil tank; when the lever moves upward and abuts against the bottom wall of the oil tank, the sealing ball remains restrained by the pressing plate and the tray and remains on the tray. This prevents the sealing ball from falling off due to excessive lever swing. Beneficial effects: By distributing multiple swing blade units and using flow field state parameters obtained from sensor arrays, a central coordinating controller generates coordinating swing commands to form a mechanical propulsion wave, thereby efficiently discharging slag. It has the advantages of being able to actively adapt to changes in complex geological conditions, intelligently optimize flow field distribution, possess strong anti-clogging capabilities, and enable multiple units to work together, thereby improving slag discharge efficiency and operational reliability; and generating less dust during slag discharge. Attached Figure Description

[0018] Figure 1 This is a cross-sectional schematic diagram of the present invention; Figure 2 This is a schematic diagram of the internal side structure of a tunnel boring machine equipped with a slag removal device, as disclosed in one embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the swing blade unit in a tunnel boring machine with a slag discharge device, as disclosed in one embodiment of the present invention.

[0019] Figure 4 This is a partial side view of the present invention; Figure 5 For Figure 4 A magnified view of a portion of point A.

[0020] In the diagram: Shield machine 100, swing blade unit 1, slag discharge channel 2, blade 3, rotating shaft 4, drive module 5, measuring ring 6, micro linear servo motor 7, eccentric wheel 8, rocker arm 9, connecting rod 10, unit housing 11, sealing layer 12, cutterhead 13, tunneling cutter 31, oil filling structure mounting cavity 14, window 15, oil receiving pit 16, oil pump 17, vertical rotating shaft 18, oil suction layer 19, oil pump inlet end 20, oil outlet 21, oil replenishment tank 22, oil outlet pipe 23, tray 24, sealing ball 25, hinge shaft 26, lever 27, pressing plate 28, lubricating oil 29, float ball 30. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] See figure Figures 1 to 5 A tunnel boring machine equipped with a slag discharge device includes a shield body 100, a cutterhead 13 rotatably connected to the front end of the shield body, and a tunneling cutter 31 rotatably connected to the cutterhead. The shield body is provided with a slag discharge channel 2 for discharging the soil excavated by the tunneling cutter.

[0023] Also includes: Multiple swing blade units 1 are distributed and installed on the inner wall of the slag discharge channel 2 of the tunnel boring machine 100; Each oscillating blade unit 1 includes a hinged blade 3, a drive module 5 for driving the blade 3 to oscillate back and forth around its axis of rotation 4, and a monitoring module for monitoring the state of the blade 3. A sensor array is deployed inside the slag discharge channel 2 to acquire the flow field state parameters of the slag in the channel in real time. A central coordinating controller is communicatively connected to the drive module 5, monitoring module, and sensor array of all swing blade units 1. The central coordinating controller is configured to: calculate and generate a target wave control waveform based on the flow field state parameters obtained by the sensor array, and decompose the waveform into independent swing commands for each swing blade unit 1; the swing blade unit 1 responds to the independent swing commands to perform actions, so that the swing of multiple swing blade units 1 is coordinated in space and time, forming a mechanical propulsion wave propagating in a predetermined direction in the slag in the slag discharge channel 2.

[0024] The intelligent collaborative slag discharge device of this application, through the coordinated action of the distributed oscillating blade unit 1, can dynamically generate and implement target fluctuation control waveforms based on the slag flow field state parameters, thereby actively forming mechanical propulsion waves within the slag discharge channel 2. This effectively solves the limitations of traditional slag discharge devices, such as a single working mode, susceptibility to flow "dead zones," and passive anti-clogging, significantly improving the slag discharge efficiency and operational reliability of the tunnel boring machine 100 under complex geological conditions, and reducing the risk of downtime for cleaning.

[0025] For ease of understanding, the following explains some key terms in this embodiment: The oscillating blade unit 1 refers to the basic actuating unit constituting the slag discharge device, which is distributed and installed on the inner wall of the slag discharge channel 2 of the tunnel boring machine 100. Each unit works independently, but together they act on the slag under the coordination of the central coordinating controller.

[0026] The articulated blade 3 is the core component of the oscillating blade unit 1. It directly contacts the slag and soil through reciprocating oscillation, generating disturbance and thrust. The articulated blade 3 achieves oscillation through joint connection.

[0027] The drive module 5 is the actuator responsible for driving the blade 3 to reciprocate. It receives instructions from the central coordinating controller and converts electrical energy into mechanical energy to precisely control the swing angle and frequency of the blade 3.

[0028] The monitoring module is used to acquire real-time operating status information of blade 3, such as the swing position and stress conditions of blade 3. This data is fed back to the central coordinating controller to evaluate the slag removal effect and adjust the control strategy.

[0029] The sensor array refers to a collection of multiple sensors deployed within the slag discharge channel 2. Its function is to collect real-time flow field parameters of the slag within the channel, such as slag pressure, flow velocity, and concentration, providing decision-making basis for the central collaborative controller.

[0030] The central coordinating controller is the intelligent core of the entire unit. It receives data from the sensor array and monitoring modules, analyzes and processes it, and generates coordinating control commands to optimize the slag discharge process.

[0031] The target wave control waveform is an ideal wave pattern calculated by the central coordinating controller based on the state parameters of the slag flow field. This waveform describes the characteristics of the mechanical propulsion wave that should be formed in the slag within the slag discharge channel 2, such as amplitude, frequency, and phase.

