Real-time monitoring feedback compensation device for shield tunnel supporting trolley

Abstract

The utility model discloses a shield tunnel supporting trolley real-time monitoring feedback compensation device, which comprises a trolley frame, a plurality of supporting rods, a plurality of supporting rods and a plurality of supporting rods, the supporting mechanism comprises a plurality of servo hydraulic jacks, and the servo hydraulic jacks are arranged on the outer side of the trolley frame in a surrounding mode; the laser ranging unit comprises a plurality of laser ranging sensors, and the plurality of laser ranging sensors are respectively fixed on the inner side and the outer side of the trolley frame; the laser ranging target point unit comprises a plurality of laser ranging target points, and the plurality of laser ranging sensors correspond to the plurality of laser ranging target points; and the control unit is connected with the plurality of laser distance measuring sensors and the plurality of servo hydraulic jacks and is used for adjusting the supporting force of the servo hydraulic jacks in real time according to the distance data obtained by the laser distance measuring sensors. The tunnel inner wall distance and the trolley frame inner side distance are directly and actually measured, supporting force is provided, deformation of an existing tunnel structure under different geological conditions is effectively controlled, real-time regulation and control are achieved, and control is accurate.

Description

TECHNICAL FIELD

[0001] The utility model relates to a tunnel construction equipment technical field especially relates to a shield tunnel support platform car real -time monitoring feedback compensation device. BACKGROUND

[0002] At present, the platform car generally adopts fixed support force or equal proportion support force in shield tunnel construction, but in the construction of new shield tunnel crossing and under different geological conditions, the additional stress borne by the existing tunnel will change in real time. When the fixed support force is greater than the stress borne by the tunnel, the shield segment of the existing tunnel will be damaged by tension; when the fixed support force is less than the stress borne by the tunnel, the shield segment of the existing tunnel will be compressed too much, causing the existing structure to exceed the safety control range, resulting in serious consequences. If the same proportion of support force is still used when the mechanical properties of the soil on both sides of the tunnel are different, it is easy to lead to the deviation and damage of the tunnel structure, and the support force cannot effectively control the deformation of the existing tunnel structure under different geological conditions. The support force used is only applicable to the process of horizontal small distance excavation, and cannot be applied to overlapping, orthogonal and side crossing construction conditions. In addition, it lacks intelligent and data driving capability, and the control parameters depend on experience or numerical simulation preset, which cannot adapt to complex construction environment or sudden conditions, and cannot realize longitudinal uneven settlement control.

[0003] In summary, the prior art cannot real-time regulate and control the deformation of the existing tunnel structure, therefore, it is an urgent need in the field of safety of urban rail transit close construction to develop a support system that can real-time monitor and simultaneously correct and compensate. UTILITY MODEL CONTENT

[0004] In view of the deficiencies of the prior art, the utility model aims at providing a shield tunnel support platform car real-time monitoring feedback compensation device.

[0005] In order to achieve the above-mentioned purpose, the technical scheme provided by an embodiment of the utility model is as follows:

[0006] A shield tunnel support platform car real-time monitoring feedback compensation device, comprising:

[0007] A platform car frame, which is through from front to back and has an open bottom;

[0008] A support mechanism, which comprises a plurality of servo hydraulic jacks, the plurality of servo hydraulic jacks are arranged on the outer side of the platform car frame, the servo hydraulic jack comprises a bearing support, a flange plate connected with the bearing support, a hydraulic rod capable of moving in the bearing support and an arc-shaped foot support connected with the hydraulic rod, the flange plate is fixed on the outer side of the platform car frame, the bearing support is provided with an electro-hydraulic servo valve and a displacement sensor, the hydraulic rod is provided with a force sensor, and the arc-shaped foot support abuts against the inner wall of the shield segment;

[0009] laser ranging units, the laser ranging units comprising a plurality of laser ranging sensors, the plurality of laser ranging sensors being fixed to the inner and outer sides of the trolley frame respectively;

[0010] laser ranging target units, the laser ranging target units comprising a plurality of laser ranging targets, the plurality of laser ranging sensors corresponding to the plurality of laser ranging targets;

[0011] a control unit connected to the plurality of laser ranging sensors and the plurality of servo hydraulic jacks, for adjusting the support force of the servo hydraulic jacks in real time according to the distance data obtained by the laser ranging sensors.

