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

The synchronous pushing and splicing device and its control method and thrust distribution method, tunnel boring machine

[0001] This application claims priority to Chinese Patent Application No. 202311563951.5, filed on November 21, 2023, entitled "Pushing and Slab Synchronizing Device, Control Method for Pushing and Slab Synchronizing Device and Tunnel Boring Machine", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202410226486.4, filed on February 28, 2024, entitled "Propulsion System, Thrust Distribution Method for Propulsion System and Tunnel Boring Machine", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of tunnel construction technology, and in particular to a push-and-assemble synchronous device and its control method and thrust distribution method, and a tunnel boring machine. Background Technology

[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 are now developing towards greater depth, larger cross-section, and longer distance, which has led to an extension of the construction period for shield tunnels.

[0005] Conventional shield tunneling operations involve assembling tunnel segments only after the tunnel boring machine (TBM) has excavated one ring of segments and come to a complete stop. During tunnel formation, the construction period primarily depends on the time taken for both TBM advancement and segment assembly, and these two processes are roughly equivalent in duration. Therefore, to shorten the construction period and improve efficiency, segment assembly is integrated into the TBM advancement process, allowing them to proceed synchronously. Theoretically, this could reduce the construction period by up to half. This synchronous segment assembly and tunneling is also known as simultaneous push-and-assemble. However, TBMs using this technology have relatively low construction efficiency and high energy consumption.

[0006] Summary of the Invention

[0007] The embodiments of this application provide a push-and-assemble synchronous device and its control method and thrust distribution method, as well as a tunnel boring machine (TBM). The TBM selects the corresponding push-and-assemble mode according to different advance speeds of the TBM and different tunnel strata, which helps to improve the construction efficiency of the TBM, save energy, and reduce energy consumption.

[0008] To achieve the above objectives, a first aspect of this application provides a push-and-assemble synchronization device, including a propulsion cylinder assembly, an assembly assembly, and a controller. The propulsion cylinder assembly is disposed close to the assembly assembly, which is used to assemble tunnel segments. The propulsion cylinder assembly includes a propulsion cylinder, the extended portion of which provides propulsion force to the tunnel boring machine (TBM). The controller is configured to activate a semi-push-and-assemble synchronization mode when the TBM's propulsion speed is greater than or equal to a preset speed, or when the tunnel stratum is detected to be in a first type of stratum; or, the controller is configured to activate a full push-and-assemble synchronization mode when the TBM's propulsion speed is less than the preset speed, or when the tunnel stratum is detected to be in a second type of stratum; or, the controller is configured to activate a conventional assembly mode when the push-and-assemble synchronization mode malfunctions; 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 assembly includes an assembly machine and an assembly machine controller mounted on the assembly machine; the assembly machine controller is electrically connected to the controller, and is configured to control the retraction of the propulsion cylinder before assembling the tunnel segment, and to control the extension of the propulsion cylinder after the tunnel segment assembly is completed, wherein the extended propulsion cylinder pushes the assembled tunnel segment to provide propulsion force for the tunnel boring machine.

[0010] In one possible implementation, the number of propulsion cylinders includes multiple sets. When activating the semi-push-assemble synchronous mode or the full-push-assemble synchronous mode, the assembly machine controller is configured to control one set of propulsion cylinders to retract and control the remaining propulsion cylinders to extend. 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 point of application provided to the tunnel boring machine remain unchanged. After the segment corresponding to the retracted propulsion cylinder is assembled, the assembly machine controller controls the propulsion cylinder to extend and abut against the segment. 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, the hydraulic device being configured to provide driving force to the propulsion cylinder, and the controller being configured to disconnect the hydraulic device and the propulsion cylinder when the hydraulic device is in an inactive state for a first preset time period, and to shut down the hydraulic device when the hydraulic device is in an inactive state for a second preset time period; the second preset time period is longer than the first preset time period.

[0012] In one possible implementation, 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.

[0013] In one possible implementation, a guiding device is also included, which is electrically connected to the controller and is configured to acquire the propulsion stroke of the tunnel boring machine and send the propulsion stroke to the controller.

[0014] In one possible implementation, the assembly assembly further includes a translational hydraulic assembly mounted on the assembly machine. The translational hydraulic assembly is electrically connected to the propulsion cylinder and the controller, respectively. The controller is configured to acquire the stroke change value of the propulsion cylinder and calculate the tunneling speed of the push-assemble synchronization device moving along the tunneling direction based on the stroke change value of the propulsion cylinder. The translational hydraulic assembly is configured to acquire the current value corresponding to the tunneling speed. The controller is configured to calculate the travel speed of the translational hydraulic assembly based on the current value and control the translational hydraulic assembly to drive the assembly machine to move in a direction opposite to the tunneling direction at the travel speed, forming a relatively stationary state between the assembly machine and the pre-existing tunnel segments. The assembly machine is configured to grab the segments and assemble the segments at the assembly position of the pre-existing tunnel segments under the thrust of the propulsion cylinder.

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

[0016] In one possible implementation, the translational hydraulic assembly includes a translational cylinder and a translational control proportional valve, the translational control proportional valve being disposed on the translational cylinder, and the controller being electrically connected to the translational control proportional valve; the translational control proportional valve is configured to acquire a current value corresponding to the tunneling speed, and the controller is configured to control the translational cylinder to drive the assembly machine to move at the travel speed in a direction opposite to the tunneling direction.

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

[0018] In one possible implementation, an oil replenishment device is also included. The translation cylinder includes an oil inlet and an oil outlet. The oil replenishment device is connected to the oil inlet of the translation cylinder. The translation cylinder discharges oil through the oil outlet and replenishes oil through the oil inlet. The oil replenishment device is used to replenish oil to the translation cylinder so that the translation cylinder continues to move in a direction opposite to the tunneling direction at the same speed as the tunneling speed.

[0019] In one possible implementation, a floating replenishing 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 replenishing 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 replenishing check valve to allow the translation cylinder to replenish oil through the oil inlet end.

