Shield tunneling and segment assembling synchronization device, control method therefor and thrust allocation method therefor, and shield machine

Abstract

A shield tunneling and segment assembling synchronization device (100), a control method therefor and a thrust allocation method therefor, and a shield machine (200). The shield tunneling and segment assembling synchronization device (100) comprises a thrust cylinder assembly (110), a segment assembling assembly (120), and a controller (140); the controller (140) is configured to activate a semi-shield tunneling and segment assembling synchronization mode when the advance speed of the shield machine (200) is greater than or equal to a preset speed or when it is detected that the tunnel strata belong to a first type of strata; the controller (140) is configured to activate a full-shield tunneling and segment assembling synchronization mode when the advance speed of the shield machine (200) is less than the preset speed or when it is detected that the tunnel strata belong to a second type of strata; and the hardness of the first type of strata is less than that of the second type of strata.

Description

Pushing and splicing synchronization device, control method thereof, thrust distribution method, and shield machine

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 21, 2023, with application number 202311563951.5 and application name “Pushing and splicing synchronization device, control method of pushing and splicing synchronization device and shield machine”, all contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on February 28, 2024, with application number 202410226486.4 and application name “Propulsion system, thrust distribution method of propulsion system and shield machine”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of tunnel construction, and in particular to a pushing and splicing synchronization device, a control method thereof, a thrust distribution method, and a shield machine. Background Art

[0004] With the rapid development of urban road construction and underground space construction in various countries in recent years, shield tunneling projects at home and abroad have been developing in the direction of greater depth, larger cross-section and longer distance, which has resulted in the extension of the construction period of shield tunneling.

[0005] Conventional shield construction operations only begin to assemble the segments after the shield machine has excavated a ring of segment width and has come to a complete stop. During the formation of the shield tunnel, the construction period mainly depends on the time it takes for the shield to advance and the segment assembly, and the two take similar time. Therefore, in order to shorten the construction period and improve construction efficiency, the segment assembly time is integrated into the shield advancement process, so that the segment assembly and shield excavation are carried out simultaneously. In theory, the construction period can be shortened by half to the greatest extent. Among them, the segment assembly and shield excavation are carried out simultaneously, which is also called synchronous pushing and splicing. However, the shield machines of related technologies have low construction efficiency and high energy consumption.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a pushing and splicing synchronization device, a control method thereof, a thrust distribution method, and a shield machine. The corresponding pushing and splicing mode is selected according to the different propulsion speeds of the shield machine and different tunnel strata, which helps to improve the construction efficiency of the shield machine, save energy, and reduce energy consumption.

[0008] In order to achieve the above-mentioned purpose, the first aspect of an embodiment of the present application provides a pushing and splicing synchronization device, including a propulsion cylinder assembly, an assembling assembly and a controller, wherein the propulsion cylinder assembly is arranged close to the assembling assembly, the assembling assembly is used to assemble pipe segments, and the propulsion cylinder assembly includes a propulsion cylinder, and the extended propulsion cylinder is used to provide the propulsion force of the shield machine; the controller is configured to start a half-push-splice synchronization mode when the propulsion speed of the shield machine is greater than or equal to a preset speed, or when it is detected that the tunnel stratum is in a first type of stratum; or, the controller is configured to start a full-push-splice synchronization mode when the propulsion speed of the shield machine is less than the preset speed, or when it is detected that the tunnel stratum is in a second type of stratum; or, the controller is configured to start a conventional assembly mode when a failure occurs in the pushing and splicing synchronization mode; the hardness of the first type of stratum is less than the hardness of the second type of stratum.

[0009] In one possible implementation, the assembly component includes an assembling machine and an assembling machine controller arranged on the assembling machine; the assembling machine controller and the controller are electrically connected, and the assembling machine controller is configured to control the retraction of the propulsion cylinder before assembling the pipe segments, and is configured to control the extension of the propulsion cylinder after the pipe segments are assembled, and the extended propulsion cylinder pushes the assembled pipe segments to provide propulsion force for the shield machine.

[0010] In one possible implementation, the number of the propulsion cylinders includes multiple ones. When the half-push splicing synchronization mode or the full-push splicing synchronization mode is started, the assembly machine controller is configured to control the retraction of one group of the propulsion cylinders among the multiple groups of the propulsion cylinders, and control the extension of the remaining propulsion cylinders; the controller is configured to calculate the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders so that the propulsion force and the point of action provided to the shield machine remain unchanged; when the pipe segment corresponding to the retracted propulsion cylinder is assembled, the assembly machine controller controls the propulsion cylinder to extend and abut the pipe segment, and the controller is configured to redistribute the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders.

[0011] In one possible implementation, a hydraulic device is further included, which is configured to provide driving force to the propulsion cylinder. The controller is configured to control the hydraulic device and the propulsion cylinder to be disconnected when the hydraulic device is in an inoperative state within a first preset time period, and is configured to control the hydraulic device to be shut down when the hydraulic device is in an inoperative state within a second preset time period; the second preset time period is greater than the first preset time period.

[0012] In a possible implementation, the hydraulic device is provided with a main filter and a backup filter, and the controller is configured to switch to the backup filter when the main filter fails.

[0013] In a possible implementation, a guide device is further included, wherein the guide device is electrically connected to the controller, and the guide device is configured to obtain the propulsion stroke of the shield machine and send the propulsion stroke to the controller.

[0014] In one possible implementation, the assembly component also includes a translation hydraulic component arranged on the assembly machine, and the translation hydraulic component is electrically connected to the propulsion cylinder and the controller respectively; the controller is configured to obtain the stroke change value of the propulsion cylinder, and calculate the excavation speed of the pushing and splicing synchronization device along the excavation direction according to the stroke change value of the propulsion cylinder; the translation hydraulic component is configured to obtain the current value corresponding to the excavation speed, and the controller is configured to calculate the travel speed of the translation hydraulic component according to the current value, and control the translation hydraulic component to drive the assembling machine to move at the travel speed in a direction away from the excavation direction, forming a relative static state between the assembling machine and the completed tunnel segment; the assembling machine is configured to grab the segment, and assemble the segment at the to-be-assembled position of the completed tunnel segment under the thrust of the propulsion cylinder.

[0015] In one possible implementation, the propulsion cylinder assembly further includes a propulsion stroke sensor provided on the propulsion cylinder, and the controller is electrically connected to the propulsion stroke sensor; the controller is configured to obtain a stroke change value of the propulsion stroke sensor and calculate the excavation speed based on the stroke change value.

[0016] In one possible implementation, the translation hydraulic assembly includes a translation cylinder and a translation control proportional valve, the translation control proportional valve is arranged on the translation cylinder, and the controller and the translation control proportional valve are electrically connected; the translation control proportional valve is configured to obtain the current value corresponding to the excavation speed, and the controller is configured to control the translation cylinder to drive the assembling machine to move at the travel speed in a direction away from the excavation direction.

[0017] In one possible implementation, the translation hydraulic assembly also includes a translation stroke sensor, which is arranged on the translation cylinder, and the controller is electrically connected to the translation stroke sensor; the controller is configured to obtain the stroke change value of the translation stroke sensor, and calculate the translation speed of the translation cylinder based on the stroke change value of the translation stroke sensor, and the controller is also configured to compare the translation speed with the travel speed: when the translation speed is greater than the travel speed, the controller controls the translation control proportional valve to reduce the current value until the translation speed is equal to the travel speed; when the translation speed is less than the travel speed, the controller controls the translation control proportional valve to increase the current value until the translation speed is equal to the travel speed.

