Full-face tunnel boring machine empty pushing station-crossing control system

Abstract

The utility model discloses an empty-pushing station-crossing control system for a full-face tunnel boring machine, which is characterized in that a three-dimensional scanning imaging module is provided with a three-dimensional laser scanner, and the three-dimensional scanning imaging module performs three-dimensional imaging on the full-face tunnel boring machine and a tunnel environment through the three-dimensional laser scanner; the attitude acquisition module is provided with a gyroscope, and the attitude acquisition module monitors attitude data of the heading machine through the gyroscope; the driving module is provided with a driving motor, and the driving module drives the full-face tunnel boring machine empty-pushing station-crossing equipment to advance through the driving motor; the lifting adjusting module is provided with a lifting hydraulic adjusting cylinder, and the lifting adjusting module adjusts the height of an oil pressure stabilizing mechanism of the null-push station-crossing equipment of the heading machine through the lifting hydraulic adjusting cylinder. The steering module is provided with electric steering universal wheels, and the steering module adjusts the advancing direction of the full face tunnel boring machine empty pushing station crossing equipment through the electric steering universal wheels. According to the utility model, the efficiency and safety of idle pushing station crossing of the heading machine are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of full-face tunnel boring machine empty push through station control systems, belong to boring machine technical field. BACKGROUND

[0002] Full-face tunnel boring machine empty push through station refers to in the tunnel construction process, when boring machine completes a tunnel boring to reach station or other specific position, without normal boring operation and segment installation etc.

[0003] Due to the full-face tunnel boring machine bulky, weight is heavy, empty push through station is lost due to the segment constraint and guiding effect, the attitude control of equipment is increased in difficulty, and deviation, inclination, tumbling etc. It is prone to occur, leading to boring machine and temporary passage or station structure collision, damage equipment and structure, there is greater security risk. Therefore, need to be fully controlled in the process of full-face tunnel boring machine empty push through station, surrounding environment and system overall situation, to make a response to emergency. It is necessary to develop a kind of full-face tunnel boring machine empty push through station control scheme. SUMMARY

[0004] Therefore, the utility model provides a kind of full-face tunnel boring machine empty push through station control system to solve the problem that traditional technology is difficult to flexibly control the process of full-face tunnel boring machine empty push through station, and prone to cause accident.

[0005] In order to achieve the above purpose, the utility model provides the following technical scheme: a kind of full-face tunnel boring machine empty push through station control system, including control terminal, three-dimensional scanning imaging module, attitude acquisition module, drive module, lifting adjustment module and steering module;

[0006] The three-dimensional scanning imaging module is electrically connected between the control terminal, and the three-dimensional scanning imaging module is configured with three-dimensional laser scanner, and the three-dimensional scanning imaging module is used for three-dimensional imaging to full-face tunnel boring machine and tunnel environment by the three-dimensional laser scanner;

[0007] The attitude acquisition module is electrically connected between the control terminal, and the attitude acquisition module is configured with gyroscope, and the attitude acquisition module is used for monitoring the attitude data of full-face tunnel boring machine by the gyroscope;

[0008] The drive module is electrically connected between the control terminal, and the drive module is configured with drive motor, and the drive module is used for driving full-face tunnel boring machine empty push through station equipment to travel by the drive motor;

[0009] The lifting adjustment module is electrically connected with the control terminal, and is configured with a lifting hydraulic adjustment cylinder, and is used for adjusting the height of the oil pressure stabilizing mechanism of the full-face tunnel boring machine air pushing through station device through the lifting hydraulic adjustment cylinder.

[0010] The steering module is electrically connected with the control terminal, and is configured with an electric steering universal wheel, and is used for adjusting the advancing direction of the full-face tunnel boring machine air pushing through station device through the electric steering universal wheel.

[0011] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, a camera module is further included, the camera module is electrically connected with the control terminal, and is configured with a camera, and is used for image monitoring the surrounding environment of the full-face tunnel boring machine air pushing through station device through the camera.

[0012] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, a distance detection module is further included, the distance detection module is electrically connected with the control terminal, and is configured with a distance sensor, and is used for detecting the distance between the full-face tunnel boring machine air pushing through station device and the tunnel inner wall through the distance sensor.

