Tunnel boring machine and method for installing tubbings

Abstract

In a tunnel boring machine and in a method for installing tubbings (136), a tubbing manipulation unit (139) is provided by means of which a tubbing (136) to be installed can initially be roughly positioned adjacent to installed tubbings (121). In addition to a gap detection unit (418, 421) and a height detection unit (412, 415), which are oriented on the end face, a one-dimensionally or two-dimensionally operating tilt detection unit (403) is provided with which a tilt of a tubbing (136) to be installed in relation to installed tubbings (121) can be detected and can be fed, as tilt data, to a position control device (436) for the automatic precise and low-dimensionally incremental alignment of the tubbing (136) broken down two-dimensionally in a plane at least parallel to the installed tubbing (121). As a result, in particular connection plugs (427) can be inserted as a rule without damage and with relatively low force into allocated connection plug holders.

Description

[0001] Tunnel boring machine and method for installing segments

[0002] The invention relates to a tunnel boring machine according to the preamble of claim 1.

[0003] The invention further relates to a method for installing segments.

[0004] Such a tunnel boring machine is known from CN 112253168 A. This previously known tunnel boring machine has a segment manipulation unit which is designed to pick up a segment and to position a segment to be installed in the region of at least one installed segment. The segment manipulation unit is equipped with a gap detection device which is designed to detect at least one front gap formed between a segment to be installed and an installed segment and to feed it to a positioning control device as gap data. Furthermore, the segment manipulation unit is equipped with a height detection device which is designed to detect at least one height offset formed between a segment to be installed and an installed segment and to feed it to the positioning control device as height offset data.The positioning control system is configured to feed gap data and height offset data to the segment manipulation unit for positioning the segment to be installed, allowing the segment to be installed to be positioned without gaps or height offsets relative to neighboring installed segments. Laser distance sensors and a triangular marking image for a Hough transformation are used for this purpose.

[0005] From FR 3 120 385 Al a tunnel boring machine is known which is equipped with measuring devices for aligning segments to be installed, which are aligned at the front and in the circumferential direction to segments already installed.

[0006] A corresponding tunnel boring machine is known from JP-H-0860995 A, in which image exposure and image processing devices are provided for measuring end gaps and height offsets.

[0007] From JP-H-0734796 A a tunnel boring machine is known in which image exposure and image processing devices are provided for positioning segments to be installed in order to detect front gaps and side gaps between a segment to be installed and installed segments.

[0008] From EP 3 523 504 B1 a device and a method for the automated picking up and placing of a segment for producing a tunnel lining are known, wherein a three-dimensional viewing system with at least four laser profilers is used in order to determine a position and inclination deviation between an erector and a segment to be detected, in order to then determine the path of the erector by means of an installation plan in order to position the segment for subsequent shoring.

[0009] From EP 0 791 725 A a method and a device for the automated positioning of segments in a tunnel are known, in which reference points on the segment to be installed are aligned with reference points on an installed segment.

[0010] From WO 2021 / 136837 A1 a method and a device for the automated arrangement of tunnel lining segments are known, in which tunnel lining segment sensors in the form of so-called time-of-flight cameras, which operate three-dimensionally, are provided for positioning the tunnel lining segments.

[0011] From JP 2004131979 A an erector control device with an arrangement for lateral height control between a segment to be installed and an installed segment is known.

[0012] Other tunnel boring machines and associated

[0013] Components for the installation of segments are known from CN 107449383 A, CN 113184678 A, CN 113460851 A , EP 0 791 725 Al , JP-H-08296400 A, JP 3238989 B2 and JP 3355802 B2 .

[0014] The object of the present invention is to provide a tunnel boring machine of the type mentioned at the outset and a method for installing segments, which are characterized by automated, high-precision positioning of segments to be installed for low-force and largely or even completely damage-free connection to installed segments via connecting dowels and connecting dowel receptacles.

[0015] This object is achieved according to the invention in a tunnel boring machine of the type mentioned at the outset with the characterizing features of claim 1.

[0016] This object is achieved according to the invention in a method for installing segments with the features of claim 10.

[0017] Because in the tunnel boring machine and in the method according to the invention the segment manipulation unit is equipped with a tilt detection device operating exclusively on the front side, which is designed to detect a tilt angle between a segment to be installed and at least one installed segment with respect to a longitudinal reference direction, which is determined with respect to an already installed segment, in particular by a direct inclination measurement or a shield tail air measurement, on the basis of one-dimensional or two-dimensional measurements with subsequent one-dimensional or two-dimensional measurement data processing, and to feed the positioning control device as tilt data,The segment to be installed can be positioned automatically and relatively easily in relation to adjacent installed segments within predetermined and therefore permissible tolerances and / or predetermined and therefore permissible intended tilts. This aligns the connecting dowels and connecting dowel receptacles on the segment to be installed and on the installed segments for a connection in the axial direction, but possibly also in the circumferential direction, so that, for example, using the tunnel boring machine's jacking presses, the segment to be installed can be displaced with minimal forces and to establish the dowel connection largely or even completely damage-free. According to the method of the invention, only low-dimensional, namely one-dimensional or two-dimensional, measurements are required to carry out the successive individual steps.which deliver robust and reliable results even under the harsh operating conditions of a tunnel boring machine.

[0018] Further expedient embodiments of the invention are the subject of the dependent claims. Further expedient embodiments and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention with reference to the figures of the drawing.

