Tunnel boring machine and method for installing bomb cylinder

Abstract

In a tunnel boring machine and a method of installing a bomb cylinder (136), a bomb cylinder operating unit (139) is provided by which a bomb cylinder (136) to be installed is first roughly positioned alongside an installed bomb cylinder (121). In addition to the gap detection device (418, 421) and the height detection device (412, 415), which are oriented on the end side, there is a one-dimensional or two-dimensional tilt detection device (403), by means of which a tilt of the cylinder (136) to be mounted relative to the mounted cylinder (121) can be detected and fed as tilt data to the positioning control device (436), in order to automatically, precisely and low-dimensionally, step-by-step orient the to-be-installed tubs (136) in a two-dimensionally disintegrated manner in a plane at least parallel to the installed tubs (121). Therefore, the connecting pin (427) can be inserted into the associated connecting pin accommodating part without damage and with relatively small force.

Description

[0001] The invention relates to a tunnel boring machine according to the preamble of claim 1 .

[0002] The invention also relates to a method for installing a Chubin tube.

[0003] This tunnel boring machine is known in document CN 112253168 A. This known tunnel boring machine has a Chubin tube operating unit, which is arranged to pick up the Chubin tube and position the Chubin tube to be installed in the area of ​​at least one installed Chubin tube. The Chubin tube operating unit is equipped with a gap detection device, which is used to detect at least one end side gap formed on the end side between the Chubin tube to be installed and the installed Chubin tube, and is fed to the positioning control device as gap data. In addition, the Chubin tube operating unit is also equipped with a height detection device, which is arranged to detect at least one height offset formed on the end side between the Chubin tube to be installed and the installed Chubin tube, and is fed to the positioning control device as height offset data. The positioning control device is arranged to feed the gap data and the height offset data to the Chubin tube operating unit for positioning the Chubin tube to be installed, so that the Chubin tube to be installed can be positioned relative to the adjacent installed Chubin tube without gap and height offset by the Chubin tube operating unit. A laser rangefinder sensor and a triangular marker image for Hough transform are used here.

[0004] Document FR 3 120 385 A1 discloses a tunnel boring machine which is equipped with measuring devices for orienting a Chubin tube to be installed, which measuring devices are directed at the end and in the circumferential direction toward the installed Chubin tube.

[0005] A corresponding tunnel boring machine is known from JP-H-0860995 A, in which an image loading and image processing device is provided for measuring the end play and the height offset.

[0006] JP-H-0734796 A discloses a tunnel boring machine in which, for positioning a Chupin tube to be installed, an image loading and image processing device is provided for detecting the end play and the side play between the Chupin tube to be installed and an installed Chupin tube.

[0007] Document EP 3 523 504 B1 discloses a device and a method for automatically picking up and placing cupel tubes for lining the inner surface of a tunnel, wherein a three-dimensional observation system with at least four laser profilometers is used to determine position deviations and inclination deviations between the parts of the column to be inspected, so that the trajectory of the column can then be determined by means of an installation plan and thus the part can be positioned for subsequent installation.

[0008] EP 0 791 725 A discloses a method and a device for automatically positioning a Chupin cylinder in a tunnel, wherein a reference point on the Chupin cylinder to be installed is made identical to a reference point on the installed Chupin cylinder.

[0009] Document WO 2021 / 136837 A1 discloses a method and a device for the automatic arrangement of a tunnel enlargement, wherein a three-dimensionally operating tunnel enlargement sensor in the form of a so-called time-of-flight camera is provided for positioning the tunnel enlargement.

[0010] JP 2004131979 A discloses a shaft control system having a device for lateral height control between a Chubin cylinder to be installed and an installed Chubin cylinder.

[0011] Further tunnel boring machines and associated components for mounting a Chubin tube are known from the documents CN 107449383 A, CN 113184678 A, CN 113460851 A, EP 0 791 725 A1, JP-H-08296400 A, JP 3238989 B2 and JP 3355802 B2.

[0012] The technical problem to be solved by the present invention is to provide a tunnel boring machine of the aforementioned type and a method for installing a Chubin tube, which are characterized by automatic and high-precision positioning of the Chubin tube to be installed so that the installed Chubin tube can be connected with low force and essentially or even completely lossless via the connecting pin and the connecting pin receiving part.

[0013] This object is achieved according to the invention on the basis of a tunnel boring machine of the type mentioned above by means of the characterizing features of claim 1 .

[0014] This object is achieved according to the invention with regard to a method for installing a Cupin cylinder by the features of claim 10 .

[0015] Thus, in the tunnel boring machine and the method according to the invention, the Chupin cylinder operating unit is equipped with an inclination detection device that operates only at the end, which is provided for detecting the inclination angle between the Chupin cylinder to be installed and at least one installed Chupin cylinder relative to a longitudinal reference direction determined relative to the installed Chupin cylinder, in particular by direct inclination measurement or shield gap measurement, on the basis of a one-dimensional or two-dimensional measurement, and by subsequent one-dimensional or two-dimensional measurement data processing, and feeding it as inclination data to the positioning control device, so that the Chupin cylinder to be installed is conveniently and simply, but relatively accurately, automatically positioned within a preset and therefore permissible tolerance range and / or within a preset and therefore permissible expected inclination range relative to the adjacent installed Chupin cylinder. Thus, the existing connecting pins and connecting pin receptacles are aligned on the Chupin cylinder to be installed and the installed Chupin cylinder for connection in the axial direction, but also in the circumferential direction, so that, for example, the Chupin cylinder to be installed can be moved as far as possible or even completely non-destructively with minimal force and for the purpose of establishing the pin connection by a tunnel boring machine excavation press. The method according to the invention only requires low-dimensional measurements, ie one-dimensional or two-dimensional measurements, to carry out the successive steps, providing robust and reliable results even under the harsh working conditions of a tunnel boring machine.

[0016] Further advantageous embodiments of the present invention are provided in the dependent claims.

[0017] Further advantageous embodiments and advantages of the present invention are obtained from the following description of exemplary embodiments of the present invention with reference to the attached drawings.