[0020] A second aspect of this application also provides a thrust distribution method for a push-assembly synchronization device. The thrust distribution method includes: when activating a half-push-assembly synchronization mode or a full-push-assembly synchronization mode, controlling one set of the multiple sets of push cylinders to retract and controlling the remaining push cylinders to extend; calculating the pressure of the remaining push cylinders and redistributing the pressure of the remaining push cylinders; when the segment corresponding to the retracted push cylinder is assembled, controlling the push cylinder to extend and abut against the segment; recalculating the pressure of the remaining push cylinders and redistributing the pressure of the remaining push cylinders; repeating the above steps to complete the assembly of the entire ring segment.

[0021] In one possible implementation, the step of "calculating the pressure of the remaining propulsion cylinders and redistributing the pressure of the remaining propulsion cylinders" specifically includes: allocating the pressure of at least one of the propulsion cylinders near 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] A third aspect of the embodiments of this application also provides a control method for a push-and-assemble synchronization device. The control method includes: acquiring the stroke change value of the propulsion cylinder assembly, and calculating the tunneling speed of the push-and-assemble synchronization device moving along the tunneling direction based on the stroke change value of the propulsion cylinder assembly; acquiring the current value corresponding to the translational hydraulic assembly at the tunneling speed, calculating the travel speed of the translational hydraulic assembly based on the current value, and controlling the translational hydraulic assembly to drive the assembly machine to move in a direction opposite to the tunneling direction at the travel speed.

[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; 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] A fourth aspect of the present application provides a tunnel boring machine (TBM) comprising at least a cutterhead, a shield body, and a push-and-assemble synchronization device. The cutterhead is connected to the front shield and is located at the tunneling end of the TBM. The assembly components and propulsion cylinder components of the push-and-assemble synchronization device are disposed in the shield body.

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

[0026] The push-and-assemble synchronization device, its control method, thrust distribution method, and tunnel boring machine provided in this application embodiment are described below. The push-and-assemble synchronization device includes a propulsion cylinder assembly, an assembly assembly, and a controller. In this way, the controller selects the corresponding push-and-assemble mode according to the different propulsion speeds of the tunnel boring machine and different tunnel strata, which helps to improve the construction efficiency of the tunnel boring machine, save energy, and reduce energy consumption.

[0027] The structure of this application, as well as its other objectives and beneficial effects, will become more apparent from the description of the preferred embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 is a schematic diagram of the working process of the tunnel boring machine in the synchronous pushing and splicing mode provided in the embodiment of this application;

[0030] Figure 2 is a schematic diagram of the propulsion cylinder and tunnel segments of the tunnel boring machine provided in the embodiment of this application;

[0031] Figure 3 is a flowchart illustrating the semi-pushing and splicing synchronous mode of the tunnel boring machine provided in the embodiment of this application;

[0032] Figure 4 is a flowchart illustrating the full-pushing and simultaneous splicing mode of the tunnel boring machine provided in the embodiments of this application;

[0033] Figure 5 is a flowchart illustrating the thrust distribution method of the tunnel boring machine's push-and-assemble synchronization device provided in the embodiments of this application;

[0034] Figure 6 is a simplified schematic diagram of the tunnel boring machine provided in the embodiment of this application;

[0035] Figure 7 is a schematic diagram of the push-and-assemble synchronization device provided in an embodiment of this application;

[0036] Figure 8 is a schematic diagram of the assembly components of the push-and-assemble synchronization device provided in the embodiment of this application;

[0037] Figure 9 is a flowchart illustrating the control method of the push-and-paste synchronization device provided in an embodiment of this application;

[0038] Figure 10 is a schematic diagram of the control logic of the controller and translation stroke sensor of the push-and-assemble synchronization device provided in the embodiment of this application.

[0039] Explanation of reference numerals in the attached diagram: 100-Pushing and assembling synchronization device; 110-Propulsion cylinder assembly; 111-Propulsion cylinder; 112-Propulsion stroke sensor; 120-Assembly assembly assembly; 121-Assembly machine; 122-Translation hydraulic assembly; 1221-Translation cylinder; 12211-Inlet; 12212-Outlet; 12213-Floating control hydraulic ball valve; 12214-Floating replenishing check valve; 1222-Translation control proportional valve; 1223-Translation stroke sensor; 130-Completed tunnel segment; 140-Controller; 150-Replenishing oil device; 160-Grip head; 170-Pipeline; 180-Position to be assembled; 200-Shield machine; 210-Tunnel segment; 220-Front shield; 230-Middle shield; 240 - Tail shield; 250 - Excavation device. Detailed Implementation

[0040] With the development of the national economy and the acceleration of tunnel construction, the shield tunneling method has been widely used due to its economic efficiency. The shield tunneling method is a fully mechanized construction method. It involves advancing a shield machine underground, using the shield shell and tunnel segments to support the surrounding rock and prevent collapse into the tunnel. Simultaneously, cutting devices excavate the soil in front of the excavation face, transporting the excavated soil out of the tunnel using haulage machinery. Jacks then apply pressure from the rear to propel the tunnel forward, and precast concrete tunnel segments are assembled to form the tunnel structure.

[0041] A tunnel boring machine (TBM) is a specialized engineering machine for tunnel excavation, capable of excavating and cutting soil, transporting excavated material, assembling tunnel lining, and measuring and guiding. Tunnel construction using TBMs is characterized by high automation, labor savings, and rapid construction speed. It is particularly economical and efficient when the tunnel is long and deep.

[0042] Conventional shield tunneling operations involve assembling tunnel segments only after the tunnel boring machine (TBM) has excavated one ring of segments and come to a complete stop. During tunnel formation, the construction period primarily depends on the time taken for both TBM advancement and segment assembly, and these two processes are roughly equivalent in duration. Therefore, to shorten the construction period and improve efficiency, segment assembly is integrated into the TBM advancement process, allowing them to proceed synchronously. Theoretically, this could halve the construction time. This synchronous assembly and tunneling is also known as simultaneous push-and-assemble. However, current TBM technologies do not integrate the push-and-assemble process with the TBM's advancement speed and tunnel geological conditions, resulting in a simplistic assembly method, low construction efficiency, and high energy consumption.