[0013] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, an input module is further included, the input module is electrically connected with the control terminal, and is configured with an input keyboard and a mouse, and is used for inputting control instructions of the full-face tunnel boring machine air pushing through station device through the input keyboard and the mouse.

[0014] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, a display module is further included, the display module is electrically connected with the control terminal, and is configured with a display screen, and is used for displaying control results of the full-face tunnel boring machine air pushing through station device through the display screen.

[0015] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, an audible and visual alarm module is further included, the audible and visual alarm module is electrically connected with the control terminal, and is configured with an audible and visual alarm, and is used for safety warning of the full-face tunnel boring machine air pushing through station device through the audible and visual alarm.

[0016] As a preferred scheme of the full-face tunnel boring machine air pushing through station control system, the full-face tunnel boring machine air pushing through station device includes a pushing mechanism and an oil pressure stabilizing mechanism.

[0017] The propulsion mechanism comprises a mounting slot, the inside of which is provided with the driving motor, the inside of which is also provided with a driving roller, a transmission wheel, a transmission unit and an intermediate connecting piece, the propulsion mechanism further comprises a connecting rod, a propulsion rod and a butt joint column; the driving shaft of the driving motor is connected with the driving roller, the edge of the driving roller is formed with driving teeth, and a driving groove is formed between adjacent two driving teeth; the driving groove is used to engage with one end of the transmission unit to drive the transmission unit; the intermediate connecting piece is arranged between adjacent two transmission units, the transmission unit is formed with a connecting groove, the end of the connecting rod is inserted into the connecting groove, and the propulsion rod is fixedly connected with the connecting rod; the butt joint column is fixed to the upper end of the mounting slot.

[0018] The oil pressure stabilizing mechanism comprises the lifting adjusting hydraulic cylinder and the electric steering universal wheel, further comprises a butt joint seat and a tunneling machine supporting plate; the middle part of the butt joint seat is formed with a butt joint groove, the upper part of the butt joint groove is formed with a clamping hole, the propulsion mechanism is connected with the clamping hole of the oil pressure stabilizing mechanism through the butt joint column; the lifting adjusting hydraulic cylinder is arranged at the upper end of the butt joint seat, and the tunneling machine supporting plate is fixed to the top of the driving rod of the lifting adjusting hydraulic cylinder; the electric steering universal wheel is connected to the bottom of the butt joint seat.

[0019] As a preferred solution of the full-face tunnel boring machine empty pushing station control system, the propulsion rod of the propulsion mechanism is matched with the matching hole on the concrete pushing groove reserved in the tunnel construction, so that the propulsion mechanism travels along the concrete pushing groove;

[0020] The mounting slot comprises an outer slot and an inner slot, one end of the transmission unit is in contact with the outer slot through a ball, and the other end of the transmission unit is in contact with the inner slot through a ball;

[0021] Both ends of the inner slot are provided with the transmission wheel, when one end of the transmission unit is separated from the inner slot and slides into the driving groove.

[0022] The utility model has the following advantages: being equipped with control terminal, three -dimensional scanning imaging module, attitude acquisition module, drive module, lift adjustment module and steering module, three -dimensional scanning imaging module and control terminal are electrically connected, three -dimensional scanning imaging module is equipped with three -dimensional laser scanner, three -dimensional scanning imaging module is used for three -dimensional imaging to full face tunnel boring machine and tunnel environment through three -dimensional laser scanner, attitude acquisition module and control terminal are electrically connected, attitude acquisition module is equipped with gyroscope, and attitude acquisition module is used for monitoring the attitude data of full face tunnel boring machine through gyroscope, drive module and control terminal are electrically connected, and drive module is equipped with drive motor, and drive module is used for driving full face tunnel boring machine empty push through station equipment to advance through drive motor, lift adjustment module and control terminal are electrically connected, and lift adjustment module is equipped with lift hydraulic adjusting cylinder, and lift adjustment module is used for adjusting the height of oil pressure stabilizing mechanism of full face tunnel boring machine empty push through station equipment through lift hydraulic adjusting cylinder, steering module and control terminal are electrically connected, and steering module is equipped with electric steering universal wheel, and steering module is used for adjusting the advancing direction of full face tunnel boring machine empty push through station equipment through electric steering universal wheel. The utility model can fully control the surrounding environment and the overall situation of the system in the process that full face tunnel boring machine empty push through station, so as to make a response to the emergency, and improve the efficiency and safety of full face tunnel boring machine empty push through station. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other embodiments can be derived from the provided drawings without creating labor.

