CN112879019A - Shield muck improvement control device and method based on muck monitoring - Google Patents
Shield muck improvement control device and method based on muck monitoring Download PDFInfo
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- CN112879019A CN112879019A CN202110111750.6A CN202110111750A CN112879019A CN 112879019 A CN112879019 A CN 112879019A CN 202110111750 A CN202110111750 A CN 202110111750A CN 112879019 A CN112879019 A CN 112879019A
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- 230000006872 improvement Effects 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012544 monitoring process Methods 0.000 title claims abstract description 27
- 238000003756 stirring Methods 0.000 claims abstract description 80
- 239000002689 soil Substances 0.000 claims abstract description 29
- 238000005303 weighing Methods 0.000 claims abstract description 28
- 230000006698 induction Effects 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 239000002893 slag Substances 0.000 claims description 29
- 230000005641 tunneling Effects 0.000 claims description 24
- 239000006260 foam Substances 0.000 claims description 17
- 239000003607 modifier Substances 0.000 claims description 15
- 238000005507 spraying Methods 0.000 claims description 13
- 238000004140 cleaning Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000011217 control strategy Methods 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 239000000428 dust Substances 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000012113 quantitative test Methods 0.000 description 1
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- 238000010079 rubber tapping Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/14—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads
- G01G19/18—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads having electrical weight-sensitive devices
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Abstract
The invention provides a shield muck improvement control device and method based on muck monitoring, the device comprises an automatic mechanical arm I and an automatic mechanical arm II, the end part of the automatic mechanical arm II is connected with a grabbing container for collecting muck, the grabbing container is arranged above a belt conveyor for conveying the muck, the end part of the automatic mechanical arm I is connected with a stirring device for stirring the muck in the grabbing container, the stirring device is provided with a moisture induction sensor, a torque sensor for measuring the torque of the stirred muck, a stress sensor for measuring the weight of the stirring device after the stirring device is attached with the muck, the grabbing container is provided with a weighing sensor for measuring the weight of the grabbing container and the muck therein, the moisture induction sensor, the torque sensor, the stress sensor and the weighing sensor are all connected with a controller, and the controller is connected with an upper computer. The invention has the advantages of real-time and quantitative residue soil parameter monitoring, simple structure and intelligent sensing, can effectively solve the problem of non-real-time residue soil improvement, and improves the residue soil output quality and efficiency.
Description
Technical Field
The invention relates to the technical field of shield machine muck monitoring and muck improvement, in particular to a shield muck improvement control device and method based on muck monitoring.
Background
The improvement of the slag soil is that the modifier is injected into the cutter head, the soil bin and the screw conveyer, so that the slag soil cut by the cutter head of the shield machine has better flow plasticity and smaller friction force. On one hand, the condition of the flow plasticity of the slag soil determines the running state of the shield machine, whether the slag soil can be discharged smoothly, whether the slag soil is blocked by a cutter head, the gushing of a spiral conveyor and the like; on the other hand, the quality of the improvement of the residue soil directly influences the disturbance of the stratum and is beneficial to the control of the surface sedimentation. Therefore, in the process of tunneling the earth pressure balance shield, the improvement of the muck is an important technical link, and the effect of the improvement of the muck determines whether the flow plasticity of the muck reaches an ideal state.
The traditional improvement is that a driver of the shield machine carries out experience judgment on the form of the muck through an image output by a camera arranged at the tail of the screw conveyor in an operation room, and the muck improvement parameters are manually adjusted. The existing main research direction is detection of the improved properties of the slag soil with test properties, which has no real-time property and does not conform to the engineering requirements, so that the problem of real-time monitoring and improvement of the slag soil is solved.
The application number 201811456321.7 is an improvement parameter correction method for earth pressure balance shield muck based on field muck state, and provides a method for taking muck on a belt conveyor manually according to field to perform a slump test, obtaining a slump test result, comparing the obtained slump test result with a test standard, and modifying the flow of a muck improver, including the proportion of the improver such as foam, water and the like, but the implementation of the patent mainly has the following limitations: the test data under manual operation has certain operation error and measurement error, and the slump experiment takes more than 5 minutes from the drawing of materials to the completion of measurement, can not satisfy the condition of real-time application in changeable environment, and non-quantitative test data lacks certain persuasion.