[0012] As a further improvement of the utility model, the number of servo hydraulic jacks is seven, one of the servo hydraulic jacks is located on the outer side of the vault of the trolley frame, and the rest of the servo hydraulic jacks are divided into two groups, each group comprising three servo hydraulic jacks, and the three servo hydraulic jacks of each group are located on the outer side of the haunch, the outer side of the waist, and the outer side of the foot of the trolley frame respectively.

[0013] As a further improvement of the utility model, the interval between adjacent servo hydraulic jacks in each group is 45°, and the interval between the servo hydraulic jack located on the outer side of the vault of the trolley frame and the servo hydraulic jack located on the outer side of the haunch of the trolley frame is 45°.

[0014] As a further improvement of the utility model, the plurality of laser ranging sensors are divided into two groups, one group comprising four laser ranging sensors and being located on the inner side of the trolley frame, and the other group comprising seven laser ranging sensors and being located on the outer side of the trolley frame, and the number of laser ranging targets is eleven, three of which are located on the inner side of the trolley frame, and the other eight are located on the inner wall of the shield segment.

[0015] As a further improvement of the utility model, the four laser ranging sensors of one group are located on the inner side of the vault, one of the inner sides of the waist, and two of the inner sides of the foot of the trolley frame respectively, the seven laser ranging sensors of the other group are located beside the seven servo hydraulic jacks respectively, three of the laser ranging targets are located on the other inner side of the waist and two of the inner sides of the haunch of the trolley frame respectively, and the other eight laser ranging targets correspond one-to-one to one laser ranging sensor located on the inner side of the vault of the trolley frame and the seven laser ranging sensors located on the outer side of the trolley frame respectively.

[0016] As a further improvement of the utility model, the bottom of the trolley frame is provided with a plurality of trolley wheel groups, and the trolley wheel groups are provided with wheel locking devices.

[0017] As a further improvement of the utility model, the inner wall bottom of the shield segment is provided with a trolley running platform, and the trolley wheel groups are located on the trolley running platform.

[0018] As a further improvement of the utility model, the plurality of laser ranging sensors and the plurality of servo hydraulic jacks are respectively connected with the control unit through data transmission lines.

[0019] The utility model has the advantages of:

[0020] (1) through the corresponding cooperation of the plurality of laser ranging sensors and the plurality of laser ranging target points, the tunnel inner wall distance and the trolley frame inside distance are directly measured, the corresponding servo hydraulic jack outputs corresponding support force according to the size of deformation, and the deformation of the existing tunnel structure under different geological conditions is effectively controlled, and the support force can be suitable for various construction conditions.

[0021] (2) real-time closed loop and real-time regulation can be realized, control is more accurate, and control accuracy can reach ± 2kN.

[0022] (3) the full section adopts laser ranging sensor array, the radial measurement resolution is 0.1mm, the sampling frequency is 5Hz, the manual single-point measurement of total station instrument is improved by 4 orders of magnitude, local depression <1mm can be identified, shield segment crushing caused by shield segment stress concentration is avoided, and safety is ensured.