[0043] It should be further explained that the segments are continuously assembled, and the assembled segments are called completed tunnel segments. Completed tunnel segments are quickly and accurately installed and abutted against the surface of the excavated tunnel to support the tunnel surface, prevent groundwater infiltration and surface subsidence, and provide propulsion reaction force for the tunnel boring machine.

[0044] To address the aforementioned technical issues, this application provides a push-and-assemble synchronous device and its control method, thrust distribution method, and a tunnel boring machine (TBM). The push-and-assemble synchronous device includes a propulsion cylinder assembly, an assembly assembly, and a controller. In this way, the controller selects the corresponding push-and-assemble mode based on different advance speeds of the TBM and different tunnel strata, which helps improve the construction efficiency of the TBM, save energy, and reduce energy consumption.

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1

[0047] This application provides a tunnel boring machine 200, which is used in a tunnel to construct the tunnel strata.

[0048] The tunnel boring machine 200 includes at least a front shield 220, a middle shield 230, a tail shield 240, and a push-and-assemble synchronous device 100. The front shield 220, middle shield 230, and tail shield 240 are collectively referred to as the shield body, with the middle shield 230 connecting the front shield 220 and the tail shield 240. Specifically, the front shield 220 is located on the side of the tunnel boring machine 200 closer to the excavation end, and the tail shield 240 is located on the side of the tunnel boring machine 200 furthest from the excavation end, which is also called the excavation end and is located at the very front of the tunnel boring machine 200.

[0049] "At least" means that, in addition to the front shield 220, middle shield 230 and tail shield 240, as shown in Figure 1, the tunnel boring machine 200 may also include an excavation device 250, a muck removal device, etc. The excavation end is set on the excavation device 250, which is used to excavate the tunnel strata. The excavation device 250 is generally a cutterhead. The muck removal device is connected to the excavation device 250 and is used to discharge the muck excavated by the excavation device 250 to the outside of the tunnel.

[0050] Example 2

[0051] Conventional shield tunneling operations involve assembling tunnel segments only after the tunnel boring machine (TBM) has excavated one ring of segments and come to a complete stop. During tunnel formation, the construction period primarily depends on the time taken for both TBM advancement and segment assembly, and these two processes are roughly equivalent in duration. Therefore, to shorten the construction period and improve efficiency, segment assembly is integrated into the TBM advancement process, allowing them to proceed synchronously. Theoretically, this could halve the construction time. This synchronous assembly and tunneling is also known as simultaneous push-and-assemble. However, current TBM technologies do not integrate the push-and-assemble process with the TBM's advancement speed and tunnel geological conditions, resulting in a simplistic assembly method, low construction efficiency, and high energy consumption.

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

[0053] The working process of the tunnel boring machine (TBM) in the synchronous pushing and assembling mode provided in this application embodiment can include: Referring to Figures 1 and 2, when the TBM advances beyond the width of one ring of tunnel segments, the automatic guidance system calculates the segment selection sequence. When the TBM meets the assembly conditions, the controller sends a prompt signal to the TBM and automatically selects the assembly mode based on factors such as geological formation and tunneling parameters. The assembly mode can include: conventional pushing and assembling mode, semi-pushing and assembling synchronous mode, and full pushing and assembling synchronous mode. The TBM's advance beyond the width of one ring of tunnel segments is configured to ensure that the TBM meets the assembly conditions. The prompt from the controller to the TBM can be an audible signal or a signal light of different colors.

[0054] For example, the conditions for assembling a tunnel boring machine may include: using qualified tunnel segments; no operators are allowed in front of the segment when it is being fed into the assembling machine; no personnel are allowed to stand or move under the assembling machine before the segment has rotated or radially entered the end of the assembled segment; the segment assembly should be carried out strictly in accordance with the relevant requirements, and the segment should not have internal or external through joints or concrete spalling; after the segment is assembled, records should be kept and inspections should be carried out, etc.

[0055] For example, the automatic guidance system's segment selection calculation refers to: calculating the relative trend of the formed segments to the designed line and the tunnel boring machine's attitude, and selecting the installation point of the next ring segment in order to fit the relative error between the formed segments and the designed line.

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

[0057] This application provides a push-and-assemble synchronous device 100, which may include an assembly machine, a controller, and a propulsion cylinder 111. The propulsion cylinder 111 is located close to the assembly machine. The assembly machine is used to assemble tunnel segments 210, and the extended propulsion cylinder 111 is used to provide propulsion force for the tunnel boring machine.

[0058] The principle behind the propulsion cylinder 111 providing thrust to the tunnel boring machine (TBM) is as follows: The propulsion cylinder 111 is equipped with a support shoe, which pushes against the pre-installed tunnel lining segments 210. By controlling the cylinder rod of the propulsion cylinder 111 to extend backward, it provides forward thrust to the TBM, thus ensuring the TBM's thrust and speed. The principle behind the tunnel lining segment 210 assembly is as follows: After the TBM has excavated one ring, the assembly machine assembles the single-layer lining segments 210, forming the tunnel in one operation.

[0059] It should be noted that there is no limitation on the number of propulsion cylinders 111. For example, as shown in FIG2, the number of propulsion cylinders 111 may include multiple cylinders. Multiple propulsion cylinders 111 push against the pre-installed tunnel segments 210 to provide the tunnel boring machine with the maximum propulsion force. This embodiment does not limit this.