A shield sandy muck improvement capacity improvement and parameter determination method with application number of 201810683639.2 provides a parameter determination method for muck improvement under sandy muck conditions, and a slump test is also used as a measurement index, so that the method is lack of real-time performance and accuracy.
An automatic improvement method for soil pressure balance shield tunneling muck, with application number 201910445028.9, provides that the tail of a screw conveyer is provided with three high-speed cameras for nondestructive monitoring of muck slag tapping condition, judges muck fluidity through an image recognition mode, compares the obtained information with a fluidity plastic system, and controls muck improvement through a PLC according to the comparison result. The following limitations are mainly implemented: the fluidity judgment is qualitative rather than quantitative, and the effectiveness of improving the muck cannot be accurately ensured due to the influence of various factors; the camera is arranged in the tail of the spiral conveyor for monitoring, so that the spiral conveyor is easy to be affected by water, dust and other factors which affect the imaging effect, and has great influence on the final result.
Disclosure of Invention
Aiming at the technical problems that the existing muck improvement method is poor in instantaneity and cannot ensure the effectiveness of muck improvement, the invention provides a shield muck improvement control device and method based on muck monitoring, provides for monitoring the muck condition in real time and improving the muck in real time, and provides instructive opinions for automatically controlling the flow of an improver on line.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: the end of the automatic mechanical arm II is connected with a stirring device for stirring the muck in the grabbing container, the stirring device is provided with a moisture induction sensor, a torque sensor for measuring the torque of the stirred muck, a force sensor for measuring the weight of the stirring device and the stirring device after the muck is attached, the grabbing container is provided with a weighing sensor for measuring the weight of the grabbing container and the muck therein, and the moisture induction sensor, the torque sensor, the force sensor and the weighing sensor are all connected with a controller which is connected with an upper computer.
Preferably, the grabbing container comprises a left half container and a right half container which are bilaterally symmetrical, grabbing oil cylinders are arranged on the upper portions of the left half container and the right half container, the grabbing oil cylinders control the opening and closing of the left half container and the right half container in a telescopic mode, and the grabbing oil cylinders are arranged on the structural frame II. The grabbing container capable of being opened and closed is convenient for collecting and pouring the muck.
Preferably, the lower part of the stirring device is provided with a stirring blade, the upper part of the stirring device is connected with a motor, the upper part of the motor is connected with an oil cylinder I, the oil cylinder I is connected with a mechanical arm I through a structural frame I, and the stirring device is lifted and lowered through the expansion of the oil cylinder I.
Preferably, the load cell is arranged between the gripping container and the structural frame II; moisture inductive sensor sets up the surface in agitating unit lower part, conveniently carries out the collection of data.
Preferably, the automatic mechanical arm I is provided with an air pressure gun for cleaning dregs in the grabbing container and on the stirring device, so that the grabbing container and the stirring device can be conveniently recovered to the initial state.
