A segment assembly control method and system and shield tail clearance calculation method

Abstract

The present invention relates to a segment assembly control method and system and a shield tail gap calculation method, belonging to the technical field of tunnel construction, obtaining the position of the segment, the segment assembly point and the propulsion cylinder stroke; calculating the angle of the corresponding point according to the information of each point, calculating the lead amount of the corresponding position according to the angle of the point, and calculating the segment width of the corresponding segment according to the lead amount; calculating the distance from the segment to the excavation center axis according to the position of the segment; calculating the cylinder stroke difference according to the cylinder process, and calculating the angle between the segment axis and the excavation axis through the cylinder stroke difference; calculating the shield tail gap according to the segment width, the distance from the segment to the excavation center axis, and the angle between the segment axis and the excavation axis. The data used for shield tail gap calculation in the present invention are all directly obtained, and no additional settings are required, which greatly saves costs.

Description

Technical Field

[0001] The invention relates to a segment assembly control method and system and a shield tail gap calculation method, belonging to the technical field of tunnel construction. Background Art

[0002] The shield tail gap refers to the gap between the inner diameter of the shield tail steel ring and the outer diameter of the assembled pipe segment. Due to the difference in the stroke of the shield propulsion cylinder, posture correction, and soil strength differences, the shield tail gap will differ in the up, down, left, and right directions. If the difference is too large, it will not only cause the shield tail sealing brush to wear faster, but also cause the pipe segment to be "stuck" in the shield shell, causing the pipe segment to break, and even cause water gushing accidents in severe cases. If the shield tail gap is too small, the force on the shield tail shell will directly press on the pipe segment, which will cause the shield tail to collide with the pipe segment during shield excavation; on the one hand, it will reduce the excavation speed, and on the other hand, it will cause the pipe segment to be misaligned and prone to depression.

[0003] At present, the main methods for measuring the shield tail gap include manual measurement, mechanical measurement, visual measurement and laser measurement. In the manual measurement method, the measurement point cannot be kept fixed each time, the continuity of the shield tail gap data is poor, and there are differences in the technical level and measurement methods of the surveyors. The measurement accuracy is relatively low, and the relatively complex construction environment will also cause greater safety hazards to the surveyors; the accuracy and reliability of mechanical measurement are difficult to guarantee, and the maintenance cost is high; visual measurement and laser measurement have poor adaptability to the complex environment of the tunnel, and the equipment is expensive and costly. In the existing technology, mechanical measurement, visual measurement and laser measurement also require the use of additional equipment for measurement, which makes the measurement cost of the shield tail gap high. Summary of the invention

[0004] The purpose of the present invention is to provide a segment assembly control method and system and a shield tail gap calculation method, so as to solve the problem that the calculation of the shield tail gap requires the use of additional equipment, resulting in high costs.

[0005] To achieve the above objectives, the solutions and beneficial effects of the present invention include:

[0006] A shield tail clearance calculation method of the present invention comprises the following steps:

[0007] 1) Obtain the information of the assembled segments of the previous ring, including the information of each point of the previous ring, the position of the segments of the previous ring at each point, and the progress of the thrust cylinders of the segments at each point of the previous ring;

[0008] 2) Calculate the advance amount of the segment at the corresponding point of the current ring according to the information of each point of the previous ring, and calculate the segment width of the segment at the corresponding point of the previous ring according to the advance amount of the segment;

[0009] 3) Calculate the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling according to the position of the segment at each point of the previous ring;

[0010] 4) Calculate the cylinder stroke difference of the segment at the corresponding point of the previous ring according to the advancement of the segment cylinder at each point of the previous ring, and calculate the angle between the segment axis at the corresponding point of the previous ring and the excavation axis through the cylinder stroke difference and the installation circle radius of the advancement cylinder;

[0011] 5) Calculate the shield tail clearance of the segment at the corresponding point after the previous ring is assembled according to the segment width of the segment at the corresponding point of the previous ring, the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling, and the angle between the segment axis at the corresponding point of the previous ring and the tunneling axis. Use the shield tail clearance of the segment at the corresponding point after the previous ring is assembled as the shield tail clearance of the segment at the corresponding point before the current ring is assembled.