[0023] (4) three-dimensional deformation can be solved at one time, the top diameter convergence value, lateral offset and joint opening amount are greatly reduced, and the 'ring + lateral' composite deformation is solved at one time. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0025] Figure 1 It is the structure schematic view of the preferred embodiment of the utility model;

[0026] Figure 2 It is the front view of the preferred embodiment of the utility model;

[0027] Figure 3The structural schematic view of the servo hydraulic jack of the preferred embodiment of the utility model;

[0028] Figure 4 The circumferential stress nephogram of the shield segment when the support trolley is not intervened;

[0029] Figure 5 The circumferential stress nephogram of the shield segment when the support trolley is intervened;

[0030] In the figure: 1, trolley frame, 11, trolley wheel set, 12, wheel lock, 2, control unit, 3, servo hydraulic jack, 31, bearing support, 32, flange plate, 33, hydraulic rod, 34, arc-shaped foot support, 35, electro-hydraulic servo valve, 36, displacement sensor, 37, force sensor, 4, laser ranging sensor, 5, laser ranging target point, 6, shield segment, 61, trolley running platform, 7, data transmission line. DETAILED DESCRIPTION

[0031] In order to make the personnel in the technical field better understand the technical scheme in the utility model, the technical scheme in the utility model embodiment will be described clearly and completely in combination with the drawings in the utility model embodiment below. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor should belong to the protection scope of the utility model.

[0032] Please refer to Figure 1 、 Figure 2 The embodiment of the application discloses a shield tunnel support trolley real-time monitoring feedback compensation device, which comprises a trolley frame 1, a support mechanism, a laser ranging unit, a laser ranging target point unit and a control unit 2. The trolley frame 1 is through from front to back and has an opening at the bottom. The support mechanism comprises a plurality of servo hydraulic jacks 3, and the plurality of servo hydraulic jacks 3 are arranged on the outer side of the trolley frame 1 in a surrounding manner. The laser ranging unit comprises a plurality of laser ranging sensors 4, and the plurality of laser ranging sensors 4 are respectively fixed to the inner and outer sides of the trolley frame 1. The laser ranging target point unit comprises a plurality of laser ranging target points 5, the plurality of laser ranging sensors 4 correspond to the plurality of laser ranging target points 5, and the laser ranging target points 5 are target points for laser ranging. The control unit 2 is connected with the plurality of laser ranging sensors 4 and the plurality of servo hydraulic jacks 3, and is used for adjusting the support force of the servo hydraulic jack 3 in real time according to the distance data obtained by the laser ranging sensor 4.

[0033] The number of servo hydraulic jacks 3 is seven, one of which is located on the outside of the vault of the trolley frame 1, and the rest are divided into two groups, each group including three servo hydraulic jacks 3, and each group of three servo hydraulic jacks 3 is located on the outside of the haunch, the waist and the foot of the trolley frame 1.

[0034] The interval between the adjacent servo hydraulic jacks 3 in each group is 45°, and the interval between the servo hydraulic jack 3 located on the outside of the vault of the trolley frame 1 and the servo hydraulic jack 3 located on the outside of the haunch of the trolley frame 1 is 45°.

[0035] The plurality of laser ranging sensors 4 are divided into two groups, one of which includes four laser ranging sensors 4 and is located on the inside of the trolley frame 1, and the other of which includes seven laser ranging sensors 4 and is located on the outside of the trolley frame 1, and the number of laser ranging targets 5 is eleven, three of which are located on the inside of the trolley frame 1, and the other eight are located on the inner wall of the shield segment 6.

[0036] The four laser ranging sensors 4 in one group are respectively located on the inside of the vault, one of the waists, and two of the feet of the trolley frame 1, and the seven laser ranging sensors 4 in the other group are respectively located beside the seven servo hydraulic jacks 3, three of the laser ranging targets 5 are respectively located on the other waist and two haunches of the trolley frame 1, and the other eight laser ranging targets 5 are respectively corresponding to one laser ranging sensor 4 located on the inside of the vault of the trolley frame 1 and the seven laser ranging sensors 4 located on the outside of the trolley frame 1. In this embodiment, the laser ranging target 5 is a sticker, which is pasted on the inside of the trolley frame 1 and the inner wall of the shield segment 6.