[0060] It should be noted that the tube segment 210 before assembly can be referred to as the tube segment to be assembled. The number of tube segments to be assembled includes multiple segments. The assembly machine assembles multiple tube segments to be assembled, and the assembled tube segment 210 forms a complete ring. It can be understood that the complete ring of tube segments is composed of multiple tube segments to be assembled. The propulsion cylinder 111 pushes on the multiple tube segments to be assembled in the complete ring. Specifically, one propulsion cylinder 111 can be pushed on one tube segment to be assembled, or two propulsion cylinders 111 can be pushed on one tube segment to be assembled, or multiple propulsion cylinders 111 can be pushed on one tube segment to be assembled. This embodiment does not limit this.

[0061] The three pushing and assembling modes provided in this application embodiment are mainly selected according to the tunnel boring machine's advancing speed and the type of tunnel strata:

[0062] The first type of push-and-assemble mode is: when the tunnel boring machine's advance speed is greater than or equal to the preset speed, or when the tunnel strata are detected to be in the first type of strata, the semi-push-and-assemble synchronous mode is activated.

[0063] Among them, the semi-pushing and assembly synchronous mode refers to the following: the tunnel boring machine stops advancing, and after the assembly machine assembles part of the tunnel segment 210, the tunnel boring machine continues to tunnel.

[0064] In this embodiment, the preset speed is not limited and can be set according to actual conditions. For example, when the tunnel boring machine's (TBM) advance speed is greater than the preset speed, it indicates that the TBM's tunneling is very smooth. However, if the TBM's advance speed is too high, the TBM advances too quickly, and the subsequent segment 210 cannot be assembled in time. Simultaneously, the propulsion cylinder 111 cannot extend indefinitely to avoid damage to the cylinder or failure to replenish oil in time. The first type of stratum can be a relatively soft stratum or other geologically favorable stratum, allowing the TBM's advance speed to be too high and the TBM to advance too quickly.

[0065] In this way, when the tunnel boring machine's advance speed is too high, or when the tunnel stratum is in the first type of stratum, the semi-push-assemble synchronous mode is activated. This can avoid the problem of not having enough time to assemble the tunnel segments 210, and can also avoid the problem of damage to the propulsion cylinder 111 due to continuous extension.

[0066] The second type of push-and-assemble mode is: when the tunnel boring machine's advance speed is less than the preset speed, or when the tunnel strata are detected to be in the second type of strata, the full push-and-assemble synchronous mode is activated.

[0067] Among them, the full-push assembly synchronous mode means that the tunnel boring machine's advance and the assembly of the tunnel segment 210 are carried out simultaneously, and the tunnel boring machine does not stop during the tunneling process.

[0068] In this embodiment, the preset speed is not limited and can be set according to the actual situation. For example, when the tunnel boring machine's advance speed is less than the preset speed, it indicates that the tunnel boring machine is advancing slowly. The second type of stratum can be a hard stratum with poor geological conditions, in which case the tunnel boring machine's advance speed is low and the tunnel boring machine advances slowly.

[0069] In this way, when the tunnel boring machine's advance speed is too low, or when the tunnel strata are in the second type of strata, the full push and assembly synchronous mode is activated. This will prevent the problem of not having enough time to assemble the tunnel segments 210, and will also prevent the problem of the propulsion cylinder 111 being damaged due to continuous extension.

[0070] The third type of assembly mode is: the controller is configured to start the normal assembly mode when the tunnel boring machine malfunctions.

[0071] The conventional assembly mode refers to the following: when the synchronous push-assemble mode encounters malfunctions or other problems, the tunnel boring machine (TBM) stops advancing and only assembles segment 210. After segment 210 is assembled, the TBM resumes tunneling. This helps to avoid affecting the assembly of segment 210, thereby ensuring the normal assembly of segment 210.

[0072] Therefore, the push-and-assemble synchronous device 100 provided in this application embodiment can select the corresponding push-and-assemble mode according to the different advance speeds of the tunnel boring machine and the different tunnel strata, which helps to improve the construction efficiency of the tunnel boring machine, save energy, and reduce energy consumption.

[0073] In one possible implementation, an assembly machine controller is also included, which is used to assemble the tunnel segment 210. The assembly machine controller is configured to control the retraction of the propulsion cylinder 111 before assembling the tunnel segment 210 and to control the extension of the propulsion cylinder 111 after the tunnel segment 210 is assembled. The extended propulsion cylinder 111 abuts against the assembled tunnel segment 210 to provide propulsion force for the tunnel boring machine.

[0074] The connection method between the assembly machine and the assembly machine controller is not limited. For example, the assembly machine and the assembly machine controller can be connected by means of clips, screws, etc., or the assembly machine and the assembly machine controller can be welded. This embodiment does not limit this.

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

[0076] In one possible implementation, the number of propulsion cylinders 111 can include multiple sets. When starting the semi-push-assemble synchronous mode or the full-push-assemble synchronous mode, the assembly machine controller controls one set of propulsion cylinders 111 to retract and controls the remaining propulsion cylinders 111 to extend. The controller calculates the pressure of the remaining propulsion cylinders 111 and redistributes the pressure to ensure that the propulsion force and point of application provided to the tunnel boring machine remain unchanged. After the segment 210 corresponding to the retracted propulsion cylinder 111 is assembled, the assembly machine controller controls the corresponding propulsion cylinder 111 to extend and abut against the segment 210. The controller recalculates the pressure of the remaining propulsion cylinders 111 and redistributes the pressure. The operator repeats the above steps to complete the assembly of the entire ring of segments.

[0077] The flowchart of the semi-push-and-spell synchronous mode can be seen in Figure 3, and the flowchart of the full-push-and-spell synchronous mode can be seen in Figure 4.

[0078] For example, the propulsion cylinders 111 may include multiple sets. The controller controls one set of propulsion cylinders 111 to retract, leaving at least one ring width of space for the tunnel segment 210. The tunnel segment 210 is assembled in this space. At the same time, the tunnel boring machine (TBM) does not stop. The TBM continues to rely on the other propulsion cylinders 111 that have not been retracted to provide driving force and advance forward using their remaining stroke. This enables the tunnel segment 210 to be assembled synchronously during the tunnel boring process, which essentially improves construction efficiency. However, because the propulsion cylinders 111 aligned in the tunnel segment 210 assembly area are retracted, the propulsion cylinders 111 in that area are missing, which causes the overall propulsion force of the TBM to decrease. The point of action of the TBM will shift, and it will also deviate from the preset travel path of the TBM.