[0019] It shows :

[0020] Fig. 1 shows a simplified side view of an embodiment of a tunnel boring machine according to the invention in the end region of a shield tail casing with a segment manipulation unit,

[0021] Fig. 2 shows in a perspective view the segment manipulation unit according to Fig. 1,

[0022] Fig. 3 shows a perspective view of part of the segment manipulation unit according to Fig. 2,

[0023] Fig. 4 shows a schematic plan view of a number of installed segments and a segment to be installed, which is connected to a segment holding element of the segment manipulation unit, as well as elements of a tilt detection device according to a first embodiment,

[0024] Fig. 5 shows a side view of the arrangement according to Fig. 4 with a view of the tilt detection device, Fig. 6 shows a side view of the arrangement according to Fig. 5 with a view of the height offset laser,

[0025] Fig. 7 in a front view the arrangement according to Fig. 4 with a view of a height measuring laser,

[0026] Fig. 8 shows a side view of the arrangement according to Fig. 4 with a view of a front-end camera,

[0027] Fig. 9 shows a schematic plan view of a number of installed segments and a segment to be installed, which is connected to a segment holding element of the segment manipulation unit, as well as elements of a tilt detection device according to a second embodiment,

[0028] Fig. 10 shows a side view of the arrangement according to Fig. 9 with a view of a laser profilometer,

[0029] Fig. 11 in a front view the arrangement according to Fig. 9 with a view of the height measuring laser,

[0030] Fig. 12 shows a side view of the arrangement according to Fig. 9 with a view of a

[0031] Front camera Fig. 13 in a view of a design of a tunnel boring machine with a shield tail casing in which a number of shield tail air sensors are integrated,

[0032] Fig . 14 shows a plan view of installed segments and a segment to be installed which is in a rough position ,

[0033] Fig. 15 shows a sectional view of the arrangement according to Fig. 14,

[0034] Fig. 16 in a sectional view starting from the arrangement according to Fig. 14 with the segment to be installed now arranged tilt-free within predetermined permissible tolerances,

[0035] Fig. 17 in a sectional view starting from the arrangement according to Fig. 16 with the segment to be installed now aligned with the installed segments,

[0036] Fig. 18 in a plan view starting from the arrangement according to Fig. 17 with installed segments arranged with their front sides parallel and a segment to be installed,

[0037] Fig. 19 in a plan view starting from the arrangement according to Fig. 18 after rotating the segment to be installed in the circumferential direction with the connecting dowels and the connecting dowel holders in an aligned arrangement,

[0038] Fig. 20 in a plan view starting from the arrangement according to Fig. 19 after making the dowel connection,

[0039] Fig. 21 shows a longitudinal sectional view of a shield tail casing of an exemplary tunnel boring machine during cornering,

[0040] Fig. 22 shows a sectional view of the arrangement according to Fig. 21 in the area of ​​an already installed segment and a segment to be installed before carrying out a height adjustment and

[0041] Fig. 23 is a sectional view of the arrangement according to Fig. 22 in the area of ​​a segment already installed and a segment to be installed after height adjustment has been carried out.

[0042] Fig. 1 shows a simplified side view of an exemplary embodiment of a tunnel boring machine 103 according to the invention, which is designed to drive a tunnel, in the tunnel-side end region of a shield tail casing 106. The tunnel boring machine 103 has an excavation unit 109 which is designed to remove material mined from the front in the direction of advance by a cutting wheel (not shown in Fig. 1) of the tunnel boring machine 103 in the direction of advance, counter to the direction of advance.

[0043] Furthermore, the tunnel boring machine 103 is equipped with a press bearing ring 112 which is arranged near the shield tail casing 106 and in which a number of driving presses 115 are held in a ring-like manner.

[0044] Furthermore, it can be seen from the illustration in Fig. 1 that a shield tail seal 118 is arranged at the end of the shield tail casing 106 facing away from the press bearing ring 112. This seal runs in a ring-like manner in the circumferential direction and seals the end of the shield tail casing 106 radially inward against a tunnel wall 124 composed of installed segments 121. The installed segments 121 enclose a tunnel space 127 and shield it from the existing geology 130.

[0045] To carry out the ring construction to maintain the tunnel wall 124 from a sequence of segmental rings 131 completed in a closed circumferential direction, segments 136 to be installed can be fed in the direction of advance via a segment feed unit 133 into a ring construction area enclosed by the shield tail casing 106. To position the segments 136 to be installed during ring construction, the tunnel boring machine 103 is equipped with a segment manipulation unit 139, also referred to as an erector. The segment manipulation unit 139 has a segment holding plate 142 as a segment holding member, with which a segment 136 to be installed can be detachably connected to the segment manipulation unit 139, for example by generating a negative pressure.

[0046] The segments 121 , 136 form in cross section sections of an idealized cylinder with an outer and inner three-dimensional surface .

[0047] The segment manipulation unit 139 further comprises a bearing ring 145, which is displaceable along guide rails 148 of the segment manipulation unit 139 in the longitudinal direction of the tunnel space 127 and is connected in a rotationally fixed manner to the guide rails 148. Arranged at the front in the direction of advance, the segment manipulation unit 139 comprises support cheeks 151, which are firmly connected to a support cross 154.

[0048] Fig. 2 shows a perspective view of the segment manipulation unit 139 of the embodiment explained with reference to Fig. 1. From the illustration in Fig. 2 it can be seen that the segment manipulation unit 139 is equipped with a rotating ring 203 which is rotatably connected to the bearing ring 145 which is connected in a rotationally fixed manner to the guide rails 148. Diagonally opposite radial displacement cylinders 206 are attached to the rotating ring 203, which can be rotated by means of rotating ring drive units 205. Each of the radial displacement cylinders 206 is articulated to one end of a side arm 212 via a side arm joint 209. The ends of the side arms 212 facing away from the side arm joints 209 are firmly connected to a central block 215, to which, as explained in more detail below, the segment holding plate 142 is rotatably and pivotably attached.