[0018] In a possible implementation, an oil replenishing device is further included, and the translation cylinder includes an oil inlet end and an oil outlet end. The oil replenishing device is connected to the oil inlet end of the translation cylinder, and the translation cylinder discharges oil through the oil outlet end and replenishes oil through the oil inlet end; the oil replenishing device is used to replenish oil to the translation cylinder so that the translation cylinder continues to move at the same speed as the excavation speed in a direction away from the excavation direction.

[0019] In one possible implementation, a floating oil-supply check valve is connected to the oil inlet end, and a floating control hydraulic ball valve is connected to the oil outlet end. Both the floating control hydraulic ball valve and the floating oil-supply check valve are electrically connected to the controller; the controller controls the floating control hydraulic ball valve to allow the translation cylinder to discharge oil through the oil outlet end, and controls the floating oil-supply check valve to allow the translation cylinder to replenish oil through the oil inlet end.

[0020] The second aspect of the embodiment of the present application also provides a thrust distribution method for a push-and-splice synchronization device, which is used for a push-and-splice synchronization device. The thrust distribution method for the push-and-splice synchronization device includes: when starting the half-push-and-splice synchronization mode or the full-push-and-splice synchronization mode, controlling one of the multiple groups of propulsion cylinders to retract, and controlling the remaining propulsion cylinders to extend; calculating the pressure of the remaining propulsion cylinders, and redistributing the pressure of the remaining propulsion cylinders; when the pipe segments corresponding to the retracted propulsion cylinders are assembled, controlling the propulsion cylinders to extend and abut against the pipe segments; recalculating the pressure of the remaining propulsion cylinders, and redistributing the remaining propulsion cylinders; repeating the above steps to complete the assembly of the entire ring of pipe segments.

[0021] In one possible implementation, the step of "calculating the pressures of the remaining propulsion cylinders and redistributing the pressures of the remaining propulsion cylinders" specifically includes: allocating the pressure of at least one of the propulsion cylinders close to the retracted propulsion cylinders as a first pressure, and allocating the pressure of at least one of the propulsion cylinders far from the retracted propulsion cylinders as a second pressure; the first pressure is greater than the second pressure.

[0022] The third aspect of the embodiments of the present application also provides a control method for a pushing and splicing synchronization device, which is used for a pushing and splicing synchronization device. The control method for the pushing and splicing synchronization device includes: obtaining the stroke change value of the propulsion cylinder assembly, and calculating the excavation speed of the pushing and splicing synchronization device along the excavation direction based on the stroke change value of the propulsion cylinder assembly; obtaining the current value corresponding to the translation hydraulic assembly at the excavation speed, calculating the travel speed of the translation hydraulic assembly based on the current value, and controlling the translation hydraulic assembly to drive the assembling machine to move at the travel speed in a direction away from the excavation direction.

[0023] In one possible implementation, obtaining the stroke change value of the propulsion cylinder assembly specifically includes: obtaining the stroke change value of the translation stroke sensor, and calculating the translation speed of the translation cylinder based on the stroke change value of the translation stroke sensor; comparing the translation speed with the travel speed, and when the translation speed is greater than the travel speed, controlling the translation control proportional valve to reduce the current value until the translation speed is equal to the travel speed; when the translation speed is less than the travel speed, controlling the translation control proportional valve to increase the current value until the translation speed is equal to the travel speed.

[0024] The fourth aspect of the embodiment of the present application provides a shield machine, which includes at least a cutterhead, a shield body and a pushing and splicing synchronization device, wherein the cutterhead is connected to the front shield, the cutterhead is located at the excavation end of the shield machine, and the assembly components and the thrust cylinder component of the pushing and splicing synchronization device are arranged in the shield body.

[0025] In a possible implementation, a permanent magnet synchronous motor is mounted on the shield body, and the permanent magnet synchronous motor is configured to drive the cutter head to rotate.

[0026] The embodiments of the present application provide a push-and-splice synchronization device, a control method thereof, a thrust distribution method thereof, and a shield machine. The push-and-splice synchronization device includes a propulsion cylinder assembly, an assembly assembly, and a controller. Thus, the controller selects a corresponding push-and-splice mode based on the different propulsion speeds of the shield machine and different tunnel strata, thereby improving the shield machine's construction efficiency, saving energy, and reducing energy consumption.

[0027] The structure of the present application and its other application objectives and beneficial effects will be more clearly understood through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] FIG1 is a schematic diagram of the working process of a shield machine in a push-and-spin synchronization mode provided by an embodiment of the present application;

[0030] FIG2 is a schematic structural diagram of a propulsion cylinder and a segment of a shield machine provided in an embodiment of the present application;

[0031] FIG3 is a schematic diagram of a process flow of a half-push-and-splice synchronization mode of a shield machine provided in an embodiment of the present application;

[0032] FIG4 is a schematic diagram of a process flow of a full-push-and-splice synchronization mode of a shield machine provided in an embodiment of the present application;

[0033] FIG5 is a flow chart of a thrust distribution method of a thrust-splitting synchronization device of a shield machine provided in an embodiment of the present application;

[0034] FIG6 is a simplified schematic diagram of a shield machine provided in an embodiment of the present application;

[0035] FIG7 is a schematic structural diagram of a push-pull synchronization device provided in an embodiment of the present application;

[0036] FIG8 is a schematic structural diagram of an assembly assembly of a push-and-assemble synchronization device provided in an embodiment of the present application;

[0037] FIG9 is a flow chart of a control method for a push-pull synchronization device according to an embodiment of the present application;

[0038] FIG10 is a control logic diagram of a controller and a translational travel sensor of a push-pull synchronization device provided in an embodiment of the present application.

[0039] Explanation of Reference Numerals: 100 - Push-and-Assemble Synchronization Device; 110 - Push Cylinder Assembly; 111 - Push Cylinder; 112 - Push Stroke Sensor; 120 - Assembly Assembly; 121 - Assembly Machine; 122 - Translation Hydraulic Assembly; 1221 - Translation Cylinder; 12211 - Oil Inlet; 12212 - Oil Outlet; 12213 - Floating Control Hydraulic Ball Valve; 12214 - Floating Oil Replenishment Check Valve; 1222 - Translation Control Proportional Valve; 1223 - Translation Stroke Sensor; 130 - Completed Tunnel Segment; 140 - Controller; 150 - Oil Replenishment Device; 160 - Gripping Head; 170 - Pipeline; 180 - Position to be Assembled; 200 - Shield Machine; 210 - Segment; 220 - Front Shield; 230 - Middle Shield; 240-tail shield; 250-excavation device. DETAILED DESCRIPTION

[0040] With the development of the national economy and the acceleration of tunnel construction, the shield method has become widely used due to its cost-effectiveness. The shield method is a fully mechanized construction method. It involves pushing a shield machine underground, using the shield casing and segments to support the surrounding rock to prevent collapse into the tunnel. Simultaneously, a cutting device excavates soil in front of the excavation face. The soil is then transported out of the tunnel by excavation machinery, where it is pressurized and pushed forward by jacks at the rear. Precast concrete segments are then assembled to form the tunnel structure.