[0024] Figure 1 It is the full face tunnel boring machine empty push through station control system architecture schematic diagram provided in the utility model embodiment;

[0025] Figure 2 It is the full face tunnel boring machine empty push through station equipment structure schematic diagram provided in the utility model embodiment;

[0026] Figure 3 It is the full face tunnel boring machine empty push through station equipment push mechanism section schematic diagram provided in the utility model embodiment

[0027] Figure 4 It is the full face tunnel boring machine empty push through station equipment push mechanism overhead schematic diagram provided in the utility model embodiment;

[0028] Figure 5The concrete pushing groove reserved for the tunnel construction is shown in the schematic diagram.

[0029] In the figure, 1, control terminal; 2, three-dimensional scanning imaging module; 3, attitude acquisition module; 4, driving module; 5, lifting adjustment module; 6, steering module; 7, three-dimensional laser scanner; 8, gyroscope; 9, driving motor; 10, lifting hydraulic adjustment cylinder; 11, electric steering universal wheel; 12, camera module; 13, camera; 14, distance detection module; 15, distance sensor; 16, input module; 17, input keyboard; 18, mouse; 19, display module; 20, display screen; 21, audible and light alarm module; 22, audible and light alarm; 23, mounting groove; 24, driving roller; 25, transmission wheel; 26, transmission unit; 27, intermediate connecting piece; 28, adapter rod; 29, pushing rod; 30, butt joint clamping column; 31, driving tooth; 32, adapter groove; 33, butt joint seat; 34, tunnel boring machine supporting plate; 35, butt joint groove; 36, clamping hole; 37, concrete pushing groove; 38, outer groove; 39, inner groove; 40, driving groove. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0031] Reference Figure 1 The embodiment of the present application provides a kind of full-face tunnel boring machine empty push station control system, including control terminal 1, three-dimensional scanning imaging module 2, attitude acquisition module 3, driving module 4, lifting adjustment module 5 and steering module 6;

[0032] Wherein, three-dimensional scanning imaging module 2 and control terminal 1 are electrically connected, three-dimensional scanning imaging module 2 is equipped with three-dimensional laser scanner 7, three-dimensional scanning imaging module 2 is used to carry out three-dimensional imaging to full-face tunnel boring machine and tunnel environment by three-dimensional laser scanner 7;

[0033] Wherein, attitude acquisition module 3 and control terminal 1 are electrically connected, attitude acquisition module 3 is equipped with gyroscope 8, attitude acquisition module 3 is used to monitor the attitude data of full-face tunnel boring machine by gyroscope 8;

[0034] Wherein, driving module 4 and control terminal 1 are electrically connected, driving module 4 is equipped with driving motor 9, and driving module 4 is used to drive full-face tunnel boring machine empty push station equipment to travel by driving motor 9.

[0035] The lifting adjustment module 5 is electrically connected with the control terminal 1, and the lifting adjustment module 5 is provided with a lifting hydraulic adjusting cylinder 10. The lifting adjustment module 5 is used for adjusting the height of the oil pressure stabilizing mechanism of the full-face tunnel boring machine air pushing through the station device through the lifting hydraulic adjusting cylinder 10.

[0036] The steering module 6 is electrically connected with the control terminal 1, and the steering module 6 is provided with an electric steering universal wheel 11. The steering module 6 is used for adjusting the advancing direction of the full-face tunnel boring machine air pushing through the station device through the electric steering universal wheel 11.