[0018] In the attached picture:

[0019] Figure 1 A simplified side view of an exemplary embodiment according to the invention of a tunnel boring machine is shown, which has a Chubin cylinder operating unit in the end region of the tail shield.

[0020] Figure 2 Show according to Figure 1 A three-dimensional view of the Chubin cylinder operating unit.

[0021] Figure 3 Show according to Figure 2 A partial three-dimensional view of the Chubin cylinder operating unit.

[0022] Figure 4 A schematic top view showing a plurality of installed Chubin cylinders and Chubin cylinders to be installed and elements of a tilt detection device according to a first embodiment, wherein the installed Chubin cylinders are connected to a Chubin cylinder holding mechanism of a Chubin cylinder operating unit,

[0023] Figure 5 Shows the basis for viewing the tilt detection device Figure 4 A side view of the arrangement of

[0024] Figure 6 Shows the basis for observation towards highly offset laser Figure 4 A side view of the arrangement of

[0025] Figure 7 Shows the basis for observing towards the height test laser Figure 4 A side view of the arrangement of

[0026] Figure 8 Shows the basis for viewing from the end camera Figure 4 A side view of the arrangement of

[0027] Fig. 9 A schematic top view showing a plurality of installed Chubin cylinders and Chubin cylinders to be installed and elements of a tilt detection device according to a second embodiment, wherein the installed Chubin cylinders are connected to a Chubin cylinder holding mechanism of a Chubin cylinder operating unit,

[0028] Fig.10 Shows the basis for looking toward the laser profilometer Fig. 9 A side view of the arrangement of

[0029] Fig.11 Shows the basis for observing towards the height test laser Fig. 9 A side view of the arrangement of

[0030] Fig.12 Shows the basis for viewing from the end camera Fig. 9 A side view of the arrangement of

[0031] Fig.13 A view showing an embodiment of a tunnel boring machine having a tail housing in which a plurality of tail gap sensors are integrated,

[0032] Fig.14 A top view of an installed Chubin cylinder and a Chubin cylinder to be installed is shown, wherein the Chubin cylinder to be installed is in a roughly positioned state.

[0033] Fig.15 Show according to Fig.14 A cross-sectional view of the arrangement of

[0034] Fig.16 Shown from the basis Fig.14 sectional view based on an arrangement of , with the Chubin cylinder to be installed arranged without tilting within a predetermined permissible tolerance range,

[0035] Fig.17 Shown from the basis Fig.16A sectional view based on the arrangement of, in this case, the Chubin cylinder to be installed is arranged aligned with the installed Chubin cylinder,

[0036] Fig.18 Shown from the basis Fig.17 sectional view based on the arrangement of, with the installed Chubin tube and the Chubin tube to be installed arranged parallel to their end sides,

[0037] Fig.19 Shown from the basis Fig.18 A sectional view showing an arrangement of the connecting pins after the Chubin cylinder to be installed has been rotated in the circumferential direction and the connecting pins are arranged aligned with the connecting pin receptacles,

[0038] Fig. 20 Shown from the basis Fig.19 Sectional view after the pin connection is established, based on the arrangement of

[0039] Fig.21 A longitudinal section through a tail shield of an exemplary tunnel boring machine when driving on a curve is shown,

[0040] Fig. 22 Show according to Fig.21 A sectional view of the arrangement of the installed Chubin tube and the Chubin tube to be installed before the implementation of the height compensation, and

[0041] Fig.23 Show according to Fig. 22 sectional view in the area of ​​an installed Chubin tube and a Chubin tube to be installed after height compensation has been carried out.

[0042] Figure 1 1 shows a simplified side view of an exemplary embodiment of a tunnel boring machine 103 according to the invention for excavating a tunnel in the tunnel-side end region of a shield rear casing 106. The tunnel boring machine 103 has a removal conveyor unit 109 which is provided for conveying the removed material in the opposite direction to the excavation direction. Figure 1 The material removed in the front along the excavation direction by the cutting wheel of the tunnel boring machine 103 not shown in the figure. In addition, the tunnel boring machine 103 is also equipped with a pressure bearing ring 112, which is arranged close to the shield tail outer cover 106 and holds a plurality of excavation presses 115 in an annular shape.

[0043] In addition, from Figure 1 It can be seen from the view of FIG. 1 that the shield tail seal 118 is arranged on the end of the shield tail outer cover 106 facing away from the pressure bearing ring 112, and the shield tail seal surrounds the shield tail outer cover 106 in an annular shape in the circumferential direction and seals one end of the shield tail outer cover 106 radially inwardly on the tunnel wall 124 composed of the installed Chubin tube 121. The installed Chubin tube 121 encloses the tunnel space 127 and separates the tunnel space from the surrounding geology 130.

[0044] In order to carry out annular construction to keep the tunnel wall 124 composed of a series of closed Chubin tube rings 131 in the circumferential direction, the Chubin tube 136 to be installed can be sent to the annular construction area surrounded by the shield tail outer cover 106 along the excavation direction through the Chubin tube feeding device 133. In order to position the Chubin tube 136 to be installed during the annular construction process, the tunnel boring machine 103 is equipped with a Chubin tube operating unit 139, also called an erector. The Chubin tube operating unit 139 has a Chubin tube holding plate 142 as a Chubin tube fixing element, and the Chubin tube 136 to be installed can be releasably connected to the Chubin tube operating unit 139, for example, by generating negative pressure.

[0045] In cross section, the Cupin cylinders 121 , 136 form segments of an idealized cylinder having a three-dimensional circumference on the outside and inside.

[0046] The Chubin cylinder operating unit 139 also has a bearing ring 145, which can be moved along the guide rail 148 of the Chubin cylinder operating unit 139 in the longitudinal direction of the tunnel space 127 and is connected to the guide rail 148 in a rotationally fixed manner. The Chubin cylinder operating unit 139 is provided with a support surface 151 on the front side in the excavation direction, which is fixedly connected to the support cross 154.