[0041] A shield machine is a specialized engineering machine used for tunneling, capable of excavating and cutting soil, transporting soil debris, assembling tunnel linings, and performing measurement, guidance, and deviation correction. Using a shield machine for tunnel construction offers advantages such as high automation, labor savings, and rapid construction. Shield machines are particularly economical and reasonable for long tunnels with deep burial depths.

[0042] Conventional shield construction operations only begin to assemble segments after the shield machine has excavated a ring of segment width and has come to a complete stop. During the formation of the shield tunnel, the construction period mainly depends on the time it takes for the shield to advance and the segment assembly, and the two take similar time. Therefore, in order to shorten the construction period and improve construction efficiency, the segment assembly time is integrated into the shield advancement process, so that the segment assembly and shield excavation are carried out simultaneously. In theory, the construction period can be shortened by half to the greatest extent. Among them, the segment assembly and shield excavation are carried out simultaneously, which is also called synchronous pushing and splicing. However, the shield machine of the related technology is not combined with the shield machine's advancement speed and the type of tunnel stratum during the pushing and splicing process. The assembly mode is single, resulting in low construction efficiency and high energy consumption.

[0043] It should be noted that the segments are continuously assembled, and the assembled segments are called completed tunnel segments. The completed tunnel segments are installed quickly and accurately and pressed against the surface of the excavated tunnel to support the tunnel surface and prevent groundwater infiltration and surface subsidence. The completed tunnel segments bear the propulsive reaction force for the shield to advance.

[0044] To address the aforementioned technical issues, embodiments of the present application provide a push-and-splice synchronization device, a control method thereof, a thrust distribution method, and a shield machine. The push-and-splice synchronization device includes a propulsion cylinder assembly, an assembly assembly, and a controller. The controller selects a corresponding push-and-splice mode based on the different propulsion speeds of the shield machine and different tunnel strata, thereby improving shield machine construction efficiency, saving energy, and reducing energy consumption.

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] Example 1

[0047] An embodiment of the present application provides a shield machine 200, which is used in a tunnel to construct tunnel strata.

[0048] The shield machine 200 includes at least a front shield 220, a middle shield 230, a tail shield 240, and a push-and-split synchronization device 100. The front shield 220, middle shield 230, and tail shield 240 are collectively referred to as the shield body, and the middle shield 230 is connected between the front shield 220 and the tail shield 240. Specifically, the front shield 220 is located on the side of the shield machine 200 close to the tunneling end, and the tail shield 240 is located on the side of the shield machine 200 away from the tunneling end. The tunneling end, also known as the excavation end, is located at the front end of the shield machine 200.

[0049] At least including means: in addition to the front shield 220, the middle shield 230 and the tail shield 240, as shown in Figure 1, the shield machine 200 can also include an excavation device 250, a slag discharge device, etc. The excavation end is set on the excavation device 250, and the excavation device 250 is used to excavate the tunnel stratum. The excavation device 250 is generally a cutter head. The slag discharge device is connected to the excavation device 250, and the slag discharge device is used to discharge the slag excavated by the excavation device 250 to the outside of the tunnel.

[0050] Example 2

[0051] Conventional shield construction operations only begin to assemble segments after the shield machine has excavated a ring of segment width and has come to a complete stop. During the formation of the shield tunnel, the construction period mainly depends on the time it takes for the shield to advance and the segment assembly, and the two take similar time. Therefore, in order to shorten the construction period and improve construction efficiency, the segment assembly time is integrated into the shield advancement process, so that the segment assembly and shield excavation are carried out simultaneously. In theory, the construction period can be shortened by half to the greatest extent. Among them, the segment assembly and shield excavation are carried out simultaneously, which is also called synchronous pushing and splicing. However, the shield machine of the related technology is not combined with the shield machine's advancement speed and the type of tunnel stratum during the pushing and splicing process. The assembly mode is single, resulting in low construction efficiency and high energy consumption.

[0052] Therefore, in order to further improve the construction efficiency of the shield machine during the synchronous pushing and splicing process, in this embodiment, the pushing and splicing synchronization device 100 includes an assembler, a controller and a thrust cylinder 111. In this way, the controller selects the corresponding pushing and splicing mode according to the different propulsion speeds of the shield machine and different tunnel strata, which helps to improve the construction efficiency of the shield machine, save energy and reduce energy consumption.

[0053] The working process of the shield machine provided by the embodiment of the present application in the push-and-splice synchronization mode may include: with reference to Figures 1 and 2, the shield machine excavates a distance greater than the ring width of one ring of segments, and the automatic guidance system performs segment selection sequence calculation. When the shield machine is ready for assembly, the controller gives the shield machine a prompt signal, and automatically selects the assembly mode based on factors such as the stratum and excavation parameters. The assembly modes may include: conventional push-and-splice mode, half-push-and-splice synchronization mode, and full-push-and-splice synchronization mode. Among them, the shield machine excavates a distance greater than the ring width of one ring of segments, and this setting enables the shield machine to meet the assembly conditions. The prompt given by the controller to the shield machine can be a sound signal or a signal light of different colors.

[0054] For example, the shield machine's assembly conditions may include: qualified segments must be used; no operators are allowed in front of the segments when they are fed into the assembly machine; when the segments are rotating and radially do not enter the assembled segment ends, people are strictly prohibited from entering, exiting, and standing under the assembly machine; the segment assembly should be carried out strictly in accordance with the relevant assembly requirements, and the segments must not have internal and external through seams or concrete peeling; after the segments are assembled, records should be kept and inspections should be carried out.

[0055] Exemplarily, the automatic guidance system performs segment selection calculations, which means: according to the design route and the shield machine posture, the relative trend of the formed segments and the design route is calculated, and the installation points of the next ring of segments are selected to fit the relative error between the formed segments and the design route.

[0056] The specific structure of the push-and-assemble synchronization device and the three assembly modes of this application are described below.

[0057] The embodiment of the present application provides a push-and-splice synchronization device 100, which may include an assembler, a controller, and a propulsion cylinder 111. The propulsion cylinder 111 is disposed near the assembler. The assembler is used to assemble segments 210, and the extended propulsion cylinder 111 is used to provide propulsion force for the shield machine.

[0058] The thrust cylinder 111 provides propulsion for the shield machine as follows: grippers are installed on the thrust cylinder 111, which push against the pre-installed segments 210. By controlling the rearward extension of the cylinder rod of the thrust cylinder 111, the thrust cylinder 111 provides forward propulsion for the shield machine, thereby ensuring the thrust and speed of the shield machine. The segment 210 is assembled as follows: after the shield machine has excavated a distance, the assembly machine assembles a single layer of lining segments 210, completing the tunnel in one go.

[0059] It should be noted that there is no limit on the number of propulsion cylinders 111. For example, as shown in Figure 2, the number of propulsion cylinders 111 can include multiple propulsion cylinders 111, and multiple propulsion cylinders 111 push on the pipe segments 210 that have been installed at the back to provide the propulsion force of the shield machine to the greatest extent. This embodiment does not limit this.