[0049] The bearing ring 145 is displaceable along the guide rails 148 by means of travel cylinders 218 in conjunction with the rotating ring 203, the radial displacement cylinders 206, the side arms 212, the center block 215 and other components firmly connected to at least one of these components.

[0050] Thus, a segment 136 to be installed, not shown in Fig. 2, which is connected to the segment holding plate 142, can be positioned by moving the bearing ring 145 in the longitudinal direction, by rotating the rotating ring 203 relative to the bearing ring 145 and by predetermined extension of the radial displacement cylinders 206 during ring construction for a rough positioning in the area of ​​segments 121 already installed, not shown in Fig. 2.

[0051] Fig. 3 shows a perspective view of part of the segment manipulation unit 139 in the region of the center block 215. From Fig. 3 it can be seen that the segment holding plate 142 has a rotating cylinder 303 which acts on the segment holding plate 142 on the one hand and on the center block 215 on the other. With the rotating cylinder 303 the segment holding plate 142 can be rotated relative to the center block 215 in a plane of rotation. With a tilting cylinder 306 which acts on the segment holding plate 142 on the one hand and on the center block 215 on the other hand, the segment holding plate 142 can be tilted in a tilting plane lying at right angles to the plane of rotation.

[0052] From the above explanations it follows that a segment 136 to be installed, not shown in Fig. 3, can be positioned by means of the segment holding plate 142 during the ring construction in a spatially precise manner on segments 121 already installed, which are also not shown in Fig. 3.

[0053] Fig. 4 shows, in a schematic plan view, an arrangement of installed segments 121, in the vicinity of which a segment 136 to be installed, connected to the segment holding plate 142 of the segment manipulation unit 139, is arranged in a rough positioning. The segment manipulation unit 139 is equipped with a tilt detection device 403, by means of which the radial displacement cylinders 206 can be controlled and which, in the first embodiment explained in Fig. 4, has a first tilt laser 406 and a second tilt laser 409, which are arranged closely together as one-dimensional tilt radiation sources.Furthermore, the segment manipulation unit 139 has, as one-dimensional height offset radiation sources of a height detection device, a first height offset laser 412 and a second height offset laser 415, which are arranged opposite one another on the edge of the segment holding plate 142 and by means of which the tilting cylinder 306 can be controlled. Furthermore, the segment manipulation unit 139 is designed with a first end-face camera 418 and a second end-face camera 421, which operate two-dimensionally, a gap detection device, which are also arranged on the edge of the segment holding plate 142 and by means of which the rotary cylinder 303 and the rotary ring drive units 205 can be controlled.

[0054] The tilting lasers 406, 409, the height offset lasers 412, 415 and the front-end cameras 418, 421 are aligned in such a way that their respective effective range is aligned over an end face 424 of the segment retaining plate 142 which, when the segment retaining plate 142 is aligned as intended, is oriented opposite to the direction of advance and extends beyond the end face 424. In the case of the front-end cameras 418, 421, a connecting dowel 427 is in each case located in the effective range in the sense of a field of view of the respective front-end camera 418, 421, which is to be inserted into an associated connecting dowel receptacle 428 of an installed segment 121 of the most recently completed segment ring 131 and projects beyond an end face 430 of the segment 136 to be installed, which end face is located in the region of the end face 424 of the segment holding plate 142.

[0055] The output signals of the tilting lasers 406, 409 assigned to a tilt angle can be fed to a positioning control device 436 of the segment manipulation unit 139 as tilting data, while the output signals of the height offset lasers 412, 415 can be fed to the positioning control device 436 as height offset data. The image data of the front-end cameras 418, 421, in turn, can be fed to the positioning control device 436 as gap data by detecting the width of a front gap 439 that exists between the front side 430 of the segment 136 to be installed and opposite front sides 442 of installed segments 121 of the most recently completed segment ring 131.

[0056] The positioning control device 436 can be used to control, in particular, the radial travel cylinder 206, the rotary cylinder 303 and the tilting cylinder 306, taking into account the low-dimensional spatial data fed to it via control lines 445.

[0057] Fig. 5 shows a side view of the arrangement according to Fig. 4 with a view of the tilt detection device 403 according to the exemplary embodiment shown in Fig. 4. From the illustration according to Fig. 5 it can be seen that the tilt lasers 406, 409 are aligned with one another in a fixed spatial arrangement by being attached to a fixing structure 503, as shown by way of example. The fixing structure 503 is connected to the segment holding plate 142, for example via a support structure 506, so that the tilt lasers 406, 409 are positioned at a distance from the segment holding plate 142, pointing away from a segment 136 to be installed.