[0047] Figure 2 Show according to Figure 1 A perspective view of the cup holder operation unit 139 of the embodiment. Figure 2 As can be seen from the view of FIG. 1 , the Chubin cylinder operating unit 139 is equipped with a rotating ring 203, which is rotatably connected to the bearing ring 145, and the bearing ring 145 is connected to the guide rail 148 in a torsion-proof manner. The radial displacement cylinders 206 that are diagonally opposite to each other are arranged on the rotating ring 203, and the rotating ring 203 can be rotated by the rotating ring drive unit 205, and the rotating ring drive unit is respectively connected to one end of the side arm 212 in an articulated manner through the side arm joint 209. The end of the side arm 212 facing away from the side arm joint 209 is fixedly connected to the central block 215, as explained in detail below, the Chubin cylinder holding plate 142 is rotatably and pivotably arranged on the central block 215.

[0048] The bearing ring 145 can be moved along the guide rail 148 by means of a displacement cylinder 218 in connection with the rotating ring 203 , the radial displacement cylinder 206 , the side arm 212 , the central block 215 and other components which are fixedly connected to at least one component.

[0049] Therefore, in Figure 2The mounted cupin cylinder 136, which is not shown in the figure, connected to the cupin cylinder holding plate 142, can be moved in the longitudinal direction by the displacement of the bearing ring 145, by the rotation of the rotating ring 203 relative to the bearing ring 145 and by the predetermined extension of the radial displacement cylinder 206 during the ring installation. Figure 2 Rough positioning is performed in the area of ​​the installed Cupin cylinder 121 (not shown).

[0050] Figure 3 A perspective view of a portion of the Cupin cylinder operating unit 139 in the region of the central block 215 is shown. Figure 3 As can be seen in the figure, the Chubin tube holding plate 142 has a rotary cylinder 303, which acts on the Chubin tube holding plate 142 on the one hand and on the center block 215 on the other hand. The Chubin tube holding plate 142 can rotate in the rotation plane relative to the center block 215 through the rotary cylinder 303. The tilting cylinder acts on the Chubin tube holding plate 142 on the one hand and on the center block 215 on the other hand, and the Chubin tube holding plate 142 is tilted on an inclined surface at right angles to the rotation plane through the tilting cylinder 306.

[0051] According to the above description, Figure 3 The Cupin cylinder 136 to be installed, which is not shown in the figure, can be installed during the annular configuration by means of the Cupin cylinder retaining plate 142. Figure 3 The mounted Cupin cylinder 121 (also not shown) is precisely positioned in space.

[0052] Figure 4 A schematic top view of the arrangement of the installed cupin cylinder 121 is shown, near which the cupin cylinder 136 to be installed, connected to the cupin cylinder holding plate 142 of the cupin cylinder operating unit 139, is roughly positioned. The cupin cylinder operating unit 139 is equipped with a tilt detection device 403, by which the radial displacement cylinder 206 can be controlled and Figure 4 In the first exemplary embodiment described, the tilted radiation source operating in one dimension has a first tilted laser 406 and a second tilted laser 409 which are arranged sealingly adjacent to one another.

[0053] In addition, the Chubin cylinder operation unit 139 also has a first height offset laser 412 and a second height offset laser 415, which are one-dimensional height offset ray sources of the height detection device, which are arranged on the edge side of the Chubin cylinder holding plate 142 relative to each other, and through which the tilt cylinder 306 can be controlled. In addition, the Chubin cylinder operation unit 139 is also designed with a first end side camera 418 and a second end side camera 421 that work in two dimensions, and the Chubin cylinder operation unit is also designed with a gap detection device, which is also arranged on the edge of the Chubin cylinder holding plate 142 and through which the rotary cylinder 303 and the rotating ring drive unit 205 can be controlled.

[0054] The tilt lasers 406, 409, the height offset lasers 412, 415 and the end cameras 418, 421 are oriented in such a way that their respective active regions are oriented on the end side 424 of the Cubbin tube holding plate 142 and extend beyond the end side 424, which faces in the opposite direction to the excavation direction when the Cubbin tube holding plate 142 is oriented in a predetermined manner. In this case, in the case of the end cameras 418, 421, the connecting pin 427 will be inserted into the associated connecting pin receptacle 428 of the installed Cubbin tube 121 of the finished Cubbin tube ring 131 and will project beyond the end side 430 of the Cubbin tube 136 to be installed, which is located in the region of the end side 424 of the Cubbin tube holding plate 142 and, in terms of the field of view of the respective end cameras 418, 421, is located within the active region.

[0055] The output signals of the tilt lasers 406, 409, which are associated with the tilt angle, can be fed as tilt data to the positioning control device 436 of the cupin cylinder operating unit 139, and the output signals of the height offset lasers 412, 415 can be fed as height offset data to the positioning control device 436. When the width of the end gap 439 is detected, the image data of the end cameras 418, 421 can be fed as gap data to the positioning control device 436, and the end gap is located between the end side 430 of the cupin cylinder 136 to be installed and the opposite end side 442 of the installed cupin cylinder 121 of the finally completed cupin cylinder ring 131.

[0056] By means of the positioning control device 436 , in particular the radial displacement cylinder 206 , the rotation cylinder 303 and the tilt cylinder 306 can be controlled via the control line 445 , taking into account input low-dimensional data instead of three-dimensional spatial data.

[0057] Figure 5 Show Figure 4 The side view of the arrangement shown shows Figure 4 The tilt detection device 403 of the embodiment shown. Figure 5 As can be seen from the schematic diagram of FIG, the tilt lasers 406, 409 are oriented in a fixed spatial arrangement relative to each other by means of an exemplary connection to the fixed structure 503. For example, the fixed structure 503 is connected to the cupin cylinder holding plate 142 via the support structure 506, so that the tilt lasers 406, 409 are positioned spaced apart from the cupin cylinder holding plate 142 in a direction away from the cupin cylinder 136 to be installed.

[0058] In order to perform one-dimensional distance measurement, Figure 5In the view, the modulated output beam 509 of the first tilted laser 406 is applied to the installed Chubin tube 121 of the last completed Chubin tube ring 131 in a first punctiform incident area 512 adjacent to the Chubin tube 136 to be installed, while the modulated output beam 515 of the second tilted laser 409, which is also used for one-dimensional distance measurement, is applied to the installed Chubin tube 121 at a reference angle 521 in a punctiform second incident area 524 due to the second tilted laser being oriented at a predetermined relative angle 518 relative to the first tilted laser 406, and the second incident area is farther from the Chubin tube 136 to be installed than the first incident area 512.