[0037] In an embodiment, please refer to Figure 3 The servo hydraulic jack 3 includes a bearing support 31, a flange plate 32 connected with the bearing support 31, a hydraulic rod 33 capable of moving in the bearing support 31, and an arc-shaped foot support 34 connected with the hydraulic rod 33, the flange plate 32 is fixed to the outside of the trolley frame 1, the bearing support 31 is provided with an electro-hydraulic servo valve 35 and a displacement sensor 36, the hydraulic rod 33 is provided with a force sensor 37, and the arc-shaped foot support 34 abuts against the inner wall of the shield segment 6. The flow rate and pressure are accurately controlled by the electro-hydraulic servo valve 35, and the displacement and force of the hydraulic rod 33 are fed back in real time by the displacement sensor 36 and the force sensor 37. Preferably, the flange plate 32 is fixed to the trolley frame 1 by bolts, and the arc-shaped foot support 34 is connected with the hydraulic rod 33 by welding.

[0038] In order to facilitate the movement of the trolley frame 1 in the shield segment 6, preferably the bottom of the trolley frame 1 is provided with a plurality of trolley wheel sets 11, and the trolley wheel sets 11 are provided with wheel locks 12. Rolling is achieved through the trolley wheel sets 11, and locking or releasing of the trolley wheel sets 11 is achieved through the wheel locks 12. The inner wall bottom of the shield segment 6 is provided with a trolley running platform 61, and the trolley wheel sets 11 are located on the trolley running platform 61. The trolley running platform 61 further improves the stability and convenience of the trolley wheel sets 11 running.

[0039] Please refer to Figure 1 The plurality of laser ranging sensors 4 and the plurality of servo hydraulic jacks 3 are respectively connected to the control unit 2 through data transmission lines 7. Only the data transmission lines 7 connecting the laser ranging sensors 4 and the control unit 2 are shown in the figure, and the data transmission lines 7 connecting the servo hydraulic jacks 3 and the control unit 2 are not shown in the figure.

[0040] Preferably, the control unit 2 includes a data processing module, a calculation module and a drive control module. The data processing module is used to convert the distance data collected by the laser ranging sensors 4 into deformation, the calculation module is used to calculate the required support force based on the deformation, and the drive control module is used to output a PWM signal for controlling the servo hydraulic jacks 3 to output the support force.

[0041] The support trolley can exert a support force on the shield segment of the existing tunnel, reduce the misalignment deformation between adjacent shield segments, and also reduce the disturbance caused by the upper tunnel excavation to the lower tunnel, thereby ensuring the safety of the existing tunnel. When the device is in use, first, the real-time distance data between the deformation inside the trolley frame 1 of the support trolley and the deformation of the inner wall of the shield segment 6 of the tunnel is obtained through the plurality of laser ranging sensors 4. Then, based on the distance data, the calculation module calculates the deviation between the current cross-sectional shape of the shield segment 6 of the tunnel and the initial cross-sectional shape, obtaining the deformation, which includes: the ring convergence; the longitudinal settlement trend, which is obtained by fitting the axis change through a multi-point ranging array; local protrusions or depressions, which are identified by fitting the curvature change of the cross section. Furthermore, the drive control module calculates the required support force of each servo hydraulic jack 3 according to the deformation and a preset control strategy, controls the servo hydraulic jack 3 to output the corresponding support force, and realizes active support of the tunnel structure. The PWM signal output by the drive control module is transmitted to the electro-hydraulic servo valve 35, and the flow rate and pressure of the hydraulic oil flowing into the load bearing 31 of the servo hydraulic jack 3 are accurately controlled through the electro-hydraulic servo valve 35, realizing the accurate output of the support force of the servo hydraulic jack 3. The preset control strategy includes: when the deformation in a certain direction exceeds 5mm, the servo hydraulic jack 3 in that direction acts to output the target support force; when the deformation exceeds 8mm, the support force response frequency is increased, i.e. the monitoring frequency is increased and the number of support force changes is increased; when the deformation tends to be stable, the support force is gradually reduced to save energy. Finally, the previous process is executed in a loop to realize closed-loop control.