[0032] The independent oscillation command is a control command issued individually to each oscillation blade unit 1 by the central coordinating controller after decomposing the target fluctuation control waveform. Each command precisely specifies the oscillation action of the corresponding blade 3 at a specific point in time.

[0033] Mechanical propulsion wave refers to a wave that propagates in a predetermined direction in the slag and soil of the slag discharge channel 2 when multiple oscillating blade units 1 oscillate in concert. This wave can generate a periodic thrust on the slag and soil, thereby promoting the flow and discharge of the slag and soil.

[0034] This application provides an intelligent collaborative slag discharge device, the core of which is to actively optimize the flow of slag and soil in the slag discharge channel 2 through a distributed, collaborative oscillating blade unit 1.

[0035] Specifically, multiple oscillating blade units 1 are distributed and installed on the inner wall of the muck discharge channel 2 of the tunnel boring machine 100. These blade units 3 can be evenly arranged at fixed intervals along the channel axis to ensure comprehensive action on the muck. As another implementation, the blade units 3 can also be non-uniformly arranged according to the geometry of the muck discharge channel 2 or the flow characteristics of the muck, for example, by increasing the density of blade units 3 in areas prone to clogging. The blade units 3 can be installed in an embedded manner, so that the main body of the blade unit 3 is contained within the channel wall, with only the blade 3 portion extending out to contact the muck.

[0036] Each oscillating blade unit 1 includes a hinged blade 3, a drive module 5 for driving the blade 3 to oscillate back and forth around its axis 4, and a monitoring module for monitoring the state of the blade 3. The blade 3 can be made of a material with a certain degree of elasticity, such as rubber or polyurethane. The drive module 5 directly drives its root to oscillate, causing the blade 3 to deform as a whole to adapt to the slag. The blade 3 is rotatably connected to the axis 4 via bearings. The drive module 5 drives the axis 4 to oscillate, and the blade 3 oscillates back and forth around the hinge accordingly. The drive module 5 can be a simple DC motor with a cam mechanism, converting the motor's rotational motion into the reciprocating oscillation of the blade 3. Alternatively, the drive module 5 can be a stepper motor, driving the blade 3's axis 4 via a gear set to achieve discrete angle oscillation control. The monitoring module can be a simple limit switch for detecting whether the blade 3 has reached a preset oscillation limit position. Alternatively, the monitoring module can be a potentiometer for roughly measuring the oscillation angle of the blade 3.

[0037] In addition, a sensor array is deployed within the slag discharge channel 2 to acquire real-time flow field parameters of the slag within the channel. This sensor array can consist of multiple independent point sensors; for example, multiple pressure sensors can be arranged at intervals along the circumferential and axial directions on the inner wall of the channel to detect the pressure distribution of the slag on the wall. Alternatively, multiple ultrasonic sensors can be deployed to detect the liquid level or approximate flow velocity of the slag.

[0038] A central coordinating controller is communicatively connected to the drive module 5, monitoring module, and sensor array of all the oscillating blade units 1. This central coordinating controller can be an industrial PC, communicating serially with each module via an RS485 bus to issue commands and acquire data. Alternatively, the controller can be a programmable logic controller (PLC), connecting to each module through digital or analog input / output interfaces.

[0039] The central coordinating controller is configured to calculate and generate a target fluctuation control waveform based on the flow field state parameters acquired by the sensor array, and decompose this waveform into independent fluctuation commands for each of the oscillating blade units 1. Specifically, the central coordinating controller can preset a set of fixed control rules; for example, when an increase in the average pressure within the slag discharge channel 2 is detected, a sine wave with a fixed frequency and amplitude is generated as the target fluctuation control waveform. This waveform is then simply decomposed into equal-phase fluctuation commands for each blade unit 3.

[0040] Therefore, the oscillating blade unit 1 responds to the independent oscillation command and moves accordingly, causing the oscillations of multiple oscillating blade units 1 to coordinate in space and time, forming a mechanical propulsion wave propagating in a predetermined direction within the slag discharge channel 2. For example, after each oscillating blade unit 1 receives its independent oscillation command, the drive module 5 drives the blade 3 to oscillate according to the command. The command could be "oscillate to the left limit position, then oscillate to the right limit position," and the blade 3 would perform this simple reciprocating motion. By adjusting the start time of adjacent blade units 3, a simple sequential oscillation can be formed, thereby producing a rough propulsion effect in the slag and promoting the discharge of slag.

[0041] This application further proposes that the sensor array includes a macroscopic flow field monitoring layer, which has at least two measuring rings 6 arranged at intervals along the axial direction of the slag discharge channel 2. Each measuring ring 6 has multiple measuring points arranged in the circumferential direction, and each measuring point integrates a pressure sensor for detecting pressure and a Doppler sensor for detecting flow rate and concentration.

[0042] Specifically, the macroscopic flow field monitoring layer aims to provide a comprehensive understanding of the overall flow of slag within the slag discharge channel 2, rather than merely monitoring local or point-like areas. This monitoring layer, through a structured sensor arrangement, can capture the macroscopic characteristics and trends of the slag flow field. To achieve refined spatial perception of the slag flow field, the macroscopic flow field monitoring layer is designed with at least two measuring rings 6 spaced apart along the axial direction of the slag discharge channel 2. This axial arrangement allows the system to monitor the flow state of the slag at different locations within the slag discharge channel 2, thereby identifying axial changes such as acceleration, deceleration, accumulation, or dilution of the slag flow, providing a basis for judging the slag transport efficiency and potential blockage points. Each measuring ring 6 has multiple measuring points arranged circumferentially to capture the non-uniformity of the slag flow field across the channel cross-section. Due to factors such as gravity, channel curvature, or local resistance, the flow of slag in the slag discharge channel 2 is often not completely symmetrical. By arranging multiple measuring points in the circumference, the pressure, velocity, and concentration information of the slag at different circumferential positions can be obtained, thereby constructing a cross-sectional distribution map of the slag flow field. This is crucial for identifying phenomena such as local flow deviation, stratified flow, or wall adhesion.