[0059] Therefore, the reference distance 527 formed between the incident areas 512 and 524 can be determined by tilting the lasers 406 and 409, and the reference distance is determined by the distance and relative angle 518 between the tilted lasers 406 and 409 and the respective incident areas 512 and 524. The tilt amount of the to-be-installed Chubin tube 136 relative to the installed Chubin tube 121 of the finally completed Chubin tube ring 131, that is, the tilt amount in the longitudinal reference direction determined on the side pointing perpendicular to the radial inner side of the installed Chubin tube 121, can be determined by one-dimensional measurement and can be fed to the positioning control unit 436 as tilt data equipped with a tilt angle. On the basis of the tilt data, the positioning control unit 436 can determine the tilt of the to-be-installed Chubin tube 136 relative to the installed Chubin tube 121 of the finally completed Chubin tube ring 131 by setting the actual value of the reference angle generated by the distance between the tilt lasers 506, 509, the relative angle 518 and the reference distance 527, to which the output beams 509, 515 of the tilt lasers 406, 409 are applied, and the actual value can be corrected relative to the predetermined rated value as the ideal value, so that the Chubin tubes 121, 136 are oriented parallel to the line between the incident areas 512, 524 and are oriented without tilt within a predetermined allowable tolerance range and / or within a predetermined expected tilt range.

[0060] Therefore, hereinafter, the term “no tilt” in the description of the present embodiment should be understood as “no tilt within a predetermined allowed tolerance range and / or within a predetermined expected tilt range”.

[0061] Figure 6 Show according to Figure 5 The side view of the arrangement of the first height offset laser 412 can be seen. In this embodiment, the first height offset laser is connected to the fixed structure 603, which is firmly connected to the Chubin cylinder holding plate 142 at a certain distance through the support structure 606. Figure 6In the view of FIG. 1 , the output beam 609 of the first height offset laser 412 for one-dimensional measurement is applied to the radially inward side of the installed Chubin cylinder 121 of the most recently completed Chubin cylinder ring 131 facing the tunnel side, wherein the output beam 609 is modulated so that the travel between the first height offset laser 412 and the incident area 612 of the output beam 609 on the installed Chubin cylinder 121 is the height offset of the to-be-installed Chubin cylinder 136 relative to the installed Chubin cylinder 121 of the most recently completed Chubin cylinder ring 131, and can be fed to the positioning control device 436 as height offset data.

[0062] Based on the height offset data obtained from the height offset lasers 412 and 415, the positioning control device 436 is configured to automatically align the Chubin cylinder 136 to be installed through the Chubin cylinder operating unit 139, so that the radially inwardly pointing inner side of the Chubin cylinders 121, 136 is located on the cylindrical side surface without height offset, subdivided into two dimensions and intuitively located on a plane.

[0063] Figure 7 Show Figure 4 In the front view of the arrangement shown, the first height test laser 703 and the second height test laser 706 are height test ray sources of the height test device for one-dimensional measurement, which are respectively arranged on the Chubin tube holding plate 142, and when the side arm 212 is arranged as specified, they are oriented outward in the circumferential direction when positioning the Chubin tube 136 to be installed, so that the output rays 709, 712 of the height test lasers 703, 706 act on the radially inwardly pointing inner side 715 of the installed Chubin tube 121 of the Chubin tube ring 131 currently being completed. The output beams 709, 712 of the height test lasers 703, 706 are modulated in such a way that the distance between the height test lasers 703, 706 and the respective inner sides 715 of the loaded, installed Cupin tubes 121 of the Cupin tube ring currently being completed can be determined thereby and independently of the tilt lasers 406, 409 and the height offset lasers 412, 415 can be determined only for a final check and stored, for example, for documentation purposes.

[0064] If a final check for control purposes shows that the distance between the height test lasers 703, 706 and the respective inner sides 715 of the installed Cupin tubes 121 of the Cupin tube ring currently being completed exceeds the stored permissible tolerance range or the predetermined expected inclination, a final correction can be appropriately made manually to comply with the permissible tolerance range and / or to set the expected inclination.

[0065] As described below, by aligning the connecting pin 427 with its associated connecting pin receptacle via the end cameras 418 , 421 , the arrangement of the Cupin cylinder 136 to be installed and the edge sides extending in the longitudinal direction can be free of play in the sense of the conventional minimum play distance.

[0066] Figure 8 Show Figure 4 The side view of the arrangement shown shows that the first end-side camera 418 is connected to the cupin tube holding plate 142 purely by way of example and is arranged at a predetermined distance, and the fixed structure 803 is connected to the support structure 806. The end-side cameras 418 and 421 are arranged for two-dimensional measurement, and on the one hand, in their respective fields of view 809, they recognize the relative position of the connecting pin 427 and the associated connecting pin receiving portion 428, and on the other hand, they recognize the radial inner side of the installed cupin tube 121 and at least one end-side edge 815 facing the cupin tube holding plate 142 and the end-side edge 818 of the cupin tube 136 to be installed and held by the cupin tube holding plate 142, which is opposite to the end-side edge 815 of the installed cupin tube 121. These data can be input into the positioning control device 436 as pin position data and gap data.

[0067] The positioning control device 436 is configured to automatically align the parallel end edges 815 , 818 and the connecting pin 427 and the associated connecting pin receptacle 428 with each other based on the gap data and pin position data obtained by the end cameras 418 , 421 .

[0068] In order to connect the to-be-installed Cupin cylinder 136 to the installed Cupin cylinder 121 of the completed Cupin cylinder ring 131 , it is expedient if the connecting pins 427 and the connecting pin receptacles 428 assigned to the defined connecting pins 427 are regularly spaced in the circumferential direction.