A shield muck improvement control method based on muck monitoring comprises the following steps:
the method comprises the following steps: the shield machine starts tunneling, the upper computer gives a control instruction to the muck improvement control device after acquiring muck information, meanwhile, muck geological exploration data in the current tunneling interval are retrieved, and the water content interval [ omega ] of the current muck is acquiredmin，ωmax]And shear strength interval [ s ]min，smax](ii) a Wherein, ω isminAt minimum water content, omegamaxAt maximum water content, sminIs the minimum shear strength of the muck, smaxIs the maximum shear strength of the muck;
step two: the automatic mechanical arm II drives the grabbing container to move downwards, the grabbing oil cylinder is retracted to drive the grabbing container to be opened, the muck conveyed on the belt conveyor is collected, the grabbing oil cylinder extends out to drive the grabbing container to be closed, and the weighing sensor measures the muck mass t1 obtained from the grabbing container;
step three: after the upper computer obtains the weighing information of the weighing sensor, the automatic mechanical arm I pushes the stirring device into the muck of the grabbing container, the stirring device starts stirring, and the torque sensor obtains the stirring torque Ts;
step four: the stirring device stops after stirring for 1 minute, the moisture induction sensor acquires the water content index W of the muck, the automatic mechanical arm I withdraws the stirring device, and the stress sensor acquires the mass G of the muck attached to the stirring device1The grabbing oil cylinder is retracted to drive the grabbing container to be opened, the muck is poured out, and the weighing sensor obtains the mass t2 of the muck attached to the bottom of the grabbing container;
step five: the upper computer calculates the shear strength s of the muck through the torque Ts, and the shear strength s is calculated through the muck mass t1, the muck mass t2 and the mass G1Calculating the viscosity omega of the residue soil;
step six: comparing the shear strength s with the shear strength interval [ s ] by the upper computermin，smax]Comparing the interval [ omega ] of the viscosity omega and the water content of the dregsmin，ωmax]The foam flow and the modifier flow are adjusted in real time, so that the muck is modified.
The method for calculating the shear strength s of the muck through the torque Ts comprises the following steps:
through the slag mass t1, the slag mass t2 and the mass G1The method for calculating the viscosity omega of the slag soil comprises the following steps:
wherein d is the blade diameter of the stirring device (9); and Wp is the water spraying flow rate of the improved muck, L is the stretched length of the propulsion oil cylinder of the current shield tunneling machine, and D is the diameter of the shield tunneling machine.
The method for adjusting the foam flow and the modifier flow by the upper computer in the sixth step comprises the following steps:
when the shear strength s is less than the minimum shear strength sminWhen the flow rate Ws of the foam is increased, the flow rate Wg of the modifying agent is increased under the control of the upper computer;
when the shear strength s is greater than the maximum shear strength smaxWhen the flow rate Ws of the foam is reduced, the flow rate Wg of the modifier is reduced by the upper computer;
when the shear strength s is in the shear strength interval [ s ]min，smax]In the process, the upper computer controls the foam flow Ws and the modifier flow Wg to be unchanged;
when the viscosity omega of the dregs is less than the minimum water content omegaminThe upper computer controls the water spraying flow Wp to rise;
when the viscosity omega of the dregs is larger than the maximum water content omegamaxThe upper computer controls the water spraying flow Wp to be reduced;
when the viscosity omega of the dregs is in the water content interval omegamin，ωmax]And if so, the upper computer controls the water spraying flow Wp to be unchanged.
When the grabbing container pours out the muck, the included angle between the bottom of the container and the horizontal direction is 40 degrees, so that the muck quality t2 required by the viscosity of the muck can be conveniently obtained.
The upper computer preprocesses the acquired data before the calculation in the step five, and the preprocessing method comprises the following steps: cleaning the acquired shield operation data including but not limited to data of abnormal tunneling process; and (4) cleaning the data acquired by the slag map monitoring and controlling device for the standard, including but not limited to the data of the non-tunneling process.
Compared with the prior art, the invention has the beneficial effects that: according to the method, the muck improvement information including but not limited to related information such as quality, moisture, viscosity, strength and the like is obtained by combining with a soil test, the current muck improvement effect is obtained according to a formula, and an upper computer sends an instruction to control and change the muck modifier. Therefore, the invention has the advantages of real-time and quantitative muck parameter monitoring, simple structure and intelligent perception, can effectively solve the problem of non-real-time muck improvement, improves the output quality and efficiency of muck, effectively reduces the risk of mud cake formation and reduces the loss.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control device according to the present invention.
FIG. 2 is a flow chart of the control method of the present invention.
