CN-122008404-A - Stirring device of shield tunneling machine

CN122008404ACN 122008404 ACN122008404 ACN 122008404ACN-122008404-A

Abstract

The invention provides a stirring device of a shield machine, which solves the problem that accumulated materials are difficult to scrape by the stirring blades and accumulate for a long time due to the fact that the stirring blades of the existing stirrer adopt a fixed-length structure and have gaps with the inner wall of a tank body, and can be widely applied to the field of stirrers. The stirring device comprises a tank body, wherein a stirring shaft is arranged in the tank body, a plurality of fixed pipes are distributed on the surface of the stirring shaft, stirring blades are connected in the fixed pipes, first blades are arranged at the top ends of the stirring blades, second blades are connected on the surface of the first blades, the shapes of the second blades are matched with the inner wall of the tank body, the end parts of the second blades can be attached to the inner wall of the tank body, the end parts of the second blades are protruded out of the end parts of the first blades, and only the second blades are in contact with the inner wall of the tank body when the end parts of the second blades are attached to the inner wall of the tank body.

Inventors

SONG RUILAN
WEI SHUNHUA
WANG BIN
ZHANG HUA
LIU QIONG

Assignees

济南重工集团有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (8)

1. The stirring device of the shield tunneling machine comprises a tank body, wherein a stirring shaft is arranged in the tank body, a plurality of fixed pipes are distributed on the surface of the stirring shaft, and stirring blades are connected in the fixed pipes; when the end of the second blade protrudes from the end of the first blade and the end of the second blade is attached to the inner wall of the tank, only the second blade is in contact with the inner wall of the tank.
2. The stirring device of the shield tunneling machine according to claim 1, wherein the stirring blade further comprises a sleeve connected with the fixed pipe, a telescopic rod is sleeved in the sleeve, the top end of the telescopic rod is connected with the first blade, the bottom end of the telescopic rod is connected with the sleeve through a spring, a control assembly is arranged between the telescopic rod and the sleeve, the control assembly comprises an electromagnet, the electromagnet provides magnetic attraction force opposite to the acting force of the spring, and the electromagnet can adjust the extending length of the telescopic rod through changing the magnetic force.
3. The stirring device of the shield tunneling machine according to claim 2, wherein the second blade is provided with a pressure sensor for detecting the bonding pressure between the second blade and the inner wall of the tank body so as to adjust the extension length of the telescopic rod, and the first blade is provided with a displacement sensor for detecting the distance between the end face of the first blade and the inner wall of the tank body so as to assist in adjusting the extension length of the telescopic rod.
4. The stirring device of the shield tunneling machine according to claim 3, wherein the control assembly further comprises a controller, a memory module is provided in the controller, and a stirring blade length adjusting method is stored in the memory module, and comprises the following steps: judging the received detection value of the pressure sensor, and primarily outputting the coil current of the electromagnet; correcting the coil current of the preliminarily output electromagnet according to the detection data of the displacement sensor; And taking the corrected coil current of the electromagnet as final output, and adjusting the magnetic force of the electromagnet.
5. The stirring device of the shield tunneling machine according to claim 4, wherein the specific step of judging the received detection value of the pressure sensor and preliminarily outputting the coil current of the electromagnet is: Taking pressure deviation as input, taking the coil current increment of the electromagnet as output, establishing a control PID algorithm, and recording the pressure deviation e (k) of the kth sampling as follows: e(k)=P 0 -P(k); wherein P 0 represents the target bonding pressure of the second blade and the inner wall of the tank body, and P (k) represents the actual pressure value of the kth sampling; the rate of change of the pressure deviation is expressed as: Δe(k)=e(k)-e(k-1); Δe(k-1)=e(k-1)-e(k-2); Wherein Δe (k) represents the rate of change of the pressure deviation between the kth and the kth-1 samples, Δe (k-1) represents the rate of change of the pressure deviation between the kth-1 and the kth-2 samples, e (k-1) represents the pressure deviation between the kth-1 samples, and e (k-2) represents the pressure deviation between the kth-2 samples; the current increment is expressed as: ΔI(k)=Kp×Δe(k)+Kn×e(k)+Kd×(Δe(k)-Δe(k-1)); Wherein Δi (k) represents the coil current increment of the kth sample, kp represents a proportional coefficient, kn represents an integral coefficient, kd represents a differential coefficient; the coil current output I (k) of the preliminarily output electromagnet is expressed as: I(k)=I(k-1)+ΔI(k); wherein I (k-1) represents the coil current of the kth-1 th sample.
6. The stirring device of a shield tunneling machine according to claim 5, wherein the specific step of correcting the coil current output of the preliminarily output electromagnet according to the detection data of the displacement sensor is: note that the displacement deviation Δx (k) is expressed as: Δx(k)=x 0 -x(k); Wherein X 0 represents the target displacement between the first blade and the inner wall of the tank, and X (k) represents the actual telescopic length of the telescopic rod sampled k times; ΔIx(k)=Kx×Δx(k); wherein Δix (k) represents the current correction amount of the kth sample, kx represents the displacement correction coefficient; After correction, the output of the coil current of the electromagnet is: I final (k)=I(k)+ΔIx(k); Wherein I final (k) represents the corrected coil current of the kth sample, i.e., the corrected coil current of the electromagnet.
7. The stirring device of the shield tunneling machine according to claim 4, wherein the stirring blade length adjusting method further comprises a displacement sensor detection data noise reduction method, comprising the steps of: sequencing 5 continuous data points sampled each time, and taking an intermediate value as a preprocessing result; let the original displacement data sequence of the kth sample be: x raw (k,1), x raw (k,2), x raw (k,3), x raw (k,4), x raw (k,5); ascending order of the sequence: x sorted (k,1)≤x sorted (k,2)≤x sorted (k,3)≤x sorted (k,4)≤x sorted (k,5); Taking the median as the preprocessing output: x mid (k)=x sorted (k,3); Wherein x raw (k, n) represents the nth raw displacement data of the kth sample, n=1, 2,3,4,5, x sorted (k, n) represents the ordered displacement data, x mid (k) represents the median filtered displacement data; establishing a Kalman filtering model based on a discrete system, wherein the state equation is as follows: x(k)=A×x(k-1)+B×u(k-1)+w(k-1); Wherein x (k) represents the system state at time k, A represents the state transition matrix, B represents the control input matrix, u (k-1) represents the control input at time k-1, w (k-1) represents the process noise, subject to a Gaussian distribution with a mean value of 0 and a variance of Q; The observation equation is: z(k)=H×x(k)+v(k); Wherein z (k) represents an observed value at k time, H represents an observed matrix, v (k) represents observed noise, and obeys a gaussian distribution with a mean value of 0 and a variance of R; according to a Kalman filtering recursion formula, the prediction steps are as follows: x hat (k|k-1)=A×x hat (k-1|k-1)+B×u(k-1); P(k|k-1)=A×P(k-1|k-1)×A T +Q; Wherein x hat (k|k-1) represents the a priori state estimate at time k, x hat (k-1|k-1) represents the a priori state estimate at time k-1, P (k|k-1) represents the a priori covariance matrix at time k-1, P (k-1|k-1) represents the a priori covariance matrix at time k-1, and a T represents the transpose of state transition matrix a; the updating steps are as follows: K(k)=P(k|k-1)×H T /(H×P(k|k-1)×H T +R); x hat (k|k)=x hat (k|k-1)+K(k)×(z(k)-H×x hat (k|k-1)); P(k|k)=(I-K(k)×H)×P(k|k-1); Where K (K) represents the kalman gain at time K, H T represents the transpose of the observation matrix H, x hat (k|k) represents the posterior state estimation value at time K, I represents the identity matrix, and P (k|k) represents the posterior covariance matrix at time K.
8. The stirring device of the shield tunneling machine according to claim 1, wherein the tank body consists of a square part and a semicircular part, the bottom end of the semicircular part is provided with a plurality of discharge holes, and the semicircular part is half of a cylinder in shape, so that materials can be rapidly discharged through dead weight.