[0043] By introducing a macroscopic flow field monitoring layer and employing at least two measuring rings 6 spaced axially along the slag discharge channel 2, with multiple measuring points arranged circumferentially on each ring 6, and each measuring point integrating a pressure sensor and a Doppler sensor, this application can acquire multi-dimensional and refined data on the slag flow field in both the axial and circumferential directions. The pressure sensor can reflect the pressure distribution of the slag on the channel wall in real time, revealing localized uneven stress or early signs of blockage; the Doppler sensor can directly measure the slag velocity and concentration, providing crucial information on slag fluidity and density. These comprehensive and accurate flow field state parameters enable the central coordinating controller to more accurately assess the actual flow conditions of the slag, including its uniformity, viscosity, and the presence of localized accumulation or blockage risks. Based on this, the central coordinating controller can generate more precise and adaptive target fluctuation control waveforms, ensuring that the mechanical propulsion wave generated by the oscillating blade unit 1 can more effectively act on the slag, optimizing slag transport efficiency, and responding promptly to and mitigating potential blockages, thereby significantly improving the slag discharge efficiency and operational reliability of the tunnel boring machine 100.

[0044] This application further proposes a monitoring module including a torque sensor and an angle encoder integrated on each swing blade unit 1, for real-time feedback of the swing resistance torque and actual swing angle of the corresponding blade 3.

[0045] Specifically, the torque sensor is used to measure the torque experienced by the oscillating blade unit 1 during its oscillation in real time. This torque directly reflects the resistance between the blade 3 and the slag. This sensor can be implemented using various technologies. For example, a torque sensor based on the strain gauge principle calculates the torque by measuring the minute deformation of the shaft under force; or a torque sensor based on the magnetoelastic principle calculates the torque by detecting changes in the magnetic field. These sensors are typically integrated into the output shaft of the drive module 5 or the rotating shaft 4 of the blade 3. After processing, their output signals accurately reflect the dynamic force between the blade 3 and the slag.

[0046] Torque sensors and angle encoders work together to provide the central coordinating controller with comprehensive information about the motion state of each oscillating blade unit 1, namely the "force" acting on the blade 3 and its "position". Oscillation resistance torque data reveals the viscosity and density of the slag and the resistance characteristics of the blade 3 moving within the slag, while actual oscillation angle data verifies whether the blade 3 accurately executes the preset oscillation trajectory. This real-time feedback data is transmitted to the central coordinating controller via a communication network, serving as crucial evidence for achieving high-precision closed-loop control, dynamically adjusting the oscillation strategy, and performing fault diagnosis.

[0047] Through the above technical solution, the central coordinating controller can acquire in real time the specific force and motion state of each oscillating blade unit 1 when interacting with the slag. The oscillation resistance torque data provided by the torque sensor enables the controller to accurately assess the viscosity and density of the slag, as well as the actual load borne by the blade 3, thereby promptly detecting potential blockage risks or overload of the blade 3. The actual oscillation angle data provided by the angle encoder ensures that the blade 3 can accurately complete the oscillation action according to the command, avoiding oscillation deviations caused by mechanical errors or external interference. This real-time "force" and "position" feedback mechanism enables the central coordinating controller to perform high-precision closed-loop control, dynamically adjust the oscillation command, ensure more accurate and efficient formation of the mechanical propulsion wave, significantly improve the stability and reliability of slag discharge, and effectively avoid the risk of equipment damage due to overload.

[0048] This application further proposes that the drive module 5 includes a micro linear servo motor 7; the drive module 5 is connected to the blade 3 through a transmission mechanism, the transmission mechanism includes an eccentric wheel 8 disposed on the output shaft of the drive module 5 and a rocker arm 9 rotatably connected to the blade 3, the outer periphery of the eccentric wheel 8 and the rocker arm 9 are slidably connected through a connecting rod 10.

[0049] Specifically, the miniature linear servo motor 7 drives the transmission mechanism by directly generating linear motion, offering advantages such as compact structure, fast response speed, and high positioning accuracy. It can also be designed to be waterproof and dustproof to withstand harsh working conditions. By converting linear motion into rotary oscillation, the motor provides a stable and controllable driving force for the blades 3.

[0050] The transmission mechanism efficiently and reliably converts the rotational or linear motion of the drive module 5 into the reciprocating oscillating motion required by the blade 3. The eccentric wheel 8 is mounted on the output shaft of the drive module 5. When the drive module 5 rotates, the rotational motion of the eccentric wheel 8 generates a periodic radial displacement, thus converting the continuous rotational motion of the drive module 5 into the oscillation of the rocker arm 9. This mechanism design is simple, reliable, and easily achieves large torque transmission. One end of the blade 3 extends to the rear side of the rotating shaft 4, and one end of the rocker arm 9 is rotatably connected to the rear end of the blade 3. The other end of the rocker arm 9 is rotatably connected to the inner wall of the unit housing 11. A protruding connecting rod 10 is fixedly provided on the side of the rocker arm 9. A sliding groove is provided on the outer circumference of the eccentric wheel 8 to slide within the connecting rod 10, allowing the connecting rod 10 to slide within the groove. When the eccentric wheel 8 rotates, the rocker arm 9 oscillates reciprocally under the traction of the connecting rod 10, thereby driving the blade 3 to oscillate reciprocally. The rocker arm 9 needs to be designed with sufficient rigidity and strength to withstand the reaction force experienced by the blade 3 when oscillating in the slag. Furthermore, the end of the connecting rod 10 is provided with a roller, which cooperates with the groove to reduce the friction between the deflector wheel and the rocker arm 9.