In the figure, 1 is an automatic mechanical arm, 2 is a force sensor, 3 is an oil cylinder, 4 is a torque sensor, 5 is a motor, 6 is a weighing sensor, 7 is a grabbing oil cylinder, 8 is a grabbing container, 9 is a stirring device, 10 is a belt conveyor, 11 is a moisture sensor, and 12 is an air pressure gun.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
In embodiment 1, as shown in fig. 1, a shield muck improvement control device based on muck monitoring includes a robot arm I1 and a robot arm II (the structure is the same as that of the robot arm I1, and is not shown in fig. 1), the robot arm I1 is used for controlling up-and-down movement of a stirring device 9, and the robot arm II is used for controlling up-and-down movement of a gripping container 8, so as to collect muck. The end of the automatic mechanical arm II is connected with a grabbing container 8 for collecting muck, the grabbing container 8 is arranged right above a belt conveyor 10 for conveying muck, and muck conveyed on the belt conveyor 10 is conveniently collected. The end of the automatic mechanical arm I1 is connected with a stirring device 9 for stirring the muck in the grabbing container 8, and the stirring device 9 is arranged in the grabbing container 8 and used for stirring the muck in the grabbing container 8. Be equipped with moisture inductive sensor 11, measure torque sensor 4 and the force sensor 3 of measuring agitating unit 9 weight behind agitating unit 9 and the attached muck of measurement agitating unit 9 on agitating unit 9, be equipped with on the grabbing container 8 and measure the weighing sensor 6 who snatchs container 8 and its interior muck weight, moisture inductive sensor 11, torque sensor 4, force sensor 2 and weighing sensor 6 all are connected with the controller, and the controller is connected with the host computer. The controller collects data and transmits the collected data to an upper computer of the shield tunneling machine. The moisture-sensitive sensor 11 is of the type FR-SMS and is used to measure moisture in the muck. The torque sensor 4 is of the type WTQ1050, the force sensor 2 is of the type WTP219, and the load cell 6 is of the type WTP 204E.
The automatic mechanical arm I1 is connected with the force sensor 2, the oil cylinder 3 and the motor 5 through the structural frame I, the lower part of the stirring device 9 is provided with stirring blades, the upper part of the stirring device 9 is connected with the motor 5, and the stirring device 9 is supplied with rotating power through the motor. The upper part of the motor 5 is connected with an oil cylinder I3, an oil cylinder I3 is connected with a robot arm I1 through a structural frame I, and an oil cylinder I3 controls the up-and-down movement of the stirring device 9. The torque sensor 4 is located on the connecting rod between the motor 5 and the stirring device 9, and when the motor drives the stirring device to rotate, the torque sensor 4 acquires current torque dynamic information. The moisture sensor 11 is disposed on the surface of the lower portion of the stirring device 9, i.e., on the connecting rod between the stirring blades. The stress sensor 2 is arranged between the oil cylinder 3 and the automatic mechanical arm 1, the stress sensor 2 obtains the weight of the stirring device 9 after being cleaned and records G1, after the stirring device is lifted and the oil cylinder I3 is recovered, the weight G2 of the stirring device 9 after the dregs are attached is obtained, and the mass G of the attached dregs is obtained1＝g2-g1。
And an air pressure gun 12 for cleaning dregs in the grabbing container 8 and on the stirring device 9 is arranged on the automatic mechanical arm I1, the air pressure gun 12 is connected with the controller, the cleaning work is started after the oil cylinder I3 recovers the initial position, the two half containers are slightly separated after the grabbing oil cylinder 7 contracts, and the air pressure gun 12 cleans the containers under the low-speed rotation driving of the motor.
During shield tunneling, an automatic mechanical arm II controls a grabbing container 8 to collect muck according to shield operation parameters through a grabbing oil cylinder 7, acquires muck weight information through a weighing sensor 6, an upper computer gives a control instruction to the automatic mechanical arm I to extend a stirring device 9 into the grabbing container 8, stirring is started after a motor 5 is automatically started, torque information is acquired through a torque sensor 4, water content information of muck is acquired through a water sensing sensor 11 in the stirring device 9, the acquired data of the torque and the water content information are uploaded to the upper computer, then the oil cylinder I3 is contracted to lift the stirring device 9, the weight of muck taken up by the stirring device 9 is acquired through a stress sensor 2, muck in the grabbing container 8 is released, at the moment, the weight information of muck carried by the grabbing container 8 is acquired once again and uploaded to the upper computer, and finally muck improvement characteristics are obtained through calculation processing, judging whether the index meets the standard, and giving positive feedback to the residue soil improvement system so as to improve the residue quality in real time.