[0058] For a one-dimensional distance measurement, in the illustration according to Fig. 5, a modulated output radiation 509 of the first tilting laser 406 acts on an already installed segment 121 of the most recently completed segment ring 131 in a point-shaped first impact region 512 adjacent to a segment 136 to be installed, while output radiation 515 of the second tilting laser 409, which is also modulated for a one-dimensional distance measurement, acts on the already installed segment 121 at a reference angle 521 in a point-shaped second impact region 524 due to its alignment to the first tilting laser 406 at a predetermined relative angle 518, which is spaced further from the segment 136 to be installed than the first impact region 512.Thus, a reference distance 527 formed between the impact areas 512, 524, which is determined by the tilting lasers 406, 409 and the respective impact areas 512, 524 as well as the relative angle 518, can be determined by one-dimensional measurements as a measure of the tilting of a segment 136 to be installed in relation to an installed segment 121 of the last completed segment ring 131, namely in a direction perpendicular to a longitudinal reference direction defined by the radially inwardly facing side of an installed segment 121, and can be used as tilting data of the positioning control unit associated with a tilting angle. 436 feed-in .With the positioning control unit 436, on the basis of the tilting data, the tilting of the segment 136 to be installed in relation to the installed segment 121 of the last completed segment ring 131, which is subjected to the output radiation 509, 515 of the tilting lasers 406, 409, can be corrected by setting an actual value of the reference angle 521 resulting from the distances between the tilting lasers 506, 509, the relative angle 518 and the reference distance 527 to a predetermined desired value as an ideal value, so that the segments 121, 136 are parallel along the connecting line between the impact areas 512, 524 and thus within the scope of predetermined permissible tolerances and / or predetermined intended Tilts can be adjusted without tilting.In the following, therefore, in the sense of the description of the exemplary embodiment, the term "tilt-free" is to be understood as "tilt-free within the scope of predetermined permissible tolerances and / or predetermined intended tilts".

[0059] Fig. 6 shows a side view of the arrangement according to Fig. 5 with a view of the first height offset laser 412, which in this embodiment is shown purely as an example, attached to a fixing structure 603, which in turn is firmly connected to the segment retaining plate 142 via a support structure 606 at a distance from the segment retaining plate 142. In the illustration according to Fig.6, output radiation 609 of the first height offset laser 412 is applied to the radially inward-facing side of an installed segment 121 of the most recently completed segment ring 131 on the tunnel side for a one-dimensional measurement, wherein the output radiation 609 is modulated such that the path between the first height offset laser 412 and an impact area 612 of the output radiation 609 on the installed segment 121 is a measure of the height offset of the segment 136 to be installed in relation to the installed segment 121 of the most recently completed segment ring 131 and can be fed into the positioning control device 436 as height offset data.The positioning control device 436 is configured to automatically align the segment 136 to be installed by means of the segment manipulation unit 139 on the basis of the height offset data obtained from the height offset lasers 412, 415 in such a way that the radially inward-facing inner sides of the segments 121, 136 lie without height offset on a cylindrical outer surface, broken down into two dimensions and, to put it figuratively, in one plane.

[0060] Fig. 7 shows in a front view the arrangement according to Fig. 4 with a view of a first height testing laser 703 and a second height testing laser 706 as height testing radiation sources of a height testing device for a one-dimensional measurement, which are each attached to the segment holding plate 142 and, when the side arms 212 are arranged as intended, are oriented outwards in the circumferential direction during the positioning of a segment 136 to be installed, so that output radiation 709, 712 of the height testing lasers 703, 706 acts on a radially inwardly facing inner side 715 of an installed segment 121 of the segment ring 131 currently to be completed.The output radiations 709, 712 of the height inspection lasers 703, 706 are modulated in such a way that the distance between the height inspection lasers 703, 706 and the respective inner side 715 of the loaded installed segment 121 of the segment ring currently being completed can be determined and can be determined independently of the tilt lasers 406, 409 and the height offset lasers 412, 415 solely for the final inspection and can be saved, for example, for documentation purposes.

[0061] If the final test carried out for control purposes shows that the distance between the height testing lasers 703, 706 and the respective inner side 715 of the loaded installed segment 121 of the segment ring currently to be completed lies outside a stored permissible tolerance range or a predetermined intended tilt, a final correction can be carried out manually to comply with the permissible tolerance range and / or to adjust the intended tilt.

[0062] The arrangement of the segment 136 to be installed, including the edge sides extending in the longitudinal direction, without gaps in the sense of a usual minimum gap distance, is achieved, as explained in more detail below, by aligning the connecting dowels 427 with their associated connecting dowel receptacles by means of the end face cameras 418, 421.

[0063] Fig. 8 shows a side view of the arrangement according to Fig. 4 with a view of the first front-end camera 418, which is firmly connected to the segment holding plate 142 by way of a fixing structure 803, which in turn is attached to a support structure 806, and is arranged at a predetermined distance. The end-face cameras 418, 421 are configured for two-dimensional measurements to detect, within their respective field of view 809, on the one hand, the relative position of a connecting dowel 427 in relation to the connecting dowel receptacle 428 assigned to it and, on the other hand, at least one end face edge 815 of an installed segment 121 facing radially on the inside and towards the segment holding plate 142 and the end face edge 818 of a segment 136 to be installed, which segment is held by the end holding plate 142 and is opposite the end face edge 815 of this installed segment 121.These data can be fed to the positioning control device 436 as dowel position data and as gap data.

[0064] The positioning control device 436 is designed to automatically align the end edges 815, 818 parallel to one another and the connecting dowels 427 and the associated connecting dowel receptacles 428 in alignment with one another on the basis of the gap data and dowel position data obtained by the end cameras 418, 421.

[0065] For connecting segments 136 to be installed to already installed segments 121 of a completed segment ring 131, it is expedient that the connecting dowels 427 and thus also the connecting dowel receptacles 428 assigned to specific connecting dowels 427 are regularly spaced in the circumferential direction.