[0069] Fig. 9 A schematic top view of a plurality of installed cupin cylinders 121 and a cupin cylinder 136 to be installed is shown, the cupin cylinder 136 to be installed is connected to the cupin cylinder holding plate 142 of the cupin cylinder operating unit 139, and also shows the elements of the tilt detection device 903 according to the second embodiment, which is connected to the cupin cylinder holding plate 142 according to the second embodiment. Figure 4 The first embodiment is also designed with a gap detection device and a height detection device. Figure 4 and Fig. 9 In the illustrated embodiment, corresponding elements have the same reference numerals and will not be described in detail below to avoid repetition. Fig. 9 In the second embodiment shown, the tilt detection device 903 is equipped with a tilt angle measuring device 906, in particular as follows: Fig.13As described above, the inclination angle measuring device can determine the inclination angle of the Cupin tube holding plate 142 relative to the installed Cupin tube 121 through the inclination angle data generated by the so-called shield tail gap measurement.

[0070] In addition, a positioning control device 909 connected to the inclination angle measuring instrument 906 is provided, and as will be described in detail below, the radial displacement cylinder 206 and the rotation cylinder 303 can be controlled by the positioning control device, and the tilt cylinder 306 can be controlled by the inclination angle measuring instrument 906.

[0071] Fig. 9 The embodiment shown is also equipped with a first laser profiler 912 and a second laser profiler 915, which are two-dimensional profilers combined as gap detection devices and height detection devices, and which work purely by way of example according to the principle of the so-called LiDAR (Laser Detection and Ranging System). The laser profilers 912, 915 are arranged in the front area of ​​the Chubin tube holding plate 142 and are oriented outwardly toward the end side 430 of the Chubin tube 136 to be installed, which is located on the back side in the excavation direction, and act on the end side 430. The laser profilers 912, 915 can be used to generate position data that characterize the spatial position of the Chubin tube holding plate 142, and can be fed to the positioning control device 909 for controlling the radial displacement cylinder 206 and the rotary cylinder 303.

[0072] In addition, according to Fig. 9 The illustrated embodiment has a single two-dimensionally operating end camera 918 which is arranged and oriented toward the end 430 such that the connecting pin 427 of the Cupin cylinder 136 to be installed is located within its field of view. The rotating ring drive unit 205 can be controlled via the end camera 918 .

[0073] exist Fig. 9 In the embodiment shown, the operation mode of the only end-side camera 918 is similar to that of the reference Figure 4 This corresponds to the respective working modes of the end-side cameras 418 and 421 in the embodiments explained in the following figures. Therefore, the end-side camera 918 can be used to generate pin position data indicating the relative position of the connecting pin 427 and the associated connecting pin receiving portion 428 in its field of view, and feed it to the positioning control device 909.

[0074] Taking into account the data transmitted via the control line 921, the positioning control device 909 can be used in particular to control the radial displacement cylinder 206, the swivel cylinder 303 and the tilt cylinder 306.

[0075] Fig.10 Show Fig. 9The side view of the arrangement shown shows a first laser profilometer 912, which is fixedly connected to the Cupin tube holding plate 142 purely by way of example via a fixing structure 1003, which is mounted on a support structure 1006. By means of the first laser profilometer 912 and the corresponding second laser profilometer 915, the Fig.10 The laser contour space 1009 indicated by a dashed border in FIG. 1 detects in particular the end edge 818 of the Cupin tube 136 to be installed and the end edge 815 of the installed Cupin tube 121 of the recently completed Cupin tube ring 131 .

[0076] The image data obtained by the laser profile measuring devices 912 and 915 can be used to generate gap data in the form of a longitudinal spacing between the end edges 815 and 818 and radial height offset data of the end edges 815 and 818, and can be automatically fed to the positioning control device 909 for positioning the Cupin tube 136 to be installed, so that the Cupin tube 136 to be installed is oriented with its end edge 818 parallel to the end edge 815 of the installed Cupin tube 121 of the most recently completed Cupin tube ring 131, and the radially inwardly pointing inner sides 1012 and 1015 of the Cupin tubes 121 and 136 are located on a plane in a two-dimensional manner with the end sides 430 and 442 within the range of measurement accuracy.

[0077] With corresponding accuracy, the laser profile measuring instruments 912 , 915 can also generate sufficiently accurate tilt data within a predetermined allowable tolerance range as a value of the tilt angle for aligning the Cupin cylinder 136 to be installed.

[0078] Fig.11 Show Fig. 9 From the front view of the arrangement structure shown, it can be seen that the first height test laser 1103 and the second height test laser 1106 serve as the height test ray sources of the height test device, which are respectively arranged on the Chubin tube holding plate 142, and when the side arm 212 is arranged as specified, they are radially outwardly oriented when positioning the Chubin tube 136 to be installed, so that the respective output rays 1109, 1112 of the height test lasers 1103 and 1106 act on the radially inwardly pointing inner side 1012 of the installed Chubin tube 121 of the finally completed Chubin tube ring 131. The output beams 1109, 1112 of the height test lasers 1103, 1106 are modulated so that the distance between the height test lasers 1103, 1106 in the respective inner sides 1012 of the loaded, installed Cupin tube 121 of the finally completed Cupin tube ring 131 can be determined and stored independently of the laser profilers 912, 915, for example for documentation purposes, for final detection only.

[0079] If the final test for control purposes shows that the distance between the height test lasers 703, 706 and the respective inner sides 715 of the acted installed Cupin tubes 121 of the finally completed Cupin tube ring 131 is outside the stored permissible tolerance range or outside the predetermined desired inclination, a final correction can be made to comply with the permissible tolerance range and / or to set the desired inclination.

[0080] By aligning the connecting pin 427 with its associated connecting pin receptacle by means of the end camera 918 , an automatic arrangement of the mounted Cupin cylinder 136 with the edge side extending in the longitudinal direction can be achieved without play in the sense of a conventional minimum gap distance.

[0081] Fig.12 Show according to Fig. 9 In a side view of the arrangement structure of the end side camera 918, a single end side camera 918 can be seen, which is firmly connected to the cupin cylinder holding plate 142 and arranged at a predetermined distance by a fixing structure 1203 purely by way of example, and the fixing structure 1203 is in turn arranged on the support structure 1206. The end side camera 918 is configured to identify the relative position of the connecting pin 427 with reference to its assigned connecting pin receiving portion 428 within its respective field of view 1209. This data can be fed to the positioning control device 909 as pin position data. The positioning control device 909 is configured to automatically orient the detected connecting pin 427 and the assigned connecting pin receiving portion 428 to be aligned with each other based on the pin position data obtained by the end side camera 918.