Embodiment 2, a shield muck improvement control method based on muck monitoring, as shown in fig. 2, includes the following steps:
the method comprises the following steps: the shield machine starts tunneling, the upper computer gives a control instruction to the muck improvement control device after acquiring slag information, so that the moisture induction sensor 11, the torque sensor 4, the stress sensor 2 and the weighing sensor 6 all start working, meanwhile, muck geological exploration data in the current tunneling interval are searched, and the water content interval [ omega ] of the current muck is acquiredmin，ωmax]And shear strength interval [ s ]min，smax](ii) a Wherein, ω isminAt minimum water content, omegamaxAt maximum water content, sminIs the minimum shear strength of the muck, smaxIs the maximum shear strength of the muck. The force sensor 2 detects the weight of the stirring device 9 and the weighing sensor 6 detects the mass of the gripped container.
Step two: an automatic mechanical arm II extends out of an oil cylinder II to drive a grabbing container 8 to move downwards to perform a muck obtaining action, a grabbing oil cylinder 7 is retracted to drive the grabbing container 8 to be opened, muck conveyed on a belt conveyor is collected, the grabbing oil cylinder 7 extends out to drive the grabbing container 8 to be closed, and a weighing sensor 6 measures the muck mass t1 obtained from the grabbing container 8;
step three: after the upper computer obtains the weighing information of the weighing sensor 6, the automatic mechanical arm I1 pushes the stirring device 9 into the muck of the grabbing container 8, the stirring device 9 is driven by the motor to start stirring, and the torque sensor 4 obtains the stirring torque Ts;
step four: the stirring device 9 stops stirring for 1 minute, the moisture sensor 11 obtains the water content index W of the muck, the automatic mechanical arm I1 withdraws the stirring device 9, and the force sensor 3 obtains the mass G of the muck attached to the stirring device 91The grabbing oil cylinder 7 is retracted to drive the grabbing container 8 to be opened, the muck is poured out, and the weighing sensor 6 acquires the muck mass t2 attached to the bottom of the grabbing container 8; the bottom of the container and the horizontal direction when the residue soil is poured out from the grabbing container 8The inclination angle is 40 degrees, the slag quality t2 required by the viscosity of the slag can be conveniently obtained, and the test requirement is met.
After all data are acquired, the air pressure gun 12 cleans the attached muck in the device until the mass measured by the weighing sensor and the stress sensor returns to the initial value, and the next grabbing measurement is carried out.
The data processing steps are as follows: data acquisition: obtaining the muck mass t1, the torque Ts, the water content index W, the attached soil mass G1 of the stirring device, the residual muck mass t2 and the diameter d of the stirring device.
Data preprocessing: cleaning the acquired shield operation data including but not limited to data of abnormal tunneling process; and (4) cleaning the data acquired by the slag map monitoring device for the standard, including but not limited to the data of the non-tunneling process.
Constructing comprehensive parameters: and constructing comprehensive parameters reflecting the improvement of the muck according to the operation data of the shield machine after pretreatment, wherein the comprehensive parameters include but are not limited to water spraying flow Wp, foam flow Ws, modifier flow Wg and the like of the improvement of the muck.
Step five: the upper computer calculates the shear strength s of the muck through the torque Ts, and the shear strength s is calculated through the muck mass t1, the muck mass t2 and the mass G1Calculating the viscosity omega of the residue soil;
the method for calculating the shear strength s of the muck through the torque Ts comprises the following steps:
through the slag mass t1, the slag mass t2 and the mass G1The method for calculating the viscosity omega of the slag soil comprises the following steps:
wherein d is the blade diameter of the stirring device 9; and Wp is the water spraying flow rate of the improved muck, L is the stretched length of the propulsion oil cylinder of the current shield tunneling machine, and D is the diameter of the shield tunneling machine.