[0012] The beneficial effects of the above technical solution are as follows: the shield tail gap calculation method provided by the present invention directly obtains the information of the assembled segments of the previous ring for calculating the shield tail gap of the segments corresponding to the current ring. No additional equipment is needed for measurement. The shield tail gap of the segments can be calculated directly based on the data measured by the assembly machine itself, which greatly saves costs.

[0013] Furthermore, in the step 4), the propulsion cylinder progress of the segment at the vertical distribution and horizontal distribution points of the previous ring and the propulsion cylinder progress of the segment at the horizontal distribution points are obtained respectively, and the cylinder stroke difference of the segment at the vertical distribution and horizontal distribution points is calculated accordingly.

[0014] Furthermore, the horizontal angle between the segment axis and the tunneling axis is calculated based on the stroke difference of the thrust cylinders in the previous horizontal distribution, and the vertical angle between the segment axis and the tunneling axis is calculated based on the stroke difference of the thrust cylinders in the previous vertical distribution.

[0015] Furthermore, the segment width of the segment at the corresponding point of the previous ring is calculated by the following formula:

[0016] d=2×Δd+dk

[0017] Among them, d is the segment width of the segment at the corresponding point of the previous ring, Δd is the advance amount of the segment at the corresponding point of the previous ring, and dk is the width of the narrow side of the corresponding segment.

[0018] Furthermore, the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling is calculated by the following formula:

[0019] l=R+Δ

[0020] Among them, l is the distance from the segment at the corresponding point of the previous ring to the central axis of the excavation, R is the segment radius, Δ is the offset from the corresponding segment on the previous ring to the central axis of the excavation, and Δ is calculated based on the position of the segment at each point in the previous ring and the segment radius.

[0021] Furthermore, the angle between the segment axis and the tunneling axis at the corresponding point of the previous ring is calculated by the following formula:

[0022]

[0023]

[0024] Among them, α l is the horizontal angle between the segment axis and the tunneling axis at the corresponding point of the previous ring, α v is the vertical angle between the segment axis and the excavation axis at the corresponding point of the previous ring, r is the radius of the installation circle of the thrust cylinder, ΔL l is the cylinder stroke difference of the horizontally distributed propulsion cylinder, ΔL v It is the cylinder stroke difference of the vertically distributed thrust cylinder.

[0025] Furthermore, the shield tail clearance of the segment at the corresponding point of the previous ring is calculated by the following formula:

[0026]

[0027]

[0028] Among them, v1 is the shield tail gap at the front of the segment at the corresponding point of the previous ring, v2 is the shield tail gap at the rear of the segment at the corresponding point of the previous ring, D is the excavation diameter, α is the angle between the segment axis at the corresponding point of the current ring and the excavation axis, and d is the segment width.

[0029] Furthermore, the information of each point of the previous ring and the position of the pipe segment of the previous ring at each point are obtained through the automatic pipe segment assembly device; the propulsion cylinder progress of the pipe segment at each point of the previous ring is obtained through the propulsion cylinder automatic measuring device.

[0030] The beneficial effects of the above technical scheme are as follows: the automatic segment assembly device is a necessary device for assembling segments, and the cylinder automatic measuring device is generally installed at the end of the thrust cylinder of the tunnel boring machine. The data used to calculate the shield tail gap of the segment can be directly obtained by using the automatic segment assembly device and the cylinder automatic measuring device. The data is more accurate and reliable, and there is no need to add an additional device for measuring the shield tail gap on the shield machine. In addition, the automatic segment assembly device can be reused, which reduces costs.

[0031] The present invention also provides a segment assembly method, which adopts the above-mentioned shield tail gap calculation method, calculates the shield tail gap of the segment according to the shield tail gap calculation method, and controls the progress of the propulsion cylinder according to the shield tail gap to assemble the segment corresponding to the current ring.

[0032] The beneficial effect of the above technical solution is: the shield tail gap of the segment is calculated by the shield tail gap calculation method, and the progress of the thrust cylinder when assembling the current segment is controlled according to the shield tail gap to reduce the difference in the shield tail gap of the segment in various directions.