[0079] Therefore, in order to ensure that the tunnel boring machine can continue to advance along the predetermined route in the push-and-assemble synchronous mode, and to ensure that the equivalent driving force of the remaining propulsion cylinders 111 is consistent with the equivalent driving 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 application provided to the tunnel boring machine remain unchanged. After the 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 segment 210. 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 application provided to the tunnel boring machine remain unchanged.

[0080] In one possible implementation, a hydraulic device may also be included, configured to provide driving force to the propulsion cylinder 111, and the controller is configured to disconnect the hydraulic device and the propulsion cylinder 111 when the hydraulic device is in an inactive state for a first preset time period, and to shut down the hydraulic device when the hydraulic device is in an inactive state for a second preset time period; the second preset time period is longer than the first preset time period.

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

[0082] To reduce energy consumption, the hydraulic pump is disconnected from the propulsion cylinder 111 when it is inactive for a first preset time period, and shut down when it is inactive for a second preset time period. The first and second preset time periods are not limited and can be set according to actual conditions. For example, the first preset time period could be two minutes of inactivity before disconnection, and the second preset time period could be five minutes of inactivity before shutdown, thus helping to reduce energy consumption.

[0083] In one possible implementation, the hydraulic unit 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 helping to reduce filter replacement time and improve construction efficiency. The filter's function is to remove various impurities that may appear in the hydraulic unit.

[0084] In one possible implementation, a guiding device may also be included, electrically connected to the controller. The guiding device acquires the tunnel boring machine's (TBM) advance stroke and transmits the stroke data to the controller. This allows for real-time monitoring of the TBM's advance status, facilitating the switching of different assembly modes based on the progress. For example, the guiding device could be a guide instrument or a positioning device.

[0085] Example 3

[0086] Referring to Figure 5, this application embodiment also provides a thrust distribution method for a push-and-assemble synchronization device, which can include:

[0087] S100: When starting the semi-push-and-assemble synchronous mode or the full-push-and-assemble synchronous mode, control one of the multiple sets of propulsion cylinders to retract and control the remaining propulsion cylinders to extend.

[0088] For example, the controller can control one set of propulsion cylinders 111 to retract and control the remaining propulsion cylinders 111 to extend.

[0089] S200: Calculate the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders. For example, the pressure of the remaining propulsion cylinders can be calculated and redistributed by the controller.

[0090] S300: After the segment corresponding to the retracted propulsion cylinder is assembled, control the propulsion cylinder to extend and abut against the segment. For example, the propulsion cylinder 111 can be controlled by the controller to extend and abut against the segment 210.

[0091] S400: Recalculate the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders. For example, the pressure of all propulsion cylinders 111 can be recalculated and redistributed by the controller.

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

[0093] The step of “calculating the pressure of the remaining propulsion cylinders 111 and redistributing the pressure of the remaining propulsion cylinders 111” specifically includes: allocating the pressure of at least one propulsion cylinder 111 near the retracted propulsion cylinders 111 as a first pressure, and allocating the pressure of at least one propulsion cylinder 111 far from the retracted propulsion cylinders 111 as a second pressure; the first pressure is greater than the second pressure.

[0094] It should be noted that "near" refers to a propulsion cylinder 111 that is adjacent to the retracted propulsion cylinder 111; "far away" refers to a propulsion cylinder 111 that is opposite (e.g., directly opposite) to the retracted propulsion cylinder 111.

[0095] The reason for setting the first pressure to be greater than the second pressure is that when the propulsion cylinder 111A is retracted, there is a gap at the position of propulsion cylinder 111A. Therefore, in order to maintain the balance of propulsion force, the pressure of propulsion cylinder 111B, which is closer to propulsion cylinder 111A, is set to be larger, and the pressure of propulsion cylinder 111C, which is farther away from propulsion cylinder 111A, is set to be smaller. This helps to ensure that the equivalent driving force of the remaining propulsion cylinder 111 is consistent with the equivalent driving force of all the original propulsion cylinder 111, thereby ensuring that the tunnel boring machine can continue to advance along the predetermined route in the push-and-assemble synchronous mode.

[0096] In one possible implementation, a permanent magnet synchronous motor can be installed on the shield body, configured to drive the cutterhead to rotate. The permanent magnet synchronous motor is more efficient than conventional frequency converters, thus helping to save energy.

[0097] Example 4

[0098] In this embodiment, it should be noted that during the synchronous pushing and assembling process, the tunnel boring machine (TBM) moves forward along the tunneling direction, and the assembling machine is mounted on the TBM and moves forward along the tunneling direction simultaneously. When the assembling machine grabs the tunnel segments, its forward movement can easily lead to lower accuracy in grabbing the segments. In addition, after the assembling machine grabs the tunnel segments, it assembles the segments onto the completed tunnel segments under the thrust of the propulsion cylinder. However, due to the forward movement of the assembling machine, there is always a relative displacement between the assembling machine and the completed tunnel segments, which affects the assembly effect of the tunnel segments.

[0099] Therefore, to avoid the problem of relative displacement between the assembly machine and the existing tunnel segments affecting the segment assembly effect, this application provides a push-and-assemble synchronization device 100, which may include: a propulsion cylinder assembly 110, an assembly assembly 120, existing tunnel segments 130, and a controller 140. The propulsion cylinder assembly 110, the assembly assembly 120, and the existing tunnel segments 130 are arranged in the push-and-assemble synchronization device 100, and the existing tunnel segments 130 are installed and abut against the surface of the excavated tunnel (see Figure 6 for details).