Step six: comparing the shear strength s with the shear strength interval [ s ] by the upper computermin，smax]Is onComparing the viscosity omega of dregs with the water content range omegamin，ωmax]The foam flow and the modifier flow are adjusted in real time, so that the muck is modified.
The method for adjusting the foam flow and the modifier flow by the upper computer in the sixth step comprises the following slag soil improvement control strategies: judging whether the shear strength s of the muck falls in the current tunneling interval [ s ]min，smax]And simultaneously judging whether the viscosity omega of the slag soil falls into the viscosity omega of the stratum slag soil in the current tunneling intervalmin，ωmax]And the interval numerical value is determined by a muck test.
When the shear strength s is less than the minimum shear strength sminWhen the flow rate Ws of the foam is increased, the flow rate Wg of the modifying agent is increased under the control of the upper computer;
when the shear strength s is greater than the maximum shear strength smaxWhen the flow rate Ws of the foam is reduced, the flow rate Wg of the modifier is reduced by the upper computer;
when the shear strength s is in the shear strength interval [ s ]min，smax]In the process, the upper computer controls the foam flow Ws and the modifier flow Wg to be unchanged;
when the viscosity omega of the dregs is less than the minimum water content omegaminThe upper computer controls the water spraying flow Wp to rise;
when the viscosity omega of the dregs is larger than the maximum water content omegamaxThe upper computer controls the water spraying flow Wp to be reduced;
when the viscosity omega of the dregs is in the water content interval omegamin，ωmax]And if so, the upper computer controls the water spraying flow Wp to be unchanged.
The operation is used for improving the physical properties of the slag soil, improving the slag quality and the slag efficiency and reducing the risk of the cutter head.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The shield muck improvement control device based on muck monitoring comprises an automatic mechanical arm I (1) and an automatic mechanical arm II, and is characterized in that the end of the automatic mechanical arm II is connected with a grabbing container (8) for collecting muck, the grabbing container (8) is arranged above a belt conveyor (10) for conveying the muck, the end of the automatic mechanical arm I (1) is connected with a stirring device (9) for stirring and grabbing muck in the container (8), the stirring device (9) is provided with a moisture induction sensor (11), a torque sensor (4) for measuring torque of the stirred muck, a force sensor (2) for measuring the weight of the stirring device (9) after the stirring device (9) is attached to the muck, the grabbing container (8) is provided with a weighing sensor (6) for measuring the weight of the grabbing container (8) and the muck in the container, and the moisture induction sensor (11), The torque sensor (4), the stress sensor (2) and the weighing sensor (6) are connected with a controller, and the controller is connected with an upper computer.
2. The shield muck improvement control device based on muck monitoring of claim 1, wherein the grabbing container (8) comprises a left half container and a right half container which are bilaterally symmetrical, grabbing oil cylinders (7) are arranged on the upper portions of the left half container and the right half container, the grabbing oil cylinders (7) control the opening and closing of the left half container and the right half container in a telescopic mode, and the grabbing oil cylinders (7) are arranged on the structure frame II.
3. The shield muck improvement control device based on muck monitoring as claimed in claim 2, wherein a stirring blade is arranged at the lower part of the stirring device (9), the upper part of the stirring device (9) is connected with the motor (5), the upper part of the motor (5) is connected with the oil cylinder I (3), and the oil cylinder I (3) is connected with the automatic mechanical arm I (1) through the structural frame I.
4. A shield muck improvement control device based on muck monitoring according to claim 3, characterized in that the weighing sensor (6) is arranged between the gripping container (8) and the structural frame II; the moisture induction sensor (11) is arranged on the surface of the lower part of the stirring device (9).
5. A shield muck improvement control device based on muck monitoring according to claim 1 or 3, characterized in that an air pressure gun (12) for cleaning the muck in the grabbing container (8) and on the stirring device (9) is arranged on the robot arm I (1).
