Combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection

1. A combined rock-breaking Tunnel Boring Machine (TBM) tunneling method in complex strata for realizing three-way force detection, comprising:

Step 1 : preparing a combined mechanical-hydraulic rock-breaking cutter head ( 1 ) of a combined rock-breaking TBM ( 17 ) for construction;

Step 2 : starting construction by the combined rock-breaking TBM ( 17 );

Step 3 : propelling the combined mechanical-hydraulic rock-breaking cutter head ( 1 );

Step 4 : pushing and pressing mechanical cutter tools ( 1 . 111 ) against a tunnel face ( 15 );

Step 5 : subjecting three-way force detection cutters to squeezing forces and three-way force sensors ( 1 . 122 ) obtaining three-way force data, wherein the three-way force detection cutters are loaded with the three-way force sensors;

Step 6 : sending the three-way force data from the three-way force sensors ( 1 . 122 ) to a TBM back-end control processor;

Step 7 : processing the three-way force data by the TBM back-end control processor;

Step 8 : obtaining a value of a rock-cutting contact angle φ from said processing the three-way force data; obtaining parameter information from a lithology index center based on the value of the rock-cutting contact angle φ; sending the parameter information to a TBM cutter head control center;

Step 9 : the TBM cutter head control center responding to the parameter information;

Step 10 : obtaining the parameter information at the mechanical cutter tools ( 1 . 111 ) and adjusting the mechanical cutter tools ( 1 . 111 ) based on the obtained parameter information; and

Step 11 : breaking rock by the combined mechanical-hydraulic rock-breaking cutter head ( 1 ).

2. The method of claim 1 , wherein in step 1 , the combined mechanical-hydraulic rock-breaking cutter head ( 1 ) is installed with a mechanical cutter rock-breaking device ( 1 . 1 );

the mechanical cutter rock-breaking device ( 1 . 1 ) comprises TBM propulsion cutter mechanisms ( 1 . 11 ) and three-way force detection cutter mechanisms ( 1 . 12 ); and the three-way force detection cutter mechanisms ( 1 . 12 ) comprise the three-way force detection cutters ( 1 . 121 );

the TBM propulsion cutter mechanisms ( 1 . 11 ) and the three-way force detection cutter mechanisms ( 1 . 12 ) are both arranged in a radial direction of the combined mechanical-hydraulic rock-breaking cutter head ( 1 ) with respect to the center of the combined mechanical-hydraulic rock-breaking cutter head ( 1 ); and

the TBM propulsion cutter mechanisms ( 1 . 11 ) and the three-way force detection cutter mechanisms ( 1 . 12 ) are arranged alternately;

in step 4 , the pushing and pressing the mechanical cutter tools ( 1 . 111 ) and the three-way force detection cutters against the tunnel face ( 15 ) comprises: the TBM propulsion cutter mechanisms ( 1 . 11 ) and the three-way force detection cutter mechanisms ( 1 . 12 ) perform penetration-cutting on the tunnel face ( 15 ) under the action of hydraulic propulsion cylinders.

3. The method of claim 2 , wherein the three-way force sensors ( 1 . 122 ) are provided at blade edges of the three-way force detection cutters ( 1 . 121 );

wherein in step 5 , the subjecting the three-way force detection cutters ( 1 . 121 ) to squeezing forces comprises: the three-way force detection cutters ( 1 . 121 ) contacts and press against the tunnel face ( 15 ) to be squeezed when the TBM works.

4. The method of claim 3 , wherein in step 6 , the sending the three-way force data by the three way force sensors comprises: after subjecting the three-way force detection cutters ( 1 . 121 ) to squeezing forces in step 5 , the three-way force sensors ( 1 . 122 ) obtaining a cutter head normal force, a cutter head rolling force, and a cutter head lateral force when the TBM cutter head is working, and sending the three-way force data to the TBM back-end control processor.