[0033] The present invention also provides a segment assembly system, including a controller, which executes corresponding steps to implement the above-mentioned segment assembly control method and achieve the same technical effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of a micro-shield rocker arm segment automatic assembly machine in an embodiment of the shield tail gap calculation method of the present invention;

[0035] Figure 2 1 is a flow chart of a shield tail gap calculation method in an embodiment of the shield tail gap calculation method of the present invention;

[0036] Figure 3 This is a front view of point distribution in an embodiment of the shield tail clearance calculation method of the present invention;

[0037] Figure 4 It is a side view of the lead quantity distribution in the embodiment of the shield tail clearance calculation method of the present invention;

[0038] Figure 5 is a cross-sectional view of a segment and a tunnel boring machine in an embodiment of a method for calculating a shield tail gap of the present invention;

[0039] Figure 6 1 is a schematic diagram of shield tail gap calculation in an embodiment of a shield tail gap calculation method of the present invention;

[0040] Figure 7 It is a schematic diagram of vertical distribution and horizontal distribution of propulsion cylinders in an embodiment of the shield tail clearance calculation method of the present invention;

[0041] Among them, 1 is the main beam of the assembly machine; 2 is the translation mechanism; 3 is the rotation mechanism; 4 is the rocker mechanism; 5 is the micro-motion mechanism; 6 is the grabbing mechanism; 7 is the lifting mechanism; 8 is the translation distance sensor; 9 is the rotation sensor; 10 is the lifting sensor; and 11 is the pressure sensor. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0043] Shield tail clearance calculation method example:

[0044] The present invention provides a shield tail clearance calculation method, which is based on a segment automatic assembly device and a propulsion cylinder stroke measuring device. The method obtains the coordinate information and assembly method of the segment according to the segment automatic assembly device, and then calculates the distance from the segment to the central axis of the tunnel boring machine. The width of each part of the segment is obtained in combination with the segment information, and the angle between the segment axis and the tunneling axis is calculated based on the propulsion cylinder stroke, thereby calculating the shield tail clearance.

[0045] The automatic segment assembly device and the thrust cylinder stroke measuring device are existing devices. The segment assembly points are directly obtained through the automatic segment assembly device, and the feedback value of the thrust cylinder process sensor is directly read through the thrust cylinder stroke measuring device. The coordinates of the assembled segments in the coordinate system of the automatic segment assembly device are obtained by using coordinate transformation and kinematic relationship. Among them, the automatic segment assembly device can adopt various types, including but not limited to rocker arm type, red and blue cylinder main beam type, ring type, etc.

[0046] like Figure 1 It is a micro-shield rocker arm type automatic assembling machine for segments. Taking the universal ring segment with 12 points and a wedge amount of 30mm as an example, the micro-shield rocker arm type automatic assembling machine includes an assembling machine main beam 1, a translation mechanism 2, a rotary mechanism 3, a rocker arm mechanism 4, a micro-motion mechanism 5, a grabbing mechanism 6, a lifting mechanism 7, a translation distance measuring sensor 8, a rotary sensor 9, a lifting sensor 10, a pressure sensor 11, and a control system (not marked in the figure, generally placed in an electrical cabinet to control the movement of the assembling machine). The main beam of the assembly machine is used to fix the assembly machine, the translation mechanism is used to drive the assembly machine to translate along the main beam, the slewing mechanism is used to drive the assembly machine to rotate along the main beam, the rocker mechanism is used to drive the grabbing mechanism to move, the micro-motion mechanism is used to drive the grabbing head to micro-move, the grabbing mechanism is used to grab the pipe segment, the lifting mechanism is used to drive the grabbing head and the pipe segment to lift, the translation distance sensor is used to measure the translation displacement of the assembly machine, the slewing sensor is used to measure the rotation angle of the assembly machine, the lifting sensor is used to measure the lifting displacement of the grabbing mechanism, and the pressure sensor is used to measure the pressure of grabbing the pipe segment. The kinematic algorithm and matrix conversion algorithm are realized by the control system, and the coordinates of the end in the assembly machine base coordinate system can be solved according to the sensor feedback value. The thrust cylinder of the tunnel boring machine has a stroke measurement device (usually placed at the end of the thrust cylinder). The stroke measurement device can be a wire encoder, a laser rangefinder, etc., which can measure and feedback the stroke of the thrust cylinder.