6. A shield muck improvement control method based on muck monitoring is characterized by comprising the following steps:
the method comprises the following steps: the shield machine starts tunneling, the upper computer gives a control instruction to the muck improvement control device after acquiring muck information, meanwhile, muck geological exploration data in the current tunneling interval are retrieved, and the water content interval [ omega ] of the current muck is acquiredmin，ωmax]And shear strength interval [ s ]min，smax](ii) a Wherein, ω isminAt minimum water content, omegamaxAt maximum water content, sminIs the minimum shear strength of the muck, smaxIs the maximum shear strength of the muck;
step two: the automatic mechanical arm II drives the grabbing container (8) to move downwards, the grabbing oil cylinder (7) is retracted to drive the grabbing container (8) to be opened, the muck conveyed on the belt conveyor is collected, the grabbing oil cylinder (7) extends out to drive the grabbing container (8) to be closed, and the weighing sensor (6) measures the muck mass t1 obtained from the grabbing container (8);
step three: after the upper computer obtains the weighing information of the weighing sensor (6), the automatic mechanical arm I (1) pushes the stirring device (9) into the muck of the grabbing container (8), the stirring device (9) starts stirring, and the torque sensor (4) obtains the stirring torque Ts;
step four: the stirring device (9) stops stirring for 1 minute, the moisture sensor (11) acquires the water content index W of the muck, the automatic mechanical arm I (1) withdraws the stirring device (9), and the force sensor (2) acquires the mass G of the muck attached to the stirring device (9)1The grabbing oil cylinder (7) is retracted to drive the grabbing container (8) to be opened, the residue soil is poured out, and the weighing sensor (6) acquires the mass t2 of the residue soil attached to the bottom of the grabbing container (8);
step five: the upper computer calculates the shear strength s of the muck through the torque Ts, and the shear strength s is calculated through the muck mass t1, the muck mass t2 and the mass G1Calculating the viscosity omega of the residue soil;
step six: comparing shear strength s and shear resistance of upper computerIntensity interval [ s ]min，smax]Comparing the interval [ omega ] of the viscosity omega and the water content of the dregsmin，ωmax]The foam flow and the modifier flow are adjusted in real time, so that the muck is modified.
7. The method for improving and controlling the shield muck based on muck monitoring of claim 6, wherein the method for calculating the shear strength s of the muck through the torque Ts is as follows:
through the slag mass t1, the slag mass t2 and the mass G1The method for calculating the viscosity omega of the slag soil comprises the following steps:
wherein d is the blade diameter of the stirring device (9); and Wp is the water spraying flow rate of the improved muck, L is the stretched length of the propulsion oil cylinder of the current shield tunneling machine, and D is the diameter of the shield tunneling machine.
8. A shield muck improvement control method based on muck monitoring according to claim 6 or 7, wherein the method for adjusting the flow of the foam and the flow of the modifier by the upper computer in the sixth step is as follows:
when the shear strength s is less than the minimum shear strength sminWhen the flow rate Ws of the foam is increased, the flow rate Wg of the modifying agent is increased under the control of the upper computer;
when the shear strength s is greater than the maximum shear strength smaxWhen the flow rate Ws of the foam is reduced, the flow rate Wg of the modifier is reduced by the upper computer;
when the shear strength s is in the shear strength interval [ s ]min，smax]In the process, the upper computer controls the foam flow Ws and the modifier flow Wg to be unchanged;
when the viscosity omega of the dregs is less than the minimum water content omegaminThe upper computer controls the water spraying flow Wp to rise;
when the viscosity omega of the dregs is larger than the maximum water content omegamaxThe upper computer controls the water spraying flow Wp to be reduced;
when the viscosity omega of the dregs is in the water content interval omegamin，ωmax]And if so, the upper computer controls the water spraying flow Wp to be unchanged.
9. The shield muck improvement control method based on muck monitoring as claimed in claim 6, wherein an included angle between the bottom of the gripping container (8) and the horizontal direction when the muck is poured out is 40 °.
10. The shield muck improvement control method based on muck monitoring of claim 9, wherein the upper computer preprocesses the acquired data before the calculation of the fifth step, and the preprocessing method is as follows: cleaning the acquired shield operation data including but not limited to data of abnormal tunneling process; and (4) cleaning the data acquired by the slag map monitoring and controlling device for the standard, including but not limited to the data of the non-tunneling process.
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