[0051] This application further proposes that each oscillating blade unit 1 also includes a unit housing 11, which is sealed to the inner wall of the slag discharge channel 2, and the drive module 5 and the bearings of the rotating shaft 4 of the blade 3 are all sealed and housed within the unit housing 11. Specifically, the shell is typically made of high-strength, wear-resistant, and corrosion-resistant materials, such as special alloy steel, stainless steel, or high-performance engineering plastics, to withstand the impact and abrasion of the slag and the corrosion of the humid environment inside the slag discharge channel 2. Its structural design should be compact to minimize obstruction to the flow of slag and ensure a good fit with the inner wall of the slag discharge channel 2.

[0052] The sealing connection between the front end of the unit shell 11 and the inner wall of the slag discharge channel 2 is designed to establish a reliable physical barrier to prevent external slag, moisture, and dust from entering the interior of the unit shell 11. This sealing connection can be achieved in various ways, such as using wear-resistant and pressure-resistant O-rings, lip seals, or mechanical seals, combined with bolt fixing, welding, or snap-fit ​​connections, to ensure that the shell and the channel wall maintain a tight and seamless connection during the operation of the tunnel boring machine 100, effectively isolating the external environment.

[0053] The drive module 5 and the bearings of the shaft 4 of the blade 3 are both sealed and housed within the unit housing 11. This means that the environmentally sensitive moving parts in the oscillating blade unit 1, including the drive module 5 that provides the oscillation power (such as the aforementioned waterproof and dustproof high-torque servo motor or miniature linear servo motor 7) and the bearings of the shaft 4 that support the rotation of the blade 3, are all enclosed inside the unit housing 11. This housing method ensures complete isolation of these critical components from the harsh external environment, avoiding direct wear from soil particles, corrosion from moisture, and accumulation of dust, thereby significantly extending their service life.

[0054] Furthermore, an elastic sealing layer 12 is provided at the position where the blade 3 extends from the unit housing 11. The edge of the sealing layer 12 is sealed and fixedly connected to the opening position of the unit housing 11, so as to achieve the overall sealing of the inside of the unit housing 11 while the blade 3 swings. The unit housing 11 is filled with a lubricating medium. This lubricating medium can be a high-performance lubricating oil, grease or special dielectric fluid. Its function is not only to provide continuous lubrication for the transmission components of the drive module 5 and the bearing of the shaft 4, reducing frictional resistance, reducing energy loss and heat generation, but also to effectively dissipate the heat generated by the components during operation through the flow and conduction of the medium, maintaining the components operating within a suitable temperature range. In addition, the lubricating medium itself also forms a fluid protective film, further blocking contaminants that may seep in through tiny gaps and providing buffer protection for the internal components.

[0055] The above technical solutions greatly improve the reliability and durability of the swing blade unit 1 under harsh working conditions, ensure the long-term stable operation of the drive module 5 and bearings, thereby ensuring that the entire intelligent collaborative slag removal device can work continuously and efficiently, maintain the unobstructed slag removal channel 2, avoid downtime and maintenance due to component failure, and significantly improve the continuity and efficiency of the slag removal operation of the tunnel boring machine 100.

[0056] This application further proposes that the central coordinating controller communicates with each swing blade unit 1 through a CAN bus network with a ring topology, which is used to issue independent swing commands and collect monitoring data from each unit.

[0057] Specifically, the CAN (Controller Area Network) bus is a multi-master serial communication bus designed to meet the distributed control requirements of industrial control systems, which demand high real-time performance, reliability, and interference immunity. The CAN bus uses differential signal transmission, providing excellent electromagnetic interference immunity, making it particularly suitable for the harsh working environment of the tunnel boring machine's 100mm slag discharge channel 2, characterized by high noise and vibration. Furthermore, the CAN bus supports multi-master communication; any node in the network can send messages when the bus is idle, and it features a priority arbitration mechanism to ensure timely transmission of high-priority data. Its built-in error detection and fault isolation mechanisms, such as Cyclic Redundancy Check (CRC) and bit stuffing, effectively guarantee the integrity and reliability of data transmission, reducing the risk of system failures due to communication errors.

[0058] Based on this, the communication network adopts a ring topology. A ring topology refers to a network where nodes are connected via point-to-point links to form a closed loop. In this structure, data signals can be transmitted unidirectionally or bidirectionally along the loop. For CAN bus networks, a ring topology provides higher redundancy and reliability. Specifically, when a communication link or node in the loop fails, data can continue to be transmitted in the other direction of the loop, thus avoiding a single point of failure that could paralyze the entire network. This redundancy design is particularly important in environments like the 100-meter slag discharge channel 2 of the tunnel boring machine, where on-site maintenance is difficult, significantly improving system availability and continuous operation. In implementation, this can be achieved by integrating a CAN transceiver and corresponding routing or bypass logic within each swing blade unit 1, or through external redundant link design, ensuring that communication between the central coordinating controller and the remaining swing blade units 1 can be maintained even if some links are interrupted.

