CN-122014266-A - Intelligent active bearing system for main bearing of shield tunneling machine and control method

Abstract

The invention discloses an intelligent active thrust system and a control method for a main bearing of a shield tunneling machine, wherein the system comprises a main thrust floating raceway capable of slightly floating, a fixed ferrule and an intelligent actuating system between the main thrust floating raceway and the fixed ferrule, the system comprises actuators uniformly distributed on the circumference, multiple types of sensors and an intelligent controller, the controller recognizes working conditions according to sensor signals and switches modes, the actuators enter an active damping mode when in impact, the actuators apply reverse damping force to inhibit vibration, enter a self-adaptive supporting mode when in unbalanced load, and adjust supporting force of each point to correct posture and homogenize load.

Inventors

• LIU YONGSHENG
• FAN WENCHAO
• LIU CHAOYIN
• Han mengze
• LU ZHIYONG
• XU ZIWEN
• KONG DEQING
• WU YUANKE
• HU PANPAN
• LU GAOMING
• LI SHUAIYUAN
• WENG ZHENYONG
• YANG YANDONG
• LI JUNZHI
• ZHANG YANGKAI

Assignees

• 盾构及掘进技术国家重点实验室
• 中铁工程装备集团有限公司
• 中铁隧道局集团有限公司

Dates

Publication Date

20260512

Application Date

20260126

Claims (10)

1. 1. An intelligent active thrust system for a main bearing of a shield tunneling machine, comprising: a main thrust floating raceway (5) which can be slightly translated and tilted relative to the fixed ferrule; The fixed ferrule is arranged on the main driving box body (1); The intelligent actuating system is arranged between the main pushing floating roller path (5) and the fixed ferrule and comprises a plurality of intelligent actuating modules (7), sensor units and a controller, wherein the intelligent actuating modules are distributed along the circumference; The sensor unit is used for sensing vibration, load and displacement information of the main pushing floating roller path (5), and the controller controls the intelligent actuating module (7) to work according to sensor signals, so that active damping and self-adaptive support of the main pushing floating roller path (5) are realized.
2. 2. The intelligent active thrust system according to claim 1, wherein the fixed ferrules comprise a first fixed ferrule (2) and a second fixed ferrule (3), the first fixed ferrule (2) is fixed on the main driving box body (1), the second fixed ferrule (3) is arranged on one side, far away from the main driving box body (1), of the first fixed ferrule (2) and the second fixed ferrule (3), a U-shaped groove is formed at the abutting position of inner rings of the first fixed ferrule (2) and the second fixed ferrule (3), a rotary ferrule (4) connected with a cutter head of a shield machine is clamped in the U-shaped groove, a main thrust roller (8) is arranged between one side, close to the main driving box body (1), of the rotary ferrule (4) and the first fixed ferrule (2), an auxiliary thrust roller (12) is arranged between one side, far away from the main driving box body (1), of the rotary ferrule (4) and the second fixed ferrule (3), a radial groove is formed between the circumference of the rotary ferrule (2) and the second fixed ferrule (3), a floating roller (10) is arranged between the first fixed ferrule (4) and the auxiliary thrust roller (6), and the floating roller (6) is arranged.
3. 3. The intelligent active thrust system according to claim 2, wherein the intelligent actuating module (7) is an electrohydraulic servo actuator, and comprises a cylinder body (72), a piston rod (71), a supporting disc, a hydraulic source, a rod cavity oil pipe (19), a rodless cavity oil pipe (20) and a servo valve (14), wherein the cylinder body (72) is fixed on one side of the first fixed ferrule (2), the cylinder body (72) is internally provided with the piston, one side of the piston, which is far away from the first fixed ferrule (2), is fixedly provided with the piston rod (71), one end of the piston rod (71), which is far away from the piston, extends out of the cylinder body (72) and is connected with the supporting disc through a spherical hinge, the supporting disc is propped against the main thrust floating raceway (5), the hydraulic source is connected with the servo valve (14) through a pipeline, the servo valve (14) is communicated to one side of the cylinder body (72) corresponding to the piston rod cavity oil pipe (71) through the rod cavity oil pipe (19), the servo valve (14) is communicated to the other side of the cylinder body (72) through the rodless cavity oil pipe (20), the other side of the piston rod cavity oil pipe (72) is communicated with the cylinder body (72), the elastic bearing disc (74) is arranged between the first spring bearing disc and the first spring bearing disc (2), the high-load spring (74) is sleeved outside the electrohydraulic servo actuator and is used for supporting in an auxiliary mode and measuring displacement and inclination of the main pushing floating roller path (5).
4. 4. The intelligent active thrust system of claim 3, wherein the sensor unit includes: a vibration sensor (75) arranged between the support disc and the main pushing floating raceway (5) for detecting vibration acceleration; the load sensor (76) is arranged between the supporting disc and the main pushing floating roller path (5) and is used for detecting load information; and a displacement sensor (73) arranged between the first fixed ferrule (2) and the main pushing floating roller path (5) and used for detecting relative displacement.
5. 5. The intelligent active thrust system of claim 1, wherein the controller is an intelligent controller (16), receives signals from the sensor unit, outputs control instructions to the servo valve (14) after processing, and realizes closed-loop control of the intelligent actuation module (7).
6. 6. The intelligent active thrust system of claim 1, wherein the system has two modes of operation: an active damping mode for controlling the intelligent actuation module (7) to provide a reverse damping force when impact vibration is detected; and the self-adaptive support mode is used for controlling the intelligent actuating module (7) to provide an adjusting support force when unbalanced load or inclination is detected.
7. 7. An intelligent active thrust control method for a main bearing of a shield tunneling machine is characterized by comprising the following steps: vibration, load and displacement signals of the main pushing floating roller path (5) are obtained in real time through a sensor; The controller identifies the current working condition type according to the signal; if the impact vibration working condition is identified, an active damping mode is entered, and the intelligent actuating module (7) is controlled to apply damping force with the opposite direction to the vibration speed; if the stable unbalanced load working condition is identified, the self-adaptive support mode is entered, and the intelligent actuating module (7) is controlled to adjust the supporting force of each point so as to enable the rollaway nest to recover to the horizontal state.
8. 8. The control method of claim 7, wherein the identifying the current operating condition type comprises: judging whether the signal of the vibration sensor (75) exceeds a preset threshold value; It is determined whether the displacement sensor (73) detects a track inclination or whether the load sensor (76) detects a load maldistribution.
9. 9. The control method according to claim 7, wherein the active damping mode employs a zenith damping control algorithm, and the required damping force is calculated in real time based on the vibration speed and the current force.
10. 10. The control method according to claim 7, wherein the adaptive support mode adopts a load uniform distribution control algorithm, calculates a target support force according to displacement and load data of each point, and realizes track gesture adjustment through closed-loop control.