[0066] Fig. 9 shows, in a schematic plan view, a number of installed segments 121 and a segment to be installed 136, which is connected to a segment holding plate 142 of the segment manipulation unit 139, and elements of a tilt detection device 903 according to a second embodiment, which, like the first embodiment according to Fig. 4, is designed with a gap detection device and a height detection device. In the embodiments according to Fig. 4 and Fig. 9, corresponding elements are provided with the same reference numerals and, to avoid repetition, are partly not explained in more detail below. The tilt detection device 903 in the second embodiment according to Fig. 9 is equipped with a tilt inclinometer 906, which, as described below, particularly in connection with Fig.13 , explained by inclination data originating from a so-called shield tail air measurement in order to determine an inclination of the segment holding plate 142 relative to already installed segments 121 .

[0067] Furthermore, a positioning control device 909 is provided which is connected to the tilting inclinometer 906 and by means of which, as explained in more detail below, in particular the radial displacement cylinder 206, the rotary cylinder 303 and, via the tilting inclinometer 906, the tilting cylinder 306 can be controlled.

[0068] The embodiment according to Fig. 9 is further equipped with a first laser profilometer 912 and with a second laser profilometer 915 as two-dimensional profilers of a combined gap detection device and height detection device, which operate purely as an example according to the so-called LiDAR (“Light Detection and Ranging”) principle. The laser profilometers 912, 915 are arranged in the front area of ​​the segment holding plate 142 and are aligned towards the end face 430 of the segment 136 to be installed, which end face is located to the rear in the direction of advance, and act beyond the end face 430. With the laser profilometers 912, 915, characteristic position data for the spatial position of the segment holding plate 142 can be generated and fed to the positioning control device 909 for controlling the radial travel cylinder 206 and the rotary cylinder 303.

[0069] Furthermore, the embodiment according to Fig. 9 has a single, two-dimensionally operating end-face camera 918, which is arranged and aligned with the end face 430 such that a connecting dowel 427 of the segment 136 to be installed lies in its field of view. The rotary ring drive units 205 can be controlled by means of the end-face camera 918. The functioning of the single end-face camera 918 in the embodiment according to Fig. 9 corresponds to the respective functioning of the end-face cameras 418, 421 of the embodiment explained with reference to Fig. 4 and in the following figures. Thus, with the front-end camera 918, characteristic dowel position data can be generated for the relative position of the connecting dowel 427 located in its field of view and the associated connecting dowel holder 428 and fed to the positioning control device 909.

[0070] The positioning control device 909 can be used to control, taking into account the data fed to it via control lines 921, in particular the radial travel cylinder 206, the rotary cylinder 303 and the tilting cylinder 306.

[0071] Fig. 10 shows a side view of the arrangement according to Fig. 9 with a view of the first laser profilometer 912 which, purely by way of example, is firmly connected to the segment holding plate 142 via a fixing structure 1003 which is attached to a support structure 1006. With the first laser profilometer 912 and correspondingly with the second laser profilometer 915, a laser profile space 1009 shown with a dashed border in the illustration according to Fig. 10 can be recorded two-dimensionally, which laser profile space in particular records the front edge 818 of the segment 136 to be installed and the front edge 815 of an installed segment 121 of the most recently completed segment ring 131.From the image data obtained by the laser profilometers 912, 915, both gap data in the form of a distance of the end edges 815, 818 in the longitudinal direction and height offset data of the end edges 815, 818 in the radial direction can be generated and automatically fed to the positioning control device 909 for positioning the segment 136 to be installed in such a way that the segment 136 to be installed is aligned with its end edge 818 parallel to the end edges 815 of installed segments 121 of the most recently completed segment ring 131 and the radially inward-facing inner sides 1012, 1015 of the segments 121, 136 lie in a plane broken down two-dimensionally with the end faces 430, 442 within the scope of the measurement accuracy. .

[0072] With a corresponding accuracy, sufficiently accurate tilt data can also be generated with the laser profilometers 912, 915 within predetermined permissible tolerances as a measure of tilt angles for aligning the segments 136 to be installed.

[0073] Fig. 11 shows in a front view the arrangement according to Fig. 9 with a view of a first height testing laser 1103 and a second height testing laser 1106 as height testing radiation sources of a height testing device, which are each attached to the segment holding plate 142 and, when the side arms 212 are arranged as intended, are directed radially outwards during the positioning of a segment 136 to be installed, so that the respective output radiation 1109, 1112 of the height testing lasers 1103, 1106 impinges on a radially inward-facing inner side 1012 of an installed segment 121 of the last completed segment ring 131.The output radiations 1109, 1112 of the height testing lasers 1103, 1106 are modulated in such a way that the distance between the height testing lasers 1103, 1106 in the respective inner side 1012 of the loaded installed segment 121 of the last completed segment ring 131 can be determined and can be stored solely for the final test independently of the laser profilometers 912, 915, for example for documentation purposes.

[0074] If the final test carried out for control purposes shows that the distance between the height control lasers 703, 706 and the respective inner side 715 of the loaded installed segment 121 of the last completed segment ring 131 is outside a stored permissible tolerance range or outside a predetermined intended tilt, a final correction can be carried out to maintain the permissible tolerance range and / or to adjust the intended tilt.

[0075] The automatic arrangement of the

[0076] The segment 136 is also gap-free with the edge sides extending in the longitudinal direction in the sense of a usual minimum gap distance by aligning the connecting dowels 427 with their associated connecting dowel receptacles by means of the end face camera 918.

[0077] Fig. 12 shows a side view of the arrangement according to Fig. 9 with a view of the single front-end camera 918, which, purely by way of example, is firmly connected to the segment holding plate 142 via a fixing structure 1203, which in turn is attached to a support structure 1206, and is arranged at a predetermined distance. The front-end camera 918 is configured to detect, within its respective field of view 1209, the relative position of a connecting dowel 427 with respect to its associated connecting dowel receptacle 428. This data can be fed to the positioning control device 909 as dowel position data. The positioning control device 909 is configured to automatically align the detected connecting dowel 427 and the associated connecting dowel receptacle 428 with one another on the basis of the dowel position data obtained by the front-end camera 918.