[0059] Through the aforementioned communication network, the central coordinating controller can accurately and in real-time transmit independent swing commands for each swing blade unit 1, calculated based on flow field state parameters acquired by the sensor array, to the corresponding drive module 5. These commands typically include key parameters such as swing angle, frequency, and phase. Simultaneously, the network is also responsible for efficiently transmitting real-time status data such as swing resistance torque and actual swing angle from the monitoring modules of each swing blade unit 1 (e.g., torque sensors and angle encoders), as well as the operating status information of the drive module 5, back to the central coordinating controller. This bidirectional, real-time data flow is the key foundation for enabling multiple swing blade units 1 to coordinate their movements in space and time, forming a mechanical propulsion wave.

[0060] Through the above technical solution, a highly reliable and real-time ring topology CAN bus network is established between the central coordinating controller and each swing blade unit 1. This network utilizes the inherent anti-interference capability and error detection mechanism of the CAN bus to effectively cope with the harsh electromagnetic environment and vibration within the slag discharge channel 2 of the tunnel boring machine 100, ensuring the accurate issuance of independent swing commands and the reliable transmission of monitoring data. The ring topology further enhances the redundancy and fault tolerance of the communication links. Even if some communication links or nodes fail, the system can still maintain communication through backup paths, avoiding coordination failures caused by communication interruptions. This stable and reliable communication ensures that the central coordinating controller can accurately control the movement of each swing blade unit 1 in real time and obtain its status feedback in a timely manner, thereby achieving a high degree of spatial and temporal coordination among multiple swing blade units 1, precisely forming a mechanical propulsion wave propagating in a predetermined direction. This not only improves the efficiency of slag transportation and reduces the risk of pipeline blockage, but also significantly enhances the operational stability and reliability of the entire intelligent coordinating slag discharge device under complex working conditions.

[0061] This application further proposes that the central coordinating controller is configured to perform the following steps to generate a target fluctuation control waveform: based on data from the sensor array, calculate the slag flowability index and the pipeline blockage risk index in real time; based on the slag flowability index and the blockage risk index, query or infer a set of target waveform parameters, including fluctuation frequency, amplitude, wave number and action phase difference between adjacent units; and based on the target waveform parameters, generate angle control commands for each swing blade unit 1 in the time sequence.

[0062] Specifically, "real-time calculation of the slag flowability index and pipeline blockage risk index" refers to the central coordinating controller continuously receiving real-time data from the sensor array, such as pressure, flow velocity, and concentration parameters measured by pressure sensors and Doppler sensors. The slag flowability index is a quantitative indicator measuring the ease with which slag flows within the slag discharge channel 2. Its calculation can comprehensively consider factors such as slag concentration, moisture content, flow velocity, and pressure gradient along the channel. For example, when the flow velocity is high, the pressure gradient is low, and the concentration is moderate, the flowability index is high; conversely, when the flow velocity decreases, the pressure gradient increases, or the concentration is too high, the flowability index decreases. The pipeline blockage risk index is used to assess the likelihood of blockage in the slag discharge channel 2. Its calculation can be based on abnormal conditions such as abnormally high pressure, abnormally low flow velocity, and localized accumulation of slag concentration. For example, when the pressure value in a certain area is consistently higher than a preset threshold, or the flow velocity is lower than a safe threshold, the blockage risk index will increase accordingly. The real-time calculation of these indices provides a quantitative basis for subsequent waveform parameter decisions.

[0063] Based on this, "querying or inferring a set of target waveform parameters" refers to the central collaborative controller determining a set of fluctuation parameters most suitable for the current operating conditions based on the real-time calculated slag fluidity index and pipeline blockage risk index, using a preset rule base, lookup table, or inference models based on expert systems, fuzzy logic, etc. These parameters include fluctuation frequency, amplitude, wave number, and the phase difference between adjacent oscillating blade units 1. The fluctuation frequency determines the speed of oscillation of oscillating blade unit 1. For example, for slag with good fluidity, a higher frequency may be needed to maintain its flow state; for slag with high viscosity, a lower frequency but stronger propulsion may be needed. The amplitude determines the size of the oscillation of oscillating blade unit 1. Generally, a larger amplitude is selected when the blockage risk is high or strong propulsion is required. The wave number describes the spatial distribution characteristics of the mechanical wave formed in the slag discharge channel 2, affecting the continuity and range of the propulsion wave. The phase difference between adjacent units determines the timing relationship between the actions of each oscillating blade unit 1. By adjusting the phase difference, a forward-propelling traveling wave, a backward-pulling reverse wave, or a synchronous disturbance wave can be formed to adapt to different slag discharge requirements.

[0064] Ultimately, "generating angle control commands for each oscillating blade unit 1 in a time series based on the target waveform parameters" means that the central coordinating controller transforms the aforementioned determined target waveform parameters into specific oscillation angle values ​​that each oscillating blade unit 1 should achieve at a specific time point using mathematical models (such as sine functions, piecewise functions, etc.). These angle values ​​constitute a control command in a time series. For example, for the oscillation of a sine waveform, the command specifies the target angle of blade 3 at each sampling time. These detailed angle control commands are then sent to the drive module 5 of each oscillating blade unit 1 to precisely control the reciprocating oscillation of blade 3.