[0082] pass Fig.12 The laser profile measuring instruments 912, 915 not shown in the figure can be used to detect at least one end side edge 815 of the installed Cupin tube 121 of the recently completed Cupin tube ring 131, which end side edge 815 is on the radial inside and faces the Cupin tube retaining plate 142, and the end side edge 818 of the Cupin tube 136 to be installed fixed by the end retaining plate 142, which end side edge 818 is opposite to the end side edge 815 of the installed Cupin tube 121.

[0083] Therefore, in reference Figures 9 to 12 In the exemplary embodiment described, only a single end-side camera 918 needs to be provided, since the parallelism of the end-side edges 815 , 818 can be ensured by the two laser profilometers 912 , 915 .

[0084] Fig.13A view of an embodiment of a tunnel boring machine 103 with a tail housing 106 is shown, in which a plurality of tail gap sensors 1303 are integrated. The tail gap sensors 1303 are arranged in the tunneling direction in front of the tail seal 118 and are therefore usually arranged axially in the region of the last installed Chubin tube ring 121. The tail gap sensors measure the distance between the radially inwardly pointing side of the tail housing 106 and the radially outwardly pointing side of the installed Chubin tube 121, i.e., the so-called tail gap quantity, such as Fig.13 As shown, the gap is determined along the corresponding measuring section 1306 by a non-contact, for example ultrasonically operating, shield tail gap sensor 1303 or a physical contact, for example by a radially movable measuring probe for mechanical distance measurement as shield tail gap sensor 1303, and as an alternative to directly measuring the inclination, as described in reference Figures 4 to 8 The explained embodiment of the positioning control device 909 converts the shield tail clearance data into the tilt data for tilt reference by means of the tilt angle measuring device 906 .

[0085] In a suitable embodiment of the tunnel boring machine 103 according to the invention, it is provided that the positioning control device 909 is provided to orient the cupin tubes 136 to be installed in the next cupin tube ring by precalculation as follows, in particular when driving on a curve. First, the shield clearance of at least one installed cupin tube, but preferably all installed cupin tubes 121 of the last installed cupin tube ring, is measured to achieve relatively high accuracy, and the actual value is obtained from this. In order to ensure that the cupin tubes 136 to be installed in the next cupin tube ring are installed approximately centrally, it is necessary to perform a precalculation to obtain a setpoint value, that is, what the shield clearance value should be for the cupin tubes 136 to be installed in the next cupin tube ring, so as to achieve an approximately central arrangement of the cupin tubes 136 to be installed relative to the shield tail housing 106. The setpoint value is converted into the corresponding inclination of each cupin tube 136 to be installed. The individual inclination angles can be fed to the control device 909 as inclination data via the inclination angle measuring device 906 for controlling the tilting cylinder 306.

[0086] Figures 14 to 20 The steps of an exemplary preferred method according to the invention for arranging a Chubin tube 136 to be installed with the above-described embodiment of a tunnel boring machine 103 according to the invention are shown in a top view and in a sectional view.

[0087] Fig.14A top view of two installed Chupin tubes 121 and one Chupin tube 136 to be installed of a completed Chupin tube ring 131 is shown, the end side 430 of the Chupin tube to be installed being opposite the end face 442 of the installed Chupin tube 121 of the most recently completed Chupin tube ring 131, and in order to free up installation space in a first positioning step after the corresponding excavation press 115 is moved in, during rough positioning, at least with regard to the parallelism of the end sides 430, 442 and the arrangement of the Chupin tubes 121, 136, the Chupin tube 136 to be installed is arranged in a two-dimensionally decomposed manner on a plane.

[0088] In a first variant of the preferred method described in detail below, the tilting is performed with reference to the installed Cupin tube 121 of the finally completed Cupin tube ring 131 at a tilting angle, wherein the tilting angle is not yet set within a predetermined tolerance range to no tilt during the rough positioning.

[0089] In a second variant of the preferred method, in the embodiment, when the tilting is performed with reference to the tail cover 106, the tilting angle is already set in the rough positioning to have no tilt within a predetermined tolerance range. For metrological reasons, this is preferably Figure 1 The so-called six o'clock position of the shown Chupin tube holding plate 142 takes place in the area of ​​the bottom of the tunnel space 127 to be lined in the arrangement of the Chupin tube holding plate 142 and the accommodated Chupin tube 136 to be completed.

[0090] From the basis Fig.14 As can be seen from the view of , the end gap 439 is still relatively large when roughly positioned and has different widths in the circumferential direction. However, in order to make this different width as small as possible at this stage, the rotary cylinder 303 is placed in the center position after receiving the cupin cylinder 136 to be installed.

[0091] Fig.15 Show according to Fig.14 sectional view of the arrangement, from which it can be seen that in the first variant, the Cupin tube 136 to be installed is still inclined relative to the longitudinal direction when roughly positioned relative to the installed Cupin tube 121 of the finally completed Cupin tube ring 131.

[0092] Fig.16 Shown from Fig.15 The cross-sectional view of the to-be-installed Cupin tube 136 starting from the arrangement shown, the Cupin tube to be installed is arranged with parallel end sides 430, 442 by the positioning control device 436 in the second positioning step and in the first variant, in the third positioning step after the second positioning step, the installed Cupin tube 121 relative to the finally completed Cupin tube ring 131 is not tilted in the above-mentioned sense.

[0093] Fig.17The cross-sectional view shows Fig.16 Starting with the arrangement shown, in the first variant and in the second variant, after a height compensation in the sense of arrangement in a fourth positioning step after a possible previous third positioning step by means of the positioning control device 436, 909, the to-be-installed Cupin cylinder 136 is placed in one plane with the installed Cupin cylinder 121 of the finally completed Cupin cylinder ring 131.