[0078] With the laser profilometers 912, 915s (not shown in Fig. 12), at least one end face edge 815 of an installed segment 121 of the most recently completed segment ring 131, said end face edge facing radially inside and towards the segment holding plate 142, as well as the end face edge 818 of a segment 136 to be installed, which is held by the end face holding plate 142 and is opposite the end face edge 815 of this installed segment 121, can be detected.

[0079] In the embodiment explained with reference to Fig. 9 to Fig. 12, it is therefore sufficient to provide only a single front-end camera 918, since the parallelism of the front-end edges 815, 818 is ensured by the two laser profilometers 912, 915.

[0080] Fig. 13 shows a view of an embodiment of a tunnel boring machine 103 with a shield tail casing 106 into which a number of shield tail air sensors 1303 are integrated. With the shield tail air sensors 1303 arranged in the direction of advance in front of the shield tail seal 118 and thus typically in the axial direction in the area of ​​the last installed ring of segments 121, the distance between the radially inward-facing side of the shield tail casing 106 and the radially outward-facing side of installed segments 121 is measured as the so-called shield tail air, as shown in Fig.13, by means of non-contact, for example ultrasonically operating shield tail air sensors 1303 or tactile with physical contact, for example via a mechanical distance measurement by means of measuring probes that can be moved in the radial direction as shield tail air sensors 1303 along a measuring section 1306, and alternatively to a direct measurement of a tilt as in the embodiment of the positioning control device 909 explained with reference to Fig. 4 to Fig. 8, can be fed in via the tilt inclinometer 906 for converting shield tail air data into tilt data to be used for referencing the tilt.

[0081] In an expedient embodiment of a tunnel boring machine 103 according to the invention, it is provided that the positioning control device 909 is configured, particularly during cornering, to align the segments 136 to be installed in the next segment ring using a precalculation as follows. First, a shield tail air measurement is carried out on at least one installed segment, but expediently on all installed segments 121 of the last installed segment ring to achieve a relatively high level of accuracy, and an actual value is obtained therefrom.In order to ensure that the segments 136 to be installed in the next segment ring are installed approximately centrally, a preliminary calculation is carried out to obtain a target value as to what the value of the shield tail clearance should be for the segments 136 to be installed in the next segment ring, in order to achieve an approximately central arrangement of the segments 136 to be installed relative to the shield tail casing 106. This target value is converted into a corresponding tilt of the respective segments 136 to be installed. The respective tilt angle can be output via the tilt inclinometer 906 as tilt data to the control device 909 for controlling the tilting cylinder 306.

[0082] Fig. 14 to Fig. 20 show, in plan views and in sectional views, steps of an exemplary preferred method according to the invention for arranging segments 136 to be installed by means of the above-explained embodiments of tunnel boring machines 103 according to the invention.

[0083] Fig. 14 shows in a top view two installed segments 121 of an already completed segment ring 131 and a segment 136 to be installed, which lies with its end face 430 opposite the end faces 442 of the installed segments 121 of the last completed segment ring 131 and is arranged in a two-dimensionally broken down plane in a rough positioning at least with regard to the parallelism of the end faces 430, 442 and the arrangement of the segments 121, 136 in order to release an installation space after the corresponding jacking presses 115 have been moved in in a first positioning step.

[0084] In a first variant of the preferred method explained in more detail below, the tilt angle is carried out with referencing of the tilt to already installed segments 121 of the most recently completed segment ring 131, wherein in the rough positioning the tilt angle has not yet been set tilt-free within the framework of predetermined tolerances.

[0085] In a second variant of the preferred method, which in the exemplary embodiment is carried out with referencing of the tilt to the shield tail casing 106, the tilt angle is already set tilt-free within predetermined tolerances during the rough positioning. For metrological reasons, this is particularly preferably carried out in a so-called six o'clock position of the segment retaining plate 142, shown in Fig. 1, in an arrangement of the segment retaining plate 142 and the picked-up segment 136 to be installed in the region of the floor of a tunnel space 127 to be lined.

[0086] From the illustration in Fig. 14, it can be seen that during rough positioning, the front gap 439 is still relatively large and varies in width along the circumferential direction. However, in order to keep this variation as small as possible at this stage, the rotating cylinder 303 is moved to a central position after picking up a segment 136 to be installed.

[0087] Fig. 15 shows a sectional view of the arrangement according to Fig. 14, from which it can be seen that in the first variant the segment 136 to be installed is still tilted in the rough positioning relative to the installed segments 121 of the last completed segment ring 131 in relation to the longitudinal direction.

[0088] Fig. 16 shows in a sectional view starting from the arrangement according to Fig. 15 the segment 136 to be installed by means of a positioning control device 436 in a second positioning step with parallel end faces 430, 442 and in a third positioning step following the second positioning step in the first variant, now arranged in a tilt-free manner in relation to the installed segment 121 of the last completed segment ring 131 in the sense explained above.

[0089] Fig. 17 shows in a sectional view starting from the arrangement according to Fig. 16 in the first variant and in the second variant by means of a positioning control device 436, 909 the segment 136 to be installed, which in a fourth positioning step following the possibly preceding third positioning step has been brought into a plane with the installed segment 121 of the last completed segment ring 131 after a height adjustment.