[0037] Specifically, the three-dimensional scanning imaging module 2 transmits the three-dimensional imaging data of the full-face tunnel boring machine and the tunnel environment obtained by the three-dimensional laser scanner 7 to the control terminal 1 through electrical connection, so that the control terminal 1 can fully understand the spatial structure and object distribution of the surrounding environment, and provide detailed basic information for subsequent decision-making. The attitude acquisition module 3 monitors the attitude data of the full-face tunnel boring machine by using the gyroscope 8, and transmits the attitude data to the control terminal 1, so as to timely discover the attitude changes such as inclination and rotation of the tunnel boring machine, and ensure the stability and safety of the tunnel boring machine. The driving motor 9 in the driving module 4 provides power for the advancing of the full-face tunnel boring machine air pushing through the station device under the control of the control terminal 1, and realizes precise pushing control. The lifting hydraulic adjusting cylinder 10 of the lifting adjustment module 5 adjusts the height of the oil pressure stabilizing mechanism according to the instruction of the control terminal 1, so as to adapt to different terrains and working requirements, and enhance the adaptability and stability of the equipment. The electric steering universal wheel 11 of the steering module 6 flexibly adjusts the advancing direction of the equipment under the action of the control terminal 1, so as to ensure that the equipment can accurately advance along the predetermined route.

[0038] In a possible embodiment, a camera module 12 is further included, the camera module 12 is electrically connected with the control terminal 1, and the camera module 12 is provided with a camera 13. The camera module 12 is used for image monitoring of the surrounding environment of the full-face tunnel boring machine air pushing through the station device through the camera 13.

[0039] Specifically, the camera module 12 monitors the surrounding environment of the full-face tunnel boring machine air pushing through the station device through the configured camera 13, and transmits image information to the control terminal 1, so that the control terminal 1 can obtain intuitive visual pictures and more comprehensively understand the real-time situation around the equipment. Thus, the information obtained by the three-dimensional scanning imaging module 2 can be supplemented, and more abundant details can be provided. For example, the camera 13 can clearly capture the color, texture, identification and other characteristics of an object, which is helpful for more accurately identifying obstacles, construction signs or other key elements.

[0040] In a possible embodiment, the distance detection module 14 is further included, and is electrically connected with the control terminal 1, and the distance detection module 14 is configured with a distance sensor 15, and the distance detection module 14 is used for detecting the distance between the full-face tunnel boring machine and the tunnel inner wall.

[0041] Specifically, the distance detection module 14 can accurately measure the distance between the full-face tunnel boring machine and the tunnel inner wall through the configured distance sensor 15. After the distance data are transmitted to the control terminal 1, the control terminal 1 can make more accurate judgment and adjustment on the position and advancing state of the equipment, so as to early warn the possible collision between the equipment and the tunnel inner wall, and avoid damage to the equipment and construction accidents. Wherein, the control terminal 1 optimizes and adjusts the advancing, turning, lifting and other operations of the equipment according to the data, so as to ensure the safe and accurate advancement of the equipment in the tunnel.

[0042] In a possible embodiment, the input module 16 is further included, and is electrically connected with the control terminal 1, and the input module 16 is configured with an input keyboard 17 and a mouse 18, and the input module 16 is used for inputting control instructions for the full-face tunnel boring machine through the input keyboard 17 and the mouse 18.

[0043] Specifically, the input module 16 provides an approach for the operator to directly input control instructions to the control terminal 1 through the configured input keyboard 17 and mouse 18. The operator can flexibly input various operation instructions through the keyboard and mouse 18 according to the actual situation and specific needs. The operator is given more active and accurate control right, and can perform personalized operation and adjustment on the full-face tunnel boring machine. At the same time, the operation mode of the input keyboard 17 and the mouse 18 is intuitive and easy to master, which improves the convenience and efficiency of operation. When the operator inputs control instructions through the input keyboard 17 and the mouse 18, the instructions are transmitted to the control terminal 1 by the input module 16, and the control terminal 1 receives and analyzes the instructions, and then sends corresponding control signals to each module of the full-face tunnel boring machine, so as to realize accurate control of the equipment.

[0044] In a possible embodiment, the display module 19 is further included, and is electrically connected with the control terminal 1, and the display module 19 is configured with a display screen 20, and the display module 19 is used for displaying control results for the full-face tunnel boring machine through the display screen 20.