[0042] In particular, before the upper shield machine excavates, the lower tunnel is first installed with the front ten-ring support trolley. At this time, the servo hydraulic jack 3 is not pressurized, no load is applied to the shield segment 6, the convergence value of the shield segment 6 is collected in real time by the laser ranging sensor 4 on the support trolley, and the initial cross section (x ref , y ref , R ref ) is recorded as the subsequent deviation reference. When the upper shield machine excavates to the center position of the ten-ring support trolley that has been installed in the lower tunnel, that is, the junction between the fifth ring support trolley and the sixth ring support trolley, at this time the shield segment 6 is deformed as observed by the laser ranging sensor 4, the laser ranging sensor array outputs the radial distance at a frequency of 5 Hz, and the control unit 2 is used to fit the real-time center (x0, y0) and radius R0 to calculate the ring convergence AR = R ref – R0, the lateral offset Ax = x0 – x ref , Ay = y0 – y ref ; at the same time, the longitudinal curvature Ak is fitted by using the center offset of the adjacent five rings, and the “three-dimensional deformation vector” A = [AR, Ax, Ay, Ak] is reconstructed. The control servo hydraulic jack 3 starts to apply load to the shield segment 6, the PWM signal drives the electro-hydraulic servo valve 35, the valve core displacement is proportional to the target displacement δ target , the high-pressure oil enters the load-bearing support 31 of the servo hydraulic jack 3 to make the hydraulic rod 33 extend or retract, and the shield segment 6 is pushed in real time; at the same time, the displacement sensor 36 feeds back the actual stroke L actual of the hydraulic rod 33 to the displacement outer ring, and the force sensor 37 feeds back the actual force F actual to the force inner ring, to realize 200 ms period closed-loop correction, until |δ target – L actual | ≤ 0.15 mm and |F target – F actual | ≤ 2 kN, F target is the target force, and the convergence value of the shield segment 6 is collected in real time by the laser ranging sensor 4 on the support trolley for real-time adjustment. The upper shield machine excavates one ring forward each time, and the support trolley moves one ring forward in the lower tunnel, so that the upper shield machine is always excavated in the middle position of the support trolley reinforcement area of the lower tunnel, to relieve the vertical displacement and longitudinal gradient of the lower tunnel lining at the corresponding position of the upper shield machine, that is, to solve the problem of the overall tunnel floating or sinking underground, and to solve the problems of the shield segment being out of position, uneven up and down, and the like in the extension direction of the tunnel, and to solve the problem of insufficient bending and shearing strength of the longitudinal bolt of the lower tunnel lining during the construction of the upper tunnel.

[0043] The supporting trolley implementation process and implementation effects of the application are described in detail below in combination with examples.

[0044] Example one: a certain subway shield construction section, using a 6.83 m diameter earth pressure balance shield machine, shield segment outer diameter 6.6 m, inner diameter 5.9 m, segment width 1.2 m, lower tunnel buried depth 18 m, upper tunnel buried depth 10 m, tunnel net distance about 1.6 m. The overall construction process adopts the construction sequence of "first down and then up". The supporting trolley parameters are: 11 laser ranging sensors, sampling 5 Hz, resolution 0.1 mm; 7 servo hydraulic jacks, single 0-120 kN, control accuracy ±2 kN. Relative buried depth h / D = 10 / 6.6 = 1.52, relative net distance d / D = 1.6 / 6.6 = 0.24, shield thrust 0.12 MPa. Before the upper tunnel reaches the overlapping section, the ten-ring supporting trolley in front of the lower tunnel overlapping section is installed first, when the upper shield machine excavates to the center position of the ten-ring supporting trolley installed in the lower tunnel, the supporting trolley in the lower tunnel moves forward by one ring every time the upper shield machine excavates by one ring, so that the upper shield machine always excavates in the middle position of the supporting trolley reinforcement area of the lower tunnel, to relieve the vertical displacement longitudinal gradient of the lower tunnel lining at the corresponding position of the upper shield machine. Among them, the servo hydraulic jack at the vault: initial 20 kN, peak 80 kN; the servo hydraulic jack at the spandrel and spandrel foot: initial 10 kN, peak 40 kN; the servo hydraulic jack at the haunch: initial 0 kN, peak 10 kN; closed loop period 200 ms, force rising rate 15 kN / s.