[0047] like Figure 2 As shown, the shield tail clearance calculation method provided by the present invention comprises the following steps:

[0048] 1) Obtain the assembly information of the previous ring of segments.

[0049] The segment automatic assembly machine obtains the information of the segment assembled in the previous ring, including the coordinates of block K in the assembly machine base coordinate system {x k ,y k, z k} and the assembly point n, and the cylinder stroke data L fed back by the propulsion cylinder stroke sensor is recorded through the propulsion cylinder stroke measuring device top , L down , L left , L right .

[0050] 2) Calculate the advance amount of the segment.

[0051] When the pipe segment is a universal ring segment, each ring segment has a wedge-shaped amount, which is assembled at different points through K blocks to meet the needs of fitting different curves and construction correction. During automatic assembly, record the coordinates {x k ,y k , z k For universal segments, each segment has a wedge amount. For example, a universal segment with m points and a wedge amount of S is shown in the point distribution diagram. Figure 3 As shown, the rotation angle of each point is Then the angle θ corresponding to the nth point is:

[0052]

[0053] The side view of the segment is an isosceles triangle. When the segment is placed at 12 o'clock, the lead distribution is as follows: Figure 4 As shown, Figure 3 For the main view, Figure 4 for Figure 3 For the corresponding side view, the lead amount Δd is calculated based on the triangle similarity principle. The formula is as follows, and the lead amount of each position of the segment corresponding to the point where the ring is to be installed can be calculated using this formula.

[0054]

[0055] Simplified:

[0056]

[0057] Among them, R is the radius of the segment, S is the wedge shape of the segment, and θ is the angle corresponding to the point.

[0058] For the standard ring plus turning ring segment, the standard ring is used for the straight section, and the turning ring is used for the curved section. The advance amount of the standard ring is 0, and the advance amount of the turning ring is fixed and can be obtained according to the segment design drawing.

[0059] specific Figure 3 In the example, according to the segment assembly point n, the angle θ of block K is calculated:

[0060]

[0061] According to θ and the total wedge amount S of the segment, the leading amount Δd of the segment ring up, down, left and right is calculated:

[0062] The lead value corresponding to the 12 points on the upper part of the segment is:

[0063]

[0064] The lead value corresponding to the 6 points at the bottom of the segment is:

[0065]

[0066] The lead value corresponding to the 4 points on the right side of the segment is:

[0067]

[0068] The lead value corresponding to the 10-point position on the left side of the segment is:

[0069]

[0070] 3) Calculate the width of the segment.

[0071] In the actual construction process, the above four directions are generally sufficient, and the other eight points can also be calculated according to the actual situation. The calculation of other points can refer to the records in the existing literature (see "Municipal Technology" Volume 39, Page 82 for details). The specific calculation will not be described in detail. The literature uses 16 points (16*22.5=360°), and the present invention uses 12 points (12*30=360°), and the wedge amount S=30mm. The width of the pipe segment is calculated according to the advance amount of the pipe segment.

[0072] The segment width of the corresponding segment is calculated based on the segment advance amount, combined with Figure 4 , according to the segment advance amount Δd and the width dk of the segment K block, the width d of the current ring segment at the upper, lower, left and right positions is calculated respectively, and the calculation is obtained using the following formula:

[0073] d=2×Δd+dk

[0074] Among them, dk is the width corresponding to the narrowest side of the segment.

[0075] 4) Calculate the distance from the segment to the central axis of excavation.

[0076] like Figure 5 The figure shows the cross-section of the segment and the tunnel boring machine. According to the coordinates {x k ,y k , z k} Calculate the distance l from the segment at different points on the previous ring to the center axis of the tunnel boring machine using the following formula:

[0077] l=R+Δ

[0078] Where Δ is the offset from the segment to the central axis of the tunneling, which corresponds to Δx and Δz along the x-axis and z-axis in the figure, respectively. k ,y k , z k} and segment radius R are calculated.