[0045] Specifically, the display module 19 can intuitively show the control results of the full-face tunnel boring machine empty pushing through the station device to the operator through the configured display screen 20. This includes the running state, posture, distance from the tunnel wall, height adjustment of the oil pressure stabilizing mechanism, and other key information of the device. The operator can clearly understand the running state of the device in real time, discover possible problems or abnormalities in time, and make corresponding adjustment decisions.

[0046] Referring to Figure 2 、 Figure 3 and Figure 4 , in a possible embodiment, further comprising an audible and light alarm module 21, the audible and light alarm module 21 and the control terminal 1 are electrically connected, the audible and light alarm module 21 is configured with an audible and light alarm 22, the audible and light alarm module 21 is used for safety warning to the full-face tunnel boring machine empty pushing through the station device through the audible and light alarm 22.

[0047] Specifically, the audible and light alarm module 21 can issue a strong audible and light signal for safety warning in time when the full-face tunnel boring machine empty pushing through the station device appears abnormal or potential dangerous situation through the configured audible and light alarm 22, so as to attract the attention of the operator in a very intuitive and eye-catching way, which can be easily noticed even in noisy construction environment. For example, when the device is too close to the tunnel wall, the posture is abnormal, the oil pressure is unstable, or other key parameters are out of the safety range, the audible and light alarm 22 starts immediately.

[0048] In a possible embodiment, the full-face tunnel boring machine empty pushing through the station device comprises a pushing mechanism and an oil pressure stabilizing mechanism;

[0049] Wherein, the pushing mechanism comprises a mounting groove 23, the inside of the mounting groove 23 is provided with a driving motor 9, the inside of the mounting groove 23 is also provided with a driving roller 24, a transmission wheel 25, a transmission unit 26 and an intermediate connecting piece 27, the pushing mechanism further comprises an adapter rod 28, a pushing rod 29 and an abutting clamping column 30; the driving shaft of the driving motor 9 is connected with the driving roller 24, the edge of the driving roller 24 is formed with a driving tooth 31, and a driving groove 40 is formed between adjacent two driving teeth 31; the driving groove 40 is used for engaging with one end of the transmission unit 26 to drive the transmission unit 26; the intermediate connecting piece 27 is arranged between adjacent two transmission units 26, the transmission unit 26 is formed with an adapter slot 32, the end of the adapter rod 28 is inserted into the adapter slot 32, and the pushing rod 29 is fixedly connected with the adapter rod 28; the abutting clamping column 30 is fixed to the upper end of the mounting groove 23;

[0050] The oil pressure stabilizing mechanism comprises a lifting hydraulic adjusting cylinder 10 and an electric steering universal wheel 11, and further comprises a docking seat 33 and a tunneling machine supporting plate 34.

[0051] Specifically, in the advancing mechanism, the mounting groove 23 provides mounting positions for the driving roller 24, the transmission wheel 25, the transmission unit 26, the intermediate connecting piece 27 and the adapter rod 28. The driving motor 9 drives the driving roller 24 to rotate, the driving teeth 31 on the driving roller 24 and the driving groove 40 are engaged with one end of the transmission unit 26, thereby driving the transmission unit 26 to move. The intermediate connecting piece 27 plays a connecting and coordinating role between adjacent transmission units 26, the adapter groove 32 on the transmission unit 26 is inserted into the end of the adapter rod 28, so that the movement of the transmission unit 26 can drive the adapter rod 28, and then drive the advancing rod 29 fixedly connected with the adapter rod 28 to move, thereby realizing the advancing function, and the docking clamping column 30 is used for connecting with the oil pressure stabilizing mechanism. In the oil pressure stabilizing mechanism, the docking groove 35 and the clamping hole 36 of the docking seat 33 are used for connecting with the docking clamping column 30 of the advancing mechanism. The lifting hydraulic adjusting cylinder 10 can adjust the height of the tunneling machine supporting plate 34 to adapt to different working conditions. The tunneling machine supporting plate 34 is used for carrying the tunneling machine to ensure its stability. The electric steering universal wheel 11 is connected to the bottom of the docking seat 33, so that the device can be flexibly steered and moved. During the working process, the driving motor 9 drives the advancing rod 29 to realize advancing through the driving roller 24, the transmission unit 26 and the adapter rod 28, the advancing mechanism is connected with the docking seat 33 of the oil pressure stabilizing mechanism through the docking clamping column 30, the oil pressure stabilizing mechanism adjusts the height of the tunneling machine supporting plate 34 through the lifting hydraulic adjusting cylinder 10, and the electric steering universal wheel 11 realizes flexible movement and steering, thereby jointly completing the empty pushing through station work of the full-face tunnel boring machine, and ensuring that the device is stably and accurately moved.