[0060] It should be noted that the segments 210 before assembly can be referred to as segments to be assembled. The number of segments to be assembled includes multiple segments. The assembly machine assembles multiple segments to be assembled. The segments 210 after assembly form a complete ring. It is understandable that a complete ring of segments is composed of multiple segments to be assembled. The thrust cylinder 111 pushes on the multiple segments to be assembled in the complete ring. Among them, one segment to be assembled can push one thrust cylinder 111, or one segment to be assembled can push two thrust cylinders 111, or one segment to be assembled can push multiple thrust cylinders 111. This embodiment does not limit this.

[0061] Among them, the three pushing and splicing modes provided in the embodiment of the present application are mainly selected according to the propulsion speed of the shield machine and the type of tunnel stratum:

[0062] The first pushing and splicing mode is: when the propulsion speed of the shield machine is greater than or equal to the preset speed, or when it is detected that the tunnel stratum is in the first type of stratum, the semi-pushing and splicing synchronization mode is started.

[0063] Among them, the half-push assembly synchronization mode means that the shield machine stops advancing, the assembly machine assembles part of the segments 210, and then the shield machine continues to excavate.

[0064] Among them, this embodiment does not limit the preset speed, and it can be set according to actual conditions. For example, when the propulsion speed of the shield machine is greater than the preset speed, it means that the excavation of the shield machine is very stable. However, if the propulsion speed of the shield machine is too high, the shield machine advances too fast, and the subsequent segments 210 cannot be assembled in time. At the same time, the propulsion cylinder 111 cannot be extended indefinitely to avoid damage to the propulsion cylinder 111 or the inability to replenish oil in time. Among them, the first type of stratum can be a stratum with better geological conditions such as a relatively soft stratum, which makes the propulsion speed of the shield machine too high and the shield machine advances faster.

[0065] In this way, when the propulsion speed of the shield machine is too high or the tunnel stratum is in the first type of stratum, the semi-push-and-assemble synchronous mode is started. In this way, the problem of not having enough time to assemble the pipe segments 210 can be avoided, and the problem of damage to the propulsion cylinder 111 due to the continuous extension of the propulsion cylinder 111 can be avoided.

[0066] The second pushing and splicing mode is: when the propulsion speed of the shield machine is less than the preset speed, or when it is detected that the tunnel stratum is in the second type of stratum, the full pushing and splicing synchronization mode is started.

[0067] Among them, the full push and assemble synchronous mode means that the shield machine is pushed forward and the segments 210 are assembled simultaneously, and the shield machine does not stop during the excavation process.

[0068] This embodiment does not limit the preset speed and can be set according to actual conditions. For example, when the shield machine's propulsion speed is less than the preset speed, it indicates that the shield machine is advancing slowly. The second type of stratum may be a hard stratum with poor geological conditions, resulting in a lower shield machine propulsion speed and slower shield machine advancement.

[0069] In this way, when the propulsion speed of the shield machine is too slow or the tunnel stratum is in the second type of stratum, the full push-and-splice synchronization mode is started, so that there will be no problem of not having enough time to assemble the pipe segments 210, and there will be no problem of damage to the propulsion cylinder 111 due to the continuous extension of the propulsion cylinder 111.

[0070] The third push-and-assemble mode is: the controller is configured to start the conventional assembly mode when the shield machine fails.

[0071] The conventional assembly mode means that when the push-and-assemble synchronous mode encounters a fault or other problem, the shield machine stops advancing and only assembles the segments 210. After the segments 210 are assembled, the shield machine resumes excavation. This helps avoid affecting the assembly of the segments 210 and thus ensures the normal assembly of the segments 210.

[0072] Therefore, the pushing and splicing synchronization device 100 provided in the embodiment of the present application selects corresponding pushing and splicing modes according to different propulsion speeds of the shield machine and different tunnel strata, which helps to improve the construction efficiency of the shield machine, save energy, and reduce energy consumption.

[0073] In one possible implementation, an assembling machine controller is further included, which is arranged on the assembling machine. The assembling machine is used to assemble the pipe segments 210. The assembling machine controller is configured to control the retraction of the propulsion cylinder 111 before assembling the pipe segments 210, and is configured to control the extension of the propulsion cylinder 111 after the assembly of the pipe segments 210 is completed. The extended propulsion cylinder 111 abuts against the assembled pipe segments 210 to provide propulsion force for the shield machine.

[0074] Among them, there is no limitation on the connection method between the assembling machine and the assembling machine controller. For example, the assembling machine and the assembling machine controller can be connected by snaps, screws, etc., or the assembling machine and the assembling machine controller can be welded. This embodiment does not limit this.

[0075] There is no limitation on the type of the assembly machine controller. For example, the assembly machine controller in this embodiment may be a remote control.

[0076] In one possible implementation, the number of thrust cylinders 111 may include multiple groups. When the half-push splicing synchronization mode or the full-push splicing synchronization mode is started, the assembly machine controller controls one of the multiple thrust cylinders 111 to retract and controls the remaining thrust cylinders 111 to extend. The controller calculates the pressure of the remaining thrust cylinders 111 and redistributes the pressure of the remaining thrust cylinders 111 to ensure that the propulsion force and the point of action provided to the shield machine remain unchanged. When the pipe segment 210 corresponding to the retracted thrust cylinder 111 is assembled, the assembly machine controller controls the corresponding thrust cylinder 111 to extend and abut against the pipe segment 210. The controller recalculates the pressure of the remaining thrust cylinders 111 and redistributes the pressure of the remaining thrust cylinders 111. The operator repeats the above steps to complete the assembly of the entire ring of pipe segments.

[0077] The flowchart of the half-push-and-spell synchronization mode can be shown in FIG3 , and the flowchart of the full-push-and-spell synchronization mode can be shown in FIG4 .

[0078] Exemplarily, the thrust cylinders 111 may include multiple groups, and the controller controls one group of thrust cylinders 111 to retract, leaving at least a space with the width of a ring of segments 210, in which the segments 210 are assembled. At the same time, the shield machine does not stop, and the shield machine continues to rely on other thrust cylinders 111 that have not been withdrawn to provide driving force, and uses its remaining stroke to advance forward, thereby realizing the simultaneous assembly of segments 210 during the shield excavation process, essentially improving construction efficiency. However, due to the withdrawal of the thrust cylinders 111 aligned with the segment 210 assembly area, the thrust cylinders 111 in this area are absent, resulting in an overall reduction in the thrust force of the shield machine, the point of action of the shield machine will be offset, and it will also be offset from the preset shield machine's travel route.

[0079] Therefore, in order to ensure that the shield machine can continue to advance along the predetermined route in the push-and-splice synchronous mode, and to ensure that the equivalent driving force of the propulsion force of the remaining propulsion cylinders 111 is consistent with the equivalent driving force of the propulsion force of all the original propulsion cylinders 111, in this embodiment, the controller redistributes the pressure of the remaining propulsion cylinders 111 so that the propulsion force and the point of action provided to the shield machine remain unchanged. When the pipe segment 210 corresponding to the retracted propulsion cylinder 111 is assembled, the assembly machine controller controls the propulsion cylinder 111 to extend and abut against the pipe segment 210, and the controller recalculates the pressure of the remaining propulsion cylinders 111 and redistributes the pressure of the remaining propulsion cylinders 111 so that the propulsion force and the point of action provided to the shield machine remain unchanged.