[0100] For example, the controller 140 in this embodiment can be a PLC. The full Chinese name of PLC is Programmable Logic Controller. For example, referring to FIG2, the controller 140 can be set on the assembly machine 121.

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

[0102] Referring to FIG7, the propulsion cylinder assembly 110 may include a propulsion cylinder 111 and a propulsion stroke sensor 112 disposed on the propulsion cylinder 111. The propulsion cylinder 111 is used for the propulsion of the tunnel boring machine 200 and is usually arranged in the tail shield 240 or the middle shield 230 of the tunnel boring machine 200 to ensure the propulsion force and speed of the tunnel boring 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 by wire; or, the controller 140 and the propulsion stroke sensor 112 can be electrically connected by wireless; or, the controller 140 and the propulsion stroke sensor 112 can also be electrically connected by other means, which are not further limited in this embodiment.

[0104] The working principle of the propulsion stroke sensor 112 is as follows: the movement of the propulsion cylinder 111 is measured by installing a magnetic or optical encoder on the propulsion cylinder 111. The encoder generates a series of electronic pulses, the number and frequency of which are related to the movement of the object. The propulsion stroke sensor 112 converts the electronic pulses into signals that can be read and processed. These signals are transmitted to the controller 140, which then converts them into the stroke change value of the propulsion cylinder 111. Based on the stroke change value of the propulsion cylinder 111, the controller 140 calculates the tunneling speed of the push-and-assemble synchronization device 100 moving along the tunneling direction.

[0105] The structure of assembly component 120 is described below:

[0106] Referring to Figures 7 and 8, the assembly component 120 may include an assembly machine 121 and a translational hydraulic component 122 disposed on the assembly machine 121. A gripping head 160 may be installed on the assembly machine 121.

[0107] The assembly machine 121 is a commonly used mechanical equipment in shield tunneling. The working principle of the assembly machine 121 is as follows: the assembly machine 121 uses a slewing mechanism to make the gripper head 160 rotate on the circumference of the tunnel segment 210, and at the same time uses a telescopic mechanism to control the extension and retraction of the gripper head 160, thereby realizing the gripping of the tunnel segment 210, and assembling the tunnel segment 210 on the assembly position 180 of the tunnel segment 130 under the force of the propulsion cylinder 111.

[0108] The structure of the translational hydraulic assembly 122 is described below:

[0109] Referring to FIG7, 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 this embodiment may be a current-type proportional valve.

[0110] The working principle of the translation control proportional valve 1222 is as follows: The translation control proportional valve 1222 has a set of solenoid valves installed inside. When the input current signal changes, the solenoid valve will be subjected to electromagnetic forces of different magnitudes, which will cause the valve core to move. The movement of the valve core will change the valve channel area, thereby affecting the flow rate of the medium. Thus, the flow rate can be controlled by adjusting the current signal.

[0111] In practical applications, the translation control proportional valve 1222 acquires the current value corresponding to the same tunneling speed. The translation control proportional valve 1222 also controls the translation cylinder 1221 to move at the same speed as the tunneling speed and in a direction opposite to the tunneling direction based on the current value.

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

[0113] The controller 140 and the translational stroke sensor 1223 are electrically connected. Exemplarily, the controller 140 and the translational stroke sensor 1223 can be electrically connected via a wired connection; alternatively, the controller 140 and the translational stroke sensor 1223 can be electrically connected via a wireless connection; or, the controller 140 and the translational stroke sensor 1223 can also be electrically connected via other methods, which are not further limited in this embodiment. The working principle of the translational stroke sensor 1223 is the same as that of the propulsion stroke sensor 112, and will not be described again here.

[0114] The controller 140 acquires the stroke change value of the translation stroke sensor 1223 and calculates the translation speed of the translation cylinder 1221 based on the stroke change value of the translation stroke sensor 1223. The controller 140 is also used to compare the translation speed with the tunneling 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 by wire; or, the controller 140 and the translation control proportional valve 1222 can be electrically connected by wireless; or, the controller 140 and the translation control proportional valve 1222 can be electrically connected by other means. This application embodiment does not further limit this.

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

[0117] Therefore, through the above adjustment method, the translation speed and the tunneling speed can always be kept the same, thereby ensuring that the translation hydraulic component 122 always moves at the same speed as the tunneling speed and in a direction opposite to the tunneling direction. The translation hydraulic component 122 drives the assembly machine 121 to move at the same speed as the tunneling speed and in a direction opposite to the tunneling direction, forming a relatively stationary state between the assembly machine 121 and the tunnel segment 130. The assembly machine 121 grabs the segment 210 and, under the thrust of the propulsion cylinder 111, assembles the segment 210 on the assembly position 180 of the tunnel segment 130.

[0118] In one possible implementation, as shown in FIG7, an oil replenishment device 150 may also be included. The oil replenishment device 150 is connected to the translation cylinder 1221. In this way, during the translation movement, the oil replenishment device 150 can continuously replenish oil to the translation cylinder 1221, so that the translation cylinder 1221 continues to move in a direction opposite to the tunneling direction at the same speed as the tunneling speed, thereby ensuring that the translation speed and the tunneling speed are the same.

[0119] For example, the oil replenishment device 150 can be an oil tank containing hydraulic oil, which replenishes the translation cylinder 1221 with hydraulic oil, helping to avoid the risk of damage to the translation cylinder 1221 caused by a vacuum in the translation cylinder 1221.

[0120] For example, the oil replenishment device 150 and the translation cylinder 1221 can be connected via the pipeline 170.

[0121] It should be noted that the purpose of setting up the oil replenishment device 150 is as follows: Since the assembly machine 121 moves continuously in a direction away from the tunneling direction, the stroke of the translation cylinder 1221 becomes longer. Moreover, the translation cylinder 1221 needs to be replenished while dispensing oil during the translation movement. This helps to avoid the risk of vacuum in the translation cylinder 1221, and thus helps to avoid the risk of damage to the translation cylinder 1221. Therefore, by setting up the oil replenishment device 150, this application can continuously replenish the oil in the translation cylinder 1221 to ensure the normal use of the translation cylinder 1221.