[0094] Within a predetermined permissible tolerance range, the arrangement of the to-be-installed Cupin tube 136 with the installed Cupin tube 121 of the finally completed Cupin tube ring 131 in a two-dimensionally resolved manner in one plane without tilt or tilt angle is usually carried out in a so-called straight-line run-out along a segmented trajectory following a straight line.

[0095] Fig.18 Show according to Fig.17 The arrangement is a plan view after the parallel end sides 430, 442 and the end gap 439 are set, and the end gap 439 has the same size in the circumferential direction. In addition, from Fig.18 It can be seen from the view of FIG. 4 that the connecting pin 427 and the associated connecting pin receptacle 428 are still arranged offset in the circumferential direction.

[0096] Fig.19 Shown from the basis Fig.18 Starting from the arrangement mode, in the fifth positioning step after the fourth positioning step, the positioning control device 436, 909 is used to refer to the installed Chubin tube 121 of the last completed Chubin tube ring 131. After the Chubin tube 121 to be installed is rotated in the circumferential direction according to the output data of the end side camera 418 working in two dimensions, the positioning of the preparatory displacement is performed by correspondingly controlling the rotating ring drive unit 205, and the connecting pin 427 is aligned with the connecting pin receiving portion 428 by the pin position data obtained by analyzing the image by the rotating ring drive unit. In this way, the arrangement of the adjacent installed Chubin tube 121 of the currently installed Chubin tube ring in the circumferential direction without lateral measurement is achieved.

[0097] Starting from the arrangement according to 9, Fig. 20 The final positioning of the displacement of the to-be-installed cupin 136 by the driving press 115 in the sixth and last positioning step after the fifth positioning step is shown, the end sides 430, 442 of the to-be-installed cupin 136 or the end sides 430, 442 of the installed cupin 121 of the finally completed cupin ring 131 being arranged without gaps, wherein the term "without gaps" shall be understood below as meaning that the end side gap 439 has been reduced to a minimum size. Fig. 20In the arrangement mode, the installation of the to-be-installed Chubin tube 136 has been completed, so that the installed Chubin tube 121 is fixed by extending the corresponding excavation press 115 and can be released from the Chubin tube holding plate 142.

[0098] Fig.21 A longitudinal cross-sectional view of an exemplary tunnel boring machine 103 with a tail shield 106 in a curved road is shown. For the sake of clarity, Fig.21 The curved area of ​​the tail shield 106 and the curved central longitudinal axis 2103 of the tunnel space 127 shown by the dashed line are exaggerated in proportion. "Curved driving" should be understood here as driving out of a straight line that deviates from the horizontal and / or vertical direction and has a predetermined curve radius.

[0099] From the basis Fig.21 As can be seen from the view of Fig.21 When driving on a curve between the Chubin cylinder 136 to be installed shown in dotted lines in FIG. Fig.21 The old surface 2109 shown in long dashed lines and the area where the Cupin cylinder 136 to be installed is located are shown in FIG. Fig.21 There is a predetermined expected inclination angle 2106 between the new surfaces 2112 shown by the short dashed lines.

[0100] This is particularly advantageous when driving around a bend, but can also be used alternatively when driving out in a straight line, as described below according to Figures 9 to 13 The embodiment of the tunnel boring machine 103 described above on the shield tail housing 106 is as follows: Fig.21 As shown, by measuring between the Cupin tube 121 of the most recently completed Cupin tube ring 131 and the tail shield outer cover 106 through the actual measuring section 1306, on the one hand, the position of the installed Cupin tube 121 is measured as an actual value through the tail shield gap measurement, and on the other hand, as described above, the future position between the Cupin tube 136 to be installed and the Cupin tube 121 installed on the most recently completed Cupin tube ring 131, including the inclination to be set, will be precalculated in the form of an inclination angle 2106, which is assigned to the setpoint value of the distance of the virtual measuring section 2115.

[0101] Fig. 22 Show according to Fig.21, i.e. the rough positioning area between the installed Chubin cylinder 121 and the Chubin cylinder to be installed 136 before the height compensation between them. In this context, the term "height compensation" is to be understood as moving the Chubin cylinder 136 to be installed from the intermediate surface 2206 into the old surface 2109 by a radially outward parallel movement, the intermediate surface 2206 being at a distance 2203 from the old surface 2109 and being parallel to the old surface 2109, the intermediate surface 2206 being represented by a central dashed line selected relative to the dashed lines of the old surface 2109 or the new surface 2112.

[0102] In accordance with Fig. 22 In the arrangement of , the inclination angle 2106 required for driving on a curve is already assumed to achieve a predetermined expected inclination and is no longer changed during height compensation.

[0103] Fig.23 Show according to Fig. 22 The arrangement of the sectional view in the area of ​​the installed Chubin cylinder and the Chubin cylinder to be installed after the height compensation has been carried out, in order to reduce the distance 2203 still existing in the rough positioning to a value that disappears within the usual tolerance range when installing the Chubin cylinders 121, 136, wherein the inclination angle 2106 is retained. Fig.23 It can be seen from the view that after height compensation, the end edges 815, 818 of the installed Cupin cylinder 121 or the Cupin cylinder 121 to be finally installed in a subsequent step are located in a plane in a two-dimensionally decomposed manner.

[0104] according to Fig.23 The arrangement shown, Figures 18 to 20 The explained steps will then be used for the final installation of the Cupin cylinder 121 to be installed.