[0080] In one possible implementation, a hydraulic device may also be included, which is configured to provide driving force to the propulsion cylinder 111. The controller is configured to control the hydraulic device and the propulsion cylinder 111 to be disconnected when the hydraulic device is in an inoperative state within a first preset time period, and is configured to control the hydraulic device to be shut down when the hydraulic device is in an inoperative state within a second preset time period; the second preset time period is greater than the first preset time period.

[0081] The type of the hydraulic device is not limited. For example, the hydraulic device of this embodiment may be a hydraulic pump that can provide driving force to the propulsion cylinder 111 so that the propulsion cylinder 111 can work normally.

[0082] To reduce energy consumption, the hydraulic pump and propulsion cylinder 111 are disconnected when the hydraulic pump is inactive for a first preset time period, and the hydraulic pump is shut down when the hydraulic pump is inactive for a second preset time period. The first and second preset time periods are not limited and can be set based on actual circumstances. For example, the first preset time period may be to disconnect the hydraulic pump after two minutes of inactivity, and the second preset time period may be to shut it down after five minutes of inactivity, thereby helping to reduce energy consumption.

[0083] In one possible implementation, the hydraulic device can be equipped with a main filter and a backup filter. The controller is configured to switch to the backup filter when the main filter fails, thereby reducing filter replacement time and improving construction efficiency. The filter is used to filter out various impurities in the hydraulic device.

[0084] In one possible implementation, a guide device may also be included. The guide device is electrically connected to the controller and is used to obtain the propulsion stroke of the shield machine and transmit the propulsion stroke to the controller. This allows the propulsion status of the shield machine to be known at any time, facilitating switching between different assembly modes based on the propulsion status. For example, the guide device may be a guide instrument or a positioning instrument.

[0085] Example 3

[0086] 5 , an embodiment of the present application further provides a method for distributing thrust of a push-and-splice synchronization device, which is used for the push-and-splice synchronization device. The method for distributing thrust of the push-and-splice synchronization device may include:

[0087] S100: When the half-push-and-splitting synchronous mode or the full-push-and-splitting synchronous mode is started, one of the multiple propulsion cylinders is controlled to retract, and the remaining propulsion cylinders are controlled to extend.

[0088] For example, the controller may be used to control a group of propulsion cylinders 111 among the plurality of propulsion cylinders 111 to retract, and control the remaining propulsion cylinders 111 to extend.

[0089] S200: Calculating the pressures of the remaining propulsion cylinders and redistributing the pressures of the remaining propulsion cylinders. For example, the controller may calculate the pressures of the remaining propulsion cylinders and redistribute the pressures of the remaining propulsion cylinders.

[0090] S300: When the pipe segments corresponding to the retracted propulsion cylinders are assembled, the propulsion cylinders are controlled to extend and abut against the pipe segments. For example, the propulsion cylinders 111 may be controlled by a controller to extend and abut against the pipe segments 210 .

[0091] S400: Recalculating the pressures of the remaining propulsion cylinders and redistributing the pressures of the remaining propulsion cylinders. For example, the controller may recalculate the pressures of all propulsion cylinders 111 and redistribute the pressures of all propulsion cylinders 111 .

[0092] S500: Repeat the above steps to complete the assembly of the entire ring of segments.

[0093] In the step of "calculating the pressures of the remaining propulsion cylinders 111 and redistributing the pressures of the remaining propulsion cylinders 111", it specifically includes: allocating the pressure of at least one propulsion cylinder 111 close to the retracted propulsion cylinder 111 as a first pressure, and allocating the pressure of at least one propulsion cylinder 111 away from the retracted propulsion cylinder 111 as a second pressure; the first pressure is greater than the second pressure.

[0094] It should be noted that “close” refers to the propulsion cylinder 111 that is adjacent to the retracted propulsion cylinder 111 ; and “far away” refers to the propulsion cylinder 111 that is opposite to (eg, directly facing) the retracted propulsion cylinder 111 .

[0095] The reason for setting the first pressure greater than the second pressure is: when the thrust cylinder 111A is retracted, the position of the thrust cylinder 111A is vacant. Therefore, in order to maintain the balance of the thrust force, the pressure of the thrust cylinder 111B close to the thrust cylinder 111A is set to be higher, and the pressure of the thrust cylinder 111C away from the thrust cylinder 111A is set to be lower, which helps to ensure that the equivalent driving force of the thrust of the remaining thrust cylinders 111 is consistent with the equivalent driving force of the thrust of all the original thrust cylinders 111, thereby ensuring that the shield machine can continue to move along the established route in the pushing and splicing synchronization mode.

[0096] In one possible implementation, a permanent magnet synchronous motor can be mounted on the shield body, configured to drive the cutter head to rotate. Permanent magnet synchronous motors are more efficient than conventional variable frequency motors, thus helping to save energy.

[0097] Example 4

[0098] In this embodiment, it should be noted that, since the shield machine moves forward in the excavation direction during the synchronous pushing and splicing movement, the assembling machine is set on the shield machine, and the assembling machine moves forward in the excavation direction at the same time. When the assembling machine grabs the pipe segment, the forward movement of the assembling machine can easily lead to low accuracy in grabbing the pipe segment; in addition, after the assembling machine grabs the pipe segment, it assembles the pipe segment to the completed tunnel segment under the thrust of the thrust cylinder. However, since the assembling machine moves forward, there is always a relative displacement between the assembling machine and the completed tunnel segment, which affects the assembly effect of the pipe segment.

[0099] Therefore, in order to avoid the problem that the relative displacement between the assembling machine and the completed tunnel segment affects the segment assembly effect, the embodiment of the present application provides a push-and-splice synchronization device 100, which may include: a propulsion cylinder assembly 110, an assembly assembly 120, a completed tunnel segment 130, and a controller 140. The propulsion cylinder assembly 110, the assembly assembly 120, and the completed tunnel segment 130 are arranged in the push-and-splice synchronization device 100, and the completed tunnel segment 130 is installed and abutted against the surface of the excavated tunnel (see Figure 6 for details).

[0100] For example, the controller 140 in the embodiment of the present application may be a PLC, which is a programmable logic controller 140 in Chinese and a programmable logic controller in English. For example, as shown in FIG. 2 , the controller 140 may be provided on the assembly machine 121 .

[0101] The structure of the propulsion cylinder assembly 110 is described as follows:

[0102] As shown in Figure 7, the propulsion cylinder assembly 110 may include a propulsion cylinder 111 and a propulsion stroke sensor 112 arranged on the propulsion cylinder 111. The propulsion cylinder 111 is used for propulsion of the shield machine 200 and is usually arranged in the tail shield 240 or the middle shield 230 of the shield machine 200 to ensure the propulsion force and speed of the shield machine 200.

[0103] The controller 140 and the propulsion stroke sensor 112 are electrically connected. For example, the controller 140 and the propulsion stroke sensor 112 can be electrically connected in a wired manner; or, the controller 140 and the propulsion stroke sensor 112 can be electrically connected in a wireless manner; or, the controller 140 and the propulsion stroke sensor 112 can also be electrically connected in other ways, which is not further limited in this embodiment of the present application.