[0122] In one possible implementation, referring to FIG7, the translation cylinder 1221 may include an oil inlet end 12211 and an oil outlet end 12212. It can be further explained that the translation cylinder 1221 has a rod-side chamber and a rodless chamber. The rod-side chamber is the end of the translation cylinder 1221 without a piston rod, 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, located on one side of the oil inlet end 12211, which can also be called the oil replenishment end.

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

[0124] For example, the floating control hydraulic ball valve 12213 and the floating replenishing check valve 12214 can be electrically connected to the controller 140 via a wired connection; or, the floating control hydraulic ball valve 12213 and the floating replenishing check valve 12214 can be electrically connected to the controller 140 via a wireless connection; or, the floating control hydraulic ball valve 12213 and the floating replenishing check valve 12214 can be electrically connected to the controller 140 via other means, which are not further limited in this embodiment.

[0125] The oil replenishment device 150 is connected to the oil inlet 12211. In actual application, the controller 140 controls the floating control hydraulic ball valve 12213 to open so that the translation cylinder 1221 can output oil through the oil outlet 12212. When it is necessary to replenish the translation cylinder 1221, the controller 140 controls the floating replenishment check valve 12214 to open so that the translation cylinder 1221 can be replenished with oil through the oil inlet 12211.

[0126] In some operating modes, the oil replenishment device 150 can also replenish the oil in the propulsion cylinder 111.

[0127] Specifically, the working mode is as follows: the tunnel boring machine 200 advances forward along the tunneling direction at a certain speed, and when the assembly machine 121 has grabbed the segment 210 and moved to the assembly position on the completed tunnel segment 130, the oil replenishment device 150 replenishes oil to the propulsion cylinder 111. The propulsion cylinder 111 acts on the segment 210 held by the assembly machine 121, and the propulsion cylinder 111 drives the assembly machine 121 to move horizontally to the appropriate position, thereby achieving the precise installation of the segment 210.

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

[0129] Example 5

[0130] Referring to Figures 9 and 10, this application embodiment also provides a control method for a push-and-paste synchronization device, which can include:

[0131] S100: Obtain the stroke change value of the propulsion cylinder assembly, and calculate the tunneling speed of the push-and-assemble synchronization device moving along the tunneling direction based on the stroke change value of the propulsion cylinder assembly.

[0132] Specifically, the controller 140 obtains the stroke change value of the propulsion stroke sensor 112, and calculates the tunneling speed of the push-and-assemble synchronization device 100 moving along the tunneling direction based on the stroke change value of the propulsion stroke sensor 112.

[0133] For example, the calculation method can be referred to as follows:

[0134] The propulsion stroke sensor 112 monitors the stroke and pressure of each propulsion cylinder 111 in real time by monitoring the propulsion data of each propulsion cylinder 111; it records the time for each propulsion cylinder 111 to propel; the ratio of stroke to time is the stroke speed of the propulsion cylinder 111, which in turn is the tunneling speed of the push-and-assemble synchronization device 100 moving along the tunneling direction.

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

[0136] Specifically, the current value corresponding to the tunneling speed is obtained by the translation control proportional valve 1222. The controller 140 calculates the travel speed of the translation hydraulic component 122 based on the current value. The controller 140 then controls the translation hydraulic component 122 to drive the assembly machine 121 to move in a direction away from the tunneling direction at the travel speed.

[0137] S300: In acquiring the stroke change value of the propulsion cylinder assembly, the specific components include:

[0138] 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.

[0139] Specifically, the controller 140 acquires the stroke change value of the translation stroke sensor 1223 and calculates the translation speed of the translation cylinder 1221 based on the stroke change value of the translation stroke sensor 1223.

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

[0141] S400: Compares the translation speed with the travel speed. When the translation speed is greater than the travel speed, the translation control proportional valve is adjusted 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 adjusted to increase the current value until the translation speed is equal to the travel speed.

[0142] Specifically, in this embodiment, the controller 140 mainly compares the translation speed and the travel speed.

[0143] The push-and-assemble synchronous device, its control method, and thrust distribution method provided in this application embodiment, as well as the tunnel boring machine (TBM), include a segment assembler, a controller, and propulsion cylinders. In this way, the controller selects the corresponding push-and-assemble mode according to different advance speeds of the TBM and different tunnel strata, which helps to improve the construction efficiency of the TBM, save energy, and reduce energy consumption.

[0144] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0145] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, 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 that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0146] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A push-and-assemble synchronous device, located in a tunnel boring machine, characterized in that, The push-and-assemble synchronization device includes a propulsion cylinder assembly, an assembly assembly, and a controller. The propulsion cylinder assembly is located close to the assembly assembly, which is used to assemble the tunnel segments. The propulsion cylinder assembly includes a propulsion cylinder, and the extended propulsion cylinder is used to provide the propulsion force of the tunnel boring machine. The controller is configured to activate a semi-pushing and splicing synchronous mode when the tunnel boring machine's advance speed is greater than or equal to a preset speed, or when the tunnel strata are detected to be in the first type of strata. Alternatively, the controller is configured to activate the full-push-and-assemble synchronous mode when the tunnel boring machine's advance speed is less than the preset speed, or when the tunnel strata are detected to be in the second type of strata; Alternatively, the controller may be configured to activate the normal assembly mode when the push-assembly synchronization mode fails. The hardness of the first type of formation is less than that of the second type of formation.

2. The push-and-assemble synchronization device according to claim 1, characterized in that, The assembly component includes an assembly machine and an assembly machine controller mounted on the assembly machine; The assembly machine controller is electrically connected to the controller. The assembly machine controller is configured to control the retraction of the propulsion cylinder before assembling the tunnel segment and to control the extension of the propulsion cylinder after the tunnel segment assembly is completed. The extended propulsion cylinder pushes the assembled tunnel segment to provide the tunnel boring machine with propulsion force.