[0079] specific Figure 5 In the formula, according to {x k ,y k , z k} and θ to calculate the distance l from the four upper, lower, left and right positions of the segment to the central axis of the tunnel boring machine:

[0080] l top =R+z k -Rcosθ

[0081] l down =Rz k +Rcosθ

[0082] l right =R+x k -Rcosθ

[0083] l left =Rx k +Rcosθ

[0084] Where Δz = z k -Rcosθ, Δx=x k -Rcosθ.

[0085] 5) Calculate the cylinder stroke difference based on the advancement of the cylinder.

[0086] Facing the excavation direction, the propulsion cylinders are distributed in a circle. Since only four positions in the horizontal and vertical directions need to be calculated in this embodiment, the stroke difference between the upper and lower cylinders is used when calculating the vertical angle, and the stroke difference between the left and right cylinders is used when calculating the horizontal angle. Figure 7 shown.

[0087] In this embodiment, the horizontal cylinder stroke difference ΔL can be calculated based on the four cylinder strokes L: l The difference between the vertical and horizontal cylinder strokes ΔL v , the horizontal cylinder difference represents the stroke difference between the left and right cylinders, and the vertical cylinder difference represents the stroke difference between the upper and lower cylinders. The calculation formula is as follows:

[0088] ΔL l =L top -L down

[0089] ΔLv =L right -L left

[0090] Among them, facing the excavation direction, the horizontal corresponds to the left (9 o'clock, 270°) and the right (3 o'clock, 90°), and the vertical corresponds to the top (12 o'clock, 0°) and the bottom (6 o'clock, 180°). top Indicates the stroke of the upper cylinder, L down Indicates the stroke of the lower cylinder, L right Indicates the right cylinder stroke, L left Indicates the left cylinder stroke.

[0091] 6) Calculate the angle between the segment axis and the excavation axis based on the cylinder stroke difference.

[0092] The horizontal and vertical angles between the segment axis and the tunneling axis are calculated using the following formula:

[0093]

[0094]

[0095] These two axes are spatial axes and are not necessarily in the same plane. When the two axes are in the same plane (such as the horizontal plane), the horizontal angle between the two is the angle between them, and the vertical angle is 0° (the projection on the vertical plane is a straight line); when the two axes are not in the same plane, the projections of the two axes on the horizontal and vertical planes will definitely not coincide, so the horizontal angle and the vertical angle exist at the same time and are not 0.

[0096] Among them, α l is the horizontal angle between the segment axis and the tunneling axis, α v is the vertical angle between the segment axis and the excavation axis, and r is the radius of the installation circle of the thrust cylinder.

[0097] 7) Calculate the shield tail clearance based on the width of the segment, the distance from the segment to the central axis of the tunneling, and the angle between the segment axis and the tunneling axis.

[0098] Shield tail gap Figure 6 As shown, the shield tail clearance is calculated according to the geometric relationship using the following formula:

[0099] In this embodiment, the included angles in the vertical and horizontal directions are obtained, and the shield tail clearances in the upper, lower, left and right directions are calculated based on these two included angles.

[0100]

[0101]

[0102] Among them, v1 is the shield tail gap at the front of the segment (the front refers to the direction towards the excavation), v2 is the shield tail gap at the rear of the segment, D is the excavation diameter, α is the angle between the segment axis and the excavation axis, and d is the segment width.

[0103] Segment assembly method embodiment:

[0104] The present invention also provides a segment assembly method, which uses a shield tail gap calculation method to calculate the shield tail gap of the corresponding segment, and controls the propulsion cylinder process of assembling the corresponding segment according to the shield tail gap. The shield tail gap calculation method has been clearly explained in the embodiment of the shield tail gap calculation method and will not be repeated here.

[0105] Segment assembly system example:

[0106] The present invention also provides a pipe segment assembly system, which includes a controller. The controller executes corresponding steps to implement a pipe segment assembly method. The pipe segment assembly method has been clearly explained in the pipe segment assembly method embodiment and will not be repeated here.