[0052] In a possible embodiment, the advancing rod 29 of the advancing mechanism is matched with the matching hole on the concrete advancing groove 37 reserved in the tunnel construction, so that the advancing mechanism travels along the concrete advancing groove 37; the mounting groove 23 comprises an outer groove 38 and an inner groove 39, one end of the transmission unit 26 is in contact with the outer groove 38 through a ball, and the other end of the transmission unit 26 is in contact with the inner groove 39 through a ball; both ends of the inner groove 39 are provided with the transmission wheel 25, and when one end of the transmission unit 26 is separated from the inner groove 39, the other end is slid into the driving groove 40.

[0053] Referring to Figure 5Specifically, the pushing rod 29 of the pushing mechanism is matched with the matching hole on the reserved concrete pushing groove 37 in the tunnel, thereby providing a running path for the pushing mechanism, ensuring the accuracy and stability of the running, enabling the equipment to smoothly push along the established route, and reducing deviation and shaking. The installation groove 23 is divided into an outer groove 38 and an inner groove 39, and the transmission unit 26 at both ends is in contact with the outer groove 38 and the inner groove 39 through a ball, thereby greatly reducing the frictional resistance when the transmission unit 26 moves, improving the transmission efficiency, and reducing energy loss. At the same time, the rolling contact of the ball also reduces the wear of the components and prolongs the service life. Among them, the transmission wheels 25 arranged at both ends of the inner groove 39 play a smooth transition and guiding role when the transmission unit 26 at one end slides out of the inner groove 39 and slides into the driving groove 40, thereby ensuring that the transmission unit 26 can smoothly switch positions and realize continuous and stable power transmission.

[0054] It should be noted that the hardware involved in the present embodiment, such as the control terminal 1, the three-dimensional laser scanner 7, the gyroscope 8, the distance sensor 15, etc., belongs to the prior art per se and can be selected according to needs, such as the three-dimensional laser scanner 7 selected as a Sill SHARE SLAM S10, the gyroscope 8 selected as a Rufen TG632D MEMS micromechanical digital gyroscope 8, etc., which will not be described here.