3. The push-and-assemble synchronization device according to claim 2, characterized in that, The number of propulsion cylinders includes multiple ones. When the half-push assembly synchronous mode or the full-push assembly synchronous mode is started, the assembly machine controller is configured to control one of the multiple sets of propulsion cylinders to retract and control the remaining propulsion cylinders to extend. 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 point of application provided to the tunnel boring machine remain unchanged; when the segment corresponding to the retracted propulsion cylinder is assembled, the assembly machine controller controls the propulsion cylinder to extend and abut against the segment, and the controller is configured to redistribute the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders.

4. The push-and-assemble synchronization device according to any one of claims 1-3, characterized in that, It also includes a hydraulic device configured to provide driving force to the propulsion cylinder, and the controller is configured to disconnect the hydraulic device and the propulsion cylinder when the hydraulic device is in an inactive state for a first preset time period, and to shut down the hydraulic device when the hydraulic device is in an inactive state for a second preset time period. The second preset time period is longer than the first preset time period.

5. The push-and-assemble synchronization device according to claim 4, characterized in that, The hydraulic device is equipped 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-and-assemble synchronization device according to any one of claims 1-3, characterized in that, It also includes a guiding device electrically connected to the controller, the guiding device being configured to acquire the propulsion stroke of the tunnel boring machine and send the propulsion stroke to the controller.

7. The push-and-assemble synchronization device according to claim 2 or 3, characterized in that, The assembly assembly also includes a translational hydraulic assembly mounted on the assembly machine, the translational hydraulic assembly being electrically connected to the propulsion cylinder and the controller respectively; The controller is configured to acquire the stroke change value of the propulsion cylinder and calculate the tunneling speed of the push-and-assemble synchronization device moving along the tunneling direction based on the stroke change value of the propulsion cylinder. The translational hydraulic assembly is configured to acquire the current value corresponding to the tunneling speed. The controller is configured to calculate the travel speed of the translational hydraulic assembly based on the current value and control the translational hydraulic assembly to drive the assembly machine to move at the travel speed in a direction opposite to the tunneling direction, forming a relatively stationary state between the assembly machine and the tunnel segments. The assembly machine is configured to grab the tunnel segments and assemble them at the assembly position of the tunnel segments under the thrust of the propulsion cylinder.

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

9. The push-and-assemble synchronization device according to claim 8, characterized in that, The translation hydraulic assembly includes a translation cylinder and a translation control proportional valve, the translation control proportional valve being mounted on the translation cylinder, and the controller and the translation control proportional valve being electrically connected. The translation control proportional valve is configured to acquire the current value corresponding to the tunneling speed, and the controller is configured to control the translation cylinder to drive the assembly machine to move in a direction away from the tunneling direction at the travel speed.

10. The push-and-assemble synchronization device according to claim 9, characterized in that, The translational hydraulic assembly also includes a translational stroke sensor, which is mounted on the translational cylinder, and the controller is electrically connected to the translational stroke sensor. The controller is configured to acquire 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. 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-and-assemble synchronization device according to claim 10, characterized in that, It also includes an oil replenishment device. The translation cylinder includes an oil inlet end and an oil outlet end. The oil replenishment device is connected to the oil inlet end of the translation cylinder. The translation cylinder discharges oil through the oil outlet end and replenishes oil through the oil inlet end. The oil replenishment device is used to replenish oil to the translation cylinder so that the translation cylinder continues to move at the same speed as the tunneling speed in a direction opposite to the tunneling direction.

12. The push-and-assemble synchronization device according to claim 11, characterized in that, A floating replenishing 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 replenishing 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 via the outlet end, and controls the floating replenishment check valve to allow the translation cylinder to replenish oil via the inlet end.

13. A thrust distribution method for a push-and-assemble synchronization device, used in any one of claims 1-12, characterized in that, The thrust distribution method of the push-and-assemble synchronization device includes: When the semi-push-and-assemble synchronous mode or the full-push-and-assemble synchronous mode is started, one of the multiple sets of push cylinders is controlled to retract and the remaining push cylinders are controlled to extend. Calculate the pressure of the remaining propulsion cylinders and redistribute the pressure of the remaining propulsion cylinders; Once the segment corresponding to the retracted propulsion cylinder is assembled, the propulsion cylinder is controlled to extend and abut against the segment. Recalculate the pressure of the remaining propulsion cylinders and redistribute the pressure among them; Repeat the above steps to complete the assembly of the entire ring segment.

14. The thrust distribution method of the push-and-assemble 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: The pressure near at least one of the retracted propulsion cylinders is allocated as a first pressure, and the pressure away from at least one of the retracted propulsion cylinders is allocated as a second pressure; the first pressure is greater than the second pressure.

15. A control method for a push-and-assemble synchronization device, used in any one of claims 7-12, characterized in that, The control method for the push-and-paste synchronization device includes: Obtain the stroke change value of the propulsion cylinder assembly, and calculate the tunneling speed of the push-and-assemble synchronization device moving along the tunneling direction based on the stroke change value of the propulsion cylinder assembly; The current value corresponding to the translational hydraulic component at the tunneling speed is obtained, the travel speed of the translational hydraulic component is calculated based on the current value, and the translational hydraulic component is controlled to drive the assembly machine to move in a direction away from the tunneling direction at the travel speed.

16. The control method for a push-and-assemble synchronization device according to claim 15, characterized in that, The acquisition of the stroke change value of the propulsion cylinder assembly specifically includes: 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; 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 tunnel boring machine, characterized in that, It includes at least a cutterhead, a shield body, and a push-and-assemble synchronization device as described in any one of claims 1-12, wherein the cutterhead is connected to the shield body, the cutterhead is located at the tunneling end of the tunnel boring machine, and the assembly components and propulsion cylinder components of the push-and-assemble synchronization device are disposed in the shield body.

18. The tunnel boring 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 cutterhead to rotate.

Images