Description

Intelligent active bearing system for main bearing of shield tunneling machine and control method Technical Field The invention relates to the technical field of mechanical engineering, in particular to an intelligent active thrust system for a main bearing of a shield tunneling machine and a control method. Background The main bearing of the shield machine is a core component for driving the cutter head to rotate and bearing tunneling thrust, and the performance of the main bearing directly determines the reliability and the service life of the whole machine. The main thrust runner of the main bearing is subjected to large axial loads and complex overturning moments, and particularly severe impact vibration is generated when the cutterhead encounters uneven geology or underground obstacles. Therefore, the load, the gesture and the impact of the main bearing in the service state are monitored, the load, the deflection degree of the annular gear and the impact load of the bearing in the use process are judged, and the continuously existing abnormal signals are timely alarmed and actively regulated, so that the main bearing fault rate is reduced, and the main bearing is of great significance in ensuring the construction safety. In recent years, a few technical achievements are presented for monitoring the load of a main bearing of a shield machine, such as a state monitoring method and a state monitoring system of a main bearing with a publication number of CN116839779A, the total axial force of a bolt of a connecting bolt is obtained through monitoring, and then the overturning moment and the axial force of the main bearing are obtained by combining the load transmission rule between the main bearing and each connecting bolt, the working condition load detection system and the working condition load detection method of the main bearing of the shield machine with a publication number of CN114382495B are disclosed, the load sensor is arranged on the surfaces of a shield body and a connecting flange of a main drive, the high-strength connecting bolt and a durable threaded sleeve are combined, the loading condition of the main bearing is detected by using an external sensor, and the main bearing load is indirectly measured through the connecting bolts. According to the large intelligent rolling body load acquisition system and the analysis method disclosed by the publication number CN116481685A, the intelligent rolling body load acquisition system is designed in the large rolling bearing, and the main bearing load signal is acquired by combining a hollow structure with a resistance strain gauge and a deep learning algorithm. In addition, the technology can not effectively absorb external impact, directly transmit the external impact to the whole main bearing and shield body structure to cause continuous vibration and noise increase and obviously accelerate fatigue wear of the roller path and the rolling body, can not adaptively adjust the supporting state, easily cause partial stress concentration of the roller path under the unbalanced load working condition to cause unbalanced load wear and influence the whole service life of the bearing, and is difficult to accurately monitor the actual load distribution of the main pushing roller path in real time and inconvenient to early warn and health manage the equipment state. In conclusion, the intelligent active thrust system and the control method for the main bearing of the shield machine are designed, impact is actively restrained, the support is adaptively adjusted and monitored in real time, and the intelligent active thrust system and the control method have important scientific research and engineering application values for researching the service state of the main bearing of the shield machine, realizing bearing fault diagnosis, state monitoring, operation maintenance, service life evaluation, dynamic performance evaluation and the like. Disclosure of Invention Aiming at the defects in the background art, the intelligent active thrust system and the control method for the main bearing of the shield machine are designed, harmful vibration of a main thrust raceway caused by external impact can be actively and rapidly restrained, accumulated damage to the main bearing caused by vibration is avoided, self-adaptive load support can be realized, support force distribution can be automatically adjusted when uneven load or overturning moment is born, unbalanced load of the raceway is prevented, the bearing stress state is optimized, load distribution, vibration state and attitude information of the main thrust raceway can be acquired in real time with high precision, and data support is provided for intelligent operation and maintenance of the shield machine. The invention realizes the above purpose through the following technical scheme: an intelligent active thrust system for a main bearing of a shield tunneling machine comprises a main thrust floating raceway whi