[0055] In summary, the three-dimensional scanning imaging module 2 transmits the three-dimensional imaging data of the full-face tunnel boring machine and the tunnel environment acquired by the three-dimensional laser scanner 7 to the control terminal 1 through electrical connection, so that the control terminal 1 can fully understand the spatial structure and object distribution of the surrounding environment, and provide detailed basic information for subsequent decision-making. The attitude acquisition module 3 monitors the attitude data of the full-face tunnel boring machine by using the gyroscope 8, and transmits the attitude data to the control terminal 1, so that the tilt and rotation of the tunnel boring machine can be discovered in time, and the stability and safety of the tunnel boring machine are ensured. The driving motor 9 in the driving module 4 provides the power for the advancing of the full-face tunnel boring machine empty pushing through the station device under the control of the control terminal 1, and realizes precise pushing control. The lifting hydraulic adjusting cylinder 10 of the lifting adjusting module 5 adjusts the height of the oil pressure stabilizing mechanism according to the instruction of the control terminal 1, so as to adapt to different terrains and working requirements, and enhance the adaptability and stability of the equipment. The electric steering universal wheel 11 of the steering module 6 adjusts the advancing direction of the equipment flexibly under the action of the control terminal 1, and ensures that the equipment can accurately advance along the predetermined route. Among them, the driving roller 24, the transmission wheel 25, the transmission monomer 26, the intermediate connecting piece 27 and the adapter rod 28 are provided with installation positions in the advancing mechanism of the full-face tunnel boring machine empty pushing through the station device. The driving motor 9 drives the driving roller 24 to rotate, the driving teeth 31 on the driving roller 24 and the driving groove 40 are engaged with one end of the transmission monomer 26, so as to drive the transmission monomer 26 to move. The intermediate connecting piece 27 plays a connecting and coordinating role between adjacent transmission monomers 26, the adapter groove 32 on the transmission monomer 26 is inserted with the end of the adapter rod 28, so that the movement of the transmission monomer 26 can drive the adapter rod 28, and then drive the advancing rod 29 fixedly connected with the adapter rod 28 to move, realizing the advancing function, and the butt joint clamping column 30 is used for connecting with the oil pressure stabilizing mechanism. In the oil pressure stabilizing mechanism, the butt joint groove 35 and the clamping hole 36 of the butt joint seat 33 are used for connecting with the butt joint clamping column 30 of the advancing mechanism. The lifting hydraulic adjusting cylinder 10 can adjust the height of the tunnel boring machine supporting plate 34 to adapt to different working conditions. The tunnel boring machine supporting plate 34 is used for bearing the tunnel boring machine to ensure its stability. The electric steering universal wheel 11 is connected at the bottom of the butt joint seat 33, so that the equipment can be flexibly turned and moved. During the working process, the driving motor 9 drives the advancing rod 29 to realize the advancing through the driving roller 24, the transmission monomer 26 and the adapter rod 28, the advancing mechanism is connected with the butt joint seat 33 of the oil pressure stabilizing mechanism through the butt joint clamping column 30, the oil pressure stabilizing mechanism adjusts the height of the tunnel boring machine supporting plate 34 through the lifting hydraulic adjusting cylinder 10, the electric steering universal wheel 11 realizes flexible movement and steering, and the full-face tunnel boring machine empty pushing through the station work is completed together, so that the equipment can be stably and accurately moved. The utility model can fully control the surrounding environment and the overall situation of the system during the process of the full-face tunnel boring machine empty pushing through the station, so as to respond to the emergency, and improve the efficiency and safety of the full-face tunnel boring machine empty pushing through the station.

[0056] Although the utility model has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the utility model, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the utility model all belong to the range of protection required by the utility model.

Claims

1. A control system for the air-push passage of a full-face tunnel boring machine, characterized in that, It includes a control terminal (1), a three-dimensional scanning imaging module (2), an attitude acquisition module (3), a drive module (4), a lifting adjustment module (5), and a steering module (6); The three-dimensional scanning imaging module (2) and the control terminal (1) are electrically connected. The three-dimensional scanning imaging module (2) is equipped with a three-dimensional laser scanner (7). The three-dimensional scanning imaging module (2) is used to perform three-dimensional imaging of the full-section tunnel boring machine and the tunnel environment through the three-dimensional laser scanner (7). The attitude acquisition module (3) and the control terminal (1) are electrically connected. The attitude acquisition module (3) is equipped with a gyroscope (8). The attitude acquisition module (3) is used to monitor the attitude data of the full-face tunnel boring machine through the gyroscope (8). The drive module (4) and the control terminal (1) are electrically connected. The drive module (4) is equipped with a drive motor (9). The drive module (4) is used to drive the full-face tunnel boring machine to move through the station by means of the drive motor (9). The lifting adjustment module (5) and the control terminal (1) are electrically connected. The lifting adjustment module (5) is equipped with a lifting hydraulic adjustment cylinder (10). The lifting adjustment module (5) is used to adjust the height of the hydraulic stabilization mechanism of the full-face tunnel boring machine's air-push-through-station equipment through the lifting hydraulic adjustment cylinder (10). The steering module (6) and the control terminal (1) are electrically connected. The steering module (6) is equipped with an electric steering caster wheel (11). The steering module (6) is used to adjust the travel direction of the full-face tunnel boring machine's air-push station equipment through the electric steering caster wheel (11).

2. The control system for the empty thruster station of a full-face tunnel boring machine according to claim 1, characterized in that, It also includes a camera module (12), which is electrically connected to the control terminal (1). The camera module (12) is equipped with a camera (13), which is used to monitor the surrounding environment of the full-face tunnel boring machine's air-push station equipment through the camera (13).