5. The method of claim 4 , wherein in step 7 , the processing the three-way force data by the TBM back-end control processor comprises: the TBM back-end control processor is configured to receive real-time three-way force data of the three-way force detection cutters detected by the three-way force sensors ( 1 . 122 );

the TBM back-end control processor is configured to process the three-way force data after being received to obtain the value of the rock-cutting contact angle φ, send the φ value to the lithology index center with the value of the rock-cutting contact angle φ as a search term, and find a corresponding value of rock cutter the rock-cutting contact angle φ for a three-way force detection cutter obtained in a lab from the lithology index center, so as to determine a lithology type in a real-time cutting and breaking of the combined mechanical-hydraulic rock-breaking cutter head ( 1 ), obtain corresponding working condition parameters of the TBM propulsion cutter mechanisms ( 1 . 11 ) from the parameter information, and send the obtained corresponding working condition parameters to the TBM cutter head control center;

the value of the rock-cutting contact angle φ is calculated in accordance with a semi-theoretical and semi-empirical constant cross-section cutter prediction model:

NRF Rost =0.5000;

φ=arctan(FR/FN)×NRF Rost ;

wherein, φ represents rock cutter the rock-cutting contact angle in rad;

NRF Rost represents a normalized reasonable predictive value of a resultant force on a cutter;

FN and FR represent values of cutter normal force and cutter rolling force, respectively, and the unit thereof is KN.

6. The method of claim 5 , wherein:

in step 8 , the lithology index center is an experimental database obtained in rock sample mechanical experiments;

the experimental database is constructed based on rock samples obtained by drilling processes on construction sites; and

the experimental database is a database of parameters about optimal water jet pressure and mechanical cutter thrust obtained by utilizing a combined rock-breaking comprehensive test bench under laboratory conditions to simulate rock confining pressure conditions;

the method further comprising: sending, from the lithology index center a set of TBM optimal rock-breaking working condition parameters of the parameter information to the TBM back-end control processor when obtaining a displacement length value of cutter propulsion per unit time sent by the TBM back-end control processor.

7. The method of claim 6 , wherein the TBM propulsion cutter mechanisms ( 1 . 11 ) further comprise at least the mechanical cutter tools ( 1 . 111 ) and high-pressure water jet nozzle structures ( 1 . 112 );

the mechanical cutter tools ( 1 . 111 ) and the high-pressure water jet nozzle structures ( 1 . 112 ) provided on the combined mechanical-hydraulic rock-breaking cutter head ( 1 ) are both circumferentially arranged thereon;

the mechanical cutter tools ( 1 . 111 ) and the high-pressure water jet nozzle structures ( 1 . 112 ) are arranged in such a way that the high-pressure water jet nozzle structures ( 1 . 112 ) are provided at center points of two adjacent mechanical cutter tools ( 1 . 111 );

each of the high-pressure water jet nozzle structures ( 1 . 112 ) comprises a nozzle ( 1 . 1121 ), a high-pressure water pipe ( 1 . 1122 ), an outer spherical supporting mechanism ( 1 . 1123 ), an inner spherical rotary mechanism ( 1 . 1124 ), and a pipe steering controller ( 1 . 1125 );

the outer spherical supporting mechanism ( 1 . 1123 ) is installed and fixed on a main body of the combined mechanical-hydraulic rock-breaking cutter head ( 1 );

the inner spherical rotary mechanism ( 1 . 1124 ) is located inside the outer spherical supporting mechanism ( 1 . 1123 );

the pipe steering controller ( 1 . 1125 ) is arranged between the inner spherical rotary mechanism ( 1 . 1124 ) and the outer spherical supporting mechanism ( 1 . 1123 );

the high-pressure water pipe ( 1 . 1122 ) passes through the outer spherical supporting mechanism ( 1 . 1123 ) and the inner spherical rotary mechanism ( 1 . 1124 ) sequentially, and extends out of the outer spherical supporting mechanism ( 1 . 1123 );

the high-pressure water pipe ( 1 . 1122 ) is installed on the inner spherical rotary mechanism ( 1 . 1124 ); and

the nozzle ( 1 . 1121 ) is installed at an end of the high-pressure water pipe ( 1 . 1122 ), and is located outside the outer spherical supporting mechanism ( 1 . 1123 ).

