Tunnel Boring Device Articulation Control
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Solution Overview
Problem
Conventional tunnel boring machines with parallel link mechanisms face difficulties in excavating curved sections, particularly those with small radii of curvature, due to a non-intuitive relationship between thrust jack stroke and attitude control, leading to deviations from the desired tunnel path during manual operation.
Innovation Solution
A tunnel boring device equipped with a forward section, rear section, articulation point, parallel link mechanism, input component, computer, and jack controller, where the computer computes the articulation point based on operator inputs and controls the thrust jacks to maintain a desired curve, allowing for intuitive manual operation and precise control of the forward section's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a parallel link mechanism with thrust jacks is used to control the attitude of the forward section, then the structural stability and support force are improved, but the ease of operation deteriorates due to the non-intuitive relationship between jack stroke and attitude control
Solution Approach 1:
The control system acts as an intermediary between the operator and the parallel link mechanism. It computes the articulation point based on operator inputs and automatically calculates the required thrust jack strokes to achieve the desired forward section attitude, eliminating the non-intuitive relationship and making operation as easy as pointing a cursor.
Solution Approach 2:
The patent replaces direct manual mechanical control of the parallel link mechanism with an automated control system that uses computer calculations to determine thrust jack strokes. This substitution transforms the complex mechanical control relationship into an intuitive electronic control system.
2Adaptability or versatility
If manual operation is used to adjust the forward section attitude, then the adaptability to rock property changes is improved, but the manufacturing precision deteriorates due to deviations from the desired tunnel path
Solution Approach 1:
The control system continuously monitors the forward section's actual position and attitude, compares it with the desired trajectory, and automatically adjusts the thrust jack strokes to correct deviations. This feedback loop maintains positioning precision while allowing manual adaptation to rock property changes.
Solution Approach 2:
The system performs self-correction by automatically calculating and adjusting thrust jack strokes based on detected deviations from the desired path, eliminating the need for manual intervention to maintain precision while preserving adaptability.
3Device complexity
If the articulation point is fixed, then the device complexity is reduced, but the ease of operation worsens because the relationship between stroke and attitude does not match operator intuition
Solution Approach 1:
The articulation point is made dynamic rather than fixed. The control system computes the articulation point position based on the current forward section attitude and desired trajectory, allowing it to move adaptively. This dynamic adjustment maintains simple device structure while improving ease of operation by matching operator intuition.
Data Source
AI summary
A boring machine comprises a forward section, a rear section, an articulation point, a parallel link mechanism, an input component, an articulation point position computer, and a jack controller. The parallel link mechanism includes a plurality of thrust jacks that change the position of the forward section with respect to the rear section. The articulation point position computer computes the position of the articulation point on the basis of the control inputs received by the input component, and the positions of the center line and center point of the rear section and the center point of the forward section. The jack controller controls the stroke amounts of the thrust jacks to produce movement corresponding to a curve generated from the positions of the center point of the rear section, the articulation point, and the center point of the forward section.