[0090] The arrangement of the segment 136 to be installed, broken down two-dimensionally in a plane with already installed segments 121 of the most recently completed segment ring 131 within predetermined permissible tolerances, without tilting and without a tilt angle, is usually carried out in a so-called straight-ahead travel along a trajectory that partially follows a straight line.

[0091] Fig. 18 shows a top view of the arrangement according to Fig. 17 after setting parallel end faces 430, 442 and the end gap 439, which is now equally dimensioned in the circumferential direction. Furthermore, it can be seen from the illustration according to Fig. 18 that the connecting dowels 427 and the associated connecting dowel receptacles 428 are still arranged offset in the circumferential direction.

[0092] Fig. 19 shows, starting from the arrangement according to Fig. 18, the positioning of the segment 136 to be installed, ready for displacement, in relation to the installed segments 121 of the most recently completed segment ring 131, achieved by means of a positioning control device 436, 909 in a fifth positioning step following the fourth positioning step, after rotating the segment 121 to be installed in the circumferential direction by means of the output data of the two-dimensionally operating end-face cameras 418, 421 with corresponding control of the rotating ring drive units 205, by means of which the connecting dowels 427 have been positioned in alignment with the connecting dowel receptacles 428 by means of image analysis to obtain dowel position data. This results in an edge-parallel arrangement to an adjacent, already installed segment 121 of the segment ring currently being completed, without any measurements being required laterally in the circumferential direction.

[0093] Fig. 20 shows, starting from the arrangement according to Fig. 19, the final positioning of the segment 136 to be installed by means of a displacement following the fifth positioning step by means of jacking presses 115 in a sixth and final positioning step with a gap-free arrangement of the end faces 430, 442 of the segment 136 to be installed or of the installed segments 121 of the last completed segment ring 131, wherein gap-free in this context is to be understood such that the end gap 439 is now reduced to a minimum size. With the arrangement according to Fig. 20 the installation of the segment 136 to be installed is completed, so that this now installed segment 121 is secured by extending the relevant jacking presses 115 and can be released from the segment holding plate 142.

[0094] Fig. 21 shows a longitudinal sectional view of a shield tail casing 106 of an exemplary tunnel boring machine 103 during a curve travel through a curved region of the shield tail casing 106 and a curved center longitudinal line 2103 of the tunnel space 127 shown in dot-dash in Fig. 21. The term "curve travel" is understood to mean a deviation from straight-ahead travel in a horizontal and / or vertical direction with a predetermined curve radius.

[0095] From the illustration according to Fig. 21 it can be seen that when cornering between already installed segments 121 and segments 136 that are still to be installed and are shown in dashed lines in the illustration according to Fig. 21, a tilt angle 2106 for a predetermined intended tilt between an old shell surface 2109 shown with longer lines, in which the already installed segments 121 are located, and a new shell surface 2112 shown with shorter lines, in which the segments 136 that are still to be installed are to be located.

[0096] It is particularly advantageous when cornering, but can also be used when driving straight ahead, as in connection with the embodiment of a tunnel boring machine 103 explained with reference to Fig. 9 to Fig. 13, to reference the shield tail casing 106, as shown in Fig. 21 by real measuring sections 1306 between segments 121 of the most recently completed segment ring 131 and the shield tail casing 106, in order to firstly record the position of already installed segments 121 by a shield tail air measurement as actual values ​​and secondly, as explained above, to calculate in advance the future position including a tilting to be set of segments 136 to be installed with respect to already installed segments 121 of the most recently completed segment ring 131 in the form of a tilting angle 2106, which corresponds to a target value of a distance on a fictitious measuring section 2115 is assigned .

[0097] Fig. 22 shows a sectional view of the arrangement according to Fig. 21 in the area of ​​an already installed segment 121 and a segment 136 still to be installed in a rough positioning before carrying out a height adjustment between an already installed segment 121 and the segment 136 still to be installed. The term "height adjustment" in this context is to be understood as a displacement of the segment 136 to be installed from an intermediate shell surface 2206 located at a distance 2203 from and parallel to the old shell surface 2109, represented by a middle dashed line compared to the dashed lines selected for the still old shell surface 2109 or for the new shell surface 2112, into the old shell surface 2109 by a parallel movement radially outwards.

[0098] In the arrangement according to Fig. 22, the tilt angle 2106 required for cornering to bring about a predetermined intended tilt has already been assumed and is no longer changed during the height compensation. Fig. 23 shows a sectional view of the arrangement according to Fig. 22 in the area of ​​an already installed segment and a segment to be installed after carrying out the height compensation to reduce the distance 2203 still present in the rough positioning to a value which disappears within the scope of the usual tolerances when installing segments 121, 136, the tilt angle 2106 being retained. 23 it is evident that after carrying out the height adjustment the front side edges 815, 818 of the already installed segment 121 or of the segment 121 to be finally installed in further subsequent steps lie in a two-dimensional plane.

[0099] After the arrangement shown in Fig. 23, the steps explained in connection with Fig. 18 to Fig. 20 follow for the final installation of the segment 121 to be installed.