[0065] Through the aforementioned technical solution, the central collaborative controller can perceive the condition of the slag in the slag discharge channel 2 in real time and intelligently adjust the slag discharge strategy based on the slag's fluidity and potential blockage risk. Specifically, by calculating the slag fluidity index and pipeline blockage risk index in real time, the system can accurately determine the current operating conditions, avoiding the blindness of traditional fixed-mode slag discharge. Based on this, through a query or inference mechanism, this complex operating information is transformed into specific target waveform parameters such as fluctuation frequency, amplitude, wave number, and phase difference between adjacent units. This ensures that the generated mechanical propulsion wave can optimally adapt to the current slag characteristics, thereby effectively improving slag discharge efficiency, reducing energy consumption, and significantly reducing pipeline blockage. This dynamic adaptive waveform generation mechanism enables the intelligent collaborative slag discharge device to maintain a highly efficient and stable operating state when facing changing geological conditions.

[0066] This application further proposes that the central collaborative controller has multiple control modes pre-stored for different geological conditions, including energy-saving disturbance mode, high-power pumping mode, and local obstacle clearing mode.

[0067] The pre-stored control modes in the central coordinating controller refer to a set of control strategies that have been pre-set, optimized, and verified in the system's internal memory, tailored to specific geological conditions or slag discharge challenges. These modes can exist in the form of lookup tables, rule bases, state machine logic, or pre-trained models. By pre-stored these modes, the system can quickly invoke the most suitable optimization strategy after identifying the current working condition, avoiding calculations or reasoning from scratch each time, thereby significantly improving response speed and control accuracy.

[0068] The energy-saving disturbance mode is an optimization strategy designed for low-viscosity slag conditions. When the slag fluidity index is high and the risk of blockage is low, the central coordinating controller activates this mode. In this mode, the oscillating blade unit 1 is controlled to oscillate synchronously at a relatively high frequency and small amplitude, meaning all blades 3 reciprocate with the same phase angle. This synchronous, high-frequency, small-amplitude disturbance continuously applies slight agitation to the slag, effectively preventing sedimentation or adhesion within the slag discharge channel 2. Simultaneously, due to the small amplitude and absence of propulsion waves, energy consumption is minimized, achieving highly efficient and energy-saving slag discharge.

[0069] The high-power pumping mode is designed to handle high-viscosity slag conditions. When the flow field parameters fed back by the sensor array indicate a low slag flowability index and a high risk of pipeline blockage, the central coordinating controller will switch to this mode. In this mode, the oscillating blade unit 1 is instructed to oscillate at a lower frequency and a larger amplitude, with a fixed negative phase difference between adjacent units. This negative phase difference causes the oscillation motion of each blade 3 to form a continuous mechanical propulsion wave propagating in the direction of slag discharge, similar to the working principle of a peristaltic pump. This can apply a strong thrust to the high-viscosity slag, effectively overcoming its internal friction and adhesion, forcing it to move towards the slag discharge port, thereby significantly improving the conveying efficiency of high-viscosity slag and reducing the risk of blockage.

[0070] The local clearing mode is an emergency response strategy for sudden local blockages. When the monitoring module (e.g., a torque sensor, as described above) of a specific oscillating blade unit 1 reports an abnormally high oscillation resistance torque, it indicates that a local blockage may have occurred in that area. The central coordination controller immediately activates this mode, instructing the abnormal unit and its adjacent units to perform high-frequency micro-vibration or reverse oscillation. High-frequency micro-vibration aims to loosen and break up the blockage through rapid, small-amplitude oscillations; reverse oscillation may relieve the blockage by pulling backward or changing the local flow direction. Meanwhile, to avoid affecting the overall slag discharge process, other oscillating blade units 1 that are not experiencing abnormalities will continue to maintain their current oscillation pattern, ensuring that the rest of the slag discharge channel 2 continues to function normally.

[0071] By pre-storing multiple control modes corresponding to different geological conditions in the central collaborative controller, this application can significantly improve the adaptability and response speed of the intelligent collaborative slag discharge device. When the slag fluidity index and pipeline blockage risk index change, the system no longer needs to rely entirely on real-time calculation to generate waveform parameters, but can quickly match and call the pre-optimized control mode. For example, under low-viscosity slag conditions, the energy-saving disturbance mode effectively prevents slag settling and significantly reduces energy consumption through high-frequency, small-amplitude, and zero-phase-difference synchronous oscillation. Under high-viscosity slag conditions, the powerful pumping mode forms a powerful mechanical propulsion wave through low-frequency, large-amplitude, and fixed negative-phase-difference collaborative oscillation, effectively overcoming the transportation difficulties of high-viscosity slag and significantly improving slag discharge efficiency. In addition, when the monitoring module reports abnormal local resistance, the local obstacle clearing mode can be quickly activated. By performing high-frequency micro-vibration or reverse oscillation on the abnormal unit and its adjacent units, precise and rapid local obstacle clearing is achieved without interrupting the normal slag discharge in other areas, thereby effectively avoiding overall slag discharge interruption or efficiency reduction due to local blockage. This intelligent switching and local intervention mechanism based on pre-stored modes enables the slag removal device to exhibit higher robustness, faster response speed and more optimized energy efficiency when facing complex and ever-changing underground working conditions, thereby comprehensively improving the slag removal efficiency and construction safety of the tunnel boring machine 100.

[0072] In this regard, this application further proposes that the central collaborative controller also includes an adaptive learning module, which is used to record the actual slag discharge efficiency index under different target waveform parameters, and continuously optimize the waveform parameter decision logic based on machine learning algorithms.