3. The control system for the empty thruster station of a full-face tunnel boring machine according to claim 1, characterized in that, It also includes a distance detection module (14), which is electrically connected to the control terminal (1). The distance detection module (14) is equipped with a distance sensor (15), which is used to detect the distance between the air-push station equipment of the full-face tunnel boring machine and the inner wall of the tunnel through the distance sensor (15).

4. The control system for a full-face tunnel boring machine's air-push over-station as described in claim 1, characterized in that, It also includes an input module (16), which is electrically connected to the control terminal (1). The input module (16) is equipped with an input keyboard (17) and a mouse (18). The input module (16) is used to input control commands to the air-push station equipment of the full-face tunnel boring machine through the input keyboard (17) and the mouse (18).

5. The air-push control system for a full-face tunnel boring machine according to claim 1, characterized in that, It also includes a display module (19), which is electrically connected to the control terminal (1). The display module (19) is equipped with a display screen (20), which is used to display the control results of the full-face tunnel boring machine's air-push station equipment through the display screen (20).

6. The control system for a full-face tunnel boring machine's air-push over-station as described in claim 1, characterized in that, It also includes an audible and visual alarm module (21), which is electrically connected to the control terminal (1). The audible and visual alarm module (21) is equipped with an audible and visual alarm device (22), which is used to provide a safety warning for the full-face tunnel boring machine's air-push-through-station equipment through the audible and visual alarm device (22).

7. The air-thrust control system for a full-face tunnel boring machine according to claim 1, characterized in that, The full-face tunnel boring machine's air-push station equipment includes a propulsion mechanism and a hydraulic stabilization mechanism; The propulsion mechanism includes a mounting groove (23), inside which the drive motor (9) is installed. The mounting groove (23) also includes a drive roller (24), a transmission wheel (25), a transmission unit (26), and an intermediate connecting piece (27). The propulsion mechanism further includes a transition rod (28), a propulsion rod (29), and a docking pin (30). The drive shaft of the drive motor (9) is connected to the drive roller (24). The edge of the drive roller (24) has drive teeth (31). Two adjacent drive teeth (31) are connected... A drive groove (40) is formed between the two adjacent transmission units (26); the drive groove (40) is used to engage with one end of the transmission unit (26) to drive the transmission unit (26); the intermediate connector (27) is disposed between two adjacent transmission units (26), the transmission unit (26) forms a transition groove (32), the end of the transition rod (28) is inserted into the transition groove (32), the push rod (29) and the transition rod (28) are fixedly connected; the docking pin (30) is fixed at the upper end of the mounting groove (23); The hydraulic stabilizing mechanism includes the lifting hydraulic regulating cylinder (10) and the electric steering universal wheel (11). The hydraulic stabilizing mechanism also includes a docking seat (33) and a tunneling machine support plate (34). A docking groove (35) is formed in the middle of the docking seat (33), and a locking hole (36) is formed above the docking groove (35). The propulsion mechanism is connected to the locking hole (36) of the hydraulic stabilizing mechanism through the docking locking pin (30). The lifting hydraulic regulating cylinder (10) is located at the upper end of the docking seat (33), and the tunneling machine support plate (34) is fixed to the top of the drive rod of the lifting hydraulic regulating cylinder (10). The electric steering universal wheel (11) is connected to the bottom of the docking seat (33).

8. The air-thrust control system for a full-face tunnel boring machine according to claim 7, characterized in that, The propulsion rod (29) of the propulsion mechanism engages with the mating hole on the concrete propulsion groove (37) reserved for construction inside the tunnel, so that the propulsion mechanism can travel along the concrete propulsion groove (37); The mounting groove (23) includes an outer groove (38) and an inner groove (39). One end of the transmission unit (26) contacts the outer groove (38) through a ball, and the other end of the transmission unit (26) contacts the inner groove (39) through a ball. The inner groove (39) is provided with transmission wheels (25) at both ends. When one end of the transmission unit (26) is disengaged from the inner groove (39), it slides into the drive groove (40).

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