Claims

CLAIMS Tunnel boring machine with a segment manipulation unit (139) which is designed to receive a segment (136) to be installed by means of a segment holding member (142) and to position a segment (136) to be installed in the region of at least one installed segment (121), wherein the segment manipulation unit (139) is equipped with a gap detection device (418, 421; 912, 915) which is designed to detect at least one end gap (439) formed between a segment (136) to be installed and an installed segment (121) and to feed it to a positioning control device (436; 909) as gap data, wherein the segment manipulation unit (139) is equipped with a height detection device (412, 415;912, 915) which is designed to detect at least one height offset formed on the end face between a segment (136) to be installed and an installed segment (121) and to feed it to the positioning control device (436; 909) as height offset data, wherein the positioning control device (436; 909) is designed to receive gap data and height offset data from the segment manipulation unit (139) for positioning the segment to be installed; (136) in such a way that the segment (136) to be installed can be positioned with the segment manipulation unit (139) without gaps and without height offset relative to adjacent installed segments (121), characterized in that the segment manipulation unit (139) is equipped with a tilt detection device (403; 903) connected to the segment holding member (142), which is designed to determine a tilt angle of a segment (136) to be installed with respect to at least one installed segment (121) in a longitudinal reference direction by means of one-dimensional or two-dimensional measurements aligned at the end face and to feed said tilt angle data to the positioning control device (436; 909) in such a way that the segment (136) to be installed can be positioned with the segment manipulation unit (139) in Within the scope of predetermined tolerances and / or predetermined intended tilts, it can be positioned without tilting relative to adjacent installed segments (121).Tunnel boring machine according to claim 1, characterized in that the tilt detection device (903) is equipped with shield tail air sensors (1303) which are installed in a shield tail casing (106) and are designed to measure a distance between the shield tail casing (106) and a radially outwardly directed air gap. lying outside of installed segments (121) and to feed them as shield tail air data to the positioning control unit (909), wherein the positioning control unit (909) is configured to detect the tilting of the segment holding member (142) and to feed it to the positioning control unit (909) as tilting data. Tunnel boring machine according to claim 1 or claim 2, characterized in that the segment manipulation unit (139) has two profile cutters (912, 915) spaced apart from one another in the circumferential direction, which are configured to detect two end-face height offsets and gap widths of a segment (136) to be installed with respect to installed segments (121) and to feed them to the positioning control unit (909) as position data.Tunnel boring machine according to one of claims 1 to 3, characterized in that at least two profile cutters (912, 915) are provided, which are configured to generate tilt data by two-dimensional measurements. Tunnel boring machine according to one of claims 2 to 4, characterized in that the segment manipulation unit (139) is provided with a. Front-end camera (918) is equipped, which is designed to detect the position of a connecting dowel (427) and a connecting dowel receptacle (428) which are formed on a segment (136) to be installed or on segments (121) already installed, and to feed this to the positioning control unit (909) as dowel position data.Tunnel boring machine according to claim 1, characterized in that the tilt detection device (403) has two tilt radiation sources (406, 409) which are each designed to emit output radiation (509, 515), wherein these output radiations (509, 515) are angularly aligned with one another at a predetermined radiation angle (518), wherein the tilt detection device (403) can detect the spatial distance of the output radiations (509, 515) as one-dimensional measurements when they impinge on an installed segment (121) arranged on the end face of the segment (136) to be installed and can be fed to the positioning control device (436) as tilt data. Tunnel boring machine according to claim 6, characterized in that the segment manipulation unit (139) has two height offset radiation sources (412, 415) which are arranged spaced apart from one another in the circumferential direction and are configured for this purpose. are to detect two frontal height offsets of a segment (136) to be installed in relation to installed segments (121) and to feed them to the positioning control device (436) as height offset data. Tunnel boring machine according to claim 6 or claim 7, characterized in that the segment manipulation unit (139) has two end-face cameras (418, 421) which are designed to detect the positions of a connecting dowel (427) and a connecting dowel receptacle (428) each formed on a segment (136) to be installed or on already installed segments (121) and to feed them to the positioning control device (436) as dowel position data, and which are further designed to feed the distances between mutually facing end edges (430, 442) of a segment (136) to be installed and of segments (121) to be installed to the positioning control device (436) as gap data.Tunnel boring machine according to one of claims 1 to 8, characterized in that the segment manipulation unit (139) is equipped with two opposing height testing radiation sources (703, 706; 1103, 1106) of a height testing device, which are designed to determine the height position of the segment holding member (142) with respect to. Circumferential direction adjacent installed segments (121). Method for installing segments (136) with the steps - Providing a tunnel boring machine according to one of claims 1 to 9, - in a first positioning step, positioning a segment (136) to be installed with safety distances to segments (121) already installed in an initial position, - in a further second positioning step, aligning the segment (136) to be installed in such a way that it is aligned without tilting within the framework of predetermined tolerances and / or predetermined intended tilts relative to at least one adjacent installed segment (121), - in a further third positioning step, aligning the segment (136) to be installed such that it lies with its radially inward-facing side on a lateral surface of a radially inward-facing side of an adjacent installed segment (121), - in a further fourth positioning step, aligning the segment (136) to be installed such that its end face (430) is aligned parallel to the end face (442) of at least one segment (121) already installed, - in a further fifth positioning step, aligning the segment (136) to be installed such that the connecting dowels (427) and the connecting dowel receptacles (428) are aligned with each other and - in a further sixth positioning step, moving the segment (136) to be installed in the direction of installed segments (121). Method according to claim 10, characterized in that the first positioning step takes place before the second positioning step. Method according to claim 10, characterized in that the first positioning step takes place after the second positioning step. Method according to claim 11 or claim 12, characterized in that after the first or after the second positioning step, the third positioning step takes place, then the fourth positioning step, then the fifth positioning step and finally the sixth positioning step. Method according to one of claims 10 to 13, characterized in that when traveling straight ahead, the segments (121, 136) in Frames of predetermined tolerances are installed without tilting. Method according to one of claims 10 to 13, characterized in that in a When cornering, the segments (121, 136) are installed without tilting within the framework of predetermined, intended tilting movements.

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