[0073] The adaptive learning module is a functional unit within the central coordinating controller, its core function being to endow the system with self-learning and optimization capabilities. It is responsible for collecting and processing data related to the slag removal process and using this data to improve the slag removal strategy. Specifically, the adaptive learning module continuously records the actual slag removal efficiency within slag removal channel 2 under various target waveform parameters (e.g., specific combinations of fluctuation frequency, amplitude, wave number, and phase difference between adjacent units) generated and executed by the central coordinating controller. Actual slag removal efficiency indicators can be obtained in various ways, such as by monitoring the ratio of slag removal volume to tunneling speed, the average flow velocity of slag in slag removal channel 2, the pressure loss in slag removal channel 2, or by comprehensively evaluating the changing trends of slag flow field state parameters (such as pressure, velocity, and concentration) fed back by sensor arrays. These indicators can quantify the effectiveness of the current slag removal strategy. Based on this, the adaptive learning module uses the recorded actual slag removal efficiency indicators as feedback and employs machine learning algorithms to iteratively optimize the decision logic of the central coordinating controller in generating target waveform parameters. For example, reinforcement learning algorithms can be used to treat different combinations of waveform parameters as "actions" and the actual slag discharge efficiency as "rewards." Through continuous trial and error and learning, the waveform parameter combination that maximizes slag discharge efficiency can be found. Alternatively, supervised or unsupervised learning algorithms can be used to analyze the relationship between waveform parameters and slag discharge efficiency in historical data, thereby establishing more accurate predictive models or optimization rules. This optimization is continuous, enabling the system to constantly adjust and improve its slag discharge strategy based on actual operating data to adapt to constantly changing operating conditions. By introducing an adaptive learning module through the above technical solution, which records the actual slag removal efficiency under different target waveform parameters and continuously optimizes the waveform parameter decision logic based on machine learning algorithms, this application effectively solves the problem of insufficient adaptability of traditional slag removal strategies under complex and variable working conditions. Specifically, this module enables the central collaborative controller to no longer rely solely on preset rules or static models to generate slag removal waveforms, but instead learn from actual operating data and dynamically adjust and improve its decision-making strategy. When the tunnel boring machine 100 faces different geological conditions, slag characteristics, or the risk of blockage in the slag removal channel 2, the adaptive learning module can intelligently select or generate the optimal fluctuation control waveform parameters based on historical experience and real-time feedback, thereby significantly improving slag removal efficiency and reducing the risk of blockage. This continuous optimization mechanism ensures that the slag removal device always operates at its best performance, greatly improving the overall operating efficiency and reliability of the tunnel boring machine 100.

[0074] The tunnel boring machine (TBM) 100 is a large-scale engineering machine used for tunnel excavation. Its core function is to excavate using a cutterhead and transport the excavated soil and excavated material out through a muck removal system. The cutterhead is the rotating cutting component at the front end of the TBM 100, responsible for driving the cutting tools to directly excavate the soil. The excavated soil and excavated material first enter the muck removal channel 2 inside the TBM 100 through openings on the cutterhead.

[0075] The shield body has a refueling structure mounting cavity 14. A window 15, penetrating the front face of the shield, is located on the front side of the refueling structure mounting cavity. The tunneling cutter can rotate to align with the window. An oil receiving pit 16 is located at the lower end of the refueling structure mounting cavity. An oil pump 17 and a vertical rotating shaft 18 are installed inside the refueling structure mounting cavity. The surface of the rotating shaft is covered with an elastic oil-absorbing layer 19. When the tunneling cutter passes through the window, it is squeezed against the oil-absorbing layer, transferring the oil from the layer to the tunneling cutter. The inlet end 20 of the oil pump is located in the oil receiving pit, and the outlet end is connected to an oil nozzle 21 located above the oil-absorbing layer, which pours oil onto the upper surface of the oil-absorbing layer. In use, the tunneling cutter squeezes the oil-absorbing layer to coat itself with oil, and then, during tunneling, the lubricating oil is transferred to the soil and mixed within the soil. This ensures complete combustion of the soil during tunnel construction and reduces dust generation during the transfer process, resulting in even oil transfer without waste. Direct spraying of oil is not directly related to the speed of the tunneling cutter; changes in cutter speed can easily lead to oil waste or insufficient supply.

[0076] The refueling structure mounting cavity includes an oil replenishment tank 22 located above the oil receiving pit. An oil outlet pipe 23 is mounted on the bottom wall of the oil replenishment tank. The outlet end of the oil outlet pipe faces upwards and is supported by a spherical tray 24. The tray holds an outlet sealing ball 25 for sealing the oil outlet pipe. The inner surface of the tray has an elastic sealing layer. A lever 27 is hinged within the refueling structure mounting cavity via a hinge pin 26. One end of the lever has a pressing plate 28 for pressing the sealing ball, and the other end has a float 30 floating on the lubricating oil 29 in the oil receiving pit. The lever's lever arm driven by the float is more than ten times the lever arm driven by the sealing ball. The end of the lever connected to the pressing plate is located below the oil replenishment tank. When the lever moves upwards and abuts against the bottom wall of the oil replenishment tank, the sealing ball remains restrained by the pressing plate and the tray, remaining on the tray.