8. The method of claim 7 , wherein the combined rock-breaking TBM ( 17 ) further comprises a rotation driver ( 2 ), propulsion oil cylinders ( 3 ), a waterjet rotation adjustment part ( 4 ), and the TBM propulsion cutter mechanisms ( 1 . 11 );

the TBM propulsion cutter mechanisms ( 1 . 11 ) are circumferentially arranged on the combined mechanical-hydraulic rock-breaking cutter head ( 1 );

the rotation driver ( 2 ) is located at a rear end of the combined mechanical-hydraulic rock-breaking cutter head ( 1 );

the propulsion oil cylinders ( 3 ) are located outside an outer frame ( 6 ), and located at a rear end of the outer frame ( 6 );

the waterjet rotation adjustment part ( 4 ) is located in front of the rotation driver ( 2 );

the outer frame ( 6 ) is located outside the rotation driver ( 2 );

an outer frame upper supporting shoe ( 7 ) is located at the back of the outer frame ( 6 ), and the propulsion oil cylinders ( 3 ) are fixed on the outer frame ( 6 ) and the outer frame upper supporting shoe ( 7 ), respectively;

a rear support ( 8 ) and a water tank ( 9 ) are located at the back of the outer frame upper supporting shoe ( 7 ), and the rear support ( 8 ) is located between the outer frame upper supporting shoe ( 7 ) and the water tank ( 9 );

a waterjet external water pipe ( 10 ) is provided on the water tank ( 9 ), and the water tank ( 9 ) and the rock-breaking device ( 1 . 1 ) are connected through the waterjet external water pipe ( 10 );

a transmission conveyor ( 11 ) is located inside the outer frame ( 6 );

a bucket ( 12 ) is located at a front end of the transmission conveyor ( 11 );

a shield ( 13 ) and oil hydraulic cylinders ( 14 ) are provided outside the outer frame ( 6 ); and

two ends of the oil hydraulic cylinders ( 14 ) are respectively connected to an outer wall of the outer frame ( 6 ) and an inner wall of the shield ( 13 ).

9. The method of claim 8 , wherein the waterjet rotation adjustment part ( 4 ) comprises a high-pressure water pipe docking port ( 4 . 1 ) and a waterjet rotation adjustment part disc ( 4 . 2 );

the high-pressure water pipe docking port ( 4 . 1 ) is located on the waterjet rotation adjustment part disc ( 4 . 2 );

an outer periphery of the waterjet rotation adjustment part disc ( 4 . 2 ) is fixed to an inner wall of the rotation driver ( 2 );

the high-pressure water pipe docking port ( 4 . 1 ) comprises a high-pressure water pipe docking port front end ( 4 . 11 ) and a high-pressure water pipe docking port rear end ( 4 . 12 );

the high-pressure water pipe docking port rear end ( 4 . 12 ) is in communication with the waterjet external water pipe ( 10 );

the high-pressure water pipe docking port front end ( 4 . 11 ) is in communication with the high-pressure water pipe ( 1 . 1122 ); and

the waterjet external water pipe ( 10 ) is telescopic water pipe.

10. The method of claim 9 , wherein:

the TBM cutter head control center responds to the working condition parameters of the parameter information transmitted from the TBM back-end control processor, and acts on the mechanical cutter tools ( 1 . 111 ) and the high-pressure water jet nozzle structures ( 1 . 112 );

the lithology type and the working condition parameters of the parameter information obtained through the three-way force detection cutter mechanisms ( 1 . 12 ) are finally applied to the TBM propulsion cutter mechanisms ( 1 . 11 ) adjacent to the three-way force detection cutter mechanisms ( 1 . 12 ); and

construction work is started after obtaining the working condition parameters of the parameter information at the TBM propulsion cutter mechanisms ( 1 . 11 ) and adjustments adjusting the TBM propulsion cutter mechanisms ( 1 . 11 ) based on the obtained working condition parameters of the parameter information.