Description

Stirring device of shield tunneling machine Technical Field The invention belongs to the technical field of stirrers, and particularly relates to a stirring device of a shield tunneling machine. Background The shield machine is used as a large-scale construction machine integrating multiple technologies of machine, electricity, liquid, gas and the like, and the working process of the shield machine relates to various complex fluid media such as hydraulic oil, lubricating oil, special sealing grease, mortar, bentonite, compressed air, foam and the like, and almost covers all media types in the field of fluid transmission. The method is characterized in that mortar is used as a core medium for synchronous grouting and plays a key role, namely, in the tunneling process of the shield machine, enough mortar is needed to be quickly injected behind lining segments which are separated from the shield tails so as to fill annular building gaps between the shield tails and the segments, stable segments are realized through solidification of the mortar, formation deformation is controlled, and finally, surface subsidence is reduced, so that extremely high requirements are put forward on the mixing uniformity and supply timeliness of the mortar, and a stirring device of the shield machine is used as core equipment of a synchronous grouting system, and the performance of the stirring device directly determines grouting quality and construction safety. However, in practical application, the stirring device of the existing shield machine is limited by structural design defects, is difficult to adapt to the requirements of complex construction scenes, particularly has obvious short plates on the aspect of internal cleaning convenience, and becomes a key problem for limiting construction efficiency and equipment service life. Specifically, the stirring blades of the existing stirrer mostly adopt a fixed length structure, a fixed gap of 3-5cm exists between the stirring blades and the inner wall of the tank body, and the mortar for synchronous grouting generally contains aggregate with the particle size of less than 2cm for ensuring the filling effect, the viscosity is required to be dynamically adjusted according to geological conditions, and the high-viscosity mortar is easy to adhere to the inner wall of the tank body and the surface of the stirring blades in the stirring process, so that a material layer with the thickness of 5-8cm is formed. Because the fixed clearance can not be eliminated, the accumulated materials are difficult to scrape off through the stirring blade, and the following problems can occur after long-term accumulation: firstly, the cleaning operation is tedious and time-consuming. The existing equipment is required to be stopped in each construction gap, an operator wears protective equipment to enter the stirring tank body, tools such as a shovel blade, a high-pressure water gun and the like are used for manually cleaning accumulated materials, if the accumulated materials are dried and agglomerated, the cleaning difficulty is further increased, the anti-corrosion layer of the inner wall of the tank body is possibly scratched by means of a mechanical crushing tool, and the service life of the tank body is shortened. Secondly, the incomplete cleaning causes mortar pollution and equipment failure. The method is characterized in that the method is difficult to clean the corner of the inner wall of the tank body and the accumulated materials at the root of the stirring blade completely by manual cleaning, the residual accumulated materials can be mixed with new mortar, the proportion and viscosity of the mortar are changed, the grouting effect is affected, for example, particles with the diameter of more than 5cm can be formed after the residual dry materials are mixed with the new mortar, a grouting pipeline is blocked, the grouting pressure is suddenly increased, the pipeline is broken or a grouting pump is damaged, meanwhile, the residual accumulated materials can enter a sensor detection area along with the stirring process, the detection data is distorted, the stirring control precision is affected, and even equipment clamping stagnation is caused. Thirdly, the continuous construction requirement cannot be adapted. Along with the improvement of the construction efficiency of the shield machine, the continuous tunneling of a part of engineering needs to be realized for 24 hours, and the frequent shutdown cleaning of the existing stirrer causes that the synchronous grouting system cannot continuously supply mortar, a standby stirrer needs to be additionally arranged, the equipment purchasing and maintenance cost is increased, and in the switching process of the standby equipment, if the grouting interruption time exceeds 10 minutes, the gap behind the pipe piece is not filled timely, and the surface subsidence exceeding standard is easily caused. In addition, although some existing equipment tries to r