[0104] The working principle of the propulsion stroke sensor 112 is: by installing a magnetic or optical encoder on the propulsion cylinder 111 to measure the movement of the propulsion cylinder 111, the encoder will generate a series of electronic pulses, and the number and frequency of the pulses are related to the movement of the object; the propulsion stroke sensor 112 will convert the electronic pulses into signals that can be read and processed. These signals are transmitted to the controller 140 and then converted into stroke change values ​​of the propulsion cylinder 111 by the controller 140. The controller 140 calculates the excavation speed of the pushing and splicing synchronization device 100 along the excavation direction based on the stroke change value of the propulsion cylinder 111.

[0105] The structure of the assembly component 120 is described as follows:

[0106] 7 and 8 , the assembling assembly 120 may include an assembling machine 121 and a translation hydraulic assembly 122 disposed on the assembling machine 121 . A gripping head 160 may be mounted on the assembling machine 121 .

[0107] The assembling machine 121 is a mechanical equipment commonly used in shield construction. The working principle of the assembling machine 121 is: the assembling machine 121 uses a rotary mechanism to rotate the gripping head 160 on the circumference of the pipe segment 210, and at the same time uses a telescopic mechanism to control the extension and retraction of the gripping head 160, thereby achieving the gripping of the pipe segment 210, and assembling the pipe segment 210 on the to-be-assembled position 180 of the tunnel segment 130 under the action of the thrust cylinder 111.

[0108] The structure of the translation hydraulic assembly 122 is described as follows:

[0109] 7 , the translation hydraulic assembly 122 may include a translation cylinder 1221, a translation control proportional valve 1222, and a translation stroke sensor 1223. Specifically, the translation control proportional valve 1222 and the translation stroke sensor 1223 are respectively disposed on the translation cylinder 1221. For example, the translation control proportional valve 1222 in the embodiment of the present application may be a current-type proportional valve.

[0110] The working principle of the translation control proportional valve 1222 is: a group of solenoid valves are installed inside the translation control proportional valve 1222. When the input current signal changes, the solenoid valve will be affected by electromagnetic forces of different sizes, thereby causing the valve core to move. The movement of the valve core will change the channel area of ​​the valve, thereby affecting the flow rate of the medium, thereby controlling the flow rate by adjusting the current signal.

[0111] In actual application, the translation control proportional valve 1222 obtains the current value corresponding to the same excavation speed. The translation control proportional valve 1222 also controls the translation cylinder 1221 to move at the same speed as the excavation speed and in a direction away from the excavation direction according to the current value.

[0112] It should be noted that the excavation direction can be shown by the arrow A1 direction in Figures 6 to 8, and the direction away from the excavation direction can be shown by the arrow A2 direction in Figures 6 to 8. The A1 direction and the A2 direction are opposite directions.

[0113] The controller 140 and the translational travel sensor 1223 are electrically connected. For example, the controller 140 and the translational travel sensor 1223 may be electrically connected via a wired connection, or wirelessly, or in other ways, which are not further limited in this embodiment of the present application. The operating principle of the translational travel sensor 1223 is the same as that of the propulsion travel sensor 112 and will not be further described here.

[0114] The controller 140 obtains the stroke change value of the translation stroke sensor 1223 and calculates the translation speed of the translation cylinder 1221 according to the stroke change value of the translation stroke sensor 1223. The controller 140 is also used to compare the translation speed with the excavation speed.

[0115] The controller 140 and the translation control proportional valve 1222 are electrically connected. For example, the controller 140 and the translation control proportional valve 1222 can be electrically connected in a wired manner; or, the controller 140 and the translation control proportional valve 1222 can be electrically connected in a wireless manner; or, the controller 140 and the translation control proportional valve 1222 can be electrically connected in other ways, which is not further limited in the embodiments of the present application.

[0116] Specifically, when the translation speed is greater than the excavation speed, the controller 140 controls the translation control proportional valve 1222 to reduce the current value; when the translation speed is less than the excavation speed, the controller 140 controls the translation control proportional valve 1222 to increase the current value.

[0117] Therefore, through the above-mentioned adjustment method, it is possible to always ensure that the translation speed and the excavation speed are the same, thereby ensuring that the translation hydraulic component 122 always moves at the same speed as the excavation speed and in a direction away from the excavation direction. The translation hydraulic component 122 drives the assembler 121 to move at the same speed as the excavation speed and in a direction away from the excavation direction, forming a relative static state between the assembler 121 and the completed tunnel segment 130. The assembler 121 grabs the segment 210 and, under the thrust of the thrust cylinder 111, assembles the segment 210 on the to-be-assembled position 180 of the completed tunnel segment 130.

[0118] In one possible implementation, as shown in Figure 7, an oil replenishing device 150 may also be included. The oil replenishing device 150 is connected to the translation cylinder 1221, so that during the translation movement, the oil replenishing device 150 can continuously replenish oil to the translation cylinder 1221, so that the translation cylinder 1221 continues to move in a direction away from the excavation direction at the same speed as the excavation speed, thereby ensuring that the translation speed and the excavation speed are the same.

[0119] Exemplarily, the oil replenishing device 150 may be an oil tank filled with hydraulic oil. Replenishing the translation cylinder 1221 with the hydraulic oil helps to avoid the risk of damage to the translation cylinder 1221 due to vacuum generated in the translation cylinder 1221 .

[0120] Exemplarily, the oil replenishing device 150 and the translation cylinder 1221 can be connected via a pipeline 170.

[0121] It should be noted that the purpose of setting up the oil replenishing device 150 is: since the assembling machine 121 continuously moves in a direction away from the excavation direction, the stroke of the translation cylinder 1221 becomes longer, and the translation cylinder 1221 needs to discharge oil and replenish oil at the same time during the translation movement. This is conducive to avoiding the risk of vacuum generation in the translation cylinder 1221, and further helps to avoid the risk of damage to the translation cylinder 1221. Therefore, the present application can continuously replenish oil to the translation cylinder 1221 by setting up the oil replenishing device 150 to ensure the normal use of the translation cylinder 1221.

[0122] In one possible implementation, as shown in FIG7 , the translation cylinder 1221 may include an oil inlet end 12211 and an oil outlet end 12212. It may be supplemented that the translation cylinder 1221 has a rod chamber and a rodless chamber. The rod chamber is the end of the translation cylinder 1221 without a piston rod, and is located on one side of the oil outlet end 12212. The rodless chamber is the end of the translation cylinder 1221 with a piston rod, and is located on one side of the oil inlet end 12211. The oil inlet end 12211 may also be called an oil replenishment end.

[0123] The oil inlet end 12211 is connected to a floating oil replenishment check valve 12214 , and the oil outlet end 12212 is connected to a floating control hydraulic ball valve 12213 . The floating control hydraulic ball valve 12213 and the floating oil replenishment check valve 12214 are electrically connected to the controller 140 respectively.

[0124] Illustratively, the floating control hydraulic ball valve 12213 and the floating oil replenishment one-way valve 12214 can be electrically connected to the controller 140 respectively by wire; or, the floating control hydraulic ball valve 12213 and the floating oil replenishment one-way valve 12214 can be electrically connected to the controller 140 respectively by wireless; or, the floating control hydraulic ball valve 12213 and the floating oil replenishment one-way valve 12214 can be electrically connected to the controller 140 respectively by other means, which is not further limited in the embodiments of the present application.