Claims

1. A shield tail clearance calculation method, characterized in that: The steps include: 1) Obtain the information of the assembled segments of the previous ring, including the information of each point of the previous ring, the position of the segments of the previous ring at each point, and the progress of the thrust cylinders of the segments at each point of the previous ring; 2) Calculate the advance amount of the segment at the corresponding point of the current ring according to the information of each point of the previous ring, and calculate the segment width of the segment at the corresponding point of the previous ring according to the advance amount of the segment; 3) Calculate the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling according to the position of the segment at each point of the previous ring; 4) Calculate the cylinder stroke difference of the segment at the corresponding point of the previous ring according to the advancement of the segment cylinder at each point of the previous ring, and calculate the angle between the segment axis at the corresponding point of the previous ring and the excavation axis through the cylinder stroke difference and the installation circle radius of the advancement cylinder; 5) Calculate the shield tail clearance of the segment at the corresponding point after the previous ring is assembled according to the segment width of the segment at the corresponding point of the previous ring, the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling, and the angle between the segment axis at the corresponding point of the previous ring and the tunneling axis, and use the shield tail clearance of the segment at the corresponding point after the previous ring is assembled as the shield tail clearance of the segment at the corresponding point before the current ring is assembled; The shield tail clearance is calculated by the following formula: in, is the shield tail gap in front of the segment at the corresponding point of the previous ring, is the shield tail gap at the rear of the segment at the corresponding point of the previous ring, D is the tunneling diameter, is the angle between the segment axis and the tunneling axis at the corresponding point of the current ring, is the segment width, and l is the distance from the segment at the corresponding point on the previous ring to the central axis of excavation.

2. The shield tail clearance calculation method according to claim 1 is characterized in that: In the step 4), the propulsion cylinder progress of the segment at the vertical distribution point and the propulsion cylinder progress of the segment at the horizontal distribution point of the previous ring are respectively obtained, and the cylinder stroke difference of the segment at the vertical distribution point and the horizontal distribution point is correspondingly calculated.

3. The shield tail clearance calculation method according to claim 2 is characterized in that: The horizontal angle between the segment axis and the tunneling axis is calculated based on the stroke difference of the thrust cylinders in the previous horizontal distribution, and the vertical angle between the segment axis and the tunneling axis is calculated based on the stroke difference of the thrust cylinders in the previous vertical distribution.

4. The shield tail clearance calculation method according to claim 1 is characterized in that: The segment width of the segment at the corresponding point of the previous ring is calculated by the following formula: in, is the segment width of the segment at the corresponding point of the previous ring, is the advance amount of the segment at the corresponding point of the previous ring, is the width of the narrow side of the corresponding segment.

5. The shield tail clearance calculation method according to claim 1 is characterized in that: The distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling is calculated using the following formula: in, is the distance from the segment at the corresponding point of the previous ring to the central axis of the tunneling, is the segment radius, is the offset from the corresponding segment on the previous ring to the central axis of the tunneling. It is calculated based on the position of the previous ring of segments at each point and the segment radius.

6. The shield tail clearance calculation method according to claim 3 is characterized in that: The angle between the segment axis and the tunneling axis at the corresponding point of the previous ring is calculated by the following formula: in, is the horizontal angle between the segment axis and the tunneling axis at the corresponding point of the previous ring, is the vertical angle between the segment axis and the excavation axis at the corresponding point of the previous ring, The radius of the thrust cylinder mounting circle, is the cylinder stroke difference of the horizontally distributed propulsion cylinder, It is the cylinder stroke difference of the vertically distributed thrust cylinder.

7. The shield tail clearance calculation method according to claim 1 is characterized in that: The information of each point of the previous ring and the position of the pipe segment of the previous ring at each point are obtained through the automatic pipe segment assembly device; the propulsion cylinder progress of the pipe segment at each point of the previous ring is obtained through the automatic propulsion cylinder measuring device.

8. A segment assembly control method, characterized in that: The shield tail gap calculation method as described in any one of claims 1 to 7 is adopted, the shield tail gap of the segment is calculated according to the shield tail gap calculation method, and the advancement of the cylinder is controlled according to the shield tail gap to assemble the segment corresponding to the current ring.

9. A segment assembly control system, characterized in that: It includes a controller, which executes corresponding steps to implement the pipe segment assembly control method as claimed in claim 8.

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