Claims

1. A tunnel boring machine equipped with a muck discharge device, comprising a shield body, a cutterhead rotatably connected to the front end of the shield body, and tunneling cutters rotatably connected to the cutterhead, wherein the shield body is provided with a muck discharge channel for discharging soil excavated by the tunneling cutters, characterized in that, Also includes: Multiple swing blade units are distributedly installed on the inner wall of the slag discharge channel of the tunnel boring machine; Each of the oscillating blade units includes a flexible or articulated blade, a drive module for driving the blade to oscillate back and forth about its axis of rotation, and a monitoring module for monitoring the state of the blade. A sensor array is deployed inside the slag discharge channel to acquire the flow field state parameters of the slag in the channel in real time. A central coordinating controller is communicatively connected to the drive module, monitoring module, and sensor array of all the swing blade units. A refueling structure is installed on the shield body for transferring oil to the tunneling cutter, and the oil is mixed with the soil inside the cutter when the cutter is excavating soil; The central coordinating controller is configured to: calculate and generate a target wave control waveform based on the flow field state parameters acquired by the sensor array, and decompose the waveform into independent swing commands for each swing blade unit; the swing blade unit responds to the independent swing commands to perform actions, so that the swing of multiple swing blade units is coordinated in space and time to form a mechanical propulsion wave propagating in a predetermined direction in the slag in the slag discharge channel.

2. A tunnel boring machine equipped with a slag discharge device according to claim 1, characterized in that, The sensor array includes a macroscopic flow field monitoring layer, which has at least two measuring rings arranged at intervals along the axial direction of the slag discharge channel. Each measuring ring has multiple measuring points arranged in the circumferential direction. Each measuring point integrates a pressure sensor for detecting pressure and a Doppler sensor for detecting flow rate and concentration. The monitoring module includes a torque sensor and an angle encoder integrated on each of the swing blade units for real-time feedback of the swing resistance torque and actual swing angle of the corresponding blade.

3. A tunnel boring machine equipped with a slag discharge device according to claim 1, characterized in that, The drive module includes a miniature linear servo motor; the drive module is connected to the blade through a transmission mechanism, the transmission mechanism includes an eccentric wheel disposed on the output shaft of the drive module and a rocker arm rotatably connected to the blade, the outer periphery of the eccentric wheel and the rocker arm are slidably connected through a connecting rod.

4. A tunnel boring machine equipped with a slag discharge device according to claim 1 or 3, characterized in that, Each of the oscillating blade units also includes a unit housing, which is sealed to the inner wall of the slag discharge channel. The drive module and the blade shaft bearing are both sealed and housed within the unit housing.

5. A tunnel boring machine equipped with a slag discharge device according to claim 1, characterized in that, The central coordinating controller communicates with each of the swing blade units via a CAN bus network with a ring topology, and is used to issue independent swing commands and collect monitoring data from each unit.

6. A tunnel boring machine equipped with a slag discharge device according to claim 1, characterized in that, The central coordination controller is configured to perform the following steps to generate the target fluctuation control waveform: A. Based on the data from the sensor array, calculate the slag flowability index and pipeline blockage risk index in real time; B. Based on the slag flowability index and the blockage risk index, query or deduce a set of target waveform parameters, including fluctuation frequency, amplitude, wave number and action phase difference between adjacent units; C. Based on the target waveform parameters, generate angle control commands for each of the swing blade units in the time sequence.

7. A tunnel boring machine equipped with a slag discharge device according to claim 6, characterized in that, The central collaborative controller has multiple control modes pre-stored for different geological conditions, including: The energy-saving disturbance mode, corresponding to low-viscosity slag, controls the swing blade unit to swing synchronously in a high-frequency, small-amplitude, and zero-phase-difference manner. In the high-power pumping mode, which is designed for highly viscous slag, the oscillating blade unit is controlled to oscillate at a low frequency, with a large amplitude and a fixed negative phase difference, in order to form a propulsion wave that propagates in the direction of slag discharge. In the local obstacle clearing mode, when the torque sensor of a specific unit reports abnormal resistance, the abnormal unit and its adjacent units are controlled to perform high-frequency micro-vibration or reverse swinging actions, while maintaining the current fluctuation of other units.

8. A tunnel boring machine equipped with a slag removal device according to claim 1, characterized in that, The shield body is provided with a refueling structure installation cavity. The front side of the refueling structure installation cavity is provided with a window that penetrates the front end face of the shield body. The tunneling cutter can rotate to align with the window. The lower end of the refueling structure installation cavity is provided with an oil receiving pit. The refueling structure installation cavity is provided with an oil pump and a vertical rotating shaft that is rotatably connected to the oil pump. The surface of the rotating shaft is covered with an elastic oil-absorbing layer. When the tunneling cutter passes through the window, it can squeeze the oil-absorbing layer. The inlet end of the oil pump is located in the oil receiving pit, and the outlet end is connected to an oil nozzle located above the oil-absorbing layer to pour oil onto the upper surface of the oil-absorbing layer.

9. A tunnel boring machine equipped with a slag removal device according to claim 8, characterized in that, The refueling structure mounting cavity is equipped with an oil replenishment tank located above the oil receiving pit. The bottom wall of the oil replenishment tank is equipped with an oil outlet pipe. The outlet end of the oil outlet pipe faces upward and is equipped with a spherical tray. The tray holds an outlet sealing ball for sealing the oil outlet pipe. The inner surface of the tray is equipped with an elastic sealing layer. A lever is hinged in the refueling structure mounting cavity via a hinge shaft. One end of the lever is equipped with a pressing plate for pressing the sealing ball, and the other end of the lever is equipped with a float ball floating on the lubricating oil in the oil receiving pit. The lever arm driven by the float ball is more than ten times the lever arm driven by the sealing ball.

10. A tunnel boring machine equipped with a slag discharge device according to claim 9, characterized in that, One end of the lever connected to the pressing plate is located below the oil tank; when the lever moves up to abut against the bottom wall of the oil tank, the sealing ball is still restricted by the pressing plate and the tray and is located on the tray.

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