[0125] The oil replenishing device 150 is connected to the oil inlet end 12211. In actual application, the controller 140 controls the floating control hydraulic ball valve 12213 to open so that the translation cylinder 1221 can discharge oil through the oil outlet end 12212; when the translation cylinder 1221 needs to be replenished with oil, the controller 140 controls the floating oil replenishing check valve 12214 to open so that the translation cylinder 1221 can be replenished with oil through the oil inlet end 12211.

[0126] In some working modes, the oil replenishing device 150 can also replenish oil to the propulsion cylinder 111 .

[0127] Specifically, the working mode is: when the shield machine 200 as a whole advances forward at a certain speed along the excavation direction, and the assembler 121 has grabbed the pipe segment 210 and moved to the assembly position on the completed tunnel segment 130, the oil replenishing device 150 replenishes oil to the thrust cylinder 111, and the thrust cylinder 111 acts on the pipe segment 210 grasped by the assembler 121. The thrust cylinder 111 drives the assembler 121 to move horizontally to the appropriate position, thereby realizing the precise installation of the pipe segment 210.

[0128] It should be noted that, in some embodiments, the completed tunnel segment 130 is generally a full ring structure. For example, the full ring is generally composed of eight segments 210. Specifically, when seven of the segments 210 have been assembled, when assembling the last segment 210, since the assembly space becomes smaller and smaller, a greater thrust is required to ensure that it is assembled on the completed tunnel segment 130. Therefore, by setting the oil replenishing device 150, it is also helpful to strengthen the thrust of the propulsion cylinder 111.

[0129] Example 5

[0130] 9 and 10 , an embodiment of the present application further provides a control method for a push-pull synchronization device, which may include:

[0131] S100: Acquire the stroke change value of the propulsion cylinder assembly, and calculate the excavation speed of the pushing and splicing synchronization device moving along the excavation direction according to the stroke change value of the propulsion cylinder assembly.

[0132] Specifically, the controller 140 mainly obtains the stroke change value of the propulsion stroke sensor 112, and calculates the excavation speed of the pushing and splicing synchronization device 100 moving along the excavation direction according to the stroke change value of the propulsion stroke sensor 112.

[0133] For example, the calculation method can refer to the following method:

[0134] The propulsion stroke sensor 112 monitors the propulsion data of each group of propulsion cylinders 111 in real time, monitors the stroke and pressure of each group of propulsion cylinders 111; records the time of propulsion of each group of propulsion cylinders 111; the ratio of stroke to time is the stroke speed of the propulsion cylinder 111, and then the excavation speed of the pushing and splicing synchronization device 100 moving along the excavation direction.

[0135] S200: Obtain the current value corresponding to the translation hydraulic assembly at the excavation speed, calculate the travel speed of the translation hydraulic assembly according to the current value, and control the translation hydraulic assembly to drive the assembly machine to move at the travel speed in a direction away from the excavation direction.

[0136] Specifically, the current value corresponding to the excavation speed is obtained by the translation control proportional valve 1222, and the controller 140 calculates the travel speed of the translation hydraulic component 122 according to the current value. The controller 140 also controls the translation hydraulic component 122 to drive the assembler 121 to move at the travel speed in a direction away from the excavation direction.

[0137] S300: Acquiring the stroke change value of the propulsion cylinder assembly specifically includes:

[0138] The stroke change value of the translation stroke sensor is obtained, and the translation speed of the translation cylinder is calculated according to the stroke change value of the translation stroke sensor.

[0139] Specifically, the controller 140 obtains the stroke change value of the translation stroke sensor 1223 , and calculates the translation speed of the translation cylinder 1221 according to the stroke change value of the translation stroke sensor 1223 .

[0140] The calculation method of the translation speed of the translation cylinder 1221 is the same as the technical method of the propulsion speed of the propulsion cylinder 111.

[0141] S400: Compare the translation speed with the travel speed. When the translation speed is greater than the travel speed, control the translation control proportional valve to reduce the current value until the translation speed is equal to the travel speed; when the translation speed is less than the travel speed, control the translation control proportional valve to increase the current value until the translation speed is equal to the travel speed.

[0142] Specifically, in this embodiment, the controller 140 is mainly used to compare the translation speed with the travel speed.

[0143] The embodiments of the present application provide a push-and-segment synchronization device, a control method thereof, a thrust distribution method, and a shield machine. The push-and-segment synchronization device includes a segment assembler, a controller, and a thrust cylinder. The controller selects a corresponding push-and-segment mode based on the different thrust speeds of the shield machine and different tunnel strata, thereby improving shield machine construction efficiency, saving energy, and reducing energy consumption.

[0144] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0145] In the description of this application, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or apparatuses.

[0146] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "fixed," etc. should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration. They can be directly connected or indirectly connected through an intermediate medium. They can also refer to internal connections between two elements or interactions between two elements. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances. In addition, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A push-and-splice synchronization device, located in a shield machine, characterized in that: The push-and-assemble synchronization device comprises a propulsion cylinder assembly, an assembling assembly and a controller, wherein the propulsion cylinder assembly is arranged close to the assembling assembly, the assembling assembly is used to assemble the pipe segments, and the propulsion cylinder assembly comprises a propulsion cylinder, and the extended propulsion cylinder is used to provide the propulsion force of the shield machine; The controller is configured to start the semi-push-and-splice synchronization mode when the advancing speed of the shield machine is greater than or equal to a preset speed, or when it is detected that the tunnel stratum is in the first type of stratum; Or, the controller is configured to start the full push-and-splice synchronization mode when the advancing speed of the shield machine is less than the preset speed or when it is detected that the tunnel stratum is in the second type of stratum; Or, the controller is configured to start the conventional assembly mode when a failure occurs in the push-to-assemble synchronization mode; The hardness of the first type of formation is less than the hardness of the second type of formation.

2. The push-pushing synchronization device according to claim 1, characterized in that: The assembling assembly includes an assembling machine and an assembling machine controller arranged on the assembling machine; The assembling machine controller is electrically connected to the controller, and the assembling machine controller is configured to control the retraction of the propulsion cylinder before assembling the pipe segment, and is configured to control the extension of the propulsion cylinder after the pipe segment is assembled. The extended propulsion cylinder pushes the assembled pipe segment to provide propulsion force for the shield machine.

3. The push-pushing synchronization device according to claim 2, characterized in that: The number of the propulsion cylinders includes multiple ones. When the half-push-and-assemble synchronous mode or the full-push-and-assemble synchronous mode is started, the assembling machine controller is configured to control one of the multiple propulsion cylinders to retract, and control the remaining propulsion cylinders to extend; The controller is configured to calculate the pressure of the remaining thrust cylinders and redistribute the pressure of the remaining thrust cylinders so that the thrust force and the point of action provided to the shield machine remain unchanged; when the pipe segment corresponding to the retracted thrust cylinder is assembled, the assembling machine controller controls the thrust cylinder to extend and abut the pipe segment, and the controller is configured to redistribute the pressure of the remaining thrust cylinders and redistribute the pressure of the remaining thrust cylinders.