Claims

1. A tunnel boring machine having a cubby tube operating unit (139), which is configured to receive a cubby tube (136) to be installed via a cubby tube holding device (142) and to position the cubby tube (136) to be installed in the area of ​​at least one installed cubby tube (121), in, The Chubin cylinder operating unit (139) is equipped with a gap detection device (418, 421; 912, 915), which is configured to detect at least one end gap (439) formed on the end side between the Chubin cylinder (136) to be installed and the installed Chubin cylinder (121) and to feed it as gap data to the positioning control device (436; 909), wherein the Chubin cylinder operating unit (139) is equipped with a height detection device (412, 415; 912, 915), which is configured to detect at least one height offset formed on the end side between the Chubin cylinder (136) to be installed and the installed Chubin cylinder (121) and to feed it as height offset data to the positioning control device (436; 909), wherein the positioning control device (436; 909) is configured to feed the gap data and the height offset data to the Chubin cylinder in order to position the Chubin cylinder (136) to be installed. An operating unit (139) is provided, whereby the Chubin tube operating unit (139) can position the Chubin tube (136) to be installed relative to the adjacent installed Chubin tube (121) without play and without height offset, characterized in that the Chubin tube operating unit (139) is equipped with an inclination detection device (403; 903) connected to the Chubin tube holding mechanism (142), the inclination detection device being configured to determine the inclination angle of the Chubin tube (136) to be installed relative to at least one installed Chubin tube (121) in a longitudinal reference direction by means of end-oriented, one-dimensional or two-dimensional measurements and to feed the inclination data to the positioning control device (436; 909), so that the Chubin tube (136) to be installed can be positioned relative to the adjacent installed Chubin tube (121) without inclination within a preset tolerance range and / or within a preset expected inclination range by means of the Chubin tube operating unit (139).

2. The tunnel boring machine according to claim 1, It is characterized in that The tilt detection device (903) is equipped with a shield tail gap sensor (1303), which is installed in the shield tail outer cover (106) and is configured to detect the distance between the shield tail outer cover (106) and the outer side of the installed Chubin tube (121) located radially outside and feed it to the positioning control device (909) as shield tail gap data, wherein the positioning control device (909) is configured to detect the tilt of the Chubin tube holding mechanism (142) and feed it to the positioning control unit (909) as tilt data.

3. The tunnel boring machine according to claim 1 or 2, It is characterized in that The Chubin cylinder operating unit (139) has two contour measuring instruments (912, 915) spaced apart from each other in the circumferential direction, which are provided for detecting two end-side height offsets and gap widths of a Chubin cylinder (136) to be installed relative to an installed Chubin cylinder (121) and for feeding them as position data to the positioning control unit (909).

4. The tunnel boring machine according to any one of claims 1 to 3, It is characterized in that There are at least two profilometers (912, 915) which are configured to generate tilt data by means of two-dimensional measurements.

5. The tunnel boring machine according to any one of claims 2 to 4, It is characterized in that The Chubin cylinder operating unit (139) is equipped with an end side camera (918), which is configured to detect the position of a connecting pin (427) and a connecting pin receiving portion (428) formed on the Chubin cylinder (136) to be installed or the installed Chubin cylinder (121) and feed the position data to the positioning control unit (909) as pin position data.

6. The tunnel boring machine according to claim 1, It is characterized in that The tilt detection device (403) has two tilt ray sources (406, 409), which are configured to emit output rays (509, 515) respectively, wherein the output rays (509, 515) are oriented at an angle relative to each other at a preset radiation angle (518), wherein the tilt detection device (403) can detect the spatial distance when the output rays (509, 515) irradiate the installed Chubin cylinder (121) arranged on the end side of the Chubin cylinder (136) to be installed as a one-dimensional measurement and feed it to the positioning control device (436) as tilt data.

7. The tunnel boring machine according to claim 6, It is characterized in that The Chubin cylinder operating unit (139) has two height offset radiation sources (412, 415), which are arranged at intervals from each other in the circumferential direction and are configured to detect two end-side height offsets of a Chubin cylinder (136) to be installed relative to an installed Chubin cylinder (121) and feed them as height offset data to the positioning control device (436).

8. The tunnel boring machine according to claim 6 or 7, It is characterized in that The Chubin cylinder operating unit (139) has two end side cameras (418, 421), which are configured to respectively detect the positions of a connecting pin (427) and a connecting pin receiving portion (428) and feed them as pin position data to the positioning control device (436), wherein the connecting pin and the connecting pin receiving portion are formed on the Chubin cylinder (136) to be installed or the installed Chubin cylinder (121), and the two end side cameras are also configured to feed the distance between the end edges of the Chubin cylinder (136) to be installed and the installed Chubin cylinder (121) pointing to each other as gap data to the positioning control device (436).

9. The tunnel boring machine according to any one of claims 1 to 8, It is characterized in that The Chubin cylinder operating unit (139) is equipped with two mutually opposed height test radiation sources (703, 706; 1103, 1106) of a height test device, which are configured to detect the height position of a Chubin cylinder holding mechanism (142) relative to a circumferentially adjacent installed Chubin cylinder (121).

10. A method for installing a Cupin tube (136), comprising the following steps: - providing a tunnel boring machine according to any one of claims 1 to 9, - in a first positioning step, the Cupin cylinder (136) to be installed is positioned in an initial position at a safety distance relative to the installed Cupin cylinder (121), - in a further second positioning step, the Chupin tube (136) to be installed is oriented so that it is oriented without tilting relative to an adjacent installed Chupin tube (121) within a predetermined tolerance range and / or within a predetermined expected tilting range, - in a further third positioning step, the Chupin tube (136) to be installed is oriented so that it lies with its radially inwardly directed side surface on the circumference of the radially inwardly directed side surface of the adjacent installed Chupin tube (121), - in a further fourth positioning step, the Cupin tube (136) to be installed is oriented such that the end side (430) of the Cupin tube to be installed is oriented parallel to the end side (442) of at least one installed Cupin tube (121), - in a further fifth positioning step, the Cupin cylinder (136) to be installed is oriented so that the connecting pin (427) and the connecting pin receiving portion (428) are oriented aligned with each other, and - In a further sixth positioning step, the Cupin cylinder (136) to be installed is moved in the direction of the installed Cupin cylinder (121).

11. The method according to claim 10, It is characterized in that The first positioning step is completed before the second positioning step.

12. The method according to claim 10, It is characterized in that The first positioning step is completed after the second positioning step.

13. The method according to claim 11 or 12, It is characterized in that The first positioning step or the second positioning step is followed by the third positioning step, followed by the fourth positioning step, followed by the fifth positioning step, and followed by the sixth positioning step.

14. The method according to any one of claims 10 to 13, It is characterized in that When running straight out, the Chubin cylinder (121, 136) is installed without tilting within a predefined tolerance range.

15. The method according to any one of claims 10 to 13, It is characterized in that When driving on a curve, the Chubin cylinder (121, 136) is installed without tilting within a predetermined expected tilting range.

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