[0045] The experimental results are verified by full-size field section: set up plane traverse measurement, connect the control points near the starting well with the control points near the receiving well to form the attached traverse when the tunnel is connected through the construction shaft. When there is a connecting passage between the tunnels, the attached route or node network is formed through the connecting passage. According to the “Code for Engineering Survey of Urban Rail Transit” GB / T50308—2017, the diameter is measured automatically by Lecia-TS15 total station (precision 1″, 1.0mm+1.5ppm), each observation is measured twice, the sum of the average values of the left and right angles is less than 4″, and the direction is changed at two different disc positions when the left and right angles are observed. The length is measured back and forth, and the difference between the average values of the two measurements is less than 4mm. When the tunnel is excavated to 1 / 3, 2 / 3 of the full length and less than 100m from the breakthrough face, the underground control points are fully measured with the same accuracy to determine their correctness and reliability. Underground plane control points can be measured at any time during construction as needed in addition to full measurement at the above three stages. The data shows that after the intervention of the support trolley, the ring convergence decreases from 13±0.7mm to 3.2±0.4mm, the joint opening decreases from 1.8±0.3mm to 0.35±0.05mm, the peak value of longitudinal settlement rate decreases from 0.18±0.03mm / circle to 0.12±0.02mm / circle, the force response time is only 196±18ms, and the control accuracy is ±1.8kN, all of which meet the control requirements and verify that it is controllable under complex conditions with small spacing.

[0046] Finite element analysis: a three-dimensional finite element software ABAQUS is used to establish a three-dimensional model to simulate the overlapping tunnels, and the influence boundary of the model is more than 3 times the diameter of the tunnel. The model size xyz is 100m × 50m × 40m respectively, the top surface of the model is a free boundary, the bottom is additionally constrained, and the remaining four surfaces are constrained in the normal direction. Each layer of soil, grouting layer and shield segment are simulated by C3D8R eight-node solid element, the shield shell is simulated by S4 four-node surface general shell element, the soil constitutive uses Mohr-Coulomb model, and the 12th ring of the overlapping section is taken as the monitoring section. When the support trolley is not involved, the compression on both sides of the arch waist is the most obvious, and the maximum stress reaches 10179N, please refer to Figure 4 ; since the weight of the support trolley needs to be applied to the shield segment, the scheme of adding the support trolley will increase the stress at the arch bottom, and the stress on both sides of the arch waist will decrease significantly when the support trolley is added compared with synchronous grouting, from 10179N to 8044N, a decrease of 21%, please refer to Figure 5 , adding support trolley will significantly reduce the ring stress on both sides of the arch waist and the arch top.

[0047] Example 2: Deeply buried small clear distance end point verification, shield segment is an electric power tunnel with an outer diameter of 8.8 m, a buried depth of 26.4 m, and a clear distance of 0.88 m. The relative buried depth h / D = 26.4 / 8.8 = 3.0, and the relative clear distance d / D = 0.88 / 8.8 = 0.1. The support trolley parameters are as follows: 7 servo hydraulic jacks with a maximum of 120 kN, 11 laser ranging sensors with a sampling rate of 5 Hz and a resolution of 0.1 mm. Due to the small relative clear distance, to ensure safety, the support trolley of the lower tunnel is installed in the front twelve rings of the overlapping section before the upper tunnel reaches the overlapping section. When the upper shield machine excavates to the center position of the twelve-ring support trolley of the lower tunnel, the support trolley in the lower tunnel moves forward by one ring for each forward excavation of the upper shield machine. The upper shield machine is always excavated in the middle position of the support trolley reinforcement area of the lower tunnel, solving the problem of insufficient bending and shearing strength of the longitudinal bolts of the lower tunnel lining during construction. All the inner support servo hydraulic jacks are initially set to be higher, with the servo hydraulic jacks at the vault being initially set to 40 kN and having a peak value of 120 kN, the servo hydraulic jacks at the haunches and spandrels being initially set to 25 kN and having a peak value of 80 kN, and the servo hydraulic jacks at the haunches being initially set to 5 kN and having a peak value of 20 kN. The closed loop period is 200 ms, ensuring a 20 kN / s speed. The experimental results are as follows: the ring convergence is 4.8 mm, which is 64% less than 13.5 mm without the support trolley; the joint opening is 0.42 mm, with no leakage; and the longitudinal curvature Δκ is reduced by 35%. The above results verify that the deeply buried high soil pressure end point is still controllable.

[0048] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended to encompass all changes falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be regarded as limiting the claims to which they relate.

[0049] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A shield tunnel support trolley real-time monitoring feedback compensation device, characterized in that, The utility model provides a kind of shield tunneling machine, including: Trolley frame, the trolley frame is through front and back and bottom opening; Supporting mechanism, the supporting mechanism includes multiple servo hydraulic jacks, multiple the servo hydraulic jacks are arranged around the outside of the trolley frame, the servo hydraulic jack includes bearing support, flange plate connected with the bearing support, hydraulic rod can be moved in the bearing support and arc foot support connected with the hydraulic rod, the flange plate is fixed to the outside of the trolley frame, the bearing support is provided with electro-hydraulic servo valve and displacement sensor, force sensor is provided on the hydraulic rod, and the arc foot support is in contact with the inner wall of shield segment; Laser ranging unit, the laser ranging unit includes multiple laser ranging sensors, and multiple laser ranging sensors are respectively fixed to the inside and outside of the trolley frame; Laser ranging target point unit, the laser ranging target point unit includes multiple laser ranging targets, and multiple laser ranging sensors correspond to multiple laser ranging targets; Control unit, connected with multiple laser ranging sensors and multiple servo hydraulic jacks, for adjusting the supporting force of the servo hydraulic jack in real time according to the distance data obtained by the laser ranging sensor.

2. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 1, characterized in that, The number of the servo hydraulic jack is seven, one of the servo hydraulic jack is located on the outside of the trolley frame, and the rest of the servo hydraulic jack is divided into left and right groups, each group includes three servo hydraulic jacks, and each group of three servo hydraulic jacks is respectively located on the outside of the trolley frame.

3. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 2, characterized in that, The interval between adjacent servo hydraulic jacks in each group is 45 °, and the interval between the servo hydraulic jack located on the outside of the trolley frame and the servo hydraulic jack located on the outside of the trolley frame is 45 °.

4. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 2, characterized in that, Multiple laser ranging sensors are divided into two groups, one group includes four laser ranging sensors and is located on the inside of the trolley frame, and the other group includes seven laser ranging sensors and is located on the outside of the trolley frame, and the number of laser ranging targets is eleven, three of which are located on the inside of the trolley frame, and the other eight are located on the inner wall of the shield segment.

5. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 4, characterized in that, Four laser ranging sensors in one group are respectively located on the inside of the trolley frame, one of the inside of the trolley frame, two inside of the trolley frame, and seven laser ranging sensors in the other group are respectively located beside seven servo hydraulic jacks, three of which are respectively located on the inside of the trolley frame, two inside of the trolley frame, and the other eight are respectively corresponding to one laser ranging sensor on the inside of the trolley frame and seven laser ranging sensors on the outside of the trolley frame.

6. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 1, characterized in that, The bottom of the trolley frame is provided with multiple trolley wheel groups, and the trolley wheel group is provided with a wheel lock.

7. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 6, characterized in that, The inner wall of the shield segment is provided with a trolley running platform at the bottom, and the trolley wheel group is located on the trolley running platform.

8. The real-time monitoring feedback compensation device for a shield tunnel support trolley according to claim 1, characterized in that, The plurality of laser ranging sensors and the plurality of servo hydraulic jacks are respectively connected with the control unit through data transmission lines.

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