4. The push-pull synchronization device according to any one of claims 1 to 3, characterized in that: Also included is a hydraulic device, the hydraulic device is configured to provide driving force to the propulsion cylinder, the controller is configured to control the hydraulic device and the propulsion cylinder to be disconnected when the hydraulic device is in an inoperative state within a first preset time period, and is configured to control the hydraulic device to be turned off when the hydraulic device is in an inoperative state within a second preset time period; The second preset time period is greater than the first preset time period.

5. The push-pushing synchronization device according to claim 4, characterized in that: The hydraulic device is provided with a main filter and a backup filter, and the controller is configured to switch the backup filter when the main filter fails.

6. The push-pull synchronization device according to any one of claims 1-3, characterized in that: It also includes a guiding device, which is electrically connected to the controller and is configured to obtain the propulsion stroke of the shield machine and send the propulsion stroke to the controller.

7. The push-pushing synchronization device according to claim 2 or 3, characterized in that: The assembly assembly further comprises a translation hydraulic assembly arranged on the assembly machine, and the translation hydraulic assembly is electrically connected to the propulsion cylinder and the controller respectively; The controller is configured to obtain a stroke change value of the propulsion cylinder, and calculate a tunneling speed of the push-splitting synchronization device moving along a tunneling direction according to the stroke change value of the propulsion cylinder; The translational hydraulic component is configured to obtain the current value corresponding to the excavation speed, the controller is configured to calculate the travel speed of the translational hydraulic component according to the current value, and control the translational hydraulic component to drive the assembling machine to move at the travel speed in a direction away from the excavation direction, thereby forming a relative static state between the assembling machine and the completed tunnel segment; the assembling machine is configured to grab the segment and assemble the segment at the to-be-assembled position of the completed tunnel segment under the thrust of the propulsion cylinder.

8. The push-pushing synchronization device according to claim 7, characterized in that: The thrust cylinder assembly also includes a thrust stroke sensor disposed on the thrust cylinder, and the controller is electrically connected to the thrust stroke sensor; the controller is configured to obtain a stroke change value of the thrust stroke sensor and calculate the excavation speed based on the stroke change value.

9. The push-pushing synchronization device according to claim 8, characterized in that: The translation hydraulic assembly comprises a translation oil cylinder and a translation control proportional valve, the translation control proportional valve is arranged on the translation oil cylinder, and the controller is electrically connected to the translation control proportional valve; The translation control proportional valve is configured to obtain a current value corresponding to the excavation speed, and the controller is configured to control the translation cylinder to drive the assembling machine to move at the travel speed in a direction away from the excavation direction.

10. The push-pull synchronization device according to claim 9, characterized in that: The translation hydraulic assembly further includes a translation stroke sensor, which is disposed on the translation oil cylinder, and the controller is electrically connected to the translation stroke sensor; The controller is configured to obtain a stroke change value of the translation stroke sensor, and calculate a translation speed of the translation cylinder according to the stroke change value of the translation stroke sensor. The controller is also configured to compare the translation speed with the travel speed: When the translation speed is greater than the travel speed, the controller controls the translation control proportional valve to reduce the current value until the translation speed is equal to the travel speed; When the translation speed is less than the travel speed, the controller controls the translation control proportional valve to increase the current value until the translation speed is equal to the travel speed.

11. The push-pushing synchronization device according to claim 10, characterized in that: It also includes an oil replenishing device, the translation oil cylinder includes an oil inlet end and an oil outlet end, the oil replenishing device is connected to the oil inlet end of the translation oil cylinder, the translation oil cylinder discharges oil through the oil outlet end, and replenishes oil through the oil inlet end; The oil replenishing device is used to replenish oil to the translation cylinder so that the translation cylinder continues to move in a direction away from the excavation direction at the same speed as the excavation speed.

12. The push-pushing synchronization device according to claim 11, characterized in that: The oil inlet end is connected to a floating oil replenishment check valve, the oil outlet end is connected to a floating control hydraulic ball valve, and the floating control hydraulic ball valve and the floating oil replenishment check valve are both electrically connected to the controller; The controller controls the floating control hydraulic ball valve to enable the translation cylinder to discharge oil through the oil outlet end, and controls the floating oil replenishment check valve to enable the translation cylinder to replenish oil through the oil inlet end.

13. A method for distributing thrust of a push-pull synchronization device, used for the push-pull synchronization device according to any one of claims 1 to 12, characterized in that: The thrust distribution method of the push-to-spin synchronization device comprises: When the half-push-and-spin synchronous mode or the full-push-and-spin synchronous mode is started, one of the multiple propulsion cylinders is controlled to retract, and the remaining propulsion cylinders are controlled to extend; Calculating the pressure of the remaining propulsion cylinders and redistributing the pressure of the remaining propulsion cylinders; When the pipe segments corresponding to the retracted propulsion cylinders are assembled, the propulsion cylinders are controlled to extend and abut against the pipe segments; recalculating the pressure of the remaining propulsion cylinders and redistributing the remaining propulsion cylinders; Repeat the above steps to complete the assembly of the entire ring of segments.

14. The thrust distribution method of the push-pushing synchronization device according to claim 13, characterized in that: The step of "calculating the pressure of the remaining propulsion cylinders and redistributing the pressure of the remaining propulsion cylinders" specifically includes: A pressure close to at least one of the retracted propulsion cylinders is assigned as a first pressure, and a pressure away from at least one of the retracted propulsion cylinders is assigned as a second pressure; the first pressure is greater than the second pressure.

15. A control method for a push-pull synchronization device, used for the push-pull synchronization device according to any one of claims 7 to 12, characterized in that: The control method of the push-pushing synchronization device comprises: Obtaining a stroke change value of the propulsion cylinder assembly, and calculating a tunneling speed of the push-splitting synchronization device moving along the tunneling direction according to the stroke change value of the propulsion cylinder assembly; The current value corresponding to the translation hydraulic component at the excavation speed is obtained, the travel speed of the translation hydraulic component is calculated according to the current value, and the translation hydraulic component is controlled to drive the assembling machine to move at the travel speed in a direction away from the excavation direction.

16. A control method for a push-pull synchronization device according to claim 15, characterized in that: The step of obtaining the stroke change value of the propulsion cylinder assembly specifically includes: Acquiring a stroke change value of a translation stroke sensor, and calculating a translation speed of the translation cylinder according to the stroke change value of the translation stroke sensor; The translation speed is compared with the travel speed. When the translation speed is greater than the travel speed, the translation control proportional valve is controlled to reduce the current value until the translation speed is equal to the travel speed; when the translation speed is less than the travel speed, the translation control proportional valve is controlled to increase the current value until the translation speed is equal to the travel speed.

17. A shield machine, characterized in that: It at least comprises a cutter disc, a shield body and the push-splitting synchronization device described in any one of claims 1-12, wherein the cutter disc is connected to the shield body, the cutter disc is located at the excavation end of the shield machine, and the assembly components and the propulsion cylinder components of the push-splitting synchronization device are arranged in the shield body.

18. The shield machine according to claim 17, characterized in that: A permanent magnet synchronous motor is installed on the shield body, and the permanent magnet synchronous motor is configured to drive the